CN107605563A - A kind of auxiliary brake mechanism - Google Patents
A kind of auxiliary brake mechanism Download PDFInfo
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- CN107605563A CN107605563A CN201710775960.9A CN201710775960A CN107605563A CN 107605563 A CN107605563 A CN 107605563A CN 201710775960 A CN201710775960 A CN 201710775960A CN 107605563 A CN107605563 A CN 107605563A
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Abstract
A kind of auxiliary brake mechanism, belong to engine valve actuations, cylinder deactivation and auxiliary braking field.It includes import/exhaust door component, import/exhaust brake cam, import/exhaust driving cam, import/exhaust brake rocker arm, import/exhaust driving rocking arm；It also includes import/exhaust drive component, import/exhaust brake assemblies and import/exhaust guiding valve being arranged on fixture etc..By controlling the state of drive component and brake assemblies, the driving of four strokes, two-stroke braking, cylinder deactivation isotype are realized, reaches the low oil consumption of engine, low emission and the purpose efficiently braked.Movement parts quantity of the present invention is few, compact-sized, reliability is high, energy consumption is low, zero leakage, has a wide range of application.
Description
Technical field
The present invention relates to a kind of auxiliary brake mechanism, belongs to engine valve actuations, cylinder deactivation and auxiliary braking field.
Background technology
With sharply increasing for engine recoverable amount, vehicle safety is increasingly valued by people, more and more
EBA is classified as one of indispensable annex of vehicle by country.But primary brake system, act on it is auxiliary in transmission system
Help brakes exist mostly brake component work long hours easily overheat, retardation efficiency quickly reduce, brakes take car
The problems such as space.Such issues that engine auxiliary braking technology is not present, but the braking power of prior art is relatively low, can not
Meet the requirement on vehicle heavy duty lower long slope abrupt slope.It is especially Engine Downsizing（Down-size）With low speed（Down-
speed）The development trend of generally acknowledged energy-saving and emission-reduction is turned into；And during engine braking, cylinder diameter is smaller, rotating speed is lower, and it is braked
Effect is poorer, therefore two-stroke braking mode is imperative.Under the stroke drive pattern of engine four and two-stroke braking mode,
Import/exhaust door open frequency, open timing and open the duration and greatly difference be present, existing Variabale valve actuation system without
Method meets above-mentioned requirements.
Company can all be won and propose a kind of HPD mechanisms, it realizes the stroke drive pattern of engine four and two-stroke braking
Pattern flexibly switches.According to the said firm（SAE 2016-01-8061）The problems such as leakage be present in report, HPD mechanisms.In addition, the mechanism
Driving also be present and braking governor motion is all arranged on the problems such as caused movement parts quantity is more, quality is big on rocking arm, this is unfavorable
Low energy consumption is realized in valve-driving system；In addition, the motion inertia force of rocking arm is big, the contact portion of various parts easily occurs
Destroy.The mechanism driving oil from the inside of the axle as rocking arm fixed pivot guide to rocking arm movement fulcrum on come adjust driving and
Governor motion is braked, oil circuit is complex, and processing is not easy.It is a set of it is compact-sized, reliability is high, energy consumption is low, zero leakage, is easy to send out
Motivation is reequiped and can realize the auxiliary brake mechanism that four stroke drive patterns, two-stroke braking mode and deactivation mode mutually switch
It is imperative.
The content of the invention
It is an object of the invention to：By designing a kind of auxiliary brake mechanism, for realizing：（a）In order to reach engine
Low oil consumption, low emission and the operation efficiently braked are, it is necessary to which the mechanism realizes four stroke drive patterns, two-stroke braking mode, stopped
The various modes such as cylinder.（b）In order to meet the market demand, it is necessary to which the mechanism realizes that compact-sized, reliable operation, low energy consumption, zero let out
Leak, be easy to engine modification etc..（c）In order to expand application, it is necessary to be directed to different type of machines, there is provided different arrangements.
（d）In order to improve the versatility of parts and convertibility, it is necessary to which each component is used into standard component or is designed to standalone module.
The technical solution adopted in the present invention is：A kind of auxiliary brake mechanism, it includes first row valve assembly, second row
Valve assembly, the first intake valve assembly and the second intake valve assembly, it also includes cam, rocking arm, brake rocker arm spring, Yi Jian
Drive component, brake assemblies and guiding valve on fixture.Cam includes exhaust brake cam, exhaust gas drive cam, air inlet
Brake cam and air inlet driving cam, rocking arm include exhaust brake rocking arm, exhaust gas drive rocking arm, air inlet brake rocker arm and enter gas drive
Motion rocker arm, drive component include exhaust gas drive component and air inlet drive component, and brake assemblies include exhaust brake component and air inlet
Brake assemblies, guiding valve include exhaust slide valve and admission slide valve.Fixture is additionally provided with control for brake chamber, braking draining chamber and driving
Control chamber, braking draining chamber is always low-pressure state.Exhaust brake priming lever spring provide spring force drive exhaust brake rocking arm with
The exhaust brake cam moment contacts, and air inlet brake rocker arm spring provides spring force and drives air inlet brake rocker arm and air inlet brake cam
Moment contacts.When drive control chamber is high pressure conditions, exhaust gas drive component and air inlet drive component are in failure state；Driving control
When chamber processed is low-pressure state, exhaust gas drive component and air inlet drive component are in running order.Exhaust slide valve controls exhaust brake
The oil pocket of component with control for brake chamber, brake the connected state of draining chamber, the oil pocket of admission slide valve control air inlet brake assemblies with
Control for brake chamber, the connected state for braking draining chamber.When control for brake chamber is high pressure conditions, exhaust brake component and air inlet braking
Component is working condition；When control for brake chamber is low-pressure state, exhaust brake component and air inlet brake assemblies are failure state.Row
Gas brake cam drives first row valve assembly by exhaust brake rocking arm, exhaust brake component and exhaust-driven block.Exhaust is driven
After moving cam is by exhaust gas drive rocking arm and exhaust gas drive component, second row valve assembly is directly driven, passes through exhaust-driven block
Drive first row valve assembly.Air inlet brake cam is driven by air inlet brake rocker arm, air inlet brake assemblies and air inlet drive block
First intake valve assembly.After air inlet driving cam drives rocking arm and air inlet drive component by air inlet, the second air inlet is directly driven
Door component, the first intake valve assembly is driven by air inlet drive block.In the drive mode, drive control chamber and control for brake chamber are equal
For low-pressure state.In the braking mode, drive control chamber and control for brake chamber are high pressure conditions.Under deactivation mode, driving
Control chamber is high pressure conditions, and control for brake chamber is low-pressure state.
Drive component includes driving piston, air valve bridge, driving spring, clamping block and Lock spring.Drive piston and valve
Bridge is nested together, and driving spring is provided therebetween, and lock hole is provided with one in the two, is provided with another
Lock annular groove and locking oilhole.Two clamping blocks and Lock spring are provided with lock hole, Lock spring is arranged on two lockings
Between block.Locking annular groove is connected by locking oilhole with drive control chamber.Drive rocking arm and drive piston contact, air valve bridge is straight
Driving duaspiracle component is connect, air valve bridge drives the first valve assembly by drive block.
Brake assemblies include tripping spring, braking lower piston and braking upper piston.Brake rocker arm contacts with braking upper piston,
Brake lower piston and the first valve assembly is driven by drive block.
Guiding valve includes slide valve, check valve and slide valve spring.
Drive block includes the first drive block or the second drive block.First drive block is slidably connected with air valve bridge, and air valve bridge leads to
The land for crossing the first drive block drives the first valve assembly, and braking lower piston drives the first valve by the top of the first drive block
Component.Second drive block is hinged with air valve bridge, and air valve bridge drives the first valve assembly by the second drive block input, under braking
Piston drives the first valve assembly by the second drive block output end.
Very cup and push rod are provided between cam and rocking arm.
The beneficial effects of the invention are as follows：This auxiliary brake mechanism can be realized：（a）Four stroke drive patterns, two-stroke system
The various modes such as dynamic model formula, cylinder deactivation, reach the low oil consumption of engine, low emission and the operation efficiently braked.（b）Drive component, system
Dynamic component, guiding valve etc. are integrated on fixture, compact-sized, zero leakage, are easy to engine modification；Movement parts quantity is reduced,
Reliable operation, energy consumption are low.（c）Overhead camshaft can be applied to and cam axle engine is put at bottom, expand application.（d）Driving
Component, brake assemblies, guiding valve etc. may be designed to standalone module, improve the versatility and convertibility of parts.
Brief description of the drawings
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is overhead camshaft type auxiliary brake mechanism schematic diagram.
Fig. 2 is overhead camshaft type auxiliary brake mechanism top view.
Fig. 3 is drive component schematic diagram.
Fig. 4 is the second drive block schematic diagram.
Fig. 5 is guiding valve schematic diagram.
Fig. 6 is that cam axle type auxiliary brake mechanism schematic diagram is put at bottom.
In figure：A, fixture；BC, control for brake chamber；BT, braking draining chamber；DC, drive control chamber；CB1, exhaust brake
Cam；CD1, exhaust gas drive cam；CB2, air inlet brake cam；CD2, air inlet driving cam；RB1, exhaust brake rocking arm；RD1、
Exhaust gas drive rocking arm；RB2, air inlet brake rocker arm；RD2, air inlet driving rocking arm；VB1, first row valve assembly；VD1, second row
Valve assembly；VB2, the first intake valve assembly；VD2, the second intake valve assembly；BA1, exhaust brake component；DA1, exhaust gas drive
Component；HV1, exhaust slide valve；BA2, air inlet brake assemblies；DA2, air inlet drive component；HV2, admission slide valve；BP11, exhaust system
Dynamic upper piston；BP12, exhaust brake lower piston；BK1, exhaust brake spring；DP, driving piston；DB, air valve bridge；DK, driving bullet
Spring；DLP, clamping block；DLK, Lock spring；DLB, drive block；HVP, slide valve；CV, check valve；HVK, slide valve spring；DLBI、
Second drive block input；DLBO, the second drive block output end.
Embodiment
The present invention relates to a kind of auxiliary brake mechanism.Fig. 1 is overhead camshaft type auxiliary brake mechanism schematic diagram, fixture
A is broken away.Fig. 2 is overhead camshaft type auxiliary brake mechanism top view, and fixture A is hidden.Exhaust gas drive component DA1, row
Gas brake assemblies BA1, exhaust slide valve HV1, air inlet drive component DA2, air inlet brake assemblies BA2 and admission slide valve HV2 are respectively mounted
On fixture A.Exhaust brake cam CB1 is driven by exhaust brake rocking arm RB1, exhaust brake component BA1 and exhaust-driven block
Dynamic first row valve assembly VB1.After exhaust gas drive cam CD1 is by exhaust gas drive rocking arm RD1 and exhaust gas drive component DA1, directly
Driving second row valve assembly VD1 is met, first row valve assembly VB1 is driven by exhaust-driven block.Air inlet brake cam CB2 leads to
Cross air inlet brake rocker arm RB2, air inlet brake assemblies BA2 and air inlet drive block drives the first intake valve assembly VB2.Air inlet driving is convex
After CD2 is taken turns by air inlet driving rocking arm RD2 and air inlet drive component DA2, the second intake valve assembly VD2 is directly driven, by entering
Gas drive block drives the first intake valve assembly VB2.Fixture A is additionally provided with control for brake chamber BC, braking draining chamber BT and driving
Control chamber DC, braking draining chamber BT is always low-pressure state.Exhaust brake priming lever spring RK1 provides spring force and drives exhaust brake
Rocking arm RB1 contacts with the exhaust brake cam CB1 moment, and air inlet brake rocker arm spring RK2 drives air inlet braking to be shaken by spring force
Arm RB2 contacts with the air inlet brake cam CB2 moment.
Fig. 3 is drive component schematic diagram.Drive component includes driving piston DP, air valve bridge DB, driving spring DK, clamping block
DLP and Lock spring DLK.Driving piston DP and air valve bridge DB is nested together, and driving spring DK is provided therebetween, the two
In one on be provided with lock hole, locking annular groove and locking oilhole are provided with another.Two locks are provided with lock hole
Determine block DLP and Lock spring DLK, Lock spring DLK is arranged between two clamping block DLP.Annular groove is locked by locking oilhole
It is connected with drive control chamber DC.Driving rocking arm contacts with driving piston DP, air valve bridge DB direct drive duaspiracle components, gas
Raft of pontoons DB drives the first valve assembly by drive block DLB.When drive control chamber DC is low-pressure state, Lock spring DLK's
Under effect, two clamping block DLP will be simultaneously in lock hole and locking annular groove, and driving piston DP and air valve bridge DB is locked into
One, i.e., drive component is in running order, and the motion of driving cam will be by driving rocking arm, drive component to pass to two gas
Door.When drive control chamber DC is high pressure conditions, two clamping block DLP are forced into lock hole completely, drive piston DP and valve
Bridge DB motion is separate, i.e., drive component is in failure state, and the motion of driving cam can not pass to two valves.Knot
Conjunction Fig. 1 is visible, and when drive control chamber DC is low-pressure state, exhaust gas drive component DA1 and air inlet drive component DA2 are in work shape
State；When drive control chamber DC is high pressure conditions, exhaust gas drive component DA1 and air inlet drive component DA2 are in failure state.
Brake assemblies include tripping spring, braking lower piston and braking upper piston.Brake rocker arm contacts with braking upper piston,
Brake lower piston and the first valve assembly is driven by drive block DLB.
Fig. 5 is guiding valve schematic diagram.Guiding valve includes slide valve HVP, check valve CV and slide valve spring HVK.It is visible with reference to Fig. 1,
Exhaust slide valve HV1 control exhaust brake components BA1 oil pocket and control for brake chamber BC, braking draining chamber BT connected state.When
When control for brake chamber BC is high pressure conditions, exhaust slide valve HV1 is descending, exhaust brake component BA1 oil pocket and braking draining chamber BT
Do not connect, the hydraulic oil in control for brake chamber BC enters exhaust brake component BA1 oil pocket, exhaust brake component by check valve
BA1 is working condition.Exhaust brake cam CB1 motion will pass through exhaust brake rocking arm RB1, exhaust brake component BA1 and row
Gas drive block passes to first row valve assembly VB1.When control for brake chamber BC is low-pressure state, exhaust slide valve HV1 is up, row
Gas brake assemblies BA1 oil pocket does not connect with control for brake chamber BC, and exhaust brake component BA1 oil pocket and braking draining chamber BT connect
Logical, for the hydraulic fluid leak in control for brake chamber BC to braking in draining chamber BT, exhaust brake component BA1 is failure state.Exhaust
Brake cam CB1 motion can not pass to first row valve assembly VB1.Equally, admission slide valve HV2 controls air inlet brake assemblies
BA2 oil pocket and control for brake chamber BC, braking draining chamber BT connected state.When control for brake chamber BC is high pressure conditions, air inlet
Brake assemblies BA2 is working condition；When control for brake chamber BC is low-pressure state, air inlet brake assemblies BA2 is failure state.
When drive control chamber DC and control for brake chamber BC is low-pressure state, engine is four stroke drive patterns；Driving
When control chamber DC and control for brake chamber BC is high pressure conditions, engine is two-stroke braking mode；When corresponding to some cylinders
Drive control chamber DC is high pressure conditions, and when control for brake chamber BC is low-pressure state, these cylinders are deactivation mode, the shape of engine
The mode of operation that state has other cylinders determines；The present invention is that the low oil consumption of engine, low emission and the operation efficiently braked are provided and matched somebody with somebody
Mechanism of qi structure.
Drive block DLB includes the first drive block or the second drive block.Fig. 3 is using the first drive block.First drive block
It is slidably connected with air valve bridge DB, air valve bridge DB drives the first valve assembly by the land of the first drive block, and braking lower piston leads to
The top for crossing the first drive block drives the first valve assembly.Fig. 4 is the second drive block schematic diagram.Second drive block and air valve bridge DB
Be hinged, air valve bridge DB drives the first valve assembly by the second drive block input DLBI, and braking lower piston passes through the second transmission
Block output end DLBO drives the first valve assembly.
Drive component, brake assemblies, guiding valve in the present invention etc. may be designed to standalone module, and be integrated into fixation
On part A, compact-sized, zero leakage, the versatility and convertibility for being easy to engine modification, parts.Except pattern switching area
Between, guiding valve does not move；When brake assemblies fail, brake assemblies do not move；Therefore, movement parts quantity of the invention is reduced, work
Reliably, energy consumption is low.
Fig. 6 is that cam axle type auxiliary brake mechanism schematic diagram is put at bottom.Very cup and push rod are provided between cam and rocking arm.This
Invention can be used for cammer, it can also be used to which camshaft type engine is put at bottom, and of the invention has a wide range of application.
Claims (6)
1. a kind of auxiliary brake mechanism, it includes first row valve assembly（VB1）, second row valve assembly（VD1）, the first air inlet
Door component（VB2）With the second intake valve assembly（VD2）, it is characterized in that：It also includes cam, rocking arm, brake rocker arm spring, and
Installed in fixture（A）On drive component, brake assemblies and guiding valve；The cam includes exhaust brake cam（CB1）, exhaust
Driving cam（CD1）, air inlet brake cam（CB2）With air inlet driving cam（CD2）, the rocking arm includes exhaust brake rocking arm
（RB1）, exhaust gas drive rocking arm（RD1）, air inlet brake rocker arm（RB2）Rocking arm is driven with air inlet（RD2）, the drive component includes
Exhaust gas drive component（DA1）With air inlet drive component（DA2）, the brake assemblies include exhaust brake component（BA1）And air inlet
Brake assemblies（BA2）, the guiding valve includes exhaust slide valve（HV1）And admission slide valve（HV2）, the fixture（A）It is additionally provided with
Control for brake chamber（BC）, braking draining chamber（BT）With drive control chamber（DC）, brake draining chamber（BT）It is always low-pressure state, institute
State exhaust brake priming lever spring（RK1）Spring force is provided and drives exhaust brake rocking arm（RB1）With exhaust brake cam（CB1）Moment
Contact, the air inlet brake rocker arm spring（RK2）Spring force is provided and drives air inlet brake rocker arm（RB2）With air inlet brake cam
（CB2）Moment contacts；Drive control chamber（DC）For low-pressure state when, exhaust gas drive component（DA1）With air inlet drive component（DA2）
It is in running order；Drive control chamber（DC）For high pressure conditions when, exhaust gas drive component（DA1）With air inlet drive component（DA2）
In failure state；Exhaust slide valve（HV1）Control exhaust brake component（BA1）Oil pocket and control for brake chamber（BC）, braking let out
Oil pocket（BT）Connected state, admission slide valve（HV2）Control air inlet brake assemblies（BA2）Oil pocket and control for brake chamber（BC）、
Brake draining chamber（BT）Connected state；Control for brake chamber（BC）For high pressure conditions when, exhaust brake component（BA1）With air inlet system
Dynamic component（BA2）For working condition；Control for brake chamber（BC）For low-pressure state when, exhaust brake component（BA1）Braked with air inlet
Component（BA2）For failure state；The exhaust brake cam（CB1）Pass through exhaust brake rocking arm（RB1）, exhaust brake component
（BA1）First row valve assembly is driven with exhaust-driven block（VB1）；The exhaust gas drive cam（CD1）Shaken by exhaust gas drive
Arm（RD1）With exhaust gas drive component（DA1）Afterwards, second row valve assembly is directly driven（VD1）, pass through exhaust-driven block driving the
One exhaust valve assemblies（VB1）；The air inlet brake cam（CB2）Pass through air inlet brake rocker arm（RB2）, air inlet brake assemblies
（BA2）The first intake valve assembly is driven with air inlet drive block（VB2）；The air inlet driving cam（CD2）Shaken by air inlet driving
Arm（RD2）With air inlet drive component（DA2）Afterwards, the second intake valve assembly is directly driven（VD2）, pass through air inlet drive block driving the
One intake valve assembly（VB2）；In the drive mode, drive control chamber（DC）With control for brake chamber（BC）It is low-pressure state；
Under braking mode, drive control chamber（DC）With control for brake chamber（BC）It is high pressure conditions；Under deactivation mode, drive control chamber
（DC）For high pressure conditions, control for brake chamber（BC）For low-pressure state.
2. a kind of auxiliary brake mechanism according to claim 1, it is characterized in that：The drive component includes driving piston
（DP）, air valve bridge（DB）, driving spring（DK）, clamping block（DLP）And Lock spring（DLK）；Drive piston（DP）And air valve bridge
（DB）Nest together, driving spring is provided therebetween（DK）, lock hole is provided with one in the two, on another
It is provided with locking annular groove and locking oilhole；Two clamping blocks are provided with lock hole（DLP）And Lock spring（DLK）, lock bullet
Spring（DLK）It is arranged on two clamping blocks（DLP）Between；Annular groove is locked by locking oilhole and drive control chamber（DC）It is connected；
Drive rocking arm and driving piston（DP）Contact, air valve bridge（DB）Directly drive duaspiracle component, air valve bridge（DB）Pass through transmission
Block（DLB）Drive the first valve assembly.
3. a kind of auxiliary brake mechanism according to claim 1, it is characterized in that：The brake assemblies include tripping spring,
Brake lower piston and braking upper piston；Brake rocker arm contacts with braking upper piston, and braking lower piston passes through drive block（DLB）Driving
First valve assembly.
4. a kind of auxiliary brake mechanism according to claim 1, it is characterized in that：The guiding valve includes slide valve（HVP）, it is single
To valve（CV）And slide valve spring（HVK）.
5. a kind of auxiliary brake mechanism according to claim 1, it is characterized in that：The drive block（DLB）Passed including first
Motion block or the second drive block；First drive block and air valve bridge（DB）It is slidably connected, air valve bridge（DB）Pass through the first drive block
Land drive the first valve assembly, braking lower piston drives the first valve assembly by the top of the first drive block；Described
Two drive blocks and air valve bridge（DB）It is be hinged, air valve bridge（DB）Pass through the second drive block input（DLBI）Drive the first valve group
Part, braking lower piston pass through the second drive block output end（DLBO）Drive the first valve assembly.
6. a kind of auxiliary brake mechanism according to claim 1, it is characterized in that：It is provided with very between the cam and rocking arm
Cup and push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775960.9A CN107605563B (en) | 2017-09-01 | 2017-09-01 | Auxiliary braking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710775960.9A CN107605563B (en) | 2017-09-01 | 2017-09-01 | Auxiliary braking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107605563A true CN107605563A (en) | 2018-01-19 |
| CN107605563B CN107605563B (en) | 2020-08-14 |
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ID=61056791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710775960.9A Active CN107605563B (en) | 2017-09-01 | 2017-09-01 | Auxiliary braking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107605563B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022048072A1 (en) * | 2020-09-01 | 2022-03-10 | 大连理工大学 | High-efficiency multi-stage brake mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107023342A (en) * | 2017-06-07 | 2017-08-08 | 大连理工大学 | A kind of change pattern valve-driving system |
| CN107060940A (en) * | 2017-06-07 | 2017-08-18 | 大连理工大学 | A kind of multi-mode valve-driving system |
| CN107100686A (en) * | 2017-06-07 | 2017-08-29 | 大连理工大学 | A kind of single camshaft switch fulcrum type becomes pattern valve-driving system |
-
2017
- 2017-09-01 CN CN201710775960.9A patent/CN107605563B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107023342A (en) * | 2017-06-07 | 2017-08-08 | 大连理工大学 | A kind of change pattern valve-driving system |
| CN107060940A (en) * | 2017-06-07 | 2017-08-18 | 大连理工大学 | A kind of multi-mode valve-driving system |
| CN107100686A (en) * | 2017-06-07 | 2017-08-29 | 大连理工大学 | A kind of single camshaft switch fulcrum type becomes pattern valve-driving system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022048072A1 (en) * | 2020-09-01 | 2022-03-10 | 大连理工大学 | High-efficiency multi-stage brake mechanism |
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| CN107605563B (en) | 2020-08-14 |
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