Electric control power assisting device and braking method

Abstract

The electric control power assisting device comprises a motor, an output rod assembly, a transmission assembly, a pedal input assembly and a brake master cylinder, a controller is arranged on the motor, the controller is in signal connection with the motor, the motor is in transmission connection with the transmission assembly, the transmission assembly comprises a lead screw, the pedal input assembly is arranged in the lead screw in a sliding mode, and the brake master cylinder is arranged in the pedal input assembly. The pedal input assembly is in signal connection with the controller, the end of the lead screw abuts against the output rod assembly, the output rod assembly comprises a rubber pad, a first output push rod and a push rod connector, the first end of the first output push rod is matched with the pedal input assembly, and the second end of the first output push rod is connected with the push rod connector. The rubber pad is arranged between the first output push rod and the push rod connector in an abutting mode, the push rod connector abuts against a piston of the brake master cylinder, ABS or ESC of different manufacturers can be matched, and when brake fluid is reversely pumped to the brake master cylinder, the piston compresses the rubber pad to enable the piston to have the distance capable of moving in the direction of the output rod assembly, so that oil pressure in the brake master cylinder is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile braking, and in particular to an electric control booster device and a braking method. Background Art

[0002] At present, the energy revolution, Internet revolution and intelligent revolution are integrated with the transformation of the automobile industry around the world, and "carbon peak and carbon neutrality" have become an international consensus. New energy vehicles have also ushered in opportunities for rapid development. As the main mode of urban logistics and distribution, new energy light trucks face complex urban scenes and put forward higher requirements for the safety, reliability, functional scalability and comfort of the braking system to meet the needs of "unmanned driving".

[0003] At present, the mainstream braking methods of new energy light trucks mainly adopt three methods: vacuum assisted hydraulic braking, pneumatic braking, and hydraulic assisted hydraulic braking. The vacuum assisted hydraulic braking system has low braking force and long pedal travel, which poses safety hazards such as insufficient braking force on light trucks; the pneumatic braking system has rough braking, complex system, heavy weight, and high cost, which is not conducive to comfort and lightweight requirements; while the hydraulic assisted braking system has a simple structure and controllable braking linearity, which can meet greater braking force requirements and is used by many host manufacturers; but the existing hydraulic assisted braking and vacuum assisted braking technologies cannot achieve decoupling and cannot meet the needs of energy recovery and unmanned driving. Therefore, there are also electric hydraulic brake systems on the market, which use motors to drive the lead screw to push the brake master cylinder to establish oil pressure, which can achieve energy recovery and unmanned driving requirements. Energy recovery means that when the car decelerates or brakes, the controller in the brake system transmits the displacement signal to the vehicle control unit (VCU), and the VCU controls the vehicle drive motor to reverse according to the displacement signal, converting kinetic energy into electrical energy for energy recovery; but the existing electric hydraulic brake system has a small braking force and cannot meet the braking needs of light trucks; and the existing electric hydraulic brake system requires matching with its own ABS or ESC as a set. When the electric hydraulic brake system matches with the ABS or ESC of other manufacturers, when the ABS or ESC is triggered, the ABS or ESC will pump the brake fluid from the brake wheel cylinder to the brake master cylinder in reverse, but because the motor lead screw transmission is a rigid connection and does not have the ability to adjust, the piston of the brake master cylinder cannot move in the opposite direction due to the oil pressure, and the oil pressure in the brake master cylinder increases. When the brake master cylinder pressure is too high under extreme conditions and exceeds the adjustment capacity of ABS or ESC, the wheel will lock, which poses a great risk to braking safety. Therefore, it is necessary to improve it. Summary of the invention

[0004] The purpose of the present invention is to provide an electronically controlled power-assisting device and a braking method in view of the defects and shortcomings of the prior art. The device has a simple and reasonable structure, is easy to operate, and can match ABS or ESC from different manufacturers. When the brake fluid is pumped back to the master brake cylinder, the piston of the master brake cylinder compresses the rubber pad through the push rod joint under the action of the oil pressure, and the piston can move toward the output rod assembly to reduce the oil pressure in the master brake cylinder, so that the brake oil pressure does not exceed the adjustment range of the ABS or ESC.

[0005] To achieve the above object, the present invention adopts the following technical solutions: An electric-controlled power-assisting device described in the present invention includes a motor, an output rod assembly, a transmission assembly, a pedal input assembly and a brake master cylinder. A controller is provided on the motor, the controller is connected to the motor signal and can control the motor to work, the motor is in transmission connection with the transmission assembly, the transmission assembly includes a lead screw, a pedal input assembly is slidably provided in the lead screw, the pedal input assembly is connected to the controller signal, the end of the lead screw is abutted against the output rod assembly, and the end of the output rod assembly away from the lead screw is abutted against the piston, the output rod assembly includes a rubber pad, a first output push rod and a push rod joint, the first end of the first output push rod is matched with the pedal input assembly, the second end of the first output push rod is connected to the push rod joint, the rubber pad is abutted between the first output push rod and the push rod joint, the motor drives the lead screw to move axially, drives the output rod assembly to push the piston to move for braking, when the brake fluid is pumped back to the brake master cylinder, the brake fluid pushes the piston to move in the opposite direction, the push rod joint is subjected to force to compress the rubber pad so that the piston has a distance that can be moved in the direction of the output rod assembly, so as to reduce the oil pressure in the brake master cylinder.

[0006] Furthermore, the output rod assembly also includes a wire retaining ring, and the first output push rod is provided with a first groove corresponding to the wire retaining ring. The wire retaining ring is arranged in the first groove, and the push rod joint is limited by the wire retaining ring and fixes the rubber pad.

[0007] Furthermore, the output rod assembly also includes a second output push rod, a first end of the second output push rod is fixedly connected to the push rod joint, and a second end of the second output push rod is abutted against the piston.

[0008] Furthermore, an upper stepped shaft is provided at the first end of the second output push rod, a blind hole corresponding to the stepped shaft is provided on the push rod joint, and the stepped shaft extends into the blind hole to be matched with the blind hole.

[0009] Furthermore, it also includes a shell, the transmission assembly is arranged in the shell, a pinion gear is fixedly connected to the output shaft of the motor, the transmission assembly also includes a large gear, a flat key and a lead screw nut, a step shaft is arranged on the lead screw nut, the large gear is sleeved on the step shaft and meshes with the pinion gear, the flat key is connected between the large gear and the step shaft, the large gear is fixedly connected to the step shaft through the flat key, the lead screw is transmission-connected in the lead screw nut, a plurality of balls are arranged between the lead screw nut and the lead screw, a limiting boss is arranged at the first end of the lead screw, a return spring seat is fixedly connected to the second end of the lead screw, the return spring seat is abutted against the output rod assembly, and a return spring is abutted against the return spring seat and the shell.

[0010] Furthermore, an oil pressure sensor is provided on the brake master cylinder, and the oil pressure sensor is connected to the controller signal. The controller compares the actual brake oil pressure detected by the oil pressure sensor with the required brake oil pressure, calculates and processes the deviation, and then transmits the signal to the motor to realize closed-loop control.

[0011] Furthermore, a gap is formed between the pedal input assembly and the output rod assembly, and the pedal input assembly includes a displacement sensing module, a pedal rod and an input rod. The displacement sensing module is connected to the controller signal, the first end of the pedal rod is threadedly connected with a threaded fork, the second end of the pedal rod is movably connected to the input rod, one end of the input rod away from the pedal rod extends into the screw and is fixedly connected with a buffer block, and the external movable sleeves of the input rod and the pedal rod are provided with elastic parts.

[0012] Furthermore, the displacement sensing module includes a sensing module shell fixedly mounted on the outside of the input rod, a magnetic sensing element fixedly disposed in the sensing module shell, and a magnetic element disposed in the input rod, wherein the magnetic sensing element cooperates with the magnetic element, and the magnetic sensing element is connected to the controller signal.

[0013] Further, the elastic member includes a first spring, a second spring, a first spring seat and a second spring seat, a first spring seat is provided between the first spring and the second spring, the second spring seat is rotatably threadedly connected to the pedal rod, the first spring is disposed between the sensing module housing and the first spring seat, and the second spring is disposed between the first spring seat and the second spring seat.

[0014] Based on the electric-controlled power-assist device, a braking method of the electric-controlled power-assist device is also provided. The electric-controlled power-assist device also includes a housing, a displacement sensing module and a return spring seat. The lead screw is fixedly connected to the return spring seat, and the return spring seat is abutted against the output rod assembly. A return spring is abutted against the return spring seat and the housing. The braking method includes: 1) In the service braking state, the driver lightly steps on the pedal input assembly, and the pedal input assembly moves axially toward the output rod assembly. The displacement sensing module collects the displacement value of the pedal input assembly and outputs a displacement signal to the controller. The controller transmits the displacement signal to the vehicle VCU, and the vehicle VCU controls the vehicle drive motor to reverse according to the displacement signal to recover energy; when the driver further steps on the pedal input assembly, the pedal input assembly reduces the distance between the pedal input assembly and the output rod assembly. When the displacement value collected by the displacement sensing module reaches a preset displacement value, the controller controls the motor to work, and the motor drives the lead screw to move axially through the transmission assembly, driving the output rod assembly to push the piston of the brake master cylinder to move for braking; when the driver further steps on the pedal input assembly so that the pedal input assembly moves to contact with the output rod assembly, at this time, the motor reaches the maximum power-assisting effect, and the pedal input assembly transmits the pedal force applied by the driver to the output rod assembly; after the driver releases the brake, the controller controls the motor to reverse, and under the joint action of the motor and the return spring, the piston of the brake master cylinder and the output rod assembly are reset; 2) In the unmanned driving state, when the controller receives a braking command, the controller controls the motor to work, and the motor drives the lead screw to move axially through the transmission assembly, driving the output rod assembly to push the piston of the brake master cylinder to move for braking. The oil pressure sensor monitors the brake oil pressure in the brake master cylinder and feeds back the signal to the controller. The controller compares the received command, i.e. the required brake oil pressure, with the actual brake oil pressure detected by the oil pressure sensor, calculates the deviation, and then controls the motor to make fine adjustments to achieve closed-loop control; 3) When the vehicle brakes and triggers ABS or ESC, ABS or ESC adjusts and pumps the brake fluid from the wheel cylinder back to the master cylinder. When extreme working conditions occur, the oil pressure in the master cylinder increases and reaches the limit adjustment capacity of ABS or ESC. Under the action of oil pressure, the piston of the master cylinder compresses the rubber pad through the push rod joint, and the piston can move toward the output rod assembly to reduce the oil pressure in the master cylinder, so that the brake oil pressure does not exceed the adjustment range of ABS or ESC. At this time, the controller monitors the dynamic changes of the entire braking process in real time; 4) When the high voltage power of the vehicle fails or a fault occurs during driving, the motor cannot drive the transmission assembly to work. The driver steps on the pedal input assembly, and the pedal input assembly moves axially toward the output rod assembly until the pedal input assembly contacts the output rod assembly. The pedal input assembly pushes the output rod assembly, and the output rod assembly pushes the piston of the brake master cylinder to brake.

[0015] The beneficial effects of the present invention are as follows: the present invention provides an electronically controlled power-assisted braking device, which uses a motor as a power source, transmits the force through a transmission assembly, amplifies the force and transmits it to a lead screw, thereby controlling the axial movement of the lead screw. When the driver steps on the pedal to control the movement of the pedal input assembly, the displacement sensing module receives the braking intention signal and transmits the signal to the vehicle VCU. The vehicle VCU controls the vehicle drive motor to reverse, converts the kinetic energy into electrical energy for energy recovery, and after the pedal input assembly contacts the output rod assembly, the rubber buffer block at the end of the pedal input assembly is compressed to ensure the smoothness of the pedal feel during braking; a gap is provided between the pedal input assembly and the output rod assembly. When the motor is working normally, the displacement sensing module receives the braking intention signal, and when the displacement value collected by the displacement sensing module reaches the preset displacement value, the motor starts to work, pushes the output rod assembly through the lead screw, and then pushes the piston of the brake master cylinder to move for braking; when the motor fails, the pedal is pressed, the pedal input assembly moves to eliminate the gap with the output rod assembly, the pedal input assembly contacts the output rod assembly, and the output rod assembly pushes the piston of the brake master cylinder to move for braking. After the motor fails, the pedal can still be used for braking, thereby achieving safety. Redundancy; the second spring seat can be adjusted on the pedal rod by rotating, and then the preload of the second spring can be adjusted to match the pedal starting force of different strengths; the electronically controlled power-assisting device described in the present invention can match ABS (anti-lock braking system) or ESC (electronic stability control system) of different manufacturers in hardware by setting a rubber pad, and the ABS or ESC is connected to the brake master cylinder pipeline. When the whole vehicle brake triggers the ABS or ESC, the ABS or ESC adjusts to pump the brake fluid from the brake wheel cylinder to the brake master cylinder in reverse. When an extreme working condition occurs, the oil pressure of the brake master cylinder increases and reaches the extreme adjustment capacity of the ABS or ESC, the piston of the brake master cylinder compresses the rubber pad through the push rod joint under the action of the oil pressure, and the piston can move toward the output rod assembly to reduce the oil pressure in the brake master cylinder, so that the brake oil pressure does not exceed the adjustment range of the ABS or ESC, thereby ensuring the safety of braking. The movable distance of the piston corresponds to the maximum distance that the rubber pad can be compressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a cross-sectional structural schematic diagram of the present invention; Figure 2 yes Figure 1 A schematic diagram of the enlarged structure at A in the middle; Figure 3 yes Figure 1 A schematic diagram of the enlarged structure at B in the middle; Figure 4 is a schematic cross-sectional structure diagram of a pedal input assembly; Figure 5 yes Figure 4 Schematic diagram of the enlarged structure at C in the middle; Figure 6is a schematic diagram of the structure of the pedal input assembly; Figure 7 It is a schematic diagram of the structure of the transmission assembly; Figure 8 It is a schematic diagram of the cross-sectional structure of the output rod assembly.

[0017] Figure 1-Figure 8 In: 1001, front housing; 1002, rear housing; 10021, limiting groove; 1003, protective cover; 1004, screw; 1005, bolt; 20, pedal input assembly; 2001, threaded fork; 2002, pedal rod; 20021, ball head; 2003, locking nut; 2004, second spring seat; 2005, second spring; 2006, first spring seat; 2007, first spring; 2008, sensing module housing; 20081, magnetic sensing element; 20082, guide groove; 2009, input rod; 20091, magnetic element; 20092, connecting part; 20093, riveting part; 2010, rubber buffer block; 3 0. Transmission assembly; 3001. Large gear; 3002. Flat key; 3003. Screw nut; 3004. Screw; 3005. Steel ball; 3006. Limit washer; 3007. First bearing; 3008. Second bearing; 3009. Return spring seat; 3010. Return spring; 40. Output rod assembly; 4001. First output push rod; 4002. Rubber pad; 4003. Push rod joint; 4004. Wire retaining ring; 4005. Second output push rod; 40051. Step shaft; 50. Motor; 5001. Controller; 5002. Pinion; 60. Brake master cylinder; 6001. Piston; 6002. Oil pressure sensor; 6003. Return spring. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] like Figure 1-Figure 8The electric power-assisting device shown in the figure includes a housing, a motor 50, an output rod assembly 40, a transmission assembly 30, a pedal input assembly 20 and a brake master cylinder 60, wherein the housing includes a front housing 1001 and a rear housing 1002, the controller 5001 is fixedly connected to the rear housing 1002 and the front housing 1001 by bolts 1005, one end of the transmission assembly 30 is fixed to the front housing 1001 by a first bearing 3007, and the other end of the transmission assembly 30 is fixed to the rear housing 1002 by a second bearing 3008, the motor 50 is provided with a controller 5001, the controller 5001 is connected to the motor 50 signal and can control the motor 50 to work, the output shaft of the motor 50 is connected to the transmission assembly 30, the transmission assembly 30 includes a lead screw 3004, the lead screw 3005 The interior of 004 ​​is hollow in design, and a pedal input assembly 20 is provided at the front end of the front shell 1001. The pedal input assembly 20 extends into the lead screw 3004, and the pedal input assembly 20 can slide relative to the lead screw 3004. The pedal input assembly 20 is connected to the controller 5001 by signal, and the end of the lead screw 3004 is against the output rod assembly 40, and the end of the output rod assembly 40 away from the lead screw 3004 is against the piston 6001. The output rod assembly 40 includes a rubber pad 4002, a first output push rod 4001 and a push rod joint 4003. The first end of the first output push rod 4001 cooperates with the pedal input assembly 20, and the second end of the first output push rod 4001 is connected to the push rod joint 4003. The rubber pad 4002 is set between the first output push rod 4001 and the push rod joint 4003. Specifically, refer to Figure 2 The second end of the first output push rod 4001 is provided with a mounting groove, and the rubber pad 4002 is arranged in the mounting groove. Preferably, in this embodiment, refer to Figure 3The output rod assembly 40 also includes a wire retaining ring 4004. A first groove corresponding to the wire retaining ring 4004 is provided on the second end of the first output push rod 4001. The wire retaining ring 4004 is arranged in the first groove. The push rod joint 4003 is limited by the wire retaining ring 4004 and fixes the rubber pad 4002. Specifically, a reset spring 6003 for resetting the piston 6001 is provided in the piston 6001. The motor 50 drives the lead screw 3004 to move axially, driving the output rod assembly 40 to push the piston 6001 to move, so that the brake fluid in the brake master cylinder 60 is pumped into the brake wheel cylinder for braking. The electronically controlled power-assisting device of the present invention can match different manufacturers A in hardware by setting the rubber pad 4002. BS (anti-lock braking system) or ESC (electronic stability control system), ABS or ESC is connected with the brake master cylinder 60 and the brake wheel cylinder pipeline. When ABS or ESC is triggered, ABS or ESC works to pump the brake fluid in the brake wheel cylinder back to the brake master cylinder 60, and the oil pressure of the brake master cylinder 60 increases. When the extreme working condition occurs, the oil pressure of the brake master cylinder 60 increases to the limit adjustment capacity of ABS or ESC, and the piston 6001 of the brake master cylinder 60 compresses the rubber pad 4002 through the push rod joint 4003 under the action of oil pressure, and the piston 6001 can move toward the output rod assembly 40 to reduce the oil pressure in the brake master cylinder 60, so that the brake oil pressure does not exceed the adjustment range of ABS or ESC. At this time, the controller 5001 monitors the dynamic changes in the entire braking process in real time. Specifically, the movable distance of the piston 6001 corresponds to the maximum distance that the rubber pad 4002 can be compressed. When the piston 6001 moves in the opposite direction, the volume in the brake master cylinder 60 increases, thereby reducing the oil pressure in the brake master cylinder 60.

[0020] ABS or ESC usually reaches its limit operating condition when the vehicle encounters emergency braking or extreme driving conditions. Specifically, ABS will prevent the wheels from locking when the vehicle is in emergency braking, especially on slippery roads, thereby maintaining the vehicle's controllability and avoiding loss of control; while ESC will intervene when the vehicle is in an unstable state such as skidding or drifting, and help the driver maintain the stability and controllability of the vehicle by adjusting the braking force of each wheel and the engine output. The ABS and ESC described in the present invention are both existing technologies and will not be described in detail here.

[0021] Preferably, in this embodiment, refer to Figure 8The output rod assembly 40 also includes a second output push rod 4005, a first end of which is fixedly connected to the push rod joint 4003, and a second end of the second output push rod 4005 is abutted against the piston 6001. Specifically, a ball socket that cooperates with the second output push rod 4005 is provided on the piston 6001, and the second output push rod 4005 extends into the ball socket and abuts against the ball socket.

[0022] Preferably, in this embodiment, refer to Figure 8 The first end of the second output push rod 4005 is provided with an upper stepped shaft 40051, and the push rod joint 4003 is provided with a blind hole corresponding to the stepped shaft 40051, and the stepped shaft 40051 extends into the blind hole and is connected with the blind hole.

[0023] Preferably, in this embodiment, refer to Figure 7 The output shaft of the motor 50 is fixedly connected with a pinion 5002. The transmission assembly 30 also includes a large gear 3001, a flat key 3002 and a lead screw nut 3003. The lead screw nut 3003 is provided with a stepped shaft. The large gear 3001 is sleeved on the stepped shaft and meshes with the small gear 5002. The flat key 3002 is connected between the large gear 3001 and the stepped shaft. The large gear 3001 is fixedly connected to the stepped shaft through the flat key 3002. Then, one end of the large gear 3001 is limitedly matched with the shoulder of the screw nut 3003, and the other end of the large gear 3001 is limitedly matched with the limiting washer 3006 and the first bearing 3007 to prevent the axial movement of the large gear 3001 from affecting its use. Specifically, the limiting washer 3006 and the first bearing 3007 are coaxially sleeved on the step shaft of the screw nut 3003, and the first bearing 3007 and the second bearing 3008 are interference fit with the screw nut 3003. The screw 3004 is connected to the mother 3003 in a transmission manner, and a plurality of balls are arranged between the screw nut 3003 and the screw 3004 to reduce the friction force of the relative rotation and movement between the screw nut 3003 and the screw 3004; a limiting boss is arranged at the first end of the screw 3004, and a return spring seat 3009 is fixedly connected to the second end of the screw 3004, and the return spring seat 3009 is interference fit with the screw 3004 to ensure the stability and reliability of the connection. The seat 3009 is abutted against the output rod assembly 40, and a return spring 3010 is abutted between the return spring seat 3009 and the rear shell 1002. Specifically, a limiting step is provided on the return spring seat 3009, and a limiting groove 10021 matching the return spring seat 3009 is provided on the rear shell 1002. One end of the return spring 3010 is limitedly matched with the limiting step, and the other end of the return spring 3010 is limitedly matched with the limiting groove 10021.

[0024] Specifically, when the motor 50 works, it drives the small gear 5002 to rotate synchronously, and the small gear 5002 drives the large gear 3001 and the screw nut 3003 to rotate synchronously. The rotation of the screw nut 3003 drives the screw 3004 to move axially. Specifically, when the motor 50 rotates forward, the screw 3004 moves toward the output rod assembly 40, and when the motor 50 rotates reversely, the screw 3004 moves toward the input rod 2009.

[0025] Preferably, see Figure 1 The first spring 2007 and the second spring 2005 are also covered with a protective cover 1003 to provide protection.

[0026] Preferably, in this embodiment, refer to Figure 1 The brake master cylinder 60 is provided with an oil pressure sensor 6002, and the oil pressure sensor 6002 is connected to the controller 5001 by signal. The controller 5001 compares the actual brake oil pressure detected by the oil pressure sensor 6002 with the required brake oil pressure, and after calculating the deviation, the controller 5001 transmits the signal to the motor 50 to realize closed-loop control.

[0027] Preferably, in this embodiment, refer to Figure 4-Figure 6The pedal input assembly 20 further includes a pedal rod 2002 and an input rod 2009. The displacement sensing module is connected to the controller 5001 by signal. The first end of the pedal rod 2002 is threadedly connected with a threaded fork 2001. The threaded fork 2001 is used to be fixedly connected to the pedal. Specifically, the threaded fork 2001 is fixedly connected to the pedal rod 2002 by threads and locked by a locking nut 2003. Through this threaded connection, the user can adjust the installation length of the pedal relative to the pedal rod 2002 as needed, thereby achieving precise adjustment of the pedal position. In order to meet the needs of different users, the second end of the pedal rod 2002 is movably connected to the input rod 2009. Specifically, the second end of the pedal rod 2002 is provided with a ball head 20021, and the input rod 2009 is provided with a connecting portion 20092 that cooperates with the ball head 20021. The ball head 20021 can rotate in the connecting portion 20092 around the center of the ball head 20021. Preferably, in this embodiment, the connecting portion 20092 and the ball head 20021 are connected by riveting, and the connection relationship is stable and reliable. Riveting is a method of applying pressure. A processing technology that causes plastic deformation of a material by applying pressure. Plastic deformation refers to permanent deformation of a material under the action of an external force, and this deformation will not return to its original state after the external force is removed. Specifically, the connecting portion 20092 is provided with a rivet portion 20093 that is tightened inwardly, and the ball head 20021 is limited in the connecting portion 20092 by the rivet portion 20093, so that the ball head 20021 and the connecting portion 20092 are not easily separated in the axial direction. By means of riveting connection, no additional connecting materials or parts are required, which saves costs. Of course, in other embodiments, The ball head 20021 and the connecting part 20092 may also be connected in other ways. For example, a limit piece may be provided on the connecting part 20092 so that the ball head 20021 is limited within the connecting part 20092. When the pedal moves in an arc (i.e., the pedal moves along an arc trajectory), the ball head 20021 may match the non-coaxial force input of the pedal's arc motion. During the pedal's arc motion, the direction of the force may change with the change of the pedal position. When the ball head 20021 is subjected to force, it may rotate within the connecting part 20092 around the center of the ball head 20021, thereby being well adapted to such changes.

[0028] One end of the input rod 2009 away from the pedal rod 2002 extends into the screw 3004 and is fixedly connected with a buffer block. Specifically, the buffer block is made of rubber material, and the rubber material has good elasticity and shock absorption performance. When the input rod 2009 contacts the output rod assembly 40, it can play a good buffering role and ensure the smoothness of the pedal feel. The external movable sleeves of the input rod 2009 and the pedal rod 2002 are provided with elastic parts.

[0029] Preferably, in this embodiment, refer to Figure 2The displacement sensing module includes a sensing module housing 2008 fixedly mounted on the outside of the input rod 2009, a magnetic sensing element 20081 fixedly mounted in the sensing module housing 2008, and a magnetic element 20091 mounted in the input rod 2009. The sensing module housing 2008 is fixed to the front housing 1001 by screws 1004 to ensure a stable and reliable connection. The input rod 2009 and the pedal rod 2002 both pass through the inner hole of the sensing module housing 2008 and can slide relative to the sensing module housing 2008. A guide groove 20082 is provided in the inner hole of the module housing 2008, and the limiting boss arranged on the lead screw 3004 cooperates with the guide groove 20082. When the lead screw nut 3003 rotates to drive the lead screw 3004 to move axially, the limiting boss cooperates with the guide groove 20082 to effectively avoid the lead screw 3004 from unexpected radial displacement or offset; the magnetic sensing element 20081 cooperates with the magnetic element 20091 to sense the braking intention, and the magnetic sensing element 20081 is connected to the controller 5001 signal.

[0030] Specifically, when the input rod 2009 moves, the magnetic element 20091 moves accordingly, thereby changing the magnetic field strength sensed by the magnetic sensing element 20081, thereby sensing the braking intention and transmitting the signal to the controller (ECU) 5001. In addition, the displacement sensing module is also connected to the vehicle VCU signal. After receiving the signal, the vehicle VCU controls the vehicle drive motor to reverse, converts kinetic energy into electrical energy and stores it, thereby realizing energy recovery. The ECU and VCU described in the present invention belong to the prior art and are not described here.

[0031] When the displacement value collected by the displacement sensing module reaches the preset displacement value, the controller (ECU) 5001 controls the motor 50 to work, and the motor 50 drives the transmission assembly 30 through the pinion 5002 to drive the lead screw 3004 to move axially, and drives the output rod assembly 40 to push the piston 6001 of the brake master cylinder 60 to move for braking.

[0032] Preferably, in this embodiment, refer to Figure 1The elastic member includes a first spring 2007, a second spring 2005, a first spring seat 2006 and a second spring seat 2004. The first spring seat 2006 is provided between the first spring 2007 and the second spring 2005. The second spring seat 2004 is rotatably threadedly connected to the pedal rod 2002. The second spring seat 2004 can be adjusted on the pedal rod 2002 by rotation, thereby adjusting the preload force of the second spring 2005 to match the pedal starting force of different strengths. 2007 is disposed between the sensing module housing 2008 and the first spring seat 2006. Specifically, the sensing module housing 2008 is provided with a limiting step that cooperates with the first spring 2007. The second spring 2005 is disposed between the first spring seat 2006 and the second spring seat 2004. The sensing module housing 2008, the first spring 2007, the first spring seat 2006, the second spring 2005, the second spring seat 2004 and the pedal rod 2002 cooperate to form a pedal simulator.

[0033] The present invention also provides a braking method of an electronically controlled power-assisted braking device, comprising the electronically controlled power-assisted device, wherein the electronically controlled power-assisted device further comprises a housing, a displacement sensing module and a return spring seat 3009, wherein the lead screw 3004 is fixedly connected to the return spring seat 3009, the return spring seat 3009 is abutted against the output rod assembly 40, and a return spring 3010 is abutted against the return spring seat 3009 and the brake master cylinder 60. The braking method comprises: 1) In the driving brake state, the driver lightly steps on the pedal input assembly 20, and the pedal input assembly 20 moves axially toward the output rod assembly 40. The displacement sensing module collects the displacement value of the pedal input assembly 20 and outputs a displacement signal to the controller 5001. The controller 5001 transmits the displacement signal to the vehicle VCU, and the vehicle VCU controls the vehicle drive motor 50 to reverse and recover energy according to the displacement signal; when the driver further steps on the pedal input assembly 20, the distance between the pedal input assembly 20 and the output rod assembly 40 is reduced. When the displacement value collected by the displacement sensing module reaches a preset displacement value, the controller 5001 controls the motor 50 to work, and the motor 50 is turned on. The pinion 5002 drives the transmission assembly 30 to drive the lead screw 3004 to move axially, and drives the output rod assembly 40 to push the piston 6001 of the brake master cylinder 60 to move for braking; when the driver further presses the pedal input assembly 20 so that the pedal input assembly 20 moves to contact with the output rod assembly 40, at this time, the motor 50 reaches the maximum power-assisting effect, and the pedal input assembly 20 transmits the pedal force applied by the driver to the output rod assembly 40; after the driver releases the brake, the controller 5001 controls the motor 50 to reverse, and under the joint action of the motor 50 and the return spring 3010, the piston 6001 of the brake master cylinder 60 and the output rod assembly 40 are reset; 2) In the unmanned driving state, when the controller 5001 receives a braking command, the controller 5001 controls the motor 50 to work, and the motor 50 drives the transmission assembly 30 through the pinion 5002 to drive the lead screw 3004 to move axially, and drives the output rod assembly 40 to push the piston 6001 of the brake master cylinder 60 to move for braking. The oil pressure sensor 6002 monitors the brake oil pressure in the brake master cylinder 60 and feeds back the signal to the controller 5001. The controller 5001 compares the received command, i.e., the required brake oil pressure, with the actual brake oil pressure detected by the oil pressure sensor 6002, calculates and processes the deviation, and then controls the motor 50 to make fine adjustments to achieve closed-loop control; 3) When the vehicle brake triggers ABS or ESC, ABS or ESC adjusts to pump the brake fluid from the brake wheel cylinder back to the brake master cylinder 60. When an extreme working condition occurs, the oil pressure in the brake master cylinder 60 increases and reaches the limit adjustment capacity of the ABS or ESC. Under the action of the oil pressure, the piston 6001 of the brake master cylinder 60 compresses the rubber pad 4002 through the second output push rod 4005 and the push rod joint 4003. The piston 6001 can move toward the output rod assembly 40 to reduce the oil pressure in the brake master cylinder 60 so that the brake oil pressure does not exceed the adjustment range of the ABS or ESC. At this time, the controller 5001 monitors the dynamic changes of the entire braking process in real time; 4) When the high voltage power of the vehicle fails or a fault occurs during driving, the motor 50 cannot drive the transmission assembly 30 to work, and the driver steps on the pedal input assembly 20, and the pedal input assembly 20 moves axially toward the output rod assembly 40 until the pedal input assembly 20 contacts the output rod assembly 40. The pedal input assembly 20 pushes the output rod assembly 40, and the output rod assembly 40 pushes the piston 6001 of the brake master cylinder 60 to brake.

[0034] Preferably, in this embodiment, the displacement signal is a linear analog signal.

[0035] The above description is only a preferred embodiment of the present invention, so all equivalent changes or modifications made according to the structure, characteristics and principles described in the scope of the patent application of the present invention are included in the scope of the patent application of the present invention.

Claims

1. An electric-controlled power-assisting device, comprising a motor (50), an output rod assembly (40), a transmission assembly (30), a pedal input assembly (20) and a brake master cylinder (60), characterized in that: The motor (50) is provided with a controller (5001), the controller (5001) is connected to the motor (50) by signal and can control the motor (50) to work, the motor (50) is connected to the transmission assembly (30) by transmission, the transmission assembly (30) comprises a lead screw (3004), a pedal input assembly (20) is slidably arranged in the lead screw (3004), the pedal input assembly (20) is connected to the controller (5001) by signal, an end of the lead screw (3004) abuts against an output rod assembly (40), an end of the output rod assembly (40) away from the lead screw (3004) abuts against a piston (6001), the output rod assembly (40) comprises a rubber pad (4002), a first output push rod (4001) and a push rod joint (4003), the first output The first end of the push rod (4001) cooperates with the pedal input assembly (20), the second end of the first output push rod (4001) is connected to a push rod joint (4003), and the rubber pad (4002) is arranged between the first output push rod (4001) and the push rod joint (4003). The motor (50) drives the lead screw (3004) to move axially, driving the output rod assembly (40) to push the piston (6001) to move for braking. When the brake fluid is pumped back to the brake master cylinder (60), the brake fluid pushes the piston (6001) to move in the opposite direction, and the push rod joint (4003) is forced to compress the rubber pad (4002) so that the piston (6001) has a distance that can be moved in the direction of the output rod assembly (40), so as to reduce the oil pressure in the brake master cylinder (60).

2. The electric power assist device according to claim 1, characterized in that: The output rod assembly (40) further comprises a wire retaining ring (4004); the first output push rod (4001) is provided with a first groove corresponding to the wire retaining ring (4004); the wire retaining ring (4004) is arranged in the first groove; the push rod joint (4003) is limited by the wire retaining ring (4004) and fixes the rubber pad (4002).

3. The electric power assist device according to claim 1, characterized in that: The output rod assembly (40) further comprises a second output push rod (4005), wherein a first end of the second output push rod (4005) is fixedly connected to a push rod joint (4003), and a second end of the second output push rod (4005) is abutted against the piston (6001).

4. The electric power assist device according to claim 3, characterized in that: The first end of the second output push rod (4005) is provided with an upper stepped shaft (40051), the push rod joint (4003) is provided with a blind hole corresponding to the stepped shaft (40051), and the stepped shaft (40051) extends into the blind hole and is connected to the blind hole.

5. The electric power assist device according to claim 1, characterized in that: The transmission assembly also includes a housing, the transmission assembly is arranged in the housing, a pinion gear (5002) is fixedly connected to the output shaft of the motor (50), the transmission assembly (30) also includes a large gear (3001), a flat key (3002) and a lead screw nut (3003), the lead screw nut (3003) is provided with a stepped shaft, the large gear (3001) is sleeved on the stepped shaft and meshes with the pinion gear (5002), the flat key (3002) is connected between the large gear (3001) and the stepped shaft, and the large gear (3001) is connected to the pinion gear (5002) by a flat key (3002). The flat key (3002) is fixedly connected to the stepped shaft, the lead screw (3004) is transmission-connected inside the lead screw nut (3003), a plurality of ball bearings are arranged between the lead screw nut (3003) and the lead screw (3004), a limiting boss is arranged at the first end of the lead screw (3004), a return spring seat (3009) is fixedly connected to the second end of the lead screw (3004), the return spring seat (3009) is abutted against the output rod assembly (40), and a return spring (3010) is abutted against the return spring seat (3009) and the housing.

6. The electric power assist device according to claim 1, characterized in that: The brake master cylinder (60) is provided with an oil pressure sensor (6002), and the oil pressure sensor (6002) is connected to the controller (5001) by signal. The controller (5001) compares the actual brake oil pressure detected by the oil pressure sensor (6002) with the required brake oil pressure. After the controller (5001) calculates and processes the deviation, it controls the motor (50) to perform fine adjustment to achieve closed-loop control.

7. The electric power assist device according to claim 1, characterized in that: A gap is formed between the pedal input assembly (20) and the output rod assembly (40). The pedal input assembly (20) comprises a displacement sensing module, a pedal rod (2002) and an input rod (2009). The displacement sensing module is signal-connected to a controller (5001). A first end of the pedal rod (2002) is threadedly connected to a threaded fork (2001). A second end of the pedal rod (2002) is movably connected to the input rod (2009). An end of the input rod (2009) away from the pedal rod (2002) extends into a lead screw (3004) and is fixedly connected to a buffer block. An elastic member is provided on the outer movable sleeves of the input rod (2009) and the pedal rod (2002).

8. The electric power assist device according to claim 7, characterized in that: The displacement sensing module comprises a sensing module housing (2008) fixedly sleeved on the outside of an input rod (2009), a magnetic sensing element (20081) fixedly arranged in the sensing module housing (2008), and a magnetic element (20091) arranged in the input rod (2009); the magnetic sensing element (20081) cooperates with the magnetic element (20091), and the magnetic sensing element (20081) is signal-connected to a controller (5001).

9. The electric power assist device according to claim 8, characterized in that: The elastic member comprises a first spring (2007), a second spring (2005), a first spring seat (2006) and a second spring seat (2004); a first spring seat (2006) is provided between the first spring (2007) and the second spring (2005); the second spring seat (2004) is rotatably threadedly connected to the pedal rod (2002); the first spring (2007) is disposed between a sensing module housing (2008) and the first spring seat (2006); and the second spring (2005) is disposed between the first spring seat (2006) and the second spring seat (2004).

10. A braking method for an electronically controlled power-assisted braking device, characterized in that: The invention comprises an electric-controlled power-assisting device as described in claim 6, wherein the electric-controlled power-assisting device further comprises a housing, a displacement sensing module and a return spring seat (3009), the lead screw (3004) is fixedly connected to the return spring seat (3009), the return spring seat (3009) and the output rod assembly (40) are abutted against each other, a return spring (3010) is abutted between the return spring seat (3009) and the housing, and the braking method comprises: 1) In a driving brake state, the driver lightly steps on the pedal input assembly (20), and the pedal input assembly (20) moves axially toward the output rod assembly (40). The displacement sensing module collects the displacement value of the pedal input assembly (20) and outputs a displacement signal to the controller (5001). The controller (5001) transmits the displacement signal to the whole vehicle VCU, and the whole vehicle VCU controls the whole vehicle drive motor to reverse according to the displacement signal to recover energy. When the driver further steps on the pedal input assembly (20), the distance between the pedal input assembly (20) and the output rod assembly (40) is reduced. When the displacement value collected by the displacement sensing module reaches a preset displacement value, the controller (5001) controls the motor (50) to operate, and the motor (50) The transmission assembly (30) drives the lead screw (3004) to move axially, thereby driving the output rod assembly (40) to push the piston (6001) of the brake master cylinder (60) to move and brake. When the driver further steps on the pedal input assembly (20) so that the pedal input assembly (20) moves to contact the output rod assembly (40), the motor (50) reaches a maximum assist effect, and the pedal input assembly (20) transmits the pedal force applied by the driver to the output rod assembly (40). After the driver releases the brake, the controller (5001) controls the motor (50) to reverse, and under the joint action of the motor (50) and the return spring (3010), the piston (6001) of the brake master cylinder (60) and the output rod assembly (40) are reset. 2) In the unmanned driving state, when the controller (5001) receives a braking command, the controller (5001) controls the motor (50) to work, and the motor (50) drives the lead screw (3004) to move axially through the transmission assembly (30), driving the output rod assembly (40) to push the piston (6001) of the brake master cylinder (60) to move for braking, and the oil pressure sensor (6002) monitors the brake oil pressure in the brake master cylinder (60) and feeds back the signal to the controller (5001). The controller (5001) compares the received command, i.e., the required brake oil pressure, with the actual brake oil pressure detected by the oil pressure sensor (6002), calculates the deviation, and then controls the motor (50) to perform fine adjustment to achieve closed-loop control; 3) When the vehicle brake triggers ABS or ESC, ABS or ESC adjusts to pump brake fluid from the brake wheel cylinder back into the brake master cylinder (60). When an extreme working condition occurs, the oil pressure of the brake master cylinder (60) increases and reaches the limit adjustment capacity of the ABS or ESC. Under the action of the oil pressure, the piston (6001) of the brake master cylinder (60) compresses the rubber pad (4002) through the push rod joint (4003), and the piston (6001) can move toward the output rod assembly (40) to reduce the oil pressure in the brake master cylinder (60) so that the brake oil pressure does not exceed the adjustment range of the ABS or ESC. At this time, the controller (5001) monitors the dynamic changes in the entire braking process in real time; 4) When the high voltage power of the vehicle fails or a fault occurs during driving of the vehicle, the motor (50) cannot drive the transmission assembly (30) to work, and the driver steps on the pedal input assembly (20), and the pedal input assembly (20) moves axially toward the output rod assembly (40) until the pedal input assembly (20) contacts the output rod assembly (40), and the pedal input assembly (20) pushes the output rod assembly (40), and the output rod assembly (40) pushes the piston (6001) of the brake master cylinder (60) to brake.

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