Brake-by-wire device for pilotless automobile

Abstract

The invention provides a drive-by-wire brake device for a pilotless automobile. The drive-by-wire brake device comprises a mounting mechanism; the fixed brake disc is mounted at one end of the mounting mechanism; the direct drive mechanism comprises a first telescopic part and a first elastic contraction part, the fixed end of the first telescopic part is fixedly arranged on the mounting mechanism, and the first elastic contraction part is elastically connected with the telescopic part of the first telescopic part and the movable brake disc. According to the scheme, whether the pushing frame is in a braking state or an unlocking state, the first telescopic piece can directly drive the first elastic contraction piece to stretch, and the first elastic contraction piece drives the movable brake disc to brake rapidly; on one hand, the device is used for rapid braking when a rapid braking signal occurs in the self-driving automobile, and on the other hand, the device is used for electronic parking of a movable brake disc in a braking state; in the event of an emergency braking signal, emergency braking is performed quickly without affecting the operation of the autonomous braking structure.

Description

Technical Field

[0001] The present invention relates to the technical field of driverless vehicles, and in particular to a brake-by-wire device for driverless vehicles. Background Art

[0002] An autonomous vehicle, also known as a driverless car, a computer-driven car, or a wheeled mobile robot, is an intelligent car that achieves unmanned driving through a computer system; autonomous vehicles rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing the vehicle's host system to automatically and safely operate motor vehicles without any active human operation; driverless vehicles need to perform autonomous braking according to the situation during driving to ensure driving safety.

[0003] In the prior art, publication number: CN 217864085 U discloses a wire control brake device based on an unmanned vehicle, including a device housing; when the unmanned vehicle brakes, a driving mechanism drives a sliding rod to slide according to a braking signal of the vehicle, so that the sliding rod slides along a straight line under the drive of the driving mechanism, and then the connecting plate is pulled by the other end of the sliding rod, so that the connecting plate pushes the sliding block to slide inside the device housing, and the sliding slider squeezes the wedge blocks on the top of the first clamping plate and the second clamping plate to approach each other during the sliding process, and then the wedge blocks drive the first clamping plate and the second clamping plate to slide along the connecting columns symmetrically arranged on the inner side of the device housing under the action of squeezing, and when the first clamping plate and the second clamping plate approach each other, the connecting member located on the inner side of the first clamping plate and the second clamping plate approaches the brake pad of the vehicle, and the braking effect is achieved through the braking member outside the connecting member.

[0004] Although the braking method of the above-mentioned wire control brake device can autonomously brake according to the braking signal of the vehicle host system, the motor-driven autonomous braking structure is limited when facing an emergency braking signal. How to quickly perform emergency braking without affecting the autonomous braking structure when an emergency braking signal appears requires further research.

[0005] Therefore, it is necessary to provide a wire control brake device for an unmanned vehicle to solve the above technical problems. Summary of the invention

[0006] The present invention provides a brake-by-wire device for an unmanned vehicle, which solves the problem in the related art that how to quickly perform emergency braking without affecting the autonomous braking structure when an emergency braking signal appears, which needs further research.

[0007] In order to solve the above technical problems, the wire control brake device for an unmanned vehicle provided by the present invention comprises: Installation mechanism; A fixed brake disc, the fixed brake disc being mounted at one end of the mounting mechanism; A direct drive mechanism, the direct drive mechanism comprising a first telescopic member and a first elastic contraction member, the fixed end of the first telescopic member is fixedly arranged on the mounting mechanism, and the first elastic contraction member elastically connects the telescopic portion of the first telescopic member and the movable brake disc; A driving member, the driving member being mounted on the mounting mechanism; The connecting mechanism comprises a first bevel gear, a second bevel gear, a rotating shaft, a gear, a pushing device and a toothed plate member, the first bevel gear is fixedly mounted on the rotating shaft of the driving member, the second bevel gear is rotatably mounted in the mounting mechanism via the rotating shaft, the second bevel gear is meshingly connected with the first bevel gear, the gear is fixedly mounted on the rotating shaft, the pushing device comprises a limiting device, a sliding shaft, a pushing frame and a transmission block, the limiting device is mounted in the mounting mechanism, the sliding shaft is fixedly mounted on the limiting device, the pushing frame is sleeved on the sliding shaft and is slidably connected with the limiting device, a transmission groove is provided on the pushing frame, one end of the transmission block is fixedly mounted on the movable brake disc, and the other end of the transmission block is transmission-connected to the pushing frame after being inserted into the transmission groove, the toothed plate member is mounted on the pushing frame, and the toothed plate member is meshing with the gear.

[0008] Preferably, the pushing frame is in a U-shaped structure, and two transmission grooves are provided, and the two transmission grooves are symmetrically arranged at both ends of the pushing frame; The transmission grooves and the transmission blocks are arranged in a one-to-one correspondence.

[0009] Preferably, the connecting mechanism further comprises a second telescopic member, both ends of which are fixedly connected to the toothed plate member and the pushing frame, and the second telescopic member is used to drive the toothed plate member to telescope relative to the gear; The pushing device further comprises two elastic members, the elastic members are sleeved on the sliding shaft, and the elastic members are elastically connected to the limiting device and the pushing frame; Wherein, the two elastic members are symmetrically arranged on both sides of the pushing frame, and are used to maintain the pushing frame to automatically return to its original position when the pushing frame is in a returned state.

[0010] Preferably, the mounting mechanism comprises a mounting cover, a support seat and a U-shaped frame, the top of the support seat is fixed in the mounting cover, and the U-shaped frame is fixed in the mounting cover; the fixed end of the first telescopic member is fixed on the support seat; When the movable brake disc is in an unlocked state, the movable brake disc abuts against the U-shaped frame.

[0011] Preferably, the driving component includes a waterproof box, a motor and a wire control device, the waterproof box is installed on the mounting cover, the motor and the wire control device are integrated and installed in the mounting cover, the motor is signal-connected to the wire control device, and the shaft end of the motor passes through the waterproof box and the mounting cover and is fixedly connected to the first bevel gear.

[0012] Preferably, the mounting cover has a built-in temperature sensor.

[0013] Preferably, the limiting device comprises a supporting sliding frame and a fixing frame, the bottom of the supporting sliding frame is fixed in the mounting cover, and the fixing frame is slidably mounted on the supporting sliding frame; The second telescopic member includes an elastic support member, a transmission rod and a second elastic contraction member, the elastic support member is elastically connected to the tooth plate member and the pushing frame, the transmission rod is hinged to the tooth plate member and the mounting cover, and the second elastic contraction member is hinged to the fixing portion of the first elastic contraction member and the top of the fixing frame; Wherein, the pushing frame is slidably installed in the fixing frame, and the sliding shaft is fixed in the fixing frame.

[0014] Preferably, a displacement sensor is provided on the fixing frame, and a detection end of the displacement sensor is aligned with the moving range of the pushing frame.

[0015] Preferably, when the first telescopic member is in the braking position, the displacement sensor is also used to detect the wire control accuracy of the driving member, so as to analyze the stability and safety of the action of the driving member and the connecting mechanism during autonomous braking.

[0016] Compared with the related art, the wire control brake device for driverless vehicles provided by the present invention has the following beneficial effects: Ultimately, no matter whether the pushing frame is in a braking state or an unlocking state, the first telescopic member can directly drive the first elastic contraction member to extend, and the first elastic contraction member drives the movable brake disc to brake quickly; on the one hand, it is used for rapid braking when a rapid braking signal appears in an autonomous driving vehicle, and on the other hand, it is used for electronic parking of the movable brake disc in a braking state; when an emergency braking signal appears, emergency braking is performed quickly without affecting the operation of the autonomous braking structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] FIG1 is a three-dimensional diagram of a first embodiment of a brake-by-wire device for an unmanned vehicle provided by the present invention; FIG2 is a cross-sectional view of the AA portion shown in FIG1; FIG3 is a top view of the pushing device shown in FIG2 ; FIG4 is a right side view of the U-shaped frame shown in FIG2; FIG5 is a diagram of the brake-by-wire principle of the first embodiment of the brake-by-wire device for a driverless vehicle provided by the present invention, wherein FIG5(a) is a top view of the active brake disc in a retracted state, FIG5(b) is a top view of the active brake disc in the process of switching from a retracted state to a braking state, and FIG5(c) is a top view of the active brake disc in a braking state; FIG6 is a diagram showing the principle of rapid brake release in a brake-by-wire state of a brake-by-wire device for a driverless vehicle provided by the present invention, wherein FIG6 (a) is a top view of the push frame in a state where the toothed plate is meshed with the gear, and FIG6 (b) is a top view of the push frame in a state where the toothed plate is separated from the gear; FIG7 is a schematic structural diagram of a second embodiment of a brake-by-wire device for an unmanned vehicle provided by the present invention; FIG8 is an enlarged schematic diagram of portion B in FIG7 ; FIG9 is a schematic diagram of a second embodiment of a brake-by-wire device for a driverless vehicle provided by the present invention, wherein (a) in FIG9 is a front view of the first elastic contraction member in a first contraction state, and (b) in FIG9 is a front view of the first elastic contraction member in a second contraction state.

[0019] Description of Figure Numbers: 1. Installation mechanism; 11. Installation cover; 12. Support seat; 13. U-shaped frame; 2. Fixed brake disc; 3. Driving parts; 4. Connecting mechanism; 41. First bevel gear; 42. Second bevel gear; 43. Rotating shaft; 44. Gear; 45. Pushing device; 451. Limiting device; 452. Sliding shaft; 453. Pushing frame; 4530. Transmission groove; 454. Elastic member; 455. Transmission block; 46. Second telescopic member; 47. Tooth plate member; 5. Movable brake disc; 6. direct drive mechanism; 61. first telescopic member; 62. first elastic contraction member; 4511, support slide frame; 4512, fixed frame; 461. Elastic supporting member; 462. Transmission rod; 463. Second elastic contraction member.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The invention provides a brake-by-wire device for an unmanned vehicle.

[0023] First embodiment: Please refer to FIGS. 1 to 3 , in a first embodiment of the present invention, a brake-by-wire device for an unmanned vehicle includes: Mounting mechanism 1; A fixed brake disc 2, wherein the fixed brake disc 2 is mounted at one end of the mounting mechanism 1; A direct drive mechanism 6, the direct drive mechanism 6 comprises a first telescopic member 61 and a first elastic contraction member 62, the fixed end of the first telescopic member 61 is fixed on the mounting mechanism 1, and the first elastic contraction member 62 elastically connects the telescopic portion of the first telescopic member 61 and the movable brake disc 5; A driving member 3, wherein the driving member 3 is mounted on the mounting mechanism 1; The connecting mechanism 4 includes a first bevel gear 41, a second bevel gear 42, a rotating shaft 43, a gear 44, a pushing device 45 and a toothed plate member 47. The first bevel gear 41 is fixedly mounted on the rotating shaft of the driving member 3. The second bevel gear 42 is rotatably mounted in the mounting mechanism 1 through the rotating shaft 43. The second bevel gear 42 is meshed and connected with the first bevel gear 41. The gear 44 is fixedly mounted on the rotating shaft 43. The pushing device 45 includes a limiting device 451, a sliding shaft 452, a pushing frame 453 and a transmission block 455. The limiting device 451 is installed in the installation mechanism 1, the sliding shaft 452 is fixed on the limiting device 451, the pushing frame 453 is sleeved on the sliding shaft 452 and is slidably connected with the limiting device 451, a transmission groove 4530 is opened on the pushing frame 453, one end of the transmission block 455 is fixed on the movable brake disc 5, and the other end of the transmission block 455 is inserted into the transmission groove 4530 and is transmission-connected with the pushing frame 453, the tooth plate member 47 is installed on the pushing frame 453, and the tooth plate member 47 is meshed with the gear 44.

[0024] In this embodiment, the fixed brake disc 2 and the movable brake disc 5 are assembled on the braking surface of the wheel hub that needs braking, the mounting mechanism 1 is installed on the vehicle frame, and the driving member 3 signal is connected to the brake pedal of the autonomous driving vehicle. When the brake pedal has no braking signal, the driving member 3 maintains the unlocking of the movable brake disc 5; when the brake pedal has a braking signal, the driving member 3 is used to drive the movable brake disc 5 to brake autonomously, and is used to control the driving member 3 by wire according to the braking signal, thereby automatically controlling the autonomous braking of the movable brake disc 5, and providing stable support for the wire control braking of the autonomous driving vehicle.

[0025] In this embodiment, the movable brake disc 5 includes two usage states: In the braking state, the movable brake disc 5 is in an extended state, and the movable brake disc 5 abuts against the braking surface of the wheel hub; In the unlocked state, the movable brake disc 5 is in a retracted state, and the movable brake disc 5 is separated from the braking part of the wheel hub.

[0026] When the movable brake disc 5 is in a contracted state, the first elastic contraction member 62 provides stable contraction and limiting support for the movable brake disc 5, so that during the active braking process of the movable brake disc 5, the movable brake disc 5 can be stably extended or contracted.

[0027] The autonomous braking principle of the movable brake disc 5 is: The driving member 3 drives the second bevel gear 42 to rotate through the first bevel gear 41, and the second bevel gear 42 drives the gear 44 to rotate through the rotating shaft 43. When the gear 44 rotates, it drives the toothed plate member 47 to move. When the toothed plate member 47 moves, it drives the pushing frame 453 to move through the second telescopic member 46; When the pushing frame 453 moves and drives the transmission block 455 to extend through the transmission slot 4530, the transmission block 455 drives the movable brake disc 5 to extend, and the movable brake disc 5 extends and realizes autonomous braking; When the pushing frame 453 moves and drives the transmission block 455 to contract through the transmission slot 4530 , the transmission block 455 drives the movable brake disc 5 to contract, and the movable brake disc 5 contracts and realizes autonomous brake release.

[0028] In this embodiment, the first telescopic member 61 is a hydraulic lever, which is used to provide hydraulic assistance for rapid braking of the movable brake disc 5 .

[0029] The quick braking principle of the movable brake disc 5 is: The first telescopic member 61 drives the first elastic contraction member 62 to extend rapidly, and the first elastic contraction member 62 drives the movable brake disc 5 to extend rapidly, so that the movable brake disc 5 is quickly adjusted from an unlocked state to a braking state.

[0030] Ultimately, no matter whether the pushing frame 453 is in a braking state or an unlocking state, the first telescopic member 61 can directly drive the first elastic contraction member 62 to extend, and the first elastic contraction member 62 drives the active brake disc 5 to brake quickly; on the one hand, it is used for rapid braking when a rapid braking signal appears in the automatic driving vehicle, and on the other hand, it is used for electronic parking of the active brake disc 5 in the braking state; when an emergency braking signal appears, emergency braking is performed quickly without affecting the operation of the autonomous braking structure.

[0031] In a preferred embodiment of the present invention, the pushing frame 453 is in a U-shaped structure, and two transmission grooves 4530 are provided, and the two transmission grooves 4530 are symmetrically arranged at both ends of the pushing frame 453; The transmission slots 4530 and the transmission blocks 455 are arranged in a one-to-one correspondence.

[0032] The stability of the pushing frame 453 when it moves and pushes the transmission block 455 to extend is increased. When the pushing frame 453 moves and gradually returns to its original position, the first elastic contraction member 62 stably drives the movable brake disc 5 to contract, maintaining a stable connection between the transmission block 455 and the pushing frame 453, thereby achieving stable telescopic adjustment of the movable brake disc 5.

[0033] Please refer to FIG. 2 and FIG. 3 , the connecting mechanism 4 further includes a second telescopic member 46, both ends of which are fixedly connected to the toothed plate member 47 and the pushing frame 453, and the second telescopic member 46 is used to drive the toothed plate member 47 to telescope relative to the gear 44; The pushing device 45 further includes two elastic members 454, the elastic members 454 are sleeved on the sliding shaft 452, and the elastic members 454 are elastically connected to the limiting device 451 and the pushing frame 453; The two elastic members 454 are symmetrically arranged on both sides of the pushing frame 453 , and are used to maintain the pushing frame 453 to automatically return to its original position when the pushing frame 453 is in the returned position.

[0034] In this embodiment, the push frame 453 includes two use states: In the docking state, the toothed plate member 47 is meshed and connected with the gear 44. When the gear 44 rotates, the toothed plate member 47 drives the push frame 453 to move. When the push frame 453 moves, the transmission block 455 drives the movable brake disc 5 to extend or contract, thereby realizing active braking of the movable brake disc 5 (controlled by the pressure induction of the brake pedal). In the reset state, the tooth plate member 47 is separated from the gear 44 , and the two elastic members 454 can automatically push the push frame 453 to quickly return to the middle of the limiting device 451 , thereby realizing the rapid unlocking of the movable brake disc 5 .

[0035] The automatic homing principle of the push frame 453 is as follows: When active braking or active unlocking is required, the second telescopic member 46 is started, and the second telescopic member 46 drives the toothed plate member 47 to extend, and the toothed plate member 47 is docked and meshed with the gear 44, so that the push frame 453 is adjusted to a docking state. When the gear 44 drives the toothed plate member 47 to move, the toothed plate member 47 synchronously drives the push frame 453 to move through the second telescopic member 46. When the push frame 453 moves, it drives the transmission block 455 to extend or contract through the transmission slot 4530, and the transmission block 455 synchronously drives the active brake disc 5 to extend or contract, thereby realizing active braking or active unlocking of the active brake disc 5. When the movable brake disc 5 is in a braking state and needs to be quickly released, the second telescopic member 46 is activated, and the second telescopic member 46 drives the toothed plate member 47 to quickly retract, and the toothed plate member 47 is automatically separated from the gear 44, so that the push frame 453 switches from the docking state to the returning state, and the push frame 453 quickly returns to the middle of the limit device 451, and the movable brake disc 5 is quickly retracted under the action of the first elastic contraction member 62, so that the movable brake disc 5 is quickly unlocked; Finally, when the pushing frame 453 switches from the docking state to the returning state, the movable brake disc 5 can be quickly released from the brake simultaneously.

[0036] In this embodiment, the mounting mechanism 1 includes a mounting cover 11, a support seat 12 and a U-shaped frame 13. The top of the support seat 12 is fixed in the mounting cover 11, and the U-shaped frame 13 is fixed in the mounting cover 11; the fixed end of the first telescopic member 61 is fixed on the support seat 12; When the movable brake disc 5 is in an unlocked state, the movable brake disc 5 abuts against the U-shaped frame 13 .

[0037] It is used to maintain the stability of the movable brake disc 5 during telescopic adjustment.

[0038] In this embodiment, the driving component 3 includes a waterproof box, a motor and a wire control device. The waterproof box is installed on the mounting cover 11. The motor and the wire control device are integrated and installed in the mounting cover 11. The motor is signal-connected to the wire control device. The shaft end of the motor passes through the waterproof box and the mounting cover 11 and is fixedly connected to the first bevel gear 41.

[0039] In this embodiment, the control-by-wire device has a built-in brake PLC controller of the autonomous vehicle, which is used to provide signal feedback to the motor or the first telescopic member 61 according to the received braking signal, thereby providing stable support for the control-by-wire control of the autonomous vehicle.

[0040] By integrating the motor and the wire control device inside the waterproof box, the influence of the external environment on the motor and the wire control device is reduced.

[0041] In a preferred embodiment of the present invention, a temperature sensor is built into the installation cover 11 to monitor the temperature state in the installation cover 11 in real time during operation, so as to increase the function of monitoring the operation state of the equipment.

[0042] In an optional implementation of the present embodiment, the second telescopic member 46 is a hydraulic telescopic rod, which is used to directly drive the tooth plate member 47 to perform telescopic adjustment.

[0043] The braking principle of the movable brake disc 5 is: As shown in (a) of FIG. 5 , it may be defined that in the initial state, the movable brake disc 5 is in an unlocked state, the tooth plate member 47 is meshed with the gear 44, and the push frame 453 is in the middle of the limiting device 451; Please refer to (a) to (b) to (c) in Figure 5. During autonomous braking, the driving member 3 drives the gear 44 to rotate through the first bevel gear 41, the second bevel gear 42 and the rotating shaft 43, and the gear 44 drives the toothed plate member 47 to move. The toothed plate member 47 simultaneously drives the second telescopic member 46 and the pushing frame 453 to move as a whole. When the pushing frame 453 moves, it pushes the transmission block 455 to extend through the transmission slot 4530, and the transmission block 455 drives the active brake disc 5 to extend, thereby realizing autonomous braking of the active brake disc 5, so as to provide stable brake-by-wire support for the autonomous driving vehicle.

[0044] The principle of quick unlocking of the movable brake disc 5 in the braking state: As shown in (a) of FIG. 6 , the movable brake disc 5 is in a braking state, the toothed plate member 47 is meshed with the gear 44 , and the pushing frame 453 is at the edge of the limiting device 451 ; Please refer to (a) to (b) in FIG6 . When the brake is quickly released, the second telescopic member 46 is started, and the second telescopic member 46 drives the tooth plate member 47 to contract, and the tooth plate member 47 is automatically separated from the gear 44. After separation, the push frame 453 is adaptively contracted under the action of the elastic member 454 and the first elastic contraction member 62, and the push frame 453 is reset from the edge to the middle, and the movable brake disc 5 is quickly switched from the braking state to the unlocking state, thereby realizing the rapid unlocking of the autonomous driving vehicle after full braking, without the need for the drive of the driving member 3, and can also realize the rapid unlocking of the autonomous driving vehicle, which is suitable for the rapid unlocking and continued driving of the autonomous driving vehicle after full braking. Similarly, when the movable brake disc 5 quickly releases the brake, the second telescopic member 46 is started again, and the second telescopic member 46 quickly drives the toothed plate member 47 to engage with the gear 44, and after engagement, provides support for subsequent autonomous braking of the self-driving car.

[0045] Second embodiment: In another optional implementation of this embodiment, please refer to FIG. 7 and FIG. 8 , the limiting device 451 includes a supporting sliding frame 4511 and a fixing frame 4512, the bottom of the supporting sliding frame 4511 is fixed in the mounting cover 11, and the fixing frame 4512 is slidably mounted on the supporting sliding frame 4511; The second telescopic member 46 includes an elastic support member 461, a transmission rod 462 and a second elastic contraction member 463, the elastic support member 461 is elastically connected to the tooth plate member 47 and the pushing frame 453, the transmission rod 462 is hinged to the tooth plate member 47 and the mounting cover 11, and the second elastic contraction member 463 is hinged to the fixing part of the first elastic contraction member 62 and the top of the fixing frame 4512; The pushing frame 453 is slidably installed in the fixing frame 4512 , and the sliding shaft 452 is fixed in the fixing frame 4512 .

[0046] Specifically, the hinge shaft at the top of the transmission rod 462 passes through the tooth plate member 47 and is slidably connected thereto, and the transmission rod 462 is tilted; when the tooth plate member 47 moves downward, the transmission rod 462 adaptively pushes the tooth plate member 47 to retract (for separation between the tooth plate member 47 and the gear); when the tooth plate member 47 moves upward, the transmission rod 462 adaptively drives the tooth plate member 47 to extend (for docking between the tooth plate member 47 and the gear 44); In addition, sufficient movable clearance is reserved between the transmission rod 462 and the tooth plate 47 to provide avoidance for the normal movement and adjustment of the tooth plate 47. The transmission rod 462 will not affect the normal operation of the tooth plate 47, ensuring the stability of the operation of the tooth plate 47 in the meshing state with the gear 44.

[0047] In this embodiment, the first telescopic member 61 includes three use positions: Unlocking station, the movable brake disc 5 is unlocked, the tooth plate member 47 is meshed and connected with the gear 44, the pushing frame 453 is in transmission connection with the transmission block 455, and the second elastic contraction member 463 is contracted; In the braking position, the movable brake disc 5 is locked, the toothed plate 47 is meshedly connected with the gear 44, the push frame 453 is in transmission connection with the transmission block 455, and the second elastic contraction member 463 is extended; The workstation is quickly released, the movable brake disc 5 is unlocked, the tooth plate member 47 is separated from the gear 44, the pushing frame 453 is in transmission connection with the transmission block 455, and the second elastic contraction member 463 is contracted.

[0048] When it is necessary to control the tooth plate member 47 to separate from the gear 44 through the first telescopic member 61, the first telescopic member 61 is started, and the first telescopic member 61 drives the fixed part of the first elastic contraction member 62 to continue to contract. When the fixed part of the first elastic contraction member 62 moves, the second elastic contraction member 463 pushes the fixing frame 4512 to move downward adaptively. When the fixing frame 4512 moves, the elastic support member 461 drives the tooth plate member 47 to move downward adaptively. When the tooth plate member 47 moves downward, it contracts adaptively under the limiting action of the transmission rod 462, so that the tooth plate member 47 is automatically separated from the gear 44. Finally, it is achieved that under the driving action of the same first telescopic member 61 , the movable brake disc 5 can be extended and contracted, and the toothed plate member 47 and the gear 44 can be automatically separated.

[0049] In a preferred embodiment of the present invention, a displacement sensor is disposed on the fixing frame 4512 , and a detection end of the displacement sensor is aligned with a moving range of the pushing frame 453 .

[0050] The position of the push frame 453 can be conveniently and accurately monitored by a displacement sensor, thereby providing feedback on the accuracy of the push frame 453 during movement and adjustment.

[0051] In a preferred embodiment of the present invention, when the first telescopic member 61 is in the braking position, the displacement sensor is also used to detect the control accuracy of the drive member 3 to analyze the stability and safety of the autonomous braking of the drive member 3 and the connecting mechanism 4, so as to realize autonomous braking detection before the operation of the self-driving car and provide feedback support for braking abnormalities.

[0052] Before the autonomous driving vehicle starts, the first telescopic member 61 controls the movable brake disc 5 to maintain a braking state through the first elastic contraction member 62 to ensure stable braking before the autonomous driving vehicle starts safely; Before the automatic driving car is unlocked, the driving member 3 is started, and the driving member 3 controls the movement of the pushing frame 453. The displacement sensor monitors the movement signal of the pushing frame 453, and compares the control signal of the driving member 3 with the displacement signal of the pushing frame 453 to determine whether the pushing frame 453 can operate normally and safely. When the comparison signal is normal, the control signal of the driving member 3 and the displacement signal of the pushing frame 453 are the same as the preset comparison information, and the feedback braking of the driving member 3 is normal, and the automatic driving car can be safely started and the brake of the movable brake disc 5 can be manually released by unlocking; When the comparison signal is abnormal, the control signal of the driving member 3 and the displacement signal of the pushing frame 453 are different from the preset comparison information, and the driving member 3 feedbacks the braking abnormality, and the automatic driving car maintains the braking state and cannot start driving.

[0053] Provide support for monitoring and feedback of safe braking of autonomous vehicles before driving, and realize safety testing before the operation of autonomous vehicles.

[0054] The principle of quickly releasing the brake by driving the movable brake disc 5 through the first telescopic member 61 is as follows: As shown in (a) of FIG. 9 , it may be defined that, in the initial state, the movable brake disc 5 is in an autonomous braking state, and the gear 44 is meshed and connected with the toothed plate member 47; Please refer to (a) to (b) in Figure 9, start the first telescopic member 61, the first telescopic member 61 drives the fixed part of the first elastic contraction member 62 to contract, and while the fixed part of the first elastic contraction member 62 contracts, the second elastic contraction member 463 pushes the fixed frame 4512 to move downward, and the fixed frame 4512 slides downward stably along the support slide frame 4511, and while the fixed frame 4512 moves downward, the push frame 453 is driven to move downward as a whole through the slide shaft 452, and the push frame 453 slides down along the surface of the transmission block 455 on the one hand, and drives the second elastic contraction member 463 and the tooth plate member 47 to move downward on the other hand, and while the tooth plate member 47 moves downward, it adaptively contracts under the limiting action of the transmission rod 462, so as to realize the adaptive separation of the tooth plate member 47 and the gear 44; Please refer to (a) to (b) in FIG6 . When the tooth plate member 47 is automatically separated from the gear 44, the push frame 453 is quickly reset to the middle position of the fixed frame 4512 under the action of the elastic member 454, and the movable brake disc 5 is quickly released under the pulling action of the first elastic contraction member 62, so that the automatic driving vehicle can be quickly released under the full braking state, the pressure of the driving member 3 is relieved, and the service life of the driving member 3 is extended. As shown in FIG. 9( b ), the movable brake disc 5 is in a brake-released state, and the gear 44 is separated from the toothed plate member 47 ; Similarly, when the quick release of the brake is completed, the first telescopic member 61 is started again, so that during the process of the first telescopic member 61 switching from the quick release position to the unlocking position, the second elastic contraction member 463 pulls the fixing frame 4512 to move upward, and the fixing frame 4512 drives the tooth plate member 47 to move upward through the elastic support member 461. When the tooth plate member 47 moves upward, the transmission rod 462 pushes the tooth plate member 47 to extend adaptively, and the tooth plate member 47 automatically engages with the gear 44 to achieve the connection of the active braking of the movable brake disc 5. After the connection, the driving member 3 can perform subsequent active braking control, which does not affect the active braking and use of the movable brake disc 5 after quick braking. In which, during the process of the movable brake disc 5 quickly releasing the brake from the braking state, the driving member 3 does not move and the braking command automatically switches to the reset state. After the tooth plate member 47 is meshed and connected with the gear 44, the driving member 3 can receive the braking signal of autonomous braking again and perform autonomous braking according to the braking signal.

[0055] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A brake-by-wire device for an unmanned vehicle, characterized in that: include: Installation mechanism; A fixed brake disc, the fixed brake disc being mounted at one end of the mounting mechanism; A direct drive mechanism, the direct drive mechanism comprising a first telescopic member and a first elastic contraction member, the fixed end of the first telescopic member is fixedly arranged on the mounting mechanism, and the first elastic contraction member elastically connects the telescopic portion of the first telescopic member and the movable brake disc; a driving member, the driving member being mounted on the mounting mechanism; The connecting mechanism comprises a first bevel gear, a second bevel gear, a rotating shaft, a gear, a pushing device and a toothed plate member, the first bevel gear is fixedly mounted on the rotating shaft of the driving member, the second bevel gear is rotatably mounted in the mounting mechanism via the rotating shaft, the second bevel gear is meshingly connected with the first bevel gear, the gear is fixedly mounted on the rotating shaft, the pushing device comprises a limiting device, a sliding shaft, a pushing frame and a transmission block, the limiting device is mounted in the mounting mechanism, the sliding shaft is fixedly mounted on the limiting device, the pushing frame is sleeved on the sliding shaft and is slidably connected with the limiting device, a transmission groove is provided on the pushing frame, one end of the transmission block is fixedly mounted on the movable brake disc, and the other end of the transmission block is transmission-connected to the pushing frame after being inserted into the transmission groove, the toothed plate member is mounted on the pushing frame, and the toothed plate member is meshing with the gear.

2. The brake-by-wire device for an unmanned vehicle according to claim 1, characterized in that: The pushing frame is in a U-shaped structure, and two transmission grooves are provided, and the two transmission grooves are symmetrically arranged at two ends of the pushing frame; The transmission grooves and the transmission blocks are arranged in a one-to-one correspondence.

3. The brake-by-wire device for an unmanned vehicle according to claim 2, characterized in that: The connecting mechanism further comprises a second telescopic member, the two ends of which are fixedly connected to the toothed plate member and the pushing frame, and the second telescopic member is used to drive the toothed plate member to adjust its telescopic movement relative to the gear; The pushing device further comprises two elastic members, the elastic members are sleeved on the sliding shaft, and the elastic members are elastically connected to the limiting device and the pushing frame; Wherein, the two elastic members are symmetrically arranged on both sides of the pushing frame, and are used to maintain the pushing frame to automatically return to its original position when the pushing frame is in a returned state.

4. The brake-by-wire device for an unmanned vehicle according to claim 3, characterized in that: The mounting mechanism comprises a mounting cover, a support seat and a U-shaped frame, the top of the support seat is fixed in the mounting cover, and the U-shaped frame is fixed in the mounting cover; the fixed end of the first telescopic member is fixed on the support seat; When the movable brake disc is in an unlocked state, the movable brake disc abuts against the U-shaped frame.

5. The brake-by-wire device for an unmanned vehicle according to claim 4, characterized in that: The driving component includes a waterproof box, a motor and a wire control device. The waterproof box is installed on the mounting cover. The motor and the wire control device are integrated and installed in the mounting cover. The motor is signal-connected to the wire control device. The shaft end of the motor passes through the waterproof box and the mounting cover and is fixedly connected to the first bevel gear.

6. The brake-by-wire device for an unmanned vehicle according to claim 5, characterized in that: A temperature sensor is built into the mounting cover.

7. The brake-by-wire device for an unmanned vehicle according to claim 6, characterized in that: The limiting device comprises a supporting sliding frame and a fixing frame, the bottom of the supporting sliding frame is fixed in the mounting cover, and the fixing frame is slidably mounted on the supporting sliding frame; The second telescopic member includes an elastic support member, a transmission rod and a second elastic contraction member, the elastic support member is elastically connected to the tooth plate member and the pushing frame, the transmission rod is hinged to the tooth plate member and the mounting cover, and the second elastic contraction member is hinged to the fixing portion of the first elastic contraction member and the top of the fixing frame; Wherein, the pushing frame is slidably installed in the fixing frame, and the sliding shaft is fixed in the fixing frame.

8. The brake-by-wire device for an unmanned vehicle according to claim 7, characterized in that: A displacement sensor is arranged on the fixing frame, and a detection end of the displacement sensor is aligned with the moving range of the pushing frame.

9. The brake-by-wire device for an unmanned vehicle according to claim 8, characterized in that: When the first telescopic member is in the braking position, the displacement sensor is also used to detect the wire control accuracy of the driving member to analyze the stability and safety of the driving member and the connecting mechanism during autonomous braking.

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