CN104859461A - Brake energy recovering method for electromobile - Google Patents
Brake energy recovering method for electromobile Download PDFInfo
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- CN104859461A CN104859461A CN201410844011.8A CN201410844011A CN104859461A CN 104859461 A CN104859461 A CN 104859461A CN 201410844011 A CN201410844011 A CN 201410844011A CN 104859461 A CN104859461 A CN 104859461A
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- slide block
- coordination
- rack slide
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Abstract
The invention discloses a brake energy recovering method for an electromobile. A recovering system comprises a hydraulic brake mechanism and a brake coordination component used together with the hydraulic brake mechanism; in braking, a reaction force opposite to the movement direction of a piston in the hydraulic brake mechanism is generated by the brake coordination component, and meanwhile, electric energy generated in wheel driving motor braking is used for charging a storage battery through a boosting module; through coordination between the reverse braking force of a wheel driving motor M and the hydraulic braking force in braking, the hydraulic braking pressure is reduced; meanwhile, the storage battery E is charged. The braking force of the motor and the hydraulic braking force are continuously adjusted through coordination in real time within a certain range by adopting a mechanical structure, the structure is relatively simple, the cost is reduced greatly, and the working reliability is remarkably improved.
Description
Technical field
The present invention relates to electric vehicle brake technical field, be specifically related to a kind of method for recovering brake energy used for electric vehicle.
Background technology
Current, along with the pay attention to day by day of energy-conserving and environment-protective, the use of electronlmobil increases gradually.Brake system is one of vital system of automobile.Traditional automobile brake generally adopts hydraulic brake system, and it can not realize energy regenerating, and brake plate frictional loss is very fast.At present, the brake system of electronlmobil, except some adopts traditional hydraulic brake system, also the brake system adopting electric braking to combine (or mixing) with hydraulic braking is had, when one of its main purpose is to utilize brake, wheel drive motors is charged to battery, to realize the recovery of energy, economize energy.As publication number be CN 1986272A, denomination of invention is the Chinese patent literature of " electronlmobil combination braking control system and control method ", namely disclose a kind of by sensor collection signal and micro controller system calculating, corresponding control ratio valve output hydraulic pressure braking force, to realize the combination of electric braking and hydraulic braking; And for example publication number is CN 101913352A, denomination of invention is the Chinese patent literature of " coordinated braking control method of electronlmobil ", and it still needs by steps such as acquisition of signal and micro controller system calculating to realize the cooperation of electric braking and hydraulic braking; For another example publication number is CN 102310850A, denomination of invention is the Chinese patent literature of " braking system of electric car that can carry out Brake energy recovery ", and still needing is calculating and the control of the control of core based on micro controller system.
Mostly utilize integrated manipulator (or similar single chip machine controlling circuit etc.) according to the control logic preset for the mode of the electric braking of electronlmobil and hydraulic braking in above-mentioned prior art, the time drawing control is judged according to the signal of sensor, control the mode of actr work, number of times or frequency etc. the parameter controlled, but associated actuator is controlled, its whole process need comprises collection signal, judge, calculate, the steps such as execution, the regular hour is needed to postpone in the process, the size of conventional hydraulic braking force can not be regulated in real time in real time according to the size of motor braking power, and control process of the prior art all demand fulfillment certain condition just controls actr action, control actr when meeting next condition again and carry out next step action, its control process be interrupted, discontinuous, in addition, its Control system architecture relative complex, the electronic devices and components of use are more, and the more expensive and functional reliability of cost reduces.
Summary of the invention
The object of this invention is to provide a kind of method for recovering brake energy used for electric vehicle, to realize the recovery to braking energy of electric automobiles.
In order to solve the problems of the technologies described above, the invention provides a kind of method for recovering brake energy used for electric vehicle, comprise when braking, produce the sense of motion opposite effect power with piston in hydraulic brake mechanism by brake coordination assembly, and the electric energy that wheel drive motors braking produces is charged to storage battery by a boost module simultaneously.
Preferably, during in order to be further implemented in brake, start brake coordination assembly; Described method for recovering brake energy used for electric vehicle also comprises: brake assemblies, is provided with travel switch K in described brake assemblies; When braking, travel switch K triggers, to produce described application force.
Preferably, establish the master brake cylinder of described piston in described hydraulic brake mechanism comprises, described piston is connected with brake assemblies by piston rod.
Preferably, in order to better make brake assemblies coordinate brake coordination component operation; Described brake assemblies comprises: the two-sided rack slide block; Described brake coordination assembly comprises: single-side rack slide block; The lower surface of described the two-sided rack slide block is coordinated with brake pedal by driving gear component, engages a brake coordination gear between its upper surface and the lower surface of single-side rack slide block, and this brake coordination gear is connected with the end of described piston rod; During brake, brake pedal controls the two-sided rack slide block by driving gear component and drives brake coordination pinion rotation, and this brake coordination gear is suitable for driving hydraulic brake mechanism to produce braking to wheel hub by piston rod; And described brake coordination assembly produces application force by single-side rack slide block to brake coordination gear.
Preferably, described application force is produced by simple, failure-free circuit structure; Described brake coordination assembly also comprises, electromagnetic induction device, and this battery sensing device is controlled by the pilot switch in described travel switch K; Described electromagnetic induction device is suitable for after travel switch K triggers, and pilot switch controls electromagnetic induction device and obtains electric, to produce described application force.
Preferably, described electromagnetic induction device comprises: magnet coil, and this magnet coil is suitable for obtaining electric pull-core; Described iron core is connected with single-side rack slide block, to be suitable for when magnet coil obtains electric, drives single-side rack slide block to produce described application force to brake coordination gear.
Preferably, described brake coordination assembly also comprises charge circuit, and this charge circuit is suitable for when braking, and is charged by the electric energy that wheel drive motors braking produces to storage battery.
Preferably, in order to avoid after pilot switch disconnects, storage battery also keeps driving effect to wheel drive motors; Described charge circuit comprises diode; The positive pole of described storage battery is connected with one end of magnet coil, the other end of this battery coil is connected with the negative electrode of described diode, the anode of this diode is connected with the mouth of boost module, the input end of described boost module is connected with wheel drive motors one end, and the negative pole of described storage battery is connected with the other end of wheel drive motors; Described pilot switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input end of boost module, storage battery.
Preferably, described iron core sleeve is located in a hollow shell, and described magnet coil is set around on this hollow shell periphery; One end of described iron core is connected with single-side rack slide block by pipe link, the other end in described hollow shell by the inner wall of end resilient engagement of Compress Spring and described hollow shell; Described iron core with a pair magnetic pole, this to magnetic pole be suitable for magnet coil obtain electric after, iron core is moved to Compress Spring direction.
The invention has the beneficial effects as follows, (1) method for recovering brake energy used for electric vehicle of the present invention, can make a concerted effort to meet in the braking both ensureing automobile brake when requiring, the percent recovery that can improve braking energy in braking procedure can reduce again the loss of conventional brake friction lining.(2) method for recovering brake energy used for electric vehicle of the present invention, employing physical construction realizes motor braking power and hydraulic braking force carries out cooperation adjustment within the specific limits continuously, in real time, and physical construction is relatively simple, cost significantly reduces and functional reliability significantly improves.(3) the present invention improves wheel drive motors to the charge efficiency of storage battery by boost module energy actv..
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 shows the structural representation of method for recovering brake energy used for electric vehicle of the present invention.
Fig. 2 shows the structural representation of the second embodiment of brake energy recovering system used for electric vehicle of the present invention.
In figure: wheel hub 1;
Hydraulic brake mechanism 2, brake facing 21, brake wheel cylinder 22, master brake cylinder 23, piston 24;
Brake assemblies 3, brake pedal 31, the first transfer gear 32, second transfer gear 33, brake coordination gear 34, first fixed guide 35, the two-sided rack slide block 36, travel switch K;
Brake coordination assembly 4, second fixed guide 41, single-side rack slide block 42, pipe link 43, iron core 44, hollow shell 45, magnet coil 46, Compress Spring 47;
Wheel drive motors M, storage battery E, diode VD.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only basic structure of the present invention are described in a schematic way, and therefore it only shows the formation relevant with the present invention.
Embodiment 1
Fig. 1 shows the structural representation of method for recovering brake energy used for electric vehicle of the present invention.
As shown in Figure 1, one of the present invention method for recovering brake energy used for electric vehicle, comprise: when braking, brake coordination assembly 4 produces the sense of motion opposite effect power with piston 24 in hydraulic brake mechanism 2, and is charged to storage battery by a boost module by the electric energy that wheel drive motors M braking produces simultaneously.
Wherein, described boost module can adopt boost chip to realize, such as but not limited to mc34063, ICL7660; Also the DC source boost module such as disclosed in patent documentation CN 203933389U can be adopted.
Concrete, described method for recovering brake energy used for electric vehicle also comprises: brake assemblies 3, is provided with travel switch K in described brake assemblies 3; When braking, travel switch K triggers, to produce described application force.
Establish the master brake cylinder 23 of described piston 24 in described hydraulic brake mechanism 2 comprises, described piston 24 is connected with brake assemblies 3 by piston rod.
The optional embodiment of one as this hydraulic brake mechanism, described hydraulic brake mechanism 2 also comprises: be located at the brake facing 21 on each wheel hub 1 and brake wheel cylinder 22 respectively; Described piston 24 produces hydraulic pressure (brake fluid pressure) in master brake cylinder 23, and this hydraulic conduction to brake wheel cylinder 22 produces corresponding hydraulic braking force and acts on wheel hub 1 by brake facing 21, to realize brake.
Described brake assemblies 3 comprises: the two-sided rack slide block 36; Described brake coordination assembly 4 comprises: single-side rack slide block 42; The lower surface of described the two-sided rack slide block 36 is coordinated with brake pedal 31 by driving gear component, engages a brake coordination gear 34 between its upper surface and the lower surface of single-side rack slide block 42, and this brake coordination gear 34 is connected with the end of described piston rod.Concrete, the two-sided rack slide block 36 to be arranged on the first fixed guide 35 and the first fixed guide 35 can be relied on to slide; And single-side rack slide block 42 is arranged on the second fixed guide 41 movably, be suitable for sliding on the second fixed guide 41.
When braking, brake pedal 31 controls the two-sided rack slide block 36 by driving gear component and drives brake coordination gear 34 to rotate, and this brake coordination gear 34 is suitable for driving hydraulic brake mechanism 2 pairs of wheel hubs 1 to produce braking by piston rod; And described brake coordination assembly 4 produces described application force by single-side rack slide block 42 pairs of brake coordination gears 34.
Wherein driving gear component comprises: first, second transfer gear 33, described first transfer gear 32 is connected with brake pedal 31, the braking instruction of brake pedal 31 passes to brake coordination gear 34 by the first transfer gear 32, second transfer gear 33, the two-sided rack slide block 36 successively, and then drive piston 24 to move, to make to produce hydraulic pressure in master brake cylinder 23, complete drag.Meanwhile, because travel switch K triggers, the described application force acting in opposition that brake coordination assembly 4 produces is in brake coordination gear 34, the hydraulic pressure value in master cylinder is forced suitably to reduce, reduce brake the kinetic energy that consumes, and convert this kinetic energy to electric energy with storage by wheel drive motors M braking.
Described brake coordination assembly 4 also comprises, electromagnetic induction device, and this battery sensing device is controlled by the pilot switch in described travel switch K; Described electromagnetic induction device is suitable for after travel switch K triggers, and pilot switch controls electromagnetic induction device and obtains electric, to produce described application force.
The specific embodiments of described electromagnetic induction device comprises: magnet coil 46, and this magnet coil 46 is suitable for obtaining electric pull-core 44; Described iron core 44 is connected with single-side rack slide block 42, to be suitable for, when magnet coil 46 obtains electric, driving single-side rack slide block 42 pairs of brake coordination gears 34 to produce described application force.
As a kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and described magnet coil 46 is set around on this hollow shell 45 periphery; One end of described iron core 44 is connected with single-side rack slide block 42 by pipe link 43, and the other end passes through the inner wall of end resilient engagement of Compress Spring 47 and described hollow shell 45 in described hollow shell 45; Described iron core 44 is with a pair magnetic pole, this to magnetic pole be suitable for magnet coil 46 electric after, iron core 44 is moved to Compress Spring 47 direction, produce the described application force (opposition acting on brake coordination gear 34 simultaneously, namely with step on brake pedal 31 after, the application force being passed to brake coordination gear 34 by the two-sided rack slide block 36 is contrary).
As the another kind of optional embodiment of electromagnetic induction device, described iron core 44 is sheathed in a hollow shell 45, and is positioned at the side of magnet coil 46.
Described brake coordination assembly 4 also comprises charge circuit, and this charge circuit is suitable for when braking, and is charged by the electric energy that wheel drive motors M braking produces to storage battery E.
Concrete embodiment: described charge circuit comprises diode VD; The positive pole of described storage battery E is connected with one end of magnet coil 46, the other end of this battery coil is connected with the negative electrode of described diode VD, the anode of this diode VD is connected with the mouth of boost module, the input end of described boost module is connected with wheel drive motors M one end, and the described negative pole of storage battery E is connected with the other end of wheel drive motors M; Described pilot switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input end of boost module, storage battery E.
By the unidirectional feature of diode VD, can avoid storage battery E after normally closed switch is opened by actv., continue through magnet coil 46 couples of wheel drive motors M and discharge; And by described boost module, charge efficiency can be improved by actv..
The principle of work of method for recovering brake energy used for electric vehicle of the present invention is:
In electric automobile during traveling process, when chaufeur does not touch on the brake pedal 31, pilot switch (normally closed switch) closes, and will be shorted through magnet coil 46, and storage battery E supplies electric drive running car to wheel drive motors M; Now iron core 44 by Compress Spring 47 bullet to the side of hollow shell 45;
When chaufeur steps on brake pedal 31, the braking instruction of brake pedal 31 passes to brake coordination gear 34 by the first transfer gear 32, second transfer gear 33, the two-sided rack slide block 36 successively, and then drive piston 24 to move, to make to produce hydraulic pressure in master brake cylinder 23, complete drag; Simultaneously, pilot switch is opened, wheel drive motors M is produced braking force and is charged to storage battery E by charge circuit, charging current produces magnetic field when magnet coil 46, the elastic force making iron core 44 overcome Compress Spring 47 moves right, iron core 44 drives single-side rack slide block 42 to move right by pipe link 43, brake coordination gear 34 is rotated backward, brake coordination gear 34 rotates backward and drives piston 24 to move right, thus reduces the hydraulic pressure (brake fluid pressure) in master brake cylinder 23.
When chaufeur steps on brake pedal 31, the braking force of vehicle be applied to braking force that braking force on wheel hub 1 (hydraulic braking force that hydraulic brake mechanism 2 produces) and wheel drive motors M produce with joint efforts; When the speed of a motor vehicle is faster, the braking current then produced in wheel drive motors M is larger, motor braking power is larger, the suction that magnet coil 46 produces is larger, the displacement of iron core 44 movement is larger, oil pressure in master brake cylinder 23 is less, hydraulic braking force is less, thus when automobile high-speed is braked, increase motor braking power, reduce by the conventional friction braking force of hydraulic braking, thus the wearing and tearing of friction lining in reduction conventional brake, improve wheel drive motors M to the percent recovery of braking energy simultaneously.
Optionally, in electric automobile during traveling, if when brake coordination assembly 4 breaks down or storage battery E is in full power state, wheel drive motors M cannot charge to storage battery E and/or produce braking force, now electronlmobil adopts conventional hydraulic brake mode to brake by hydraulic brake mechanism 2, ensures traffic safety.
Following table is conventional hydraulic brake mode and the braking distance test result of method for recovering brake energy used for electric vehicle of the present invention under each speed of a motor vehicle.
From this table, method for recovering brake energy used for electric vehicle of the present invention is substantially identical with the braking effect that conventional hydraulic brake mode produces, therefore, present invention achieves when the braking both ensureing make a concerted effort to meet automobile brake require, the percent recovery that can improve braking energy in braking procedure can reduce again the loss of conventional brake friction lining.
Brake energy recovering system used for electric vehicle of the present invention, by physical construction, electric braking force and hydraulic braking force are regulated within the specific limits continuously in real time, eliminate prior art middle controller or single chip circuit to calculate and control and deterministic process, thus it coordinates the ageing better of braking.
Embodiment 2
Fig. 2 shows the structural representation of the second embodiment of brake energy recovering system used for electric vehicle.
As shown in Figure 2, the single-side rack slide block in described brake coordination assembly can also drive sway to replace electromagnetic induction device by leading screw, and concrete scheme comprises:
Described leading screw is driven by motor, and this motor is controlled by a MCU module, and described MCU module gathers the current value of wheel drive motors M braking generation to control Motor torque by Hall element, and then regulates the displacement of single-side rack slide block.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on specification sheets, must determine its technical scope according to right.
Claims (9)
1. a method for recovering brake energy used for electric vehicle, is characterized in that,
When braking, produce the sense of motion opposite effect power with piston in hydraulic brake mechanism by brake coordination assembly, and the electric energy that wheel drive motors braking produces is charged to storage battery by a boost module simultaneously.
2. method for recovering brake energy used for electric vehicle according to claim 1, is characterized in that, described electronlmobil comprises: brake assemblies, is provided with travel switch K in described brake assemblies;
When braking, travel switch K triggers, to produce described application force.
3. method for recovering brake energy used for electric vehicle according to claim 2, is characterized in that,
Establish the master brake cylinder of described piston in described hydraulic brake mechanism comprises, described piston is connected with brake assemblies by piston rod.
4. method for recovering brake energy used for electric vehicle according to claim 3, is characterized in that, described brake assemblies comprises: the two-sided rack slide block; Described brake coordination assembly comprises: single-side rack slide block;
The lower surface of described the two-sided rack slide block is coordinated with brake pedal by driving gear component, engages a brake coordination gear between its upper surface and the lower surface of single-side rack slide block, and this brake coordination gear is connected with the end of described piston rod;
During brake, brake pedal controls the two-sided rack slide block by driving gear component and drives brake coordination pinion rotation, and this brake coordination gear is suitable for driving hydraulic brake mechanism to produce braking to wheel hub by piston rod; And described brake coordination assembly produces application force by single-side rack slide block to brake coordination gear.
5. method for recovering brake energy used for electric vehicle according to claim 4, is characterized in that, described brake coordination assembly also comprises, electromagnetic induction device, and this battery sensing device is controlled by the pilot switch in described travel switch K;
Described electromagnetic induction device is suitable for after travel switch K triggers, and pilot switch controls electromagnetic induction device and obtains electric, to produce described application force.
6. method for recovering brake energy used for electric vehicle according to claim 5, is characterized in that,
Described electromagnetic induction device comprises: magnet coil, and this magnet coil is suitable for obtaining electric pull-core;
Described iron core is connected with single-side rack slide block, to be suitable for when magnet coil obtains electric, drives single-side rack slide block to produce described application force to brake coordination gear.
7. method for recovering brake energy used for electric vehicle according to claim 6, is characterized in that,
Described brake coordination assembly also comprises charge circuit, and this charge circuit is suitable for when braking, and is charged by the electric energy that wheel drive motors braking produces to storage battery.
8. method for recovering brake energy used for electric vehicle according to claim 7, is characterized in that,
Described charge circuit comprises diode;
The positive pole of described storage battery is connected with one end of magnet coil, the other end of this battery coil is connected with the negative electrode of described diode, the anode of this diode is connected with the mouth of boost module, the input end of described boost module is connected with wheel drive motors one end, and the negative pole of described storage battery is connected with the other end of wheel drive motors;
Described pilot switch is normally closed switch, and the two ends of this normally closed switch are connected to the positive pole of the input end of boost module, storage battery.
9. method for recovering brake energy used for electric vehicle according to claim 6, is characterized in that,
Described iron core sleeve is located in a hollow shell, and described magnet coil is set around on this hollow shell periphery;
One end of described iron core is connected with single-side rack slide block by pipe link, the other end in described hollow shell by the inner wall of end resilient engagement of Compress Spring and described hollow shell;
Described iron core with a pair magnetic pole, this to magnetic pole be suitable for magnet coil obtain electric after, iron core is moved to Compress Spring direction.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454516.3A CN108162765A (en) | 2014-12-30 | 2014-12-30 | The method for recovering brake energy of electric vehicle |
| CN201410844011.8A CN104859461B (en) | 2014-12-30 | 2014-12-30 | Method for recovering brake energy used for electric vehicle |
| CN201711454973.2A CN108032736A (en) | 2014-12-30 | 2014-12-30 | Electric automobile and its method for recovering brake energy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410844011.8A CN104859461B (en) | 2014-12-30 | 2014-12-30 | Method for recovering brake energy used for electric vehicle |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711454973.2A Division CN108032736A (en) | 2014-12-30 | 2014-12-30 | Electric automobile and its method for recovering brake energy |
| CN201711454516.3A Division CN108162765A (en) | 2014-12-30 | 2014-12-30 | The method for recovering brake energy of electric vehicle |
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| Publication Number | Publication Date |
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| CN104859461A true CN104859461A (en) | 2015-08-26 |
| CN104859461B CN104859461B (en) | 2018-03-02 |
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| CN201711454973.2A Pending CN108032736A (en) | 2014-12-30 | 2014-12-30 | Electric automobile and its method for recovering brake energy |
| CN201410844011.8A Active CN104859461B (en) | 2014-12-30 | 2014-12-30 | Method for recovering brake energy used for electric vehicle |
| CN201711454516.3A Withdrawn CN108162765A (en) | 2014-12-30 | 2014-12-30 | The method for recovering brake energy of electric vehicle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711454973.2A Pending CN108032736A (en) | 2014-12-30 | 2014-12-30 | Electric automobile and its method for recovering brake energy |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711454516.3A Withdrawn CN108162765A (en) | 2014-12-30 | 2014-12-30 | The method for recovering brake energy of electric vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106183835A (en) * | 2016-07-13 | 2016-12-07 | 纳恩博（北京）科技有限公司 | A kind of vehicle electric energy recovery method, device and electric motor car |
| CN108840204A (en) * | 2018-08-04 | 2018-11-20 | 安徽理工大学 | Energy recovery assemblies when a kind of mine hoist is braked |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108621698A (en) * | 2018-06-13 | 2018-10-09 | 南京三方化工设备监理有限公司 | Slope drag regulator |
| CN109291800A (en) * | 2018-09-28 | 2019-02-01 | 上汽通用五菱汽车股份有限公司 | The braking equipment and electric car of electric car |
| CN110077238A (en) * | 2019-04-22 | 2019-08-02 | 大连理工大学 | A method of improving the braking energy of electric automobiles rate of recovery |
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2014
- 2014-12-30 CN CN201711454973.2A patent/CN108032736A/en active Pending
- 2014-12-30 CN CN201410844011.8A patent/CN104859461B/en active Active
- 2014-12-30 CN CN201711454516.3A patent/CN108162765A/en not_active Withdrawn
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| CN1317846A (en) * | 2001-04-17 | 2001-10-17 | 深圳职业技术学院 | Step up and control method of Al-air battery and its device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106183835A (en) * | 2016-07-13 | 2016-12-07 | 纳恩博（北京）科技有限公司 | A kind of vehicle electric energy recovery method, device and electric motor car |
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| CN108840204A (en) * | 2018-08-04 | 2018-11-20 | 安徽理工大学 | Energy recovery assemblies when a kind of mine hoist is braked |
| CN108840204B (en) * | 2018-08-04 | 2023-09-19 | 安徽理工大学 | Energy recovery assembly for mine hoist during braking |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108162765A (en) | 2018-06-15 |
| CN104859461B (en) | 2018-03-02 |
| CN108032736A (en) | 2018-05-15 |
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