CN112762111A - Electromagnetic brake with brake clearance self-adjusting function and control method thereof - Google Patents
Electromagnetic brake with brake clearance self-adjusting function and control method thereof Download PDFInfo
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- CN112762111A CN112762111A CN202011578047.8A CN202011578047A CN112762111A CN 112762111 A CN112762111 A CN 112762111A CN 202011578047 A CN202011578047 A CN 202011578047A CN 112762111 A CN112762111 A CN 112762111A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
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- 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
- B60T13/74—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 electrical assistance or drive
- B60T13/748—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 electrical assistance or drive acting on electro-magnetic brakes
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- 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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
- F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/38—Slack adjusters
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/38—Slack adjusters
- F16D2065/386—Slack adjusters driven electrically
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/20—Electric or magnetic using electromagnets
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Braking Arrangements (AREA)
Abstract
本发明公开了一种具有制动间隙自调节功能的电磁制动器及其控制方法，包括：制动力驱动装置、间隙自调节装置、自锁装置和制动执行装置；在制动发生阶段，所述第一电磁铁通电产生磁性，磁极方向与所述永磁体磁极方向相反，利用磁铁同级互斥原理，催动永磁体向左滑动，以实现制动间隙的消除；在制动结束阶段，断开第一励磁线圈内电流，利用永磁体对铁芯的吸附作用，实现永磁体带动右制动器摩擦片的归位。本发明取消了电机在制动过程中的应用，避免了电机出现堵转的现象。取缔了复杂且占用空间大的传动机构，使得整车布置更加方便容易。
The invention discloses an electromagnetic brake with the function of self-adjusting braking gap and a control method thereof, comprising: a braking force driving device, a self-adjusting device for gap, a self-locking device and a braking executing device; The first electromagnet is energized to generate magnetism, and the direction of the magnetic pole is opposite to the direction of the magnetic pole of the permanent magnet. Using the principle of mutual repulsion of the same level of magnets, the permanent magnet is urged to slide to the left to eliminate the braking gap; The current in the first excitation coil is turned on, and the adsorption effect of the permanent magnet on the iron core is used to realize the homing of the friction plate of the right brake driven by the permanent magnet. The invention cancels the application of the motor in the braking process, and avoids the phenomenon that the motor is locked. The complex and space-consuming transmission mechanism is eliminated, making the vehicle layout more convenient and easier.
Description
Technical Field
The invention belongs to the technical field of automobile brake systems, and particularly relates to an electromagnetic brake with a brake clearance self-adjusting function and a control method thereof.
Background
With the continuous development of science and technology, the quantity of civil automobiles in China is increased year by year. By 2019, the quantity of the civil automobiles in China can reach 25376.38 thousands. In the process of continuously improving the automobile holding capacity, daily travel of people is closely related to the automobile. The brake system is an important actuating mechanism in the vehicle and plays an important role in promoting the development of the vehicle. Brakes commonly used in the market at present include drum brakes and disc brakes, wherein the disc brakes have the advantages of fast heat dissipation, light weight, simple structure and convenient adjustment. The brake has good high-temperature resistance and stable braking effect under high-load working conditions, is not afraid of mud and water invasion, and can drive in winter and in bad road conditions. Therefore, disc brakes are the direction of development in the future.
In addition, with the continuous development of smart vehicles, the wire control of the brake system is becoming a necessary trend. The current development direction of brake-by-wire is to use an electric booster to replace a vacuum booster to push a master cylinder piston, and because the output of a motor is high-speed low-torsion motion, a set of efficient speed-reducing and torque-increasing device is also needed to convert the torque of the motor into strong linear thrust. However, because the space of the chassis is small, the size of the motor and the speed reducer must be small, and the braking force requirement of the vehicle is difficult to meet. In addition, motor-driven brake-by-wire solutions also suffer from stall problems. Therefore, a new technical scheme and a new braking concept need to be adopted to realize brake-by-wire.
For example, the chinese patent application No. cn201911009661.x, entitled "disc brake based on magnetostrictive material and control method thereof", mentions the application of magnetostrictive material in disc brake, utilizes the characteristic that magnetostrictive material generates deformation in magnetic field to replace the traditional hydraulic oil path to provide power for brake, and simplifies the system structure. However, in terms of structural design, the problems that the deformation amount of the magnetostrictive material in a magnetic field is small, the braking force is reduced due to the braking clearance, the braking clearance is enlarged due to friction loss, the braking force is lost due to the lever structure and the like are ignored.
The Chinese patent application No. CN201611241247.8 is named as a line control actuator with the combined magnetostriction effect of a motor, and the linear motion of a sleeve is realized by utilizing the motor and a transmission mechanism in consideration of the problems. The sleeve is used for driving a piston head made of magnetostrictive materials, and the piston head is used for pushing a brake block to realize braking. The method is characterized in that a motor and a magnetostrictive material act together to eliminate a brake gap and realize partial braking, the motor is stopped to supply power after a preset braking force is reached, the magnetostrictive material and a threaded rod are self-locked to realize braking, and the influence of the brake gap on the braking effect is eliminated to a certain extent. However, the structure of the brake adopts the motor and the transmission mechanism on the clearance elimination, so that the structure of the brake is complicated, and the difficulty in brake arrangement is increased. In addition, in the motor operating mode, the locked rotor mode cannot be completely avoided.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide an electromagnetic brake with a braking gap self-adjusting function and a control method thereof, so as to solve the problems of the prior art, such as complicated braking structure, poor braking effect, large vehicle layout space occupation, and motor stalling.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to an electromagnetic brake with a brake clearance self-adjusting function, which comprises: the braking force driving device, the clearance self-adjusting device, the self-locking device and the braking executing device are arranged on the braking device;
the brake actuator includes: the brake comprises a brake shell, a left brake pad, a right brake pad, a left brake friction plate, a right brake friction plate, a brake guide block, a guide rail spring and a brake disc; the left brake friction plate and the left brake lining block as well as the right brake friction plate and the right brake lining block are respectively and fixedly connected; the left brake pad is fixedly connected with the brake shell; the right brake pad is fixedly connected with the brake guide block; the brake guide block is in clearance fit with the brake shell and can freely slide in the brake shell along the horizontal direction; brake gaps are arranged among the brake disc, the left brake friction plate and the right brake friction plate, when the brake guide block is pressed, pressure is applied to the right brake friction plate along the horizontal direction, the right brake friction plate presses the brake disc, the brake shell is driven to move rightwards along the guide rail under the reaction force of the brake disc, and the left brake lining block and the left brake friction plate are driven to press the brake disc, so that the brake of the brake disc is realized; the guide rail spring is arranged between the right limit end and the brake shell; when braking is not performed, the brake shell is directly contacted with the left limiting end under the pressing force of the guide rail spring, and the brake shell, the left brake pad and the left brake friction plate are returned by utilizing the guide rail spring after the braking process is finished;
the gap self-adjusting device comprises: the electromagnetic valve comprises a first electromagnet, a first magnetism isolating cover, a pressure sensor and a permanent magnet; the pressure sensor is fixedly connected with the permanent magnet; the first magnetism isolating cover is fixed on the brake shell, and the first electromagnet is arranged in the first magnetism isolating cover; the first electromagnet comprises a first excitation coil and a first iron core; the first magnet exciting coil is wound on the first iron core, and the current generates a magnetic field through the first magnet exciting coil to magnetize the first iron core; one end of the first iron core is fixedly connected with the brake shell, and the other end of the first iron core is provided with a permanent magnet;
the braking force drive device includes: the second excitation coil, the magnetostrictive rod and the second magnetism isolating cover; the second excitation coil is wound on the magnetostrictive rod; one end of the magnetostrictive rod is fixedly connected with the brake guide block; the second magnetism isolating cover is fixedly connected with the brake shell; the second excitation coil and the magnetostrictive rod are arranged in the second magnetism isolating cover;
the self-locking device comprises: the second electromagnet, the driving spring, the self-locking sliding block, the locking block and the third magnetism isolating cover; the second electromagnet includes: a third excitation coil and a second iron core; one end of the second iron core is fixedly connected with the brake shell; the third excitation coil is wound on the second iron core; the second iron core and the second excitation coil are arranged in the third magnetism isolating cover; the locking block is in clearance fit with the brake shell and can freely slide in the brake shell along the horizontal direction, the right end of the locking block is fixedly connected with the pressure sensor, the left end of the locking block is fixedly connected with the other end of the magnetostrictive rod, and the locking block is meshed and connected with the self-locking sliding block; when the locking block is pushed rightwards, self-locking can occur; the driving spring is arranged between the second iron core and the self-locking sliding block, has a certain pretightening force and applies pressure downwards to the self-locking sliding block.
Further, auto-lock slider, lock block all are the wedge design, open on lock block upper portion has the wedge groove, and the wedge inslot is located to the one end of auto-lock slider, and the two makes the lock block at braking in-process horizontal direction auto-lock after the cooperation.
Furthermore, the included angle between the inclined surface of the self-locking sliding block and the inclined surface of the wedge-shaped groove and the vertical direction is smaller than the friction angle between the self-locking sliding block and the inclined surface of the wedge-shaped groove.
Further, the second electromagnet can generate magnetism under the action of current; in the braking generation stage, the current in the third magnet exciting coil is cut off, so that the self-locking sliding block slides downwards under the action of the driving spring, and the self-locking sliding block is prevented from sliding upwards under pressure by utilizing the self-locking between the self-locking sliding block and the inclined plane of the wedge-shaped groove; at the braking end stage, the third magnet exciting coil is electrified, the current generates a magnetic field through the third magnet exciting coil, the second iron core generates magnetism under the action of the magnetic field, upward adsorption on the self-locking sliding block is achieved, unlocking of the self-locking device is completed, and therefore the right brake friction plate moves rightwards under the adsorption of the permanent magnet and the first iron core.
Furthermore, the self-locking sliding block and the locking block are both in a sawtooth design, and are matched through sawteeth; so that the locking block can be self-locked in the horizontal direction in the braking process.
Furthermore, in the braking generation stage, the first electromagnet is electrified to generate magnetism, the direction of the magnetic pole is opposite to that of the permanent magnet, and the permanent magnet is urged to slide leftwards by utilizing the principle that magnets mutually repel at the same level, so that the elimination of a braking gap is realized; and at the braking ending stage, the current in the first magnet exciting coil is cut off, and the permanent magnet drives the right brake friction plate to return by utilizing the adsorption effect of the permanent magnet on the iron core.
The invention discloses a control method of an electromagnetic brake with a brake clearance self-adjusting function, which comprises the following steps:
step 1): collecting pedal information and vehicle running information, and transmitting the collected information to an electronic control unit;
step 2): the electronic control unit calculates the required braking force by utilizing the collected pedal information and the vehicle running information;
step 3): the clearance self-adjusting device and the self-locking device are utilized to complete clearance self-adjusting, braking self-locking and braking force pre-tightening;
step 4): adjusting the current of a second excitation coil in the braking force driving device, driving the magnetostrictive rod to generate an extension deformation trend, and generating braking force according to the extension deformation trend;
step 5): after the braking process is finished, the current of the second magnet exciting coil is cut off, and the magnetostrictive rod restores to the original length; and the self-locking device is unlocked, and the left and right braking force friction plates return to finish braking under the adsorption action of the permanent magnet on the first iron core and the rebound action of the guide rail spring.
Further, the pedal information in step 1) includes a pedal displacement signal and a pedal speed signal, and the vehicle driving information includes a vehicle speed signal and a vehicle acceleration signal.
Further, the processes of clearance self-adjustment, brake self-locking and brake pre-tightening in the step 3) are as follows: electrifying the first electromagnet, and finishing the self-adjustment of the gap through the repulsive force between the permanent magnet and the first electromagnet; sensing the pressure between the locking block and the permanent magnet by using a pressure sensor, and powering off the first electromagnet when the pressure between the locking block and the permanent magnet reaches a preset threshold value, namely the friction plates of the left brake and the brake disc reach a target pretightening force; the self-locking sliding block moves downwards under the combined action of the locking block and the driving spring to complete self-locking.
Further, the elongation of the magnetostrictive rod required in the step 4) is as follows:
in the formula, FCIs a target braking force, F0For braking pre-tightening force, L is the length of the magnetostrictive rod, E is the Young modulus, r is the radius of the magnetostrictive rod, and epsilon is the elongation of the magnetostrictive rod.
Further, the current required by the coil in the step 4) is as follows:
wherein I is the magnitude of current, λ is the dependent variable, LeThe length of the part of the magnetostrictive rod wound with the excitation coil, N is the number of coil bundles, epsilon is the elongation of the magnetostrictive rod, L is the length of the magnetostrictive rod, and H (lambda) is the magnetic field strength required by reaching the strain lambda, and the value is obtained from a relation curve of the magnetic field strength and the strain obtained by experiments.
Further, the unlocking process of the self-locking device in the step 5) is as follows: and the third magnet exciting coil is electrified to generate a magnetic field, the second iron core generates magnetic adsorption self-locking slide blocks under the action of the magnetic field, and the self-locking slide blocks move upwards to release the self-locking structure.
The invention has the beneficial effects that:
compared with the traditional braking system, the invention replaces a complex hydraulic (pneumatic) pipeline, and simplifies the whole structure. Compared with the existing wire control brake adopting the motor, the invention cancels the application of the motor in the braking process and avoids the phenomenon of locked rotor of the motor. Complex transmission mechanisms with large occupied space are eliminated, so that the whole vehicle is more convenient and easier to arrange. Compared with the traditional brake-by-wire based on magnetostrictive materials, the brake-by-wire based on magnetostrictive materials considers the problem of clearance self-adjustment, and avoids the problems of brake force loss caused by brake clearance and brake force failure caused by brake clearance enlargement due to abrasion. In addition, the invention avoids the adoption of a lever structure, all stress components are under tension and pressure, and the loss problem in the process of force transmission is greatly reduced.
Drawings
FIG. 1 is an overall view of an exemplary brake;
FIG. 2a is an overall view of an exemplary two-brake;
FIG. 2b is an enlarged view of the portion M of FIG. 2 a;
FIG. 3 is a flow chart of the brake control of the present invention;
FIG. 4 is a graph of magnetostrictive rod strain versus magnetic field strength;
in the figure, 11-brake housing, 12-left brake pad, 13-left brake pad, 14-brake disc, 15-right brake pad, 16-right brake pad, 17-brake guide block, 18-guide spring, 19-guide rail, 21-first iron core, 22-first excitation coil, 23-first magnetic shield, 24-permanent magnet, 25-pressure sensor, 31-second magnetic shield, 32-magnetostrictive rod, 33-second excitation coil, 401-third magnetic shield, 402-third excitation coil, 403-second iron core, 404-first drive spring, 405-wedge-shaped self-locking slider, 406-first locking block, 411-fourth magnetic shield, 412-fourth excitation coil, 413-third iron core, 414-second drive spring, 415-saw tooth self-locking slider, 416-second locking block.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1, an electromagnetic brake having a brake clearance self-adjusting function according to the present invention includes: the braking force driving device, the clearance self-adjusting device, the self-locking device and the braking executing device are arranged on the braking device;
the brake actuator includes: a brake housing 11, a left brake pad 12, a right brake pad 15, a left brake pad 13, a right brake pad 16, a brake guide block 17, a guide rail 19, a guide rail spring 18, and a brake disc 14; the left brake friction plate 13 and the left brake pad 12 are fixedly connected, and the right brake friction plate 16 and the right brake pad 15 are fixedly connected respectively; the left brake pad 12 is fixedly connected with the brake housing 11; the right brake pad 15 is fixedly connected with the brake guide block 17; the brake guide block 17 is in clearance fit with the brake shell 11 and can freely slide in the brake shell 11 along the horizontal direction; brake gaps are arranged among the brake disc 14, the left brake friction disc 13 and the right brake friction disc 16, when the brake guide block 17 is pressed, pressure is applied to the right brake friction disc 16 along the horizontal direction, the right brake friction disc 16 presses the brake disc 14, the brake shell 11 is driven to move rightwards along the guide rail 19 under the reaction force of the brake disc 14, the left brake pad 12 and the left brake friction disc 13 are driven to press the brake disc 14, and therefore braking of the brake disc 14 is achieved; the leftmost side of the guide rail 19 is a left limit end, the rightmost side is a right limit end, and the guide rail spring 18 is arranged between the right limit end and the brake shell 11; when braking is not performed, the brake shell 11 is directly contacted with the left limiting end under the pressing force of the guide rail spring 18, and the brake shell 11, the left brake pad 12 and the left brake friction plate 13 are returned by utilizing the guide rail spring 18 after the braking process is finished;
the gap self-adjusting device comprises: the first electromagnet, the first magnetism isolating cover 23, the pressure sensor 25 and the permanent magnet 24; the pressure sensor 25 is fixedly connected with the permanent magnet 24; the first magnetism isolating cover 23 is fixed on the brake shell 11, and the first electromagnet is arranged in the first magnetism isolating cover 23 to avoid being interfered by an external magnetic field; the first electromagnet includes a first exciting coil 22 and a first core 21; the first excitation coil 22 is wound on the first iron core 21, and a current passes through the first excitation coil to generate a magnetic field to magnetize the first iron core; one end of the first iron core 21 is fixedly connected with the brake shell 11, and the other end is provided with a permanent magnet 24;
the braking force drive device includes: a second excitation coil 33, a magnetostrictive rod 32, and a second magnetism isolating cover 31; the second excitation coil 33 is wound around the magnetostrictive rod 32; one end of the magnetostrictive rod 32 is fixedly connected with the brake guide block 17; the second magnetism isolating cover 31 is fixedly connected with the brake shell 11; the second excitation coil 33 and the magnetostrictive rod 32 are arranged in the second magnetism isolating cover 31 to avoid interference of an external magnetic field;
in one example, the self-locking device includes: the device comprises a second electromagnet, a first driving spring 404, a wedge-shaped self-locking sliding block 405, a first locking block 406 and a third magnetism isolating cover 401; the second electromagnet includes a third exciting coil 402 and a second iron core 403; one end of the second iron core 403 is fixedly connected with the brake shell 11; the third excitation coil 402 is wound onto the second core 403; the second iron core 403 and the third excitation coil 402 are installed inside the third magnetism isolating cover 401 to avoid the interference of an external magnetic field; the first locking block 406 is in clearance fit with the brake housing 11 and can freely slide in the brake housing 11 along the horizontal direction, the right end of the first locking block 406 is fixedly connected with the pressure sensor 25, the left end of the first locking block 406 is fixedly connected with the magnetostrictive rod 32, a wedge-shaped groove is formed in the first locking block 406, the wedge-shaped self-locking slider 405 is inserted into the wedge-shaped groove, the included angles between the inclined plane of the wedge-shaped self-locking slider 405 and the inclined plane of the wedge-shaped groove and the vertical direction are smaller than the friction angle between the wedge-shaped self-locking slider and the inclined plane of the wedge-shaped groove, and self-locking can occur when the first; the first driving spring 404 is installed between the second iron core 403 and the wedge-shaped self-locking sliding block 405, has a certain pretightening force, and presses the wedge-shaped self-locking sliding block 405 downwards.
The second electromagnet can generate magnetism under the action of current; in the braking generation stage, the current in the third excitation coil is cut off, so that the wedge-shaped self-locking sliding block 405 slides downwards under the action of the first driving spring 404, and the wedge-shaped self-locking sliding block 405 is prevented from sliding upwards under pressure by utilizing self-locking between the wedge-shaped self-locking sliding block 405 and the inclined plane of the wedge-shaped groove; at the braking end stage, the third excitation coil 402 is energized, the current generates a magnetic field through the third excitation coil, the second iron core generates magnetism under the action of the magnetic field, upward adsorption of the wedge-shaped self-locking slider 405 is achieved, unlocking of the self-locking device is completed, and therefore the right brake friction plate moves rightwards under the adsorption of the permanent magnet 24 and the first iron core.
Referring to fig. 2a and 2b, in a second example, the self-locking device includes: a third electromagnet, a second driving spring 414, a fourth magnetism isolating cover 411, a sawtooth self-locking sliding block 415 and a second locking block 416; the third electromagnet comprises a fourth excitation coil 412 and a third core 413; one end of the third iron core 413 is fixedly connected with the brake shell 11; the fourth exciting coil 412 is wound onto the third core 413; the third iron core 413 and the third excitation coil 412 are installed inside the fourth magnetism isolating cover 411, so that the interference of an external magnetic field is avoided; the second locking block 416 is in clearance fit with the brake housing 11 and can freely slide in the brake housing 11 along the horizontal direction, the right end of the second locking block 416 is fixedly connected with the pressure sensor 25, the left end of the second locking block 416 is fixedly connected with the magnetostrictive rod 32, a sawtooth-shaped groove is formed in the second locking block 416, sawteeth on the sawtooth self-locking sliding block 415 are matched with the sawtooth-shaped groove, and self-locking can occur when the second locking block 416 is pushed rightwards; the second driving spring 414 is installed between the third core 413 and the sawtooth self-locking sliding block 415, and has a certain pretightening force to press the sawtooth self-locking sliding block 415 downwards.
In the braking generation stage, the first electromagnet is electrified to generate magnetism, the direction of the magnetic pole is opposite to that of the permanent magnet 24, and the permanent magnet 24 is urged to slide leftwards by utilizing the principle that magnets mutually repel at the same level, so that the elimination of a braking gap is realized; at the braking ending stage, the current in the first magnet exciting coil is cut off, and the permanent magnet 24 drives the right brake friction plate 16 to return to the original position by utilizing the adsorption effect of the permanent magnet 24 on the iron core.
Referring to fig. 3, a method for controlling an electromagnetic brake having a brake clearance self-adjusting function according to the present invention includes the steps of:
step 1): collecting pedal information and vehicle running information, and transmitting the collected information to an Electronic Control Unit (ECU); the pedal information in the step 1) comprises a pedal displacement signal and a pedal speed signal, and the vehicle running information comprises a vehicle speed signal and a vehicle acceleration signal;
step 2): the electronic control unit calculates the required braking force by utilizing the collected pedal information and the vehicle running information;
step 3): the clearance self-adjusting device and the self-locking device are utilized to complete clearance self-adjusting, braking self-locking and braking force pre-tightening;
the processes of clearance self-adjustment, brake self-locking and brake pre-tightening are as follows: the first electromagnet is electrified, the permanent magnet, the pressure sensor, the locking block, the magnetostrictive rod, the brake guide block, the right brake lining block and the right brake friction plate are pushed to move leftwards through repulsive force between the permanent magnet and the first electromagnet, the right brake friction plate presses a brake plane on the right side of the brake disc to push the first electromagnet, the brake shell, the left brake lining block and the left brake friction plate to move rightwards, and the left brake friction plate presses a brake plane on the left side of the brake disc to finish clearance self-adjustment; meanwhile, the self-locking sliding block moves downwards under the combined action of the locking block and the driving spring to complete self-locking; sensing the pressure between the locking block and the permanent magnet by using a pressure sensor, and when the pressure between the locking block and the permanent magnet reaches a preset threshold value, namely the left brake friction plate, the right brake friction plate and the brake disc reach a target pretightening force, powering off the first electromagnet, and keeping the pretightening force unchanged under the action of a self-locking mechanism to realize the pretightening of a braking force;
step 4): adjusting the current of an excitation coil in the braking force driving device, driving the magnetostrictive rod to generate an extension deformation trend, and generating braking force according to the extension deformation trend; as shown with reference to figure 4 of the drawings,
the elongation of the magnetostrictive rod required in the step 4) is as follows:
in the formula, FCIs a target braking force, F0For braking pre-tightening force, L is the length of the magnetostrictive rod, E is the Young modulus, r is the radius of the magnetostrictive rod, and epsilon is the elongation of the magnetostrictive rod.
The current required by the coil in the step 4) is as follows:
wherein I is the magnitude of current, λ is the dependent variable, LeThe length of a part of a magnetostrictive rod wound with an excitation coil, N is the number of coil bundles, epsilon is the elongation of the magnetostrictive rod, L is the length of the magnetostrictive rod, and H (lambda) is the magnetic field strength required by reaching the strain lambda, and the value is obtained by a relation curve of the magnetic field strength and the strain obtained by experiments;
step 5): after the braking process is finished, the current of the second magnet exciting coil is cut off, and the magnetostrictive rod restores to the original length; and the self-locking device is unlocked, and the left and right braking force friction plates return to finish braking under the adsorption action of the permanent magnet on the first iron core and the rebound action of the guide rail spring.
The unlocking process of the self-locking device comprises the following steps: and the third magnet exciting coil is electrified to generate a magnetic field, the second iron core generates magnetic adsorption self-locking slide blocks under the action of the magnetic field, and the self-locking slide blocks move upwards to release the self-locking structure.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. An electromagnetic brake having a brake clearance self-adjusting function, comprising: the braking force driving device, the clearance self-adjusting device, the self-locking device and the braking executing device are arranged on the braking device;
the brake actuator includes: the brake comprises a brake shell, a left brake pad, a right brake pad, a left brake friction plate, a right brake friction plate, a brake guide block, a guide rail spring and a brake disc; the left brake friction plate and the left brake lining block as well as the right brake friction plate and the right brake lining block are respectively and fixedly connected; the left brake pad is fixedly connected with the brake shell; the right brake pad is fixedly connected with the brake guide block; the brake guide block is in clearance fit with the brake shell and can freely slide in the brake shell along the horizontal direction; brake gaps are arranged among the brake disc, the left brake friction plate and the right brake friction plate, when the brake guide block is pressed, pressure is applied to the right brake friction plate along the horizontal direction, the right brake friction plate presses the brake disc, the brake shell is driven to move rightwards along the guide rail under the reaction force of the brake disc, and the left brake lining block and the left brake friction plate are driven to press the brake disc, so that the brake of the brake disc is realized; the guide rail spring is arranged between the right limit end and the brake shell; when braking is not performed, the brake shell is directly contacted with the left limiting end under the pressing force of the guide rail spring, and the brake shell, the left brake pad and the left brake friction plate are returned by utilizing the guide rail spring after the braking process is finished;
the gap self-adjusting device comprises: the electromagnetic valve comprises a first electromagnet, a first magnetism isolating cover, a pressure sensor and a permanent magnet; the pressure sensor is fixedly connected with the permanent magnet; the first magnetism isolating cover is fixed on the brake shell, and the first electromagnet is arranged in the first magnetism isolating cover; the first electromagnet comprises a first excitation coil and a first iron core; the first magnet exciting coil is wound on the first iron core, and the current generates a magnetic field through the first magnet exciting coil to magnetize the first iron core; one end of the first iron core is fixedly connected with the brake shell, and the other end of the first iron core is provided with a permanent magnet;
the braking force drive device includes: the second excitation coil, the magnetostrictive rod and the second magnetism isolating cover; the second excitation coil is wound on the magnetostrictive rod; one end of the magnetostrictive rod is fixedly connected with the brake guide block; the second magnetism isolating cover is fixedly connected with the brake shell; the second excitation coil and the magnetostrictive rod are arranged in the second magnetism isolating cover;
the self-locking device comprises: the second electromagnet, the driving spring, the self-locking sliding block, the locking block and the third magnetism isolating cover; the second electromagnet includes: a third excitation coil and a second iron core; one end of the second iron core is fixedly connected with the brake shell; the third excitation coil is wound on the second iron core; the second iron core and the second excitation coil are arranged in the third magnetism isolating cover; the locking block is in clearance fit with the brake shell and can freely slide in the brake shell along the horizontal direction, the right end of the locking block is fixedly connected with the pressure sensor, the left end of the locking block is fixedly connected with the other end of the magnetostrictive rod, and the locking block is meshed and connected with the self-locking sliding block; when the locking block is pushed rightwards, self-locking can occur; the driving spring is arranged between the second iron core and the self-locking sliding block, has a certain pretightening force and applies pressure downwards to the self-locking sliding block.
2. The electromagnetic brake with the function of self-adjusting the brake gap as claimed in claim 1, wherein the self-locking slider and the locking block are both designed in a wedge shape, the upper portion of the locking block is provided with a wedge-shaped groove, one end of the self-locking slider is arranged in the wedge-shaped groove, and the self-locking slider and the locking block are matched to enable the locking block to be self-locked in the horizontal direction in the braking process.
3. The electromagnetic brake with the function of self-adjusting the braking gap as claimed in claim 2, wherein the included angle between the inclined surface of the self-locking sliding block and the inclined surface of the wedge-shaped groove and the vertical direction is smaller than the friction angle between the self-locking sliding block and the inclined surface of the wedge-shaped groove.
4. The electromagnetic brake with the function of self-adjusting the braking gap as claimed in claim 2, wherein the second electromagnet is magnetized by the current; in the braking generation stage, the current in the third magnet exciting coil is cut off, so that the self-locking sliding block slides downwards under the action of the driving spring, and the self-locking sliding block is prevented from sliding upwards under pressure by utilizing the self-locking between the self-locking sliding block and the inclined plane of the wedge-shaped groove; at the braking end stage, the third magnet exciting coil is electrified, the current generates a magnetic field through the third magnet exciting coil, the second iron core generates magnetism under the action of the magnetic field, upward adsorption on the self-locking sliding block is achieved, unlocking of the self-locking device is completed, and the right brake friction plate moves rightwards under the adsorption of the permanent magnet and the first iron core.
5. The electromagnetic brake with the function of self-adjusting the braking clearance as claimed in claim 1, wherein the self-locking sliding block and the locking block are both in a sawtooth design and are matched with each other through sawteeth; so that the locking block can be self-locked in the horizontal direction in the braking process.
6. The electromagnetic brake with the function of self-adjusting the braking gap as claimed in claim 1, wherein in the braking generation stage, the first electromagnet is energized to generate magnetism, the direction of the magnetic pole is opposite to that of the permanent magnet, and the permanent magnet is urged to slide leftwards by the principle that the magnets mutually repel at the same level, so as to eliminate the braking gap; and at the braking ending stage, the current in the first magnet exciting coil is cut off, and the permanent magnet drives the right brake friction plate to return by utilizing the adsorption effect of the permanent magnet on the iron core.
7. A control method of an electromagnetic brake with a brake clearance self-adjusting function, which is based on any one of the brakes of claims 1-6, is characterized by the following steps:
step 1): collecting pedal information and vehicle running information, and transmitting the collected information to an electronic control unit;
step 2): the electronic control unit calculates the required braking force by utilizing the collected pedal information and the vehicle running information;
step 3): the clearance self-adjusting device and the self-locking device are utilized to complete clearance self-adjusting, braking self-locking and braking force pre-tightening;
step 4): adjusting the current of a second excitation coil in the braking force driving device, driving the magnetostrictive rod to generate an extension deformation trend, and generating braking force according to the extension deformation trend;
step 5): after the braking process is finished, the current of the second magnet exciting coil is cut off, and the magnetostrictive rod restores to the original length; and the self-locking device is unlocked, and the left and right braking force friction plates return to finish braking under the adsorption action of the permanent magnet on the first iron core and the rebound action of the guide rail spring.
8. The method for controlling an electromagnetic brake with a function of self-adjusting brake clearance according to claim 7, wherein the clearance self-adjusting, brake self-locking and brake pre-tightening processes in the step 3) are as follows: electrifying the first electromagnet, and finishing the self-adjustment of the gap through the repulsive force between the permanent magnet and the first electromagnet; sensing the pressure between the locking block and the permanent magnet by using a pressure sensor, and powering off the first electromagnet when the pressure between the locking block and the permanent magnet reaches a preset threshold value, namely the friction plates of the left brake and the brake disc reach a target pretightening force; the self-locking sliding block moves downwards under the combined action of the locking block and the driving spring to complete self-locking.
9. The method for controlling an electromagnetic brake with a function of self-adjusting a brake gap according to claim 7, wherein the required elongation of the magnetostrictive rod in step 4) is:
in the formula, FCIs a target braking force, F0For braking pre-tightening force, L is the length of the magnetostrictive rod, E is the Young modulus, r is the radius of the magnetostrictive rod, and epsilon is the elongation of the magnetostrictive rod.
10. The method for controlling an electromagnetic brake with a brake clearance self-adjustment function according to claim 7, wherein the magnitude of the current required by the coil in the step 4) is as follows:
wherein I is the magnitude of current, λ is the dependent variable, LeThe length of the part of the magnetostrictive rod wound with the excitation coil, N is the number of coil bundles, epsilon is the elongation of the magnetostrictive rod, L is the length of the magnetostrictive rod, and H (lambda) is the magnetic field strength required by reaching the strain lambda, and the value is obtained from a relation curve of the magnetic field strength and the strain obtained by experiments.
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