JP2001278021A - Brake equipment - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To ensure the safety of a brake operation by enabling a driver to sense a depression abnormality by responding to a brake pedal even if a pad clearance is large. When a brake pedal is depressed, a depression force sensor is depressed.
Detects the depression force of the brake pedal by the spring force of the spring 3, the rotation angle detector 8, which rotates integrally with the gear 4, detects the stroke, and operates the brake motor to generate a predetermined braking force. . The brake force target value is compared with the generated brake force. If the brake force is generated according to the target value, the pedal motor 6 is driven in the direction of the arrow with a strong force corresponding to the generated brake force. Then, the gear 4 rotates in the direction of the arrow, and a strong force corresponding to the generated braking force acts in a direction to return the brake pedal 1, and the pedal feeling becomes stronger. When the generated braking force is weaker than the target value, when the brake pedal 1 is returned with a weak force corresponding to the generated braking force, the pedal feeling becomes weaker.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a brake device used for a vehicle such as an automobile, and more particularly, to an electric brake device that generates a braking force by a rotating force of an electric motor.

[0002]

2. Description of the Related Art As a braking device used in a vehicle such as an automobile, an electric braking device that generates a braking force by an output torque of an electric motor without using a brake fluid, that is, a so-called dry brake device is known. I have. Such a dry brake device is mainly used in an EV (electric vehicle) or a hybrid vehicle. Such a dry brake device is disclosed in, for example, Japanese Patent Application Laid-Open No. 60-20 / 1985.
As disclosed in Japanese Patent No. 6766, there is known an electric disk brake device or the like which generates a braking force by pressing a brake pad against a disk rotor by a piston which moves forward and backward by operation of an electric actuator. I have. In this type of electric disc brake device, an operation amount of a brake petal by a driver, that is, a pedaling force or a displacement amount of the brake petal is detected by a sensor. Then, the rotation of the electric motor is controlled in accordance with the detection signal of the sensor, so that a desired braking force is obtained.

In such an electric disc brake device, a vehicle state such as a rotation speed of each wheel, a vehicle acceleration, a steering angle, and a vehicle lateral acceleration is detected, and an electric motor is controlled by a controller based on these detection signals. , The boost control, the antilock control, the traction control, the vehicle stabilization control, and the like are realized with a relatively simple configuration.

[0004]

By the way, in the conventional hydraulic brake, the depression force of the brake pedal is a source of the braking force, so that the driver can feel the reaction force of the braking force due to the hydraulic pressure with his / her feet. . For example, if there is a large clearance between the pad and the disc rotor when replacing the pad, the brake will not work and the pedal will be depressed, but in such a case, the driver notices that the pedal has been depressed and notices an abnormality, An abnormality can be dealt with by stepping again.

However, a dry brake typified by the above-described electric disc brake device is configured such that a pedal force sensor is attached to a brake pedal and a brake force is generated in accordance with an output signal of the pedal force sensor. I have. As described above, since the brake pedal is a sensor in the dry brake, the driver cannot detect an abnormality based on the depression of the pedal. That is, in a normal dry brake, the brake pedal is separated from the wheel cylinder, and the brake pedal can move by giving a reaction force independent of the generated braking force of the wheel cylinder, for example, by a stroke simulator. Therefore, the driver cannot accurately detect an abnormality in depressing with some brake pedals due to a difference between the actual braking force and the reaction force.

The present invention has been made in view of such circumstances, and has as its object the purpose of, for example, after replacing a brake pad, to adjust the pad clearance between the disk rotor and the disk rotor and to increase the pad clearance. Even when the brake pedal is left, the driver can sense the depression abnormality by responding to the depression of the brake pedal, thereby ensuring the safety of the brake operation.

[0007]

According to a first aspect of the present invention, there is provided a brake device provided on a brake pedal for detecting an operation amount of the brake pedal; A braking means for generating a braking force according to the operation amount of the actuator to brake the wheels, and an operation amount detection based on a predetermined correspondence table between the operation amount of the brake pedal and the target braking force. Control means for calculating a drive amount of the actuator and outputting a calculation result to the actuator of the braking means, so that the braking means generates a target braking force corresponding to the operation amount detected by the means. In a braking device that generates a braking force according to an amount, a generated braking force detection in which a braking unit detects a generated braking force that is actually generated based on control information of a control unit. Means, a comparing means for comparing the generated braking force detected by the generated braking force detecting means with the target braking force calculated by the control means, and the generated braking force and the target braking force compared by the comparing means are determined in advance. Abnormality detection means for detecting an abnormality when deviating from a predetermined range, and operation reaction force control means provided on the brake pedal and controlling an operation reaction force of the brake pedal based on detection information of the abnormality detection means And characterized in that:

That is, the brake device according to the present invention is a dry brake which generates a braking force in response to an output signal of an operation amount detecting means such as a pedaling force sensor. It is configured to generate a reaction force. Thus, the driver can feed back the state of the brake from the foot using the brake pedal. Therefore, it is possible to detect the abnormality of the brake as soon as possible, and it is possible to realize a brake device that ensures safety.

Further, the brake device according to claim 2 is
The invention according to claim 1 is characterized in that the operation reaction force control means controls the operation reaction force of the brake pedal according to the magnitude of the generated braking force generated by the braking means. That is, when the braking force to be generated is equal to the actually generated braking force, that is, when the braking force is normal, a reaction force corresponding to a predetermined braking force to be generated is generated on the brake pedal. When the actually generated braking force is smaller than the braking force to be generated (in the case of an abnormality), the brake is not effective, and the generation of the reaction force of the brake pedal corresponding to the braking force to be generated is weakened. To work. An extreme example of such a case is a depressed state of the brake pedal, and the driver notices the abnormality by depressing the brake pedal, and can respond quickly to the abnormality by depressing the brake pedal again. Furthermore, when the actually generated braking force is larger than the braking force to be generated (in the case of an abnormality)
Is a state in which the brake is applied too much, and acts to weaken the generation of the reaction force of the brake pedal corresponding to the braking force to be generated. An extreme case in this case is also a state in which the brake pedal is depressed, and the driver notices the abnormality by depressing the brake pedal, and can respond quickly to the abnormality by depressing the brake pedal again. In this way, by changing the strength of the reaction force of the brake pedal depending on whether it is normal or abnormal, the driver can timely sense the brake abnormality.

Further, the brake device according to claim 3 is
In the first or second aspect of the present invention, the generated braking force detecting means is a current sensor for detecting a current supplied to the actuator, and a target value calculated by the control means and a current value detected by the current sensor. The operation reaction force control means controls the operation reaction force of the brake pedal based on the result of comparison with the power. That is, the braking force generated by the braking means on the actuator is proportional to the current supplied to the actuator. Therefore, even if the generated braking force detecting means does not directly detect the generated braking force, the current sensor detects the current flowing through the actuator such as a brake motor, and compares this current value with the calculated target braking force. Then, the operation reaction force of the brake pedal can be controlled.

The brake device according to a fourth aspect of the present invention is characterized in that, in the first or second aspect of the invention, the actuator is controlled by an operation reaction force control means. That is, even if the current sensor is not used as in the above-described invention, if the actuator that generates the braking force is driven through the operation reaction force control means such as the pedal motor, the actually generated braking force and the pedal motor are not changed. The operation reaction force generated on the brake pedal can be made proportional.
Thus, a brake feeling corresponding to the braking force can be obtained from the brake pedal without requiring a control circuit.

According to a fifth aspect of the present invention, in the brake device according to the first or second aspect, the operation reaction force control means includes a sealing pressure of the gas or liquid sealed in the cylinder, and a pressure of the gas or liquid. The operation reaction force of the brake pedal is controlled by the pressure in the cylinder when the liquid is discharged. That is, in order to generate an operation reaction force of the brake pedal, a gas or liquid such as air or gas is sealed in the cylinder, and the sealing pressure of the gas or liquid is transmitted to the brake pedal. Then, when the brake is abnormal, the valve is opened to release the gas or liquid sealed in the cylinder to a tank or the like to reduce the internal pressure of the cylinder. In this way,
By controlling the operation reaction force of the brake pedal, the driver can obtain a desired brake feeling on the brake pedal.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of a brake device according to the present invention will be described below in detail with reference to the drawings. In the following description, a dry brake will be described as an example of the brake device. Various configurations are known for the internal structure of the dry brake, and any of the structures is configured to generate a braking force by pressing the pad against the disk by the rotational driving force of the electric motor. I have. In addition, the embodiment of the present invention is applied to any structure of the dry brake, and the structure of the dry brake itself is not directly related to the present invention. Omitted.

FIG. 1 is a schematic configuration diagram showing a brake system for a dry brake to which the present invention is applied. This brake system comprises four dry brakes 21a, 21
b, 21c and 21d show the configuration of the brake system in the case of generating a braking force on the four wheels. For example, the dry brake 21a generates a braking force on the wheel 25a by pressing the inner pad 23a and the outer pad 24a against the disk 22a by the driving force of a built-in electric motor (not shown). Also, in the dry brake 21b, the dry brake 21c, and the dry brake 21d, a braking force is generated on the wheels 25b, 25c, and 25d by the same operation.

That is, as shown in FIG. 1, dry brakes 21a to 21d are provided corresponding to front, rear, left and right wheels 25a to 25d of the vehicle, respectively, and are incorporated in the respective dry brakes 21a to 21d. A motor and a position detector (not shown) are connected to a controller (control means) 26. Here, each motor is connected to a motor driver (not shown) provided in the controller 26 for driving each motor.

In FIG. 1, reference numeral 27 denotes a brake pedal to which an operation input is made by a driver, and reference numeral 2 denotes a brake pedal.
Reference numeral 8 denotes an operation amount detection sensor that detects an operation amount of the brake pedal 27, reference numeral 29 denotes a master cylinder that generates a brake fluid pressure by an input to the brake pedal 27, and reference numeral 30 relates to a brake for the driver. The alarm lamp which performs an alarm display is shown. Of all the dry brakes 21a to 21d, the brake fluid pressure from the master cylinder 29 is introduced into the room through ports (not shown) to the dry brakes 21a and 21b disposed on the front two wheels. Since the brake fluid pressure from the master cylinder 29 is not introduced into the dry brakes 21c and 21d disposed on the rear two wheels, the dry brakes 21c and 21d are provided with a chamber, a port, and a hydraulic piston. Absent.

The controller 26 includes an operation amount detection sensor 2
8 so as to generate a braking force on each wheel according to the operation amount of the brake pedal 27 detected at 8.
For each of 1a to 21d, the motor is feedback-controlled based on the rotational position data of the position detector. Incidentally, the motor and the position detector are incorporated in each of the dry brakes 21a to 21d and are not shown.

That is, the controller 26 controls the built-in motors of the rear two-wheel dry brakes 21c and 21d so that only the respective dry brakes 21c and 21d generate the required braking force. In each of the dry brakes 21a and 21b, a motor built in each of the dry brakes 21a and 21b generates a braking force for supplementing a braking force by a brake fluid pressure generated in the master cylinder 29 with respect to a required braking force. Control.

The operation for generating the braking force is a known technique, and the internal structure of the dry brakes 21a to 21d is not shown. Therefore, the mechanism for generating the braking force will be briefly described without displaying the internal parts. I do. That is, when generating the braking force, the controller 26 rotates the nut member of the ball screw in the forward direction by the motor in the dry brake 21a, for example. Then, the screw member, the rotation of which is restricted by the detent portion, becomes the disk 2
2a to move the inner pad 23a to the disk 2
2a. Then, the caliber moves with respect to the carrier 31a by the reaction force, and moves the claw portion in the direction of the disk 22a. By such an operation, the inner pad 23a and the outer pad 24a are finally pressed in the direction of the disk 22a by the screw member and the claw portion, and these pads 23a and 24a come into contact with the disk 22a to generate brake force. .

The brake fluid pressure from the master cylinder 29 is applied to the dry brakes 21a, 21
In (b), in addition to the above operation, the propulsive force of the brake hydraulic pressure is transmitted to the screw member via the hydraulic piston in each of the dry brakes 21a and 21b. Then
Since the ball screw has reversibility of rotational motion and linear motion, the pad members 23a and 24a are coupled with the disk
a to generate brake force.

When the controller 26 releases the braking force from this state, the controller rotates the nut member in the return direction opposite to the above-described forward rotation by the motor. Then, the screw member whose rotation is restricted moves in a direction away from the disk 22a. As a result, the inner pad 23
a and the outer pad 24a are separated from the disk 22a to release the braking force. Note that master cylinder 2
In the dry brakes 21a and 21b in which the brake fluid pressure from the cylinder 9 is introduced into the room, the decrease in the brake fluid pressure also releases the braking force.

Now, an embodiment of a dry brake according to the present invention will be described. First, a dry brake according to a first embodiment will be described. Normally, in dry braking, the brake pedal is a sensor for measuring the driver's pedaling force. In order for a driver to control such a dry brake at will, proper pedal feeling is important. Therefore, actually, not only the pedaling force but also the stroke of the pedal is an important factor.

FIG. 2 is a diagram showing a schematic configuration of a general brake pedal applied to a dry brake. In the figure, a brake pedal 1 operates with a fulcrum 2 as an axis,
The response of the brake pedal 1 is made by pushing the pedal back by the spring 3. The detection of pedaling force
For example, a force sensor (not shown) near the mounting portion of the spring 3
, A position detector (not shown) near the fulcrum 2, or a stroke sensor (not shown) at the spring 3 to detect the stroke and the pedaling force of the brake pedal 1. Can be.

FIG. 3 is a diagram showing a schematic configuration of the brake pedal according to the embodiment of the present invention. In the figure,
The brake pedal 1 is rotatably provided with a gear 4 that operates around a fulcrum 2. Further, a pinion gear 5 is meshed with the gear 4, and a pedal motor 6 is coaxially connected to the pinion gear 5. Also,
In order to detect the depression force of the brake pedal 1, a depression force sensor 7 such as a strain gauge is provided at a portion where the spring 3 is attached.
Further, a rotation angle detector 8 is provided near the fulcrum 2 of the gear 4 in order to detect the stroke of the brake pedal 1. That is, the rotation angle detector 6 is configured to rotate the fulcrum 2 integrally with the gear 4 so that the rotation angle detector 6 can detect the depression stroke of the brake pedal 1 as the rotation angle. In the following description, the rotation angle detector 7 is connected to the stroke sensor 7.
I will call it. As for the method of detecting the stroke, for example, a stroke sensor may be provided at the portion of the spring 3.

FIG. 4 is a flowchart showing the operation of the first embodiment in the brake pedal shown in FIG. Therefore, using the flowchart of FIG.
The operation of the brake pedal shown in FIG. First, when the brake pedal 1 is depressed, the depression force sensor 7
Then, a rotation angle detector (ie, a stroke sensor) 8 that is driven to rotate integrally with the gear 4 detects the stroke as a rotation angle (step S1). Then, a braking force command value is created based on the detected pedaling force information and stroke information (step S2). The brake force command value is transmitted to a driver (not shown) that controls a brake motor (not shown), and operates a brake motor (not shown) to generate a predetermined brake force.

At this time, the braking force command value is compared with the value of the generated braking force detected by the braking force sensor (step S3), and if the braking force is generated according to the braking force command value (step S3). (S3, normal), the pedal motor 6 is driven to rotate in the direction of the arrow in the figure with a strong force corresponding to the generated braking force (step S4). Then
The gear 4 rotates in the direction of the arrow in the figure, and a strong force corresponding to the generated braking force acts in a direction to return the brake pedal 1 (step S5), so that the pedal feeling is enhanced. That is, when the desired braking force is equal to the actually generated braking force, a reaction force corresponding to a predetermined braking force to be generated can be generated on the brake pedal.

On the other hand, in step S3, when the generated braking force is weaker than the braking force command value (step S3,
(Abnormal), outputs abnormal information to the meter panel (Step S6), and rotates the pedal motor 6 in the direction of the arrow in the figure with a weak force corresponding to the generated braking force (Step S4). As a result, the gear 4 rotates in the direction of the arrow in the figure, and a weak force corresponding to the generated braking force is applied to the brake pedal 1.
Acts in the direction of returning (step S5), the pedal feeling becomes weak. In other words, when the braking force to be generated is greater than the braking force that is actually being generated, the brake is not effective, and the brake pedal acts to weaken the generation of the reaction force of the brake pedal corresponding to the braking force to be generated. . An extreme example in this case is a depressed state of the brake pedal. Also, when the braking force to be generated <the braking force that is actually being generated, the brake is being applied too much, and the generation of the reaction force of the brake pedal corresponding to the braking force to be generated should be reduced. Let it work. An extreme example in this case is a state in which the brake pedal is depressed.

That is, when the brake is operating normally, the brake pedal 1 has a firm and strong stepping response, and the brake is abnormal, and a sufficient braking force is not generated or the braking force is reduced. If it is too effective, the response of the brake pedal 1 is weakened, and the driver can be notified of the brake abnormality.

Next, a dry brake according to a second embodiment of the present invention will be described. In general, the braking force is generated by the rotation torque of the brake motor, so the generated braking force is proportional to the current flowing through the brake motor. Therefore, the second embodiment is characterized in that the current of the braking motor is detected by using such a principle without using a braking force sensor to measure the generated braking force. Therefore, the configuration of the brake pedal itself is the same as that of FIG.

FIG. 5 is a circuit diagram of a brake motor provided with current detecting means according to a second embodiment of the present invention. FIG. 1 shows a current system of each of four-wheel brake motors in a vehicle. That is, as shown in FIG.
2b, 12c, and 12d are supplied with a current, and current sensors 13a, 13b, 13c,
13d is provided. And each current sensor 13a
The output values of し 13d are added and converted as the generated braking force.

That is, the second embodiment differs from the first embodiment in that the braking force sensor detects the generated braking force and compares it with the braking force command value in step S3 of FIG. , Current sensors 13a-1
By detecting the current of each of the brake motors 12a to 12d by 3d, and comparing the sum of the currents with the brake force command value, the current can be read. Then, the current sensors 13a to 13
If the current addition value of d is the same as the braking force command value (step S3, normal), the pedal motor 6 is rotationally driven in the direction of the arrow in the figure with a strong force corresponding to the current addition value (step S4). Then, the gear 4 rotates in the direction of the arrow in the figure,
Since a strong force corresponding to the current addition value acts in a direction to return the brake pedal 1 (step S5), the pedal feeling becomes strong.

On the other hand, in step S3, the current sensor 13a
If the current addition value of １３13d is smaller than the braking force command value (step S3, abnormality), abnormal information is output to the meter panel (step S7), and the pedal motor 6 is set to a weak force corresponding to the current addition value. Then, it is rotated in the direction of the arrow in the figure (step S4). As a result, the gear 4 rotates in the direction of the arrow in the figure, and a weak force corresponding to the current addition value acts in the direction of returning the brake pedal 1 (Step S).
5) The pedal feeling becomes weak.

Next, a dry brake according to a third embodiment of the present invention will be described. FIG. 6 is a control system diagram of a brake motor for explaining a third embodiment of the present invention. In this embodiment, the power supply 11
Through the pedal motor 14, each brake motor 12
a, 12b, 12c, and 12d. That is, in the third embodiment, the current sensor is not used as in the second embodiment, and
4 are connected to the respective brake motors 12a to 12d. Therefore, the pedal motor 14 drives each of the brake motors 12a to 12d to generate a desired braking force, and the pedal motor 14 returns the brake pedal with the same rotational driving force as that which generated the braking force. I have. This makes it possible to obtain a brake feeling corresponding to the generated braking force on the brake pedal without requiring a control circuit.

Next, a dry brake according to a fourth embodiment of the present invention will be described. FIG. 7 is a diagram illustrating a schematic configuration of a brake pedal according to the fourth embodiment of the present invention. In the fourth embodiment, air pressure (or gas pressure) is used to generate a reaction force of the brake pedal. That is, the lever 16 for transmitting the force of the piston 15 is attached to the brake pedal 1. The cylinder 17 is filled with high-pressure gas, and the lever 16 applies a reaction force to the brake pedal 1 by pressing the piston 15 into the cylinder 17. Further, piping is provided from the cylinder 17 to the tank 19 via the valve 18.

During normal braking operation, the valve 18 is closed. When the brake pedal 1 is depressed, the gas in the cylinder 17 is compressed, and a reaction force is applied to the brake pedal 1 via the piston 15 and the lever 16. Next, when the brake becomes abnormal and becomes ineffective, the valve 18 is automatically opened and the gas in the cylinder 17 is drawn into the tank 19. As a result, the gas pressure in the cylinder 17 decreases, so that the reaction force of the brake pedal 1 can be reduced. It should be noted that the dry brake of this embodiment does not require the power for the reaction force of the brake pedal 1.

The embodiment described above is an example for explaining the present invention, and the present invention is not limited to the above embodiment, and various modifications are possible within the scope of the invention. is there. For example, in each of the embodiments described above, the dry brake has been described. Also,
With the brake device of the present invention, the operation of the ABS or the like can be sensed from the pedal.

[0037]

As described above, in the conventional hydraulic brake device, the pedaling force of the brake pedal is the source of the braking force, so that the reaction force of the braking force (oil pressure) can be felt by the foot. However, in the conventional dry brake, a pedal force sensor is attached to the brake pedal, and a brake force is generated in accordance with an output signal of the pedal force sensor. Could not be felt with feet. Therefore, when there is a large clearance between the pad and the rotor at the time of pad replacement, even if the brakes do not work and the pedal is depressed, the driver cannot deal with the abnormality by depressing the pedal again.

However, according to the brake device of the first aspect of the present invention, in a dry brake for generating a braking force in response to an output signal of an operation amount detecting means such as a pedaling force sensor, the braking force generated by the braking means is reduced. In response, a reaction force is generated from the brake pedal. Thus, the driver can feed back the state of the brake from the foot using the brake pedal. Therefore, it is possible to detect the abnormality of the brake as soon as possible, and it is possible to realize a brake device that ensures safety. In other words, when there is a large clearance between the pad and the rotor when replacing the pad, if the brake is not applied and the pedal is depressed, the driver notices abnormally by depressing the pedal, and By repeating the stepping, the abnormality can be quickly dealt with.

According to the brake device of the second aspect of the present invention, the operation reaction force control means such as a pedal motor controls the operation reaction force of the brake pedal according to the magnitude of the generated braking force. Is configured. Therefore, when the braking force to be generated is equal to the actually generated braking force (in a normal state), a reaction force corresponding to a predetermined braking force to be generated is generated on the brake pedal. When the actually generated braking force is smaller than the braking force to be generated (in the case of an abnormality), the brake is not effective, and the generation of the reaction force of the brake pedal corresponding to the braking force to be generated is weakened. To work. An extreme example of such a case is a depressed state of the brake pedal, and the driver notices the abnormality by depressing the brake pedal, and can respond quickly to the abnormality by depressing the brake pedal again. Further, when the actually generated braking force is greater than the braking force to be generated (in an abnormal state), the brake is being applied too much, and the brake pedal reaction force corresponding to the braking force to be generated is generated. Act to weaken. The extreme case in this case is also a state in which the brake pedal is depressed, and the driver notices an abnormality by depressing the brake pedal, and by depressing the brake pedal again,
Can respond quickly to abnormalities.

According to the brake device of the third aspect of the present invention, the braking force generated by the actuator such as the brake motor is proportional to the current supplied to the actuator. However, the current flowing through the actuator can be detected and regarded as the generated braking force. Therefore, the operation reaction force of the brake pedal can be controlled by comparing the detected current value with the calculated target braking force.

According to the brake device of the fourth aspect of the present invention, an actuator such as a brake motor for generating a braking force is driven through a pedal motor without detecting a current flowing through the actuator. In addition, the actual generated braking force can be proportional to the operation reaction force generated by the pedal motor on the brake pedal.
Thus, a brake feeling corresponding to the braking force can be obtained from the brake pedal without requiring a control circuit.

According to the brake device of the fifth aspect of the present invention, in order to generate a reaction force for operating the brake pedal, a gas or liquid such as air or gas is sealed in the cylinder, and these gases are charged. And the sealing pressure of the liquid is transmitted to the brake pedal. Then, when the brake is abnormal, the valve is opened to release the gas or liquid sealed in the cylinder to a tank or the like to reduce the internal pressure of the cylinder. By controlling the operation reaction force of the brake pedal in this manner, the driver can obtain a desired brake feeling on the brake pedal.
Further, according to the configuration as in the present invention, the power for pedal reaction force is not required.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating a brake system of a dry brake to which the present invention is applied.

FIG. 2 is a diagram showing a schematic configuration of a general brake pedal applied to a dry brake.

FIG. 3 is a diagram showing a schematic configuration of a brake pedal according to the embodiment of the present invention.

4 is a flowchart showing an operation of the brake pedal shown in FIG. 3 according to the first embodiment.

FIG. 5 is a circuit diagram of a brake motor including a current detection unit according to a second embodiment of the present invention.

FIG. 6 is a control system diagram of a brake motor for explaining a third embodiment of the present invention.

FIG. 7 is a diagram illustrating a schematic configuration of a brake pedal according to a fourth embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 brake pedal 2 fulcrum 3 spring 4 gear 5 pinion gear 6, 14 pedal motor 7 pedal force sensor 8 rotation angle detector (stroke sensor) 11 power supply 12a, 12b, 12c, 12d brake motor 13a, 13b, 13c, 13d current sensor 15 Piston 16 Lever 17 Cylinder 18 Valve 19 Tank 21a, 21b, 21c, 21d Dry brake 22a, 22b, 22c, 22d Disk 23a, 23b, 23c, 23d Inner pad 24a, 24b, 24c, 24d Outer pad 25a, 25b, 25c, 25d wheels 26 controller 27 brake pedal 28 operation amount detection sensor 29 master cylinder 30 alarm lamp 31a, 31b, 31c, 31d carrier

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D046 BB01 BB03 CC06 EE01 HH02 HH52 LL02 LL14 MM02 3D049 BB02 BB14 CC04 HH39 HH45 HH47 HH48 HH52 QQ04 RR02 RR08 RR10 RR13

Claims (5)

[Claims] 1. An operation amount detection means provided on a brake pedal for detecting an operation amount of the brake pedal, and a brake provided on a wheel to generate a braking force corresponding to an operation amount of an actuator to brake the wheel. Means for causing the braking means to generate a target braking force corresponding to the operation amount detected by the operation amount detection means based on a predetermined correspondence table between the operation amount of the brake pedal and the target braking force. A control unit for calculating a drive amount of the actuator and outputting the calculation result to the actuator of the braking unit, wherein the brake device generates a braking force according to an operation amount of the brake pedal; Braking force detection means for detecting a braking force actually generated by the braking means based on the control information of the control means; and the braking force detection means Thus a detected generated braking force, and comparing means for comparing the target braking force calculated by the control means, the comparison means generates a braking force is compared with the target braking force,
An abnormality detecting means for detecting an abnormality when deviating from a predetermined range; and an operation for controlling an operation reaction force of the brake pedal based on detection information of the abnormality detecting means, provided on the brake pedal. A brake device comprising a reaction force control means. 2. The operation reaction force control means according to claim 1, wherein the operation reaction force control means controls the operation reaction force of the brake pedal in accordance with the magnitude of the braking force generated by the braking means. Brake equipment. 3. The generated braking force detection means is a current sensor for detecting a current supplied to the actuator, and calculates a current value detected by the current sensor and a target braking force calculated by the control means. The brake device according to claim 1, wherein the operation reaction force control unit controls an operation reaction force of a brake pedal based on a comparison result. 4. The brake device according to claim 1, wherein the actuator is controlled by the operation reaction force control unit. 5. The operation reaction force control means operates the brake pedal according to a sealing pressure of a gas or liquid sealed in a cylinder and a pressure in the cylinder when the gas or liquid is discharged. The brake device according to claim 1, wherein the reaction device controls a reaction force.