CN104890657B - Electric booster braking mechanism and its control method - Google Patents
Electric booster braking mechanism and its control method Download PDFInfo
- Publication number
- CN104890657B CN104890657B CN201410077819.8A CN201410077819A CN104890657B CN 104890657 B CN104890657 B CN 104890657B CN 201410077819 A CN201410077819 A CN 201410077819A CN 104890657 B CN104890657 B CN 104890657B
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- Prior art keywords
- jackshaft
- electric booster
- braking mechanism
- locking
- booster braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
Abstract
The invention discloses a kind of electric booster braking mechanism and its control methods.The electric booster braking mechanism includes: assist motor, jackshaft, locking system, and brake boost mechanism, the output power-assisted of the assist motor is transferred in the brake boost mechanism by the jackshaft, one end of the brake boost mechanism connects brake pedal unit, the other end connects master cylinder push rod, the locking system acts as land used with the jackshaft and engages, wherein when the locking system acts on the jackshaft, the jackshaft stops operating, and the reaction force of the brake force generated on the master cylinder push rod is offset from the master cylinder push rod by the locking system that the brake boost mechanism is transferred to the jackshaft and is applied to the jackshaft.The present invention can improve the safety of electric booster braking system.
Description
Technical field
The invention belongs to technical field of automobile parts, in particular relate to a kind of for electric booster braking mechanism and described
The control method of electric booster braking mechanism.
Background technique
Currently, the brake boost mechanism generallyd use on passenger car is diaphragm type vacuum booster, mechanism needs start
Machine intake depression generates power-assisted, the power-assisted that just cannot recur after engine misses effect.Its assist characteristic is by power-assisted
The mechanostructural property of device and diaphragm determines that brakeage can not achieve automatic control.To solve the above-mentioned problems, it generates
Electric booster braking mechanism is converted the torque of motor by certain deceleration mechanism using direct current generator as power-assisted source
For the thrust of master cylinder push rod, so that driver be assisted to complete braking maneuver.Open source literature CN102015397A proposes one
Motor power-assisted is transmitted to master cylinder by screw-drive mechanism and driving member appropriate and lived by kind electromechanical braking power assisting device, the device
On the push rod of plug, to mitigate the brake pedal operation power of driver.Open source literature CN102224044A proposes a kind of electronic
Power-assisted is coupled on master cylinder push rod piston by motor and V belt translation and ball screw framework, reaches and subtract by booster brake
The effect of light brake pedal operation power.
Electric booster braking device involved in disclosed document at present, needs additional mechanical parking brake or EPB mould
Block realizes parking braking function, higher cost and can occupy additional vehicle space and is arranged, meanwhile, function is more single,
Not yet braking system is associated and is cooperated with vehicle burglary-resisting system.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of electric booster braking mechanisms, can prevent assist motor stall.
Electric booster braking mechanism of the present invention includes assist motor, jackshaft, locking system and brake boost
The output power-assisted of mechanism, the assist motor is transferred in the brake boost mechanism by the jackshaft, and the braking helps
One end of force mechanisms connects brake pedal unit, and the other end connects master cylinder push rod, and the locking system is acted as with the jackshaft
Land used engagement, wherein the jackshaft stops operating when the locking system acts on the jackshaft, and the master cylinder
The reaction force of the brake force generated on push rod is transferred to the centre by the brake boost mechanism from the master cylinder push rod
Axis and the locking system counteracting for being applied to the jackshaft.
Optionally, in above-mentioned electric booster braking mechanism, one end of the jackshaft by first gear pair with it is described
The other end of the output axis connection of assist motor, the jackshaft is connect by second gear pair with the brake boost mechanism,
The middle section of the jackshaft is connect by third gear pair with the locking system.
Optionally, in above-mentioned electric booster braking mechanism, the locking system includes the lock being located on the jackshaft
Only gear, electromagnetic lock pin and locking control unit, wherein electromagnetic lock pin bullet under the control of the locking control unit
The spreadet spreadet wheel is caused to be blocked by the electromagnetic lock pin without being able to rotate out.
Optionally, in above-mentioned electric booster braking mechanism, the first gear pair includes connecting with the assist motor
Worm screw and the worm gear on the jackshaft.
Optionally, in above-mentioned electric booster braking mechanism, the brake boost mechanism includes at least and forms described second
The power-assisted gear and power-assisted rack gear of gear pair, wherein the power-assisted gear is set on the jackshaft, and the power-assisted rack gear is
Hollow, the pedal mandril of the brake pedal unit passes through the power-assisted rack gear described in the promotion together with the power-assisted rack gear
Master cylinder push rod.
Optionally, in above-mentioned electric booster braking mechanism, the pedal mandril of the brake pedal unit includes piston region
Section, the piston section are inserted into the master cylinder push rod and are connect with forming piston type with the master cylinder push rod.
Optionally, in above-mentioned electric booster braking mechanism, the locking system include spreadet spreadet wheel, electromagnetic lock pin, with
And locking control unit, the spreadet spreadet wheel and electromagnetic lock pin forms the third gear pair and the spreadet spreadet wheel is set
In on the jackshaft, the tooth socket of the spreadet spreadet wheel is arranged to accommodate the electromagnetic lock controlled by the locking control unit
Pin.
The present invention is not required to since the reaction force of master cylinder push rod is just offset by mechanical locking arrangement when being transmitted to jackshaft
It wants motor power-assisted to balance, therefore additional energy source will not be consumed, not will cause the stall and overload of assist motor body, improve
The safety of electric booster braking system.
The invention solves another technical problem be to provide the control method of electric booster braking mechanism a kind of, can be with
Realize electronic parking function.
The control method of electric booster braking mechanism of the present invention, wherein the electric booster braking mechanism includes helping
The output power-assisted of force motor, jackshaft, locking system and brake boost mechanism, the assist motor passes through the jackshaft
It is transferred in the brake boost mechanism, one end of the brake boost mechanism connects brake pedal unit, other end connection master
Cylinder push rod, the locking system include at least locking control unit and lock piece, in the firing state, the locking control unit
The engagement of the lock piece Yu the jackshaft is controlled according to the vehicle-state monitored.
Optionally, in above-mentioned control method, when (1), parking button is pressed；Or (2) described locking control unit receives
When to automatic parking signal；And the vehicle-state monitored include the following: (a) described master cylinder push rod displacement meets ramp
Parking requirement；(b) speed is less than 1km/h；(c) engine speed is less than 100RPM；And (d) when car fault diagnosis is normal；
The electric booster braking mechanism is in the parking braking lockup state that the lock piece acts on the jackshaft.
Optionally, in above-mentioned control method, when parking button is released, and the locking control unit monitors institute
When stating the brake pedal of brake pedal unit and being operated, the electric booster braking mechanism is cut from the parking braking lockup state
Change to the parking braking release conditions that the lock piece leaves the jackshaft.
Optionally, in above-mentioned control method, parking brake signals are automatically terminated when the locking control unit receives,
And the locking control unit monitors vehicle gear in forward gear or retreating gear, and the electric booster braking mechanism is from institute
It states parking braking lockup state and is switched to the parking braking release conditions that the lock piece leaves the jackshaft.
Optionally, in above-mentioned control method, when lock for steering column locking, and the vehicle-state monitored includes
Below :(a) without ignition signal；(b) engine misses；(c) speed is less than 1km/h；(d) engine speed is less than 100RPM；With
And (e) when car fault diagnosis is normal；The electric booster braking mechanism is in the lock piece and acts on the jackshaft
Braking anti-theft lock stops state.
Optionally, in above-mentioned control method, when the locking control unit receives antitheft release signal, and the lock
When only control unit monitors that VATS Vehicle Anti-Theft System is normal, state is stopped from the braking anti-theft lock by the electric booster braking mechanism
It is switched to the antitheft release conditions of braking that the lock piece leaves the jackshaft.
The control method of electric booster braking mechanism of the present invention is relative to EPB(electronic parking) system, it can save
Independent parking and braking mechanism is removed, cost is saved.Relative to traditional mechanical parking brake, driver can be complete by parking button
At parking, parking hand-power is saved, and reduces vehicle interior occupied space.Meanwhile it may be implemented to stop using the device
It is antitheft, expand the function of braking system.
Through the following detailed description with reference to the accompanying drawings, other aspects and features of the present invention become obvious.But it should know
Road, which is only the purpose design explained, not as the restriction of the scope of the present invention, this is because it should refer to
Appended claims.It should also be noted that attached drawing is merely intended to conceptually illustrate structure and process described herein, unless in addition
It points out, it is not necessary to scale attached drawing.
Detailed description of the invention
In conjunction with attached drawing refering to the detailed description of following specific embodiments, present invention will become more fully understood, in attached drawing
Same reference numbers refer to same element in view always.Wherein:
Fig. 1-2 is the structural schematic diagram of electric booster braking mechanism of the present invention；
Fig. 3 a-3c is the control flow chart that electric booster braking mechanism of the present invention carries out parking；And
Fig. 4 a-4b is that electric booster braking mechanism of the present invention carries out the antitheft control flow chart that stops.
Specific embodiment
To help those skilled in the art that can definitely understand claimed theme, with reference to the accompanying drawing
It describes the specific embodiments of the present invention in detail.
It is the structural schematic diagram of electric booster braking mechanism of the present invention as shown in Figure 1.The electric booster braking machine
Structure includes shell 8 and in the sequentially connected assist motor 1 in the inside of shell 8, shaft coupling 2, deceleration mechanism 3, jackshaft 4, locking
Device 5, brake boost mechanism 6 and brake pedal unit 7.The output torque of assist motor 1 by shaft coupling 2, deceleration mechanism 3,
It is transmitted in brake boost mechanism 6 with jackshaft 4, wherein at least provided with three gear pairs on jackshaft 4, including on one end
One gear pair (worm gear-endless screw) is connect with assist motor 1, and the second gear on the other end secondary (gear-tooth item) is helped with braking
Third gear pair (tooth socket-lock pin) is connect with locking system 5 in the connection of force mechanisms 6 and middle section.As seen from the figure, jackshaft 4
Perpendicular to the output shaft arrangement of assist motor 1, and the power-assisted rack gear 62 of brake boost mechanism 6 is arranged perpendicular to jackshaft 4.It is logical
Cross first gear pair, thus it is possible to vary the direction of transfer of power-assisted output, by second gear pair, it is straight for can making rotary motion output
Line movement.In addition, such structure arrangement can make entire electric booster braking mechanism structure compact, reduces vehicle interior and occupy
Space.
As Figure 1-Figure 2, assist motor 1 is installed on shell 8, which includes electric machine controller 11, motor
Rotary angle transmitter 12 and motor body 13.Deceleration mechanism 3 includes worm screw 31 and worm gear 32.Shaft coupling 2 is defeated by motor body 13
Shaft and worm screw 31 connect.The inside of shell 8 is fixed at 31 both ends of worm screw by bearing, and worm gear 32 is mounted on jackshaft 4
On.Locking system 5 includes the spreadet spreadet wheel 51 being mounted on jackshaft 4, the electromagnetic lock pin 52 being mounted on shell and locking control
Unit 53 processed.Electromagnetic lock pin 52 can act as land used with jackshaft 4 as lock piece and engage.The lock piece is by locking control unit control
System, when receiving pop instruction, lock piece and jackshaft 4(in the present embodiment, the spreadet spreadet wheel on lock piece and jackshaft 4
51) it engages, jackshaft is caused not rotate；When receiving exit instruction, lock piece exits or leaves jackshaft 4, causes jackshaft
Movement do not limited by lock piece.Brake boost mechanism 6 includes the power-assisted gear 61 being mounted on jackshaft 4, passes through bearing
The power-assisted rack gear 62 and buffer spring 63 being fixed on shell 8.It can be seen that when worm screw 31 drives worm gear 32 to rotate, in
Between axis 4 and then rotate together, and spreadet spreadet wheel 51 and power-assisted gear 61 is driven to rotate.Brake pedal unit includes brake pedal
71, pedal mandril 72, lift rod stroke sensor 73 and pedal force simulate spring 74.Power-assisted rack gear 62 is hollow structure, pedal top
Bar 72 extends there through, and pushes master cylinder push rod 9 together with power-assisted rack gear 62.As seen from the figure, master cylinder push rod 9 and pedal mandril 72 are to live
Plug connection, specifically one end of pedal mandril 72 are piston section, which is inserted into one end of master cylinder push rod 9 to push
Master cylinder push rod 9.
When driver needs to carry out parking, brake pedal 71 is stepped on, presses parking button to locking control unit 53
Parking signal is sent, locking control unit 53 controls electromagnetic lock pin 52 according to external command and pops up, and is stuck in the tooth of spreadet spreadet wheel 51
In slot.Spreadet spreadet wheel is mounted on jackshaft 4, is therefore rotated by limitation with the power-assisted gear 61 being connected on jackshaft 4, thus will
Power-assisted rack gear 62 is limited in fixed position, resists master cylinder push rod 9 to complete parking braking.Driver unclamps system at this time
Dynamic pedal 71, vehicle still keep parking braking state, and the reaction force of master cylinder push rod 9 when being transmitted to jackshaft 4 just
It is offset by mechanical locking arrangement 5, is not needed motor power-assisted to balance, additional energy source will not be consumed, not will cause assist motor machine
The stall and overload of body 13.
It is illustrated in figure 3 the flow diagram of electric booster braking mechanism control method of the present invention.Wherein scheme
3a-3c is respectively that parking braking locking (including manually and automatically), parking braking manual releasing and parking braking discharge automatically
Control logic figure.Referring to Fig. 3 a, stayed automatically in the brak control unit sending that driver presses parking brake button or vehicle
When vehicle signal, locking control unit 53 can monitor vehicle's current condition, if the displacement of master cylinder push rod 9 meets the current road gradient
Parking requirement, speed are less than 1km/h, and engine speed is less than 100RPM and the fault diagnosis of vehicle is normal, then locking controls
Unit 53 can issue parking signal and control its pop-up to electromagnetic lock pin 52, be stuck in the tooth socket of spreadet spreadet wheel 51.Instrument board simultaneously
On parking indicator light can light, prompt driver's parking success.
Referring to Fig. 3 b, under parked state, if driver discharges parking braking, and locking control unit 53 by lower button
It monitors driver brake pedal 71, then can issue release command to electromagnetic lock pin 52, control it from spreadet spreadet wheel
It is exited in 51 tooth socket, while parking indicator light extinguishes.
Referring to Fig. 3 c, under parked state, if brak control unit monitors the variation of gas pedal and motor torque,
It can issue and automatically terminate parking brake signals to locking control unit 53, if being detected simultaneously by the gear of vehicle at this time in forward gear
Or when retreating gear, locking control unit 53 can issue release command to electromagnetic lock pin 52, control its tooth socket from spreadet spreadet wheel 51
In exit, while parking indicator light extinguish.
As Fig. 4 a-4b show the control logic of the parking anti-theft function of electric booster braking mechanism of the present invention
Figure.A referring to fig. 4, when locking is locked in position in the steering column of vehicle, locking control unit 53 can monitor vehicle's current condition.If nothing
Ignition signal, engine misses, speed are less than 1km/h, and engine speed is less than 100RPM, and failure diagnosis information is normal,
Then locking control unit can issue two control signals of height, i.e., high drive relay enable signal and the enabled letter of low drive relay
Number, control electromagnetic lock pin 52 pops up, and is stuck in the tooth socket of spreadet spreadet wheel 51, limits the movement of braking system.
B referring to fig. 4, in the state of stopping antitheft, if driver, by vehicle launch, vehicle burglary-resisting system can issue release
Signal is to locking control unit 53, if at this time and VATS Vehicle Anti-Theft System failure is not detected, locking control unit can issue height
Relay and low drive relay enable signal are driven, control electromagnetic lock pin 52 is exited from the tooth socket of spreadet spreadet wheel 51, released to system
The displacement limitation of dynamic system.
In conclusion the electric booster braking mechanism that the invention patent provides, locking system is mechanical locking, can be prevented
Assist motor stall improves the safety of electric booster braking system, and lockable mechanism response is rapidly, can replace tradition
Halting mechanism realize parking function, reduce the development cost of parking braking system, and have both anti-theft function, extend electronic
The function of power brake mechanism.
The above specific embodiment is merely to illustrate the present invention, and not limitation of the present invention, related technical field
Those of ordinary skill can also make a variety of changes and modification without departing from the scope of the invention, therefore all etc.
Same technical solution also belongs to scope of the invention, and scope of patent protection of the invention should be defined by the claims.
Claims (13)
1. electric booster braking mechanism, it is characterized in that including: assist motor, jackshaft, locking system and brake boost machine
The output power-assisted of structure, the assist motor is transferred in the brake boost mechanism by the jackshaft, the brake boost
One end of mechanism connects brake pedal unit, and the other end connects master cylinder push rod, and the locking system works with the jackshaft
Ground engagement, the locking system includes lock piece, wherein the jackshaft stops when the lock piece engages the jackshaft
Rotation, and the reaction force of the brake force generated on the master cylinder push rod passes through the brake boost machine from the master cylinder push rod
Structure is transferred to the jackshaft and is applied to the locking system counteracting of the jackshaft, when the lock piece exits
When, the lock piece leaves the jackshaft.
2. electric booster braking mechanism according to claim 1, it is characterized in that: one end of the jackshaft passes through the first tooth
The other end of the output axis connection of wheel set and the assist motor, the jackshaft passes through second gear pair and the brake boost
The middle section of mechanism connection, the jackshaft is connect by third gear pair with the locking system.
3. electric booster braking mechanism according to claim 1, it is characterized in that: the locking system includes being located in described
Between spreadet spreadet wheel, the electromagnetic lock pin as the lock piece and locking control unit on axis, wherein the electromagnetic lock pin exists
Pop-up causes the spreadet spreadet wheel to be blocked by the electromagnetic lock pin without being able to rotate under the control of the locking control unit.
4. electric booster braking mechanism according to claim 2, it is characterized in that: the first gear pair includes helping with described
The worm screw of force motor connection and the worm gear on the jackshaft.
5. electric booster braking mechanism according to claim 2, it is characterized in that: the brake boost mechanism includes at least shape
At the power-assisted gear and power-assisted rack gear of the second gear pair, wherein the power-assisted gear is set on the jackshaft, and it is described
Power-assisted rack gear be it is hollow, the pedal mandril of the brake pedal unit pass through the power-assisted rack gear with the power-assisted rack gear one
With the promotion master cylinder push rod.
6. electric booster braking mechanism according to claim 5, it is characterized in that: the pedal mandril of the brake pedal unit
Including piston section, the piston section is inserted into the master cylinder push rod and is connect with forming piston type with the master cylinder push rod.
7. electric booster braking mechanism according to claim 2, it is characterized in that: the locking system include spreadet spreadet wheel,
As the electromagnetic lock pin and locking control unit of the lock piece, the spreadet spreadet wheel and the electromagnetic lock pin form described
Third gear pair and the spreadet spreadet wheel are set on the jackshaft, and the tooth socket of the spreadet spreadet wheel is arranged to receiving by described
The electromagnetic lock pin of locking control unit control.
8. the control method of electric booster braking mechanism, it is characterized in that: the electric booster braking mechanism include assist motor, in
Between axis, locking system and brake boost mechanism, the output power-assisted of the assist motor is transferred to described by the jackshaft
In brake boost mechanism, one end of the brake boost mechanism connects brake pedal unit, and the other end connects master cylinder push rod, described
Locking system includes at least locking control unit and lock piece, and the locking control unit is according to the vehicle-state monitored to institute
State lock piece issue control the lock piece engage the instruction of the jackshaft or issue control the lock piece leave it is described
The instruction of jackshaft.
9. the control method of electric booster braking mechanism according to claim 8, it is characterized in that: working as
(1) parking button is pressed；Or
(2) when the locking control unit receives automatic parking signal；And
The vehicle-state monitored include the following:
(a) the master cylinder push rod displacement meets ramp parking requirement；
(b) speed is less than 1km/h；
(c) engine speed is less than 100RPM；And
(d) when car fault diagnosis is normal；
The electric booster braking mechanism is in the parking braking lockup state that the lock piece acts on the jackshaft.
10. the control method of electric booster braking mechanism according to claim 9, it is characterized in that: when parking button is released
It puts, and when the locking control unit monitors that the brake pedal of the brake pedal unit is operated, it is described electric boosted
Arrestment mechanism is switched to the parking braking release shape that the lock piece leaves the jackshaft from the parking braking lockup state
State.
11. the control method of electric booster braking mechanism according to claim 9, it is characterized in that: when the locking controls
Unit, which receives, automatically terminates parking brake signals, and the locking control unit monitor vehicle gear forward gear or after
When moving back gear, the electric booster braking mechanism is switched to the lock piece from the parking braking lockup state and leaves the centre
The parking braking release conditions of axis.
12. the control method of electric booster braking mechanism according to claim 8, it is characterized in that: working as lock for steering column locking
When, and the vehicle-state monitored include the following:
(a) without ignition signal；
(b) engine misses；
(c) speed is less than 1km/h；
(d) engine speed is less than 100RPM；And
(e) when car fault diagnosis is normal；
The electric booster braking mechanism, which is in the lock piece and acts on the braking anti-theft lock of the jackshaft, stops state.
13. the control method of electric booster braking mechanism according to claim 12, it is characterized in that: when the locking controls
Unit receives antitheft release signal, and when the locking control unit monitors that VATS Vehicle Anti-Theft System is normal, described electronic to help
Dynamic braking mechanism stops state from the braking anti-theft lock and is switched to the antitheft release of braking that the lock piece leaves the jackshaft
State.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410077819.8A CN104890657B (en) | 2014-03-05 | 2014-03-05 | Electric booster braking mechanism and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410077819.8A CN104890657B (en) | 2014-03-05 | 2014-03-05 | Electric booster braking mechanism and its control method |
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| Publication Number | Publication Date |
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| CN104890657A CN104890657A (en) | 2015-09-09 |
| CN104890657B true CN104890657B (en) | 2019-01-22 |
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| CN106159727A (en) * | 2016-08-09 | 2016-11-23 | 国网山东省电力公司蓬莱市供电公司 | A kind of intelligent electric power switch cubicle |
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| CN110290988B (en) * | 2017-02-23 | 2021-12-03 | 日立安斯泰莫株式会社 | Electric booster |
| DE102017204178A1 (en) * | 2017-03-14 | 2018-09-20 | Robert Bosch Gmbh | Method and device for ensuring the functionality of a control element of a parking brake |
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| CN109703541B (en) * | 2017-10-26 | 2021-02-23 | 郑州宇通客车股份有限公司 | Electric braking device, vehicle braking system and vehicle |
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| CN107994839B (en) * | 2017-12-25 | 2020-10-13 | 厦门市逢兴机电设备有限公司 | Motor safety control circuit and motor safety control system |
| CN108860106A (en) * | 2018-07-27 | 2018-11-23 | 西安理工大学 | A kind of brake system of car servo link |
| CN109823321B (en) * | 2019-04-01 | 2020-02-14 | 合肥工业大学 | Electronic brake pedal device and automobile equipped with same |
| CN110143195A (en) * | 2019-04-25 | 2019-08-20 | 格陆博科技有限公司 | A kind of automobile-used self-locking braking force generator system of unmanned logistics |
| CN110562230B (en) * | 2019-09-05 | 2021-08-03 | 安徽理工大学 | Novel line control hydraulic braking device |
| CN111409614A (en) * | 2020-04-14 | 2020-07-14 | 南京中车浦镇海泰制动设备有限公司 | Rail transit braking device |
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| Publication number | Publication date |
|---|---|
| CN104890657A (en) | 2015-09-09 |
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