CN103674570B - Worm-gear type electronic brake gradient simulator stand - Google Patents
Worm-gear type electronic brake gradient simulator stand Download PDFInfo
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- CN103674570B CN103674570B CN201310712860.3A CN201310712860A CN103674570B CN 103674570 B CN103674570 B CN 103674570B CN 201310712860 A CN201310712860 A CN 201310712860A CN 103674570 B CN103674570 B CN 103674570B
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Abstract
The present invention relates to a kind of Worm-gear type electronic brake gradient simulator stand, belong to automotive field.Including driving device, right support plate, rotating mechanism, left support plate, testing stand frame, hand rotation rotating shaft, rotating shaft drives worm screw, worm screw drives worm gear, worm gear drives main shaft to rotate by flat key, rotates thus platform is rotated, and the value of slope signal collected is fed back to controller by the Slope Transducer on rotation platform, controller controls actuator after calculating, thus fully verifying the validity and reliability of electronic parking system before carrying out real train test.Advantage is in that: can complete to electronic brake system sensor, controller, execution device hardware-in-the-loop test, driving mechanism has auto-lock function, reliable and stable.Experimental provision can be made when not using any power supply to complete the hardware-in-the-loop test of certain precision, precision is high, it is to avoid use motor to drive potential signal disturbing and the pointer flickered problem.
Description
Technical field
The present invention relates to automotive field, Worm-gear type electronic brake gradient simulator stand particularly to a kind of actuator use worm gear device, for electronic brake system.
Background technology
Electronic brake system (EPB) calculates the gradient by the longitudinal acceleration sensor being built in its computer, such that it is able to calculate the sliding force that vehicle produces on the slope due to gravity, trailing wheel is applied brake force by motor and balances sliding force by computer, enables the vehicle to stop on the slope.When vehicle start, the brake force needing to apply calculated by computer by the size of the displacement transducer on clutch pedal and throttle, is known the size of engine traction by high-speed controller LAN (CAN) and engine computer communication simultaneously.Computer calculates the increase of engine traction automatically, reduces brake force accordingly.When pull strength enough overcomes sliding force, computer drive motor releases braking, thus realizing the smooth and easy starting of vehicle.
In research, evaluating electronic parking system (EPB) sensor, controller, executor and systematic entirety energy, hardware-in-the-loop test is used to have obviously advantage.It can when not carrying out car load real roads test, the hardware of electronic parking system (EPB) is carried out overall performance evaluation and analysis verification, reach the verity close to real train test, it is substantially reduced the cost of experimental study simultaneously, shorten the time cycle of test evaluation, improve the safety of electronic parking test.
The domestic research to electronic parking system (EPB) hardware-in-the-loop test is also fewer at present, and trial stretch ratio is relatively limited, it is impossible to complete comprehensive hardware-in-the-loop test；Easily interfere between sensor, controller and actuator signal and control accuracy is low.
Summary of the invention
It is an object of the invention to provide a kind of Worm-gear type electronic brake gradient simulator stand, solve the bottleneck problem of restriction electronic parking system (EPB) the hardware-in-the-loop test development such as electronic parking system (EPB) hardware-in-the-loop test gradient simulation context is limited, precision is not high, each components and parts signal easily interference, thus promoting the development of electronic parking system (EPB) to a certain extent.
The above-mentioned purpose of the present invention is achieved through the following technical solutions:
Worm-gear type electronic brake gradient simulator stand, including driving device 1, right support plate 2, main shaft 5, the rotation platform 3 of rotating mechanism, left support plate 4 and testing stand frame 6, driving device 1 is the worm and gear driving device with self-locking property, it is fixed on right support plate 2, left support plate 4 and the strict centering of right support plate 2 are fixed in testing stand frame 6, manual adjustments driving device 1, make main shaft 5 that platform 3 is rotated to rotate, the Slope Transducer perception anglec of rotation on rotation platform 3, rotary angle signal is passed to ECU controller, controller controls actuator after calculating.
Described main shaft 5 respectively with left and right gripper shoe bearing 28,24 inner ring interference fit, left and right gripper shoe bearing 28,24 outer ring coordinates with left and right gripper shoe 4,2 small-gap suture respectively, and rotation platform 3 is fixedly connected on main shaft 5 by screw；Upper and lower fixing panel beating 22,23 on driving device 1 is fixedly connected on right support plate 2 by screw, rotating shaft 13 and worm screw 7 interference fit, worm gear 14 is connected by flat key 15 with main shaft 5, worm screw 7 drives main shaft 5 to rotate by worm gear 14, worm screw 7 has self-locking performance, making rotation platform 3 can maintain static after rotating to an angle, the grade signal detected is passed to ECU, ECU and controls actuator after calculating by rotation platform 3 Slope Transducer above.
Described driving device 1 includes worm screw 7, worm screw back-up ring 8, fixing worm screw left bearing 9, fixing worm screw right bearing 10, retaining ring 11, driving mechanism fixes plate 12, rotating shaft 13, worm gear 14, flat key 15, fixed main shaft left bearing 16, fixed main shaft left bearing back-up ring 17, fixed main shaft right bearing 18, fixed main shaft right bearing back-up ring 19, index dial 20, pointer 21, upper fixing panel beating 22, fixing panel beating 23 down, described worm screw 7 has self-locking performance, hand rotation rotating shaft 13, by worm screw 7, worm gear 14 drives main shaft 5 to rotate to an angle, pointer 21 rotates together with main shaft 5, thus showing the angle that main shaft 5 rotates on index dial 20.
The fixing plate 12 of described driving mechanism is connected by screw into casing, rotating shaft 13 and worm screw 7 interference fit, fixing worm screw left bearing 9 is axially positioned by worm screw back-up ring 8 and worm screw boss, retaining ring 11 is threadeded with worm screw 7, fixing worm screw right bearing 10 is axially positioned by retaining ring 11 and worm screw boss, and worm gear 14 is connected by flat key 15 with main shaft 5；Fixed main shaft left bearing back-up ring 17 and main shaft boss to fixed main shaft left bearing 16 axial restraint, fixed main shaft right bearing back-up ring 19 and main shaft boss to fixed main shaft right bearing 18 axial restraint；Index dial 20 is fixedly connected on the fixing plate 12 of driving mechanism by screw, and pointer 21 is fixed by screws on main shaft 5, and main shaft 5 drives pointer 21 to rotate together, and pointer 21 shows the angle of rotation on index dial 20；Worm screw 7 has self-locking performance, and it is motionless that pointer 21 can be fixed on a certain angle of index dial 20；Upper fixing panel beating 22, lower fixing panel beating 23 are fixed by screws on the fixing plate 12 of driving mechanism, and upper fixing panel beating 22, lower fixing panel beating 23 are connected by screw and make whole driving device 1 be fixed on right support plate 2.
Described testing stand frame 6 is alongst provided with a groove, left and right gripper shoe 4,2 lower end is provided with the groove identical with testing stand frame 6 recess width, left and right gripper shoe fastening block 31,27 bottom respectively with the groove interference fit of testing stand frame 6, left and right gripper shoe fastening block 31,27 top respectively with the groove interference fit of left and right gripper shoe 4,2 lower end, left and right gripper shoe 4,2 is made to fix along the groove of testing stand frame 6, thus ensureing the strict centering of left and right gripper shoe.
The beneficial effects of the present invention is:
1. Worm-gear type electronic brake gradient simulator stand of the present invention can complete to electronic brake system sensor, controller, execution device hardware-in-the-loop test, carrying out the validity and reliability of fully access control system before real train test.
2. the driving mechanism of Worm-gear type electronic brake gradient simulator stand of the present invention is manual adjustments worm-and-wheel gear, and mechanism itself has auto-lock function, reliable and stable.
3. Worm-gear type electronic brake gradient simulator stand driving mechanism of the present invention is provided with index dial, experimental provision can be made when not using any power supply to complete the hardware-in-the-loop test of certain precision, precision is high, eliminate the motor drive controller of other assay devices, it is to avoid use motor to drive potential signal disturbing and the pointer flickered problem.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, and the illustrative example of the present invention and explanation thereof are used for explaining the present invention, are not intended that inappropriate limitation of the present invention.
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the perspective exploded view of the present invention；
Fig. 3 is inventive drive means structural representation；
Fig. 4 is the worm section sectional view of the worm-and-wheel gear of the present invention；
Fig. 5 is the worm gear portion sectional view of the worm-and-wheel gear of the present invention；
Fig. 6 is the rotating mechanism sectional view of the present invention；
Fig. 7 is the workflow diagram of the present invention.
In figure: 1. driving device, 2. right support plate, 3. rotation platform, 4. left support plate, 5. main shaft, 6. testing stand frame, 7. worm screw, 8. worm screw back-up ring, 9. fixing worm screw left bearing, 10. fixing worm screw right bearing, 11. retaining ring, 12. driving mechanism fixes plate, 13. rotating shaft, 14. worm gear, 15. flat key, 16. fixed main shaft left bearing, 17. fixed main shaft left bearing back-up ring, 18. fixed main shaft right bearing, 19. fixed main shaft right bearing back-up ring, 20. index dial, 21. pointer, 22. upper fixing panel beating, 23. lower fixing panel beating, 24. right support board shaft is held, 25. right support board shaft holds right baffle plate, 26. right support board shaft holds right baffle-plate, 27. right support plate fastening block, 28. left support board shaft is held, 29. left support board shaft holds right baffle plate, 30. left support board shaft holds right baffle-plate, 31. left support plate fastening block.
Detailed description of the invention
Detailed content and the detailed description of the invention thereof of the present invention is further illustrated below in conjunction with accompanying drawing.
Shown in Fig. 1 and Fig. 2, the Worm-gear type electronic brake gradient simulator stand of the present invention is made up of driving device 1, right support plate 2, main shaft 5, rotation platform 3, left support plate 4 and testing stand frame 6.Testing stand frame 6 is certain thickness aluminium sheet, alongst it is provided with a groove, left and right gripper shoe 4,2 bottom also is provided with groove, the groove interference fit of left and right gripper shoe fastening block 31,27 bottom and testing stand frame 6, left and right gripper shoe fastening block 31,27 top respectively with left and right gripper shoe 4,2 lower recess interference fit, left and right gripper shoe 4,2 is fixed along the groove of testing stand frame 6, thus ensureing the strict centering of left and right gripper shoe 4,2；Main shaft 5 respectively with left and right gripper shoe bearing 28,24 inner ring interference fit, left and right gripper shoe bearing 28,24 outer ring coordinates with left and right gripper shoe 4,2 small-gap suture respectively, and rotation platform 3 is fixedly connected on main shaft 5 by screw；Upper and lower fixing panel beating 22,23 on driving device 1 is fixedly connected on right support plate 2 by screw, rotating shaft 13 and worm screw 7 interference fit, worm gear 14 is connected by flat key 15 with main shaft 5, worm screw 7 drives main shaft 5 to rotate by worm gear 14, worm screw 7 has self-locking performance, making rotation platform 3 can maintain static after rotating to an angle, the grade signal detected is passed to ECU, ECU and controls actuator after calculating by rotation platform 3 Slope Transducer above.
Referring to shown in Fig. 2 to Fig. 5, Worm-gear type electronic brake gradient simulator stand driving device of the present invention is by worm screw 7, worm screw back-up ring 8, fixing worm screw left bearing 9, fixing worm screw right bearing 10, retaining ring 11, driving mechanism fixes plate 12, rotating shaft 13, worm gear 14, flat key 15, fixed main shaft left bearing 16, fixed main shaft left bearing back-up ring 17, fixed main shaft right bearing 18, fixed main shaft right bearing back-up ring 19, index dial 20, pointer 21, upper fixing panel beating 22, fixing panel beating 23 forms down, the fixing plate 12 of driving mechanism is thin aluminum sheet, 6 fixing plates 12 of driving mechanism are connected by screw and are overlapped to form casing；Rotating shaft 13 and worm screw 7 interference fit, fixing worm screw left bearing 9 is axially positioned by worm screw back-up ring 8 and worm screw boss, retaining ring 11 is threadeded with worm screw 7, and fixing worm screw right bearing 10 is axially positioned by retaining ring 11 and worm screw boss, and worm gear 14 is connected by flat key 15 with main shaft 5；
Shown in Figure 5, fixing left bearing back-up ring 17 and main shaft boss are to fixed main shaft left bearing 16 axial restraint, and fixing right bearing back-up ring 19 and main shaft boss are to fixed main shaft right bearing 18 axial restraint；Index dial 20 is connected by screw and is fixed on the fixing plate 12 of driving mechanism, pointer 21 is connected by screw and is fixed on main shaft 5, main shaft 5 can drive pointer 21 to rotate together, pointer 21 can show the angle of rotation on index dial 20, worm screw 7 has self-locking performance, and it is motionless that pointer 21 can be fixed on a certain angle of index dial 20；Upper fixing panel beating 22, lower fixing panel beating 23 are connected by screw and are fixed on the fixing plate 12 of driving mechanism, and upper fixing panel beating 22, lower fixing panel beating 23 are connected by screw and make whole driving device 1 be fixed on right support plate 2
Shown in Figure 6, Worm-gear type electronic brake gradient simulator stand rotating mechanism of the present invention is held 24 by right support plate 2, right support board shaft, right support board shaft holds right baffle plate 25, right support board shaft holds right baffle-plate 26, right support plate fastening block 27, left support plate 4, left support board shaft hold 28, left support board shaft holds right baffle plate 29, left support board shaft holds right baffle-plate 30, left support plate fastening block 31, main shaft 5, rotation platform 3, testing stand frame 6 form.Right support board shaft hold 24 and left support board shaft to hold 28 selection bearing designations be 1205K, dimensions be the self-aligning ball bearing of 25 × 52 × 15, there is self-aligning function, make main shaft 5 can fix on left-and-right supporting plate；Right support board shaft holds 24 inner rings and main shaft 5 interference fit, right support board shaft is held 24 outer rings and is coordinated with right support plate 2 small-gap suture, right support board shaft is held right baffle plate 25 and is fixed by screws on right support plate 2, right support board shaft is held right baffle-plate 26 and is fixed by screws on right support plate 2, and right support board shaft holds right baffle plate 25 and right support bearing right baffle-plate 26 plays the effect that right support board shaft is held 24 axial restraints；Left support board shaft holds 28 inner rings and main shaft 5 interference fit, left support board shaft is held 28 outer rings and is coordinated with left support plate 4 small-gap suture, left support board shaft is held right baffle plate 29 and is fixed by screws on left support plate 4, left support board shaft is held right baffle-plate 30 and is fixed by screws on left support plate 4, and left support board shaft holds right baffle plate 29 and left support board shaft is held right baffle-plate 30 and played the effect that left support board shaft is held 28 axial restraints；Right support plate 2 and left support plate 4 bottom are provided with concave station, alleviate the weight of gripper shoe；Testing stand frame 6 is certain thickness aluminum plate, alongst it is provided with a groove, the groove wide with testing stand frame groove is arranged at right support plate bottom, right support plate fastening block 27 bottom and testing stand frame groove interference fit, right support plate fastening block 27 top and right support plate lower recess interference fit, left support plate bottom also is provided with the groove wide with testing stand frame groove, left support plate fastening block 31 bottom and testing stand frame groove interference fit, left support plate fastening block 31 top and left support plate lower recess interference fit, left, right support plate is fixed along testing stand groove, ensure a left side, the strict centering of right support plate；Rotation platform 3 is fixed by screws on main shaft 5, and Slope Transducer is fixed on rotation platform 3, and rotary angle signal is passed to ECU controller by the anglec of rotation of Slope Transducer perception rotation platform 3.
Shown in Figure 7, the workflow diagram of Worm-gear type electronic brake gradient simulator stand of the present invention, is mainly made up of host computer, dspace machine, ECU controller, Slope Transducer, actuator (caliper fixed rack) and pressure transducer.By host computer, the duty parameter set is become C code and send dspace machine to, dspace machine runs whole vehicle model, gather and send the signal of pressure transducer, grade signal is passed to ECU controller by the Slope Transducer on rotation platform 3, grade signal and whole vehicle model are calculated by ECU controller according to the algorithm that ECU controller is embedded, according to calculate output control actuator (caliper fixed rack), pressure transducer by the pressure signal transmission of actuator to dspace machine.
The work process of Worm-gear type electronic brake gradient simulator stand is exemplified below:
First, hand rotation rotating shaft 13, rotating shaft 13 drives main shaft 5 to rotate to an angle by worm-and-wheel gear, the anglec of rotation of Slope Transducer perception rotation platform, rotary angle signal is passed to ECU controller, the duty parameter set is passed to dspace machine by host computer, whole vehicle model is run by dspace machine, grade signal and whole vehicle model are calculated by ECU controller according to the algorithm that ECU controller is embedded, according to calculate output control actuator, pressure transducer by the pressure signal transmission of actuator to dspace machine.The driving mechanism of the present invention is the worm-and-wheel gear of manual adjustments, has self-locking performance, and precision is high, reliable and stable, eliminate employing motor and drive the motor drive controller that must have, it is to avoid potential signal disturbing and the pointer flickered problem.The Worm-gear type electronic brake gradient simulator stand of the present invention is simple to operate, low cost of manufacture, and efficiency is high, can effectively meet electronic parking system (EPB) hardware-in-the-loop test, promotes the development of electronic parking system (EPB) to a certain extent.
The foregoing is only the preferred embodiment of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All any amendments made for the present invention, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (4)
1. a Worm-gear type electronic brake gradient simulator stand, including driving device (1), right support plate (2), main shaft (5), the rotation platform (3) of rotating mechanism, left support plate (4) and testing stand frame (6), it is characterized in that: driving device (1) is the worm and gear driving device with self-locking property, it is fixed on right support plate (2), left support plate (4) and right support plate (2) strict centering are fixed in testing stand frame (6), manual adjustments driving device (1), make main shaft (5) that platform (3) is rotated to rotate, the Slope Transducer perception anglec of rotation on rotation platform (3), rotary angle signal is passed to ECU controller, ECU controller controls actuator after calculating；
Described main shaft (5) respectively with left and right gripper shoe bearing (28,24) inner ring interference fit, left and right gripper shoe bearing (28,24) outer ring coordinates with left and right gripper shoe (4,2) small-gap suture respectively, and rotation platform (3) is fixedly connected on main shaft (5) by screw；Upper and lower fixing panel beating (22,23) on driving device (1) is fixedly connected on right support plate (2) by screw, rotating shaft (13) and worm screw (7) interference fit, worm gear (14) is connected by flat key (15) with main shaft (5), worm screw (7) drives main shaft (5) to rotate by worm gear (14), worm screw (7) has self-locking performance, makes rotation platform (3) can maintain static after rotating to an angle.
2. Worm-gear type electronic brake gradient simulator stand according to claim 1, it is characterized in that: described driving device (1) includes worm screw (7), worm screw back-up ring (8), fixing worm screw left bearing (9), fixing worm screw right bearing (10), retaining ring (11), driving mechanism fixes plate (12), rotating shaft (13), worm gear (14), flat key (15), fixed main shaft left bearing (16), fixed main shaft left bearing back-up ring (17), fixed main shaft right bearing (18), fixed main shaft right bearing back-up ring (19), index dial (20), pointer (21), upper fixing panel beating (22), fixing panel beating (23) down, described worm screw (7) has self-locking performance, hand rotation rotating shaft (13), by worm screw (7), worm gear (14) drives main shaft (5) to rotate, pointer (21) and main shaft (5) rotate together, thus showing the angle that main shaft (5) rotates on index dial (20).
3. Worm-gear type electronic brake gradient simulator stand according to claim 2, it is characterized in that: described driving mechanism is fixed plate (12) and is connected by screw into casing, rotating shaft (13) and worm screw (7) interference fit, fixing worm screw left bearing (9) is axially positioned by worm screw back-up ring (8) and worm screw boss, retaining ring (11) is threadeded with worm screw (7), fixing worm screw right bearing (10) is axially positioned by retaining ring (11) and worm screw boss, and worm gear (14) is connected by flat key (15) with main shaft (5)；Fixed main shaft left bearing back-up ring (17) and main shaft boss to fixed main shaft left bearing (16) axial restraint, fixed main shaft right bearing back-up ring (19) and main shaft boss to fixed main shaft right bearing (18) axial restraint；Index dial (20) is fixedly connected on the fixing plate (12) of driving mechanism by screw, pointer (21) is fixed by screws on main shaft (5), main shaft (5) drives pointer (21) to rotate together, the angle that pointer (21) rotates in the upper display of index dial (20)；Upper fixing panel beating (22), lower fixing panel beating (23) are fixed by screws on the fixing plate (12) of driving mechanism, and upper fixing panel beating (22), lower fixing panel beating (23) are connected by screw and make whole driving device (1) be fixed on right support plate (2).
4. Worm-gear type electronic brake gradient simulator stand according to claim 1, it is characterized in that: described testing stand frame (6) is alongst provided with a groove, left, right support plate (4, 2) lower end is provided with the groove identical with testing stand frame (6) recess width, left, right support plate fastening block (31, 27) bottom respectively with the groove interference fit of testing stand frame (6), left, right support plate fastening block (31, 27) top respectively with a left side, right support plate (4, 2) the groove interference fit of lower end, make a left side, right support plate (4, 2) fix along the groove of testing stand frame (6).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310712860.3A CN103674570B (en) | 2013-12-23 | 2013-12-23 | Worm-gear type electronic brake gradient simulator stand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310712860.3A CN103674570B (en) | 2013-12-23 | 2013-12-23 | Worm-gear type electronic brake gradient simulator stand |
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| CN103674570A CN103674570A (en) | 2014-03-26 |
| CN103674570B true CN103674570B (en) | 2016-06-29 |
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| CN201310712860.3A Expired - Fee Related CN103674570B (en) | 2013-12-23 | 2013-12-23 | Worm-gear type electronic brake gradient simulator stand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105397151A (en) * | 2015-11-19 | 2016-03-16 | 沈阳黎明航空发动机(集团)有限责任公司 | Real-time digital display drilling device and method |
| CN106706331B (en) * | 2016-11-22 | 2019-07-23 | 中汽研汽车检验中心(宁波)有限公司 | A kind of vehicle-mounted child restraint system test tool coiler |
| CN109141361A (en) * | 2018-09-08 | 2019-01-04 | 浙江众泰汽车制造有限公司 | A kind of environment storehouse test ramp signal generation apparatus and application method |
| CN110895196A (en) * | 2019-11-28 | 2020-03-20 | 芜湖意维利科技有限公司 | Worm gear fatigue test bench |
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| CN201128150Y (en) * | 2007-12-21 | 2008-10-08 | 中国科学院西安光学精密机械研究所 | Upset locating support |
| CN102564772A (en) * | 2012-01-13 | 2012-07-11 | 南京理工大学 | Testing device for electronic parking brake system |
| CN103323256A (en) * | 2013-05-28 | 2013-09-25 | 万向钱潮股份有限公司 | Dynamic brake performance testing device of integrated type electronic parking brake system |
| CN103323257A (en) * | 2013-05-28 | 2013-09-25 | 万向钱潮股份有限公司 | Static testing device of electronic parking braking system |
| CN203616143U (en) * | 2013-12-23 | 2014-05-28 | 吉林大学 | Worm and gear type electronic parking brake gradient simulation testing station |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100405688B1 (en) * | 2000-12-26 | 2003-11-14 | 현대자동차주식회사 | Parking brake test system |
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- 2013-12-23 CN CN201310712860.3A patent/CN103674570B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201128150Y (en) * | 2007-12-21 | 2008-10-08 | 中国科学院西安光学精密机械研究所 | Upset locating support |
| CN102564772A (en) * | 2012-01-13 | 2012-07-11 | 南京理工大学 | Testing device for electronic parking brake system |
| CN103323256A (en) * | 2013-05-28 | 2013-09-25 | 万向钱潮股份有限公司 | Dynamic brake performance testing device of integrated type electronic parking brake system |
| CN103323257A (en) * | 2013-05-28 | 2013-09-25 | 万向钱潮股份有限公司 | Static testing device of electronic parking braking system |
| CN203616143U (en) * | 2013-12-23 | 2014-05-28 | 吉林大学 | Worm and gear type electronic parking brake gradient simulation testing station |
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