CN109435928B - Unmanned vehicle electrohydraulic braking system - Google Patents
Unmanned vehicle electrohydraulic braking system Download PDFInfo
- Publication number
- CN109435928B CN109435928B CN201811632650.2A CN201811632650A CN109435928B CN 109435928 B CN109435928 B CN 109435928B CN 201811632650 A CN201811632650 A CN 201811632650A CN 109435928 B CN109435928 B CN 109435928B
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- valve
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- 239000003921 oil Substances 0.000 claims description 68
- 238000000034 method Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 2
- 239000010720 hydraulic oil Substances 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses an unmanned vehicle electrohydraulic braking system which comprises a motor pump, an energy accumulator, a pressure sensor, a driving manual switch valve, a counter proportion electrohydraulic driving brake valve, a driving brake, a parking manual switch valve pump and a parking brake, wherein the motor pump is connected with the energy accumulator; the inlet of the motor pump is communicated with the oil outlet of the oil tank, and the outlet is communicated with the oil inlet of the energy accumulator; the pressure sensor is used for detecting the oil pressure of the energy accumulator in real time and then adjusting the starting of the motor pump; one path of oil outlet of the accumulator is connected with a counter-proportion electrohydraulic service brake valve and a service brake through a service manual switch valve and is used for controlling the service braking force of the service brake connected with the counter-proportion electrohydraulic service brake valve through the counter-proportion electrohydraulic service brake valve; the other path of the oil outlet of the energy accumulator is connected with the parking brake through a parking electromagnetic switch valve pump and is used for controlling the switch of the parking brake through the parking electromagnetic switch valve pump.
Description
Technical Field
The invention belongs to the technical field of unmanned vehicles, and relates to an unmanned vehicle electrohydraulic braking system.
Background
Currently, in an unmanned vehicle braking system, the unmanned vehicle braking system mainly adopts three modes of braking by using an electric push rod matched with a pedal, adding a lead screw by the electric push rod and adding a pull rope by an electric motor accelerator-decelerator.
The prior art has the following defects: (1) use of an electric push rod in conjunction with a pedal braking system: the whole structure of the driving scheme is complex and unreliable, the parking braking needs a power source, and the requirements of the regulations GB7258-2017 on the running safety technical conditions of motor vehicles are not met, and the safety design requirements are not met; (2) the design scheme of an electric push rod and lead screw braking system is as follows: the whole structure is complex, the parking brake needs a power source, and the requirements of the GB7258-2017 motor vehicle operation safety technical conditions and the safety design requirements are not met; (3) motor acceleration and deceleration machine adds stay cord braking system scheme: the braking scheme is complex, and the time delay is generated when the braking force is released, so that the whole vehicle is not controlled.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides an unmanned vehicle electrohydraulic braking system.
The technical scheme is as follows: in order to solve the technical problems, the invention adopts the following technical scheme:
the unmanned vehicle electrohydraulic braking system is characterized by comprising a motor pump, an energy accumulator, a pressure sensor, a driving manual switch valve, a counter proportion electrohydraulic driving brake valve, a driving brake, a parking manual switch valve pump and a parking brake;
the inlet of the motor pump is communicated with the oil outlet of the oil tank, and the outlet of the motor pump is communicated with the oil inlet of the energy accumulator;
the pressure sensor is used for detecting the oil pressure of the energy accumulator in real time, so as to adjust the opening of the motor pump, and play a role in energy conservation;
one path of oil outlet of the accumulator is connected with a counter-proportion electrohydraulic service brake valve and a service brake through a service manual switch valve respectively and is used for controlling the service braking force of the service brake connected with the counter-proportion electrohydraulic service brake valve through the counter-proportion electrohydraulic service brake valve; the driving manual switch valve is used for cutting off an oil path between the driving brake and the energy accumulator under the condition that the whole machine is not powered on, and performing driving brake release;
the other path of the oil outlet of the energy accumulator is connected with the parking brake through a parking electromagnetic switch valve pump and used for controlling the switch of the parking brake through the parking electromagnetic switch valve pump.
Furthermore, the unmanned vehicle electrohydraulic braking system is characterized by further comprising a parking manual switch valve pump and a manual pump, wherein the manual pump is connected with a parking brake through the parking manual switch valve pump and is used for performing parking brake release through manual adjustment when the whole vehicle is not powered on.
More preferably, the parking manual switch valve pump is connected with the parking brake through the parking electromagnetic switch valve pump.
Further, the unmanned vehicle electrohydraulic braking system is characterized in that a filter is arranged at the outlet end of the motor pump and used for filtering hydraulic oil entering the system.
Furthermore, the unmanned vehicle electrohydraulic braking system is characterized in that a plurality of energy accumulators are arranged, and a shuttle valve is arranged between the motor pump and the energy accumulators and is used for selectively charging the energy accumulators with insufficient pressure.
The parking brake is a spring locking brake, the spring is locked when no oil pressure exists, and the parking brake is performed; when the oil pressure is applied, the spring is opened, and the parking brake is released.
Further, the unmanned vehicle electrohydraulic braking system is characterized by further comprising an overflow valve, wherein an oil inlet of the overflow valve is communicated with the oil inlet channel, and an oil outlet of the overflow valve is communicated with the oil return channel.
Further, the unmanned vehicle electrohydraulic braking system is characterized by further comprising an oil return filter, wherein the oil return filter is arranged in front of an oil return port of the oil tank.
Further, the unmanned vehicle electrohydraulic braking system has the following working principle processes:
Under the condition that the vehicle is stationary and the whole vehicle is not started, the service brake is controlled to keep a locking state through a service manual switch valve and a counter proportion electrohydraulic service brake valve; the parking electromagnetic switch valve pump is not electrified, and the parking brake is in a locking state.
Under the condition of electrifying, the motor pump drives, and the motor pump absorbs oil from the oil tank and charges the accumulator; when the pressure sensor detects that the pressure of the energy accumulator is higher than a set value, the motor pump stops working; when the pressure is below the critical point, the motor pump is operated.
In the driving process, controlling a parking electromagnetic switch valve pump to be turned on, and releasing parking brake; controlling the power on of a counter proportion electrohydraulic service brake valve, releasing the service brake and running the whole vehicle; when the service braking is needed, the analog current signal of the counter-proportion electrohydraulic service brake valve is given to control the magnitude of the running braking force, so that the service braking is realized.
When the whole vehicle is not powered, the unpowered trailer is carried out, the manual switching valve of the travelling crane is manually pulled, the oil way between the travelling brake and the energy accumulator is cut off, and the travelling brake is released; and manually pulling the parking manual switch valve pump, and manually pulling the manual pump to supply oil to the parking brake to release the parking brake.
The beneficial effects are that: the electro-hydraulic braking system of the unmanned vehicle provided by the invention has the following advantages:
(1) The whole machine adopts a brand new electrohydraulic control braking mode, and the innovative invention realizes automatic service braking and parking braking by using electrohydraulic control.
(2) When the whole machine is parked, parking braking can be realized by only powering off all the electric elements, and the parking braking can be realized without an external power source, so that the parking safety is ensured, and the requirements of the regulations 'GB 7258-2017 motor vehicle operation safety technical conditions' are met;
(3) The whole machine is provided with a pressure sensor, the oil pressure of the energy accumulator is detected in real time, and the motor is started only when the pressure of the energy accumulator is insufficient to perform braking, so that the energy consumption is effectively saved; the energy-saving device has the obvious advantages that the loss of the whole vehicle is small, and the energy-saving effect of the whole vehicle is obvious;
(4) In order to realize the unpowered trailer, the manual switch valve and the manual pump are additionally arranged, so that the unpowered trailer of the whole vehicle is realized, and the operation of the unpowered trailer by external power when the whole vehicle is unpowered is ensured.
Drawings
Fig. 1 is a schematic diagram of an electro-hydraulic braking system of an unmanned vehicle of an embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Example 1
An electro-hydraulic braking system of an unmanned vehicle comprises a motor pump 10, an energy accumulator 4, a pressure sensor 13, driving manual switching valves Y3 and Y11, inverse proportion electro-hydraulic driving braking valves Y2 and Y12, a driving brake 1, a parking manual switching valve Y7 and a parking brake 6;
The inlet of the motor pump 10 is communicated with the oil outlet of the oil tank, and the outlet of the motor pump 10 is communicated with the oil inlet of the energy accumulator 4;
the pressure sensor 13 is used for detecting the oil pressure of the energy accumulator 4 in real time, so as to regulate the opening of the motor pump 10, thereby playing a role in energy conservation;
One path of oil outlet of the energy accumulator 4 is connected with the counter-proportion electrohydraulic service brake valves Y2 and Y12 and the service brake 1 through the service manual switch valves Y3 and Y11 respectively, and is used for controlling the service braking force of the service brake 1 connected with the counter-proportion electrohydraulic service brake valves Y2 and Y12;
The other path of the oil outlet of the energy accumulator 4 is connected with the parking brake 6 through a parking electromagnetic switch valve Y5 and used for controlling the switch of the parking brake through the parking electromagnetic switch valve Y5.
In the whole vehicle, two service brakes 1 are arranged, and one path of oil outlet of an energy accumulator 4 is connected with a reverse proportion electrohydraulic service brake valve Y2 and one of the service brakes 1 through a service manual switch valve Y3; one path is connected with the back proportion electrohydraulic service brake valve Y12 and the other service brake 1 through the service manual switch valve Y11.
The manual driving switch valves Y3 and Y11 are used for the trailer function under the condition that the whole machine is not powered.
Furthermore, the unmanned vehicle electrohydraulic braking system further comprises a parking manual switch valve Y7 and a manual pump 8, wherein the manual pump 8 is connected with the parking brake 6 through the parking manual switch valve Y7 and is used for performing parking brake release through manual adjustment when the whole vehicle is not powered on.
More preferably, the parking manual switch valve Y7 is connected to the parking brake 6 through the parking electromagnetic switch valve Y5.
In some embodiments, as shown in fig. 1, the accumulator 4 has a plurality of accumulators, and a shuttle valve is disposed between the motor pump 10 and the accumulator 4, so as to selectively charge the accumulator 4 with insufficient pressure.
The parking brake 6 is a spring locking brake, the spring is locked when no oil pressure exists, and the parking brake is performed; when the oil pressure is applied, the spring is opened, and the parking brake is released.
Further, as shown in fig. 1, the electro-hydraulic braking system of the unmanned vehicle further comprises an overflow valve, an oil inlet of the overflow valve is communicated with the oil inlet channel, and an oil outlet of the overflow valve is communicated with the oil return channel.
Further, as shown in fig. 1, the electro-hydraulic braking system of the unmanned vehicle further comprises an oil return filter 9, and the oil return filter 9 is arranged in front of an oil return port of the oil tank.
In some embodiments, as shown in fig. 1, an unmanned vehicle electrohydraulic braking system comprises a service brake 1, a reverse proportion electrohydraulic service brake valve Y2, a service manual switch valve Y3, an energy accumulator 4, a parking electromagnetic switch valve Y5, a parking brake 6, a manual switch valve Y7, a manual pump 8, an oil return filter 9, a motor pump 10, a service manual switch valve Y11, a reverse proportion electrohydraulic service brake valve Y12 and a pressure sensor 13; the motor pump 10 adopts a motor hydraulic pump;
The motor pump 10 is connected to the rear of the oil tank, a filter is arranged in front of the motor pump 10, and a pressure sensor 13 is arranged behind the filter and used for adjusting the pressure of the whole system, so that the opening of the motor pump is adjusted, and the energy-saving effect is achieved;
The back of the pressure sensor 13 is provided with a shuttle valve for selectively charging the accumulator 4, and the left end of the accumulator 4 is connected with driving manual switch valves Y3 and Y11 for the trailer function under the condition of complete machine no electricity.
And the back of the driving manual switch valves Y3 and Y11 is connected with the back-proportioned electro-hydraulic driving brake valves Y2 and Y12, and the back-proportioned electro-hydraulic driving brake valves Y2 and Y12 are used for controlling the back-proportioned driving brake 1, and the controller controls the magnitude of driving braking force by simulating current signals for the back-proportioned electro-hydraulic driving brake valves Y2 and Y12.
The energy accumulator 4 is connected with the parking electromagnetic switch valve Y5, and the parking electromagnetic switch valve Y5 is switched to control the parking brake 6, so that parking and release of the whole vehicle are achieved, when the position is shown in fig. 1, the parking state is achieved, and when the parking electromagnetic switch valve Y5 is electrified, the parking is released.
In some embodiments, as shown in fig. 1, the parking electromagnetic switch valve Y5 is connected with the parking manual switch valve Y7 and the manual pump 8, and in the state shown in fig. 1, neither the parking manual switch valve Y7 nor the manual pump 8 works, when the unpowered trailer needs to be carried out, the parking manual switch valve Y7 needs to be manually shifted, and the manual pump 8 is used for pumping oil to supply oil to the parking brake 6.
The invention relates to an electro-hydraulic braking system of an unmanned vehicle, which has the following working principle:
Under the condition that the vehicle is stationary and the whole vehicle is not started, the accumulator 4 controls the service brake 1 to keep a locking state through the service manual switching valves Y3 and Y11 and the counter electro-hydraulic service brake valves Y2 and Y12 and Y2 because the counter electro-hydraulic service brake valve Y2 is adopted. The parking electromagnetic switch valve Y5 is not electrified, the parking brake 6 is a spring locking brake, and the oilless parking brake 6 is locked.
When the motor pump 10 is powered on, the motor pump 10 rotates to absorb oil from the oil tank, and charges the accumulator 4 through the filter and the shuttle valve; when the pressure sensor 13 detects that the pressure of the accumulator is higher than a set value, the motor pump 10 stops working; when the pressure is below the critical point, the motor pump 10 is operated.
In the driving process, the whole vehicle controller controls the parking electromagnetic switch valve Y5 to be opened, the parking brake is released, the whole vehicle controller controls the reverse proportion electrohydraulic driving brake valves Y2 and Y12 to be electrified, the driving brake is released, and the whole vehicle runs; when braking is needed, the whole vehicle controller outputs an analog current signal to the inverse proportion electrohydraulic service brake valve to control the magnitude of the service braking force, so that the service braking is realized.
When the whole vehicle is not powered, the unpowered trailer needs to be carried out, the manual switching valves Y3 and Y11 of the travelling crane need to be manually pulled, the oil paths of the travelling brake 1 and the energy accumulator 4 are cut off, and the travelling brake is released; the parking manual switch valve Y7 is manually pulled, and the hand-operated manual pump 8 supplies oil to the parking brake 6 to release the parking brake.
The electro-hydraulic braking system of the unmanned vehicle provided by the invention has the following advantages:
(1) The whole machine adopts a brand new electrohydraulic control braking mode, and the innovative invention realizes automatic service braking and parking braking by using electrohydraulic control.
(2) When the whole machine is parked, parking braking can be realized by only powering off all the electric elements, and the parking braking can be realized without an external power source, so that the parking safety is ensured, and the requirements of the regulations 'GB 7258-2017 motor vehicle operation safety technical conditions' are met;
(3) The whole machine is provided with a pressure sensor, the oil pressure of the energy accumulator is detected in real time, and the motor pump is started only when the pressure of the energy accumulator is insufficient to execute braking, so that the energy consumption is effectively saved; the energy-saving device has the obvious advantages that the loss of the whole vehicle is small, and the energy-saving effect of the whole vehicle is obvious;
(4) In order to realize the unpowered trailer, the manual switch valve and the manual pump are additionally arranged, so that the unpowered trailer of the whole vehicle is realized, and the operation of the unpowered trailer by external power when the whole vehicle is unpowered is ensured.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present application.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (5)
1. The braking system is characterized by comprising a motor pump, an energy accumulator, a pressure sensor, a driving manual switch valve (Y3 and Y11), a reverse proportion electrohydraulic driving brake valve (Y2 and Y12), a driving brake, a parking manual switch valve and a parking brake;
The inlet of the motor pump is communicated with the oil outlet of the oil tank, and the outlet of the motor pump is communicated with the oil inlet of the energy accumulator; the pressure sensor is used for detecting the oil pressure of the energy accumulator in real time and then adjusting the opening of the motor pump; one path of oil outlet of the accumulator is connected with a counter-proportion electrohydraulic service brake valve and a service brake through a service manual switch valve and is used for controlling the service braking force of the service brake connected with the counter-proportion electrohydraulic service brake valve through the counter-proportion electrohydraulic service brake valve; the other path of the oil outlet of the energy accumulator is connected with the parking brake through a parking electromagnetic switch valve and is used for controlling the switch of the parking brake through the parking electromagnetic switch valve;
In the whole vehicle, two service brakes are arranged, and one path of oil outlet of the energy accumulator is connected with a reverse proportion electrohydraulic service brake valve (Y2) and one of the service brakes through a service manual switch valve (Y3); one path is connected with an inverse proportion electrohydraulic service brake valve (Y12) and the other service brake through a service manual switch valve (Y11); the manual driving switch valves (Y3 and Y11) are used for the trailer function under the condition that the whole machine is not powered;
The parking brake is a spring locking brake, the spring is locked when no oil pressure exists, and the parking brake is performed; when oil pressure exists, the spring is opened, and the parking brake is released;
the manual pump is connected with the parking brake through a parking manual switch valve and is used for performing parking brake release through manual adjustment when the whole vehicle is not powered on; the parking manual switch valve is connected with the parking brake through the parking electromagnetic switch valve;
Under the condition that the vehicle is stationary and the whole vehicle is not started, the accumulator controls the service brake to keep a locking state through the service manual switch valves (Y3 and Y11) and the inverse proportion electrohydraulic service brake valves (Y2 and Y12); the parking electromagnetic switch valve is not electrified, and the parking brake is in a locking state;
Under the condition of electrifying, the motor pump drives, and the motor pump absorbs oil from the oil tank and charges the accumulator; when the pressure sensor detects that the pressure of the energy accumulator is higher than a set value, the motor pump stops working; when the pressure is lower than the critical point, the motor pump works;
in the driving process, the parking electromagnetic switch valve is controlled to be opened, and the parking brake is released; controlling the power on of a counter proportion electrohydraulic service brake valve, releasing the service brake and running the whole vehicle; when the service braking is needed, the analog current signal of the counter-proportion electrohydraulic service brake valve is given to control the magnitude of the running braking force, so that the service braking is realized;
When the whole vehicle is not powered, the unpowered trailer is carried out, the manual switching valve of the travelling crane is manually pulled, the oil way between the travelling brake and the energy accumulator is cut off, and the travelling brake is released; and manually pulling the parking manual switch valve, and manually pumping oil to the parking brake by a manual pump to release the parking brake.
2. A brake system according to claim 1, wherein the outlet end of the motor pump is provided with a filter for filtering hydraulic oil entering the system.
3. A braking system according to claim 1 wherein a shuttle valve is provided between the motor pump and the accumulator for selectively charging the under-pressurized accumulator.
4. The brake system of claim 1, further comprising an overflow valve having an oil inlet in communication with the oil inlet passage and an oil outlet in communication with the oil return passage.
5. The brake system of claim 1, further comprising an oil return filter disposed before the oil return port of the oil tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811632650.2A CN109435928B (en) | 2018-12-29 | 2018-12-29 | Unmanned vehicle electrohydraulic braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811632650.2A CN109435928B (en) | 2018-12-29 | 2018-12-29 | Unmanned vehicle electrohydraulic braking system |
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| CN109435928A CN109435928A (en) | 2019-03-08 |
| CN109435928B true CN109435928B (en) | 2024-04-30 |
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| CN201811632650.2A Active CN109435928B (en) | 2018-12-29 | 2018-12-29 | Unmanned vehicle electrohydraulic braking system |
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Families Citing this family (1)
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| CN112277915B (en) * | 2020-09-30 | 2022-04-08 | 中国煤炭科工集团太原研究院有限公司 | Safety type wire-controlled braking system and method for coal mine trackless auxiliary transportation robot |
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| CN109435928A (en) | 2019-03-08 |
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