CN107628007A - Hydraulic pressure automatic parking device - Google Patents
Hydraulic pressure automatic parking device Download PDFInfo
- Publication number
- CN107628007A CN107628007A CN201711035644.4A CN201711035644A CN107628007A CN 107628007 A CN107628007 A CN 107628007A CN 201711035644 A CN201711035644 A CN 201711035644A CN 107628007 A CN107628007 A CN 107628007A
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- piston
- housing
- hydraulic pressure
- parking device
- ring part
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- 238000007789 sealing Methods 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000002035 prolonged effect Effects 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention discloses a kind of hydraulic pressure automatic parking device, and it includes housing, piston cylinder and piston assembly;The piston cylinder is fixed on the inside of the housing by the first snap ring;The cavity for being internally formed cylinder of the piston cylinder;The piston assembly is arranged in the housing, and can be horizontally slipped in the housing.The hydraulic pressure automatic parking device of the present invention passes through hydraulic operation, using the teaching of the invention it is possible to provide larger operating physical force, and also it is compact-sized, it can be conveniently integrated in automatic transmission, parking gear realizes mechanical locking, reliable operation.
Description
Technical field
The present invention relates to automatic transmission parking technical field, more particularly to a kind of mechanical-electric coupling double-clutch speed changer hydraulic pressure
Automatic parking device.
Background technology
Automatic transmission parking device is automobile is prevented vehicle sliding when parking on road surface or on ramp and is slipped backward
The device of car.The parking system that current most of automatic transmission are carried belongs to man power mechanical type, using mechanical transmission mode,
Shift handle is connected with speed changer halting mechanism using pull bar or zip, realized by way of pilot control shift handle
Parking function, security is low, and comfort level is poor.
Vehicle is run at a low speed in about 3km/h and in parking on 30 ° of slopes, crevis also must be pinned reliably
With disengaging parking gear.In this case, the weight depending on vehicle can be produced when park pawl is linked into and hung up until thousand
The power of ox.In order to overcome this larger operating physical force, parking device needs relatively more structure spaces.
The content of the invention
It is an object of the present invention to provide a kind of compact hydraulic pressure automatic parking device, the safety and reliability of parking is improved,
The comfortableness of vehicle is lifted simultaneously.
The present invention solves technical problem and adopted the following technical scheme that:A kind of hydraulic pressure automatic parking device, it includes housing, work
Plug cylinder and piston assembly;
The piston cylinder is fixed on the inside of the housing by the first snap ring;The piston cylinder has been internally formed cylinder
The cavity of shape;
The piston assembly includes second piston, push rod, second spring and cone pin, and the second piston includes the first ring
Shape portion, annular connecting portion, the second ring part and cylindrical portion, the diameter in the first annular portion are less than the diameter of the second ring part,
Connected between the first annular portion and the second ring part by annular connecting portion, one end of the cylindrical portion is connected to described
Second ring portion, and to be coaxially disposed between the first annular portion, annular connecting portion, the second ring part and cylindrical portion;
The first annular portion is slidably disposed in the cylindrical empty intracavitary of the piston cylinder, and second ring part can
It is slidingly arranged in the housing, and the housing, piston cylinder, first annular portion, annular connecting portion and the second ring part
Between form first piston chamber, offer first through hole on the housing, the first through hole connects with the first piston chamber;
The other end of the cylindrical portion passes through the housing, and is located at the hull outside, is arranged with the cylindrical portion
First spring, one end top of first spring are located on second ring part, and other end top is set on the housing, and the
One spring is in its pre-compressed state;Second piston chamber is formed between the cylindrical portion, the second ring part and housing, on the housing
The second through hole is offered, second through hole connects with the second piston chamber;
The push rod is fixed in the second piston by thrust washer, and is coaxially disposed with the second piston;
Formed with projection on the push rod, the cone pin is located in the projection, and the second spring is sheathed on described
On push rod, and thrust is applied to the cone pin.
Optionally, the second piston also includes the first extension, and one end of first extension is fixed on described
One ring part, and along the axially extending of the second piston, opened up on first extension it is fluted, and described first
The other end of extension is formed with inclined-plane;On the internal face of the piston cylinder guiding is offered along the axis direction of the piston cylinder
Groove, first extension are slidably disposed in the guide groove.
Optionally, the hydraulic pressure automatic parking device also includes lockable mechanism, and the lockable mechanism includes first piston, lock
Shotpin and lock pin back-moving spring;Formed with piston chamber on the housing, and the piston is corresponded on the piston cylinder
The position of chamber offers through hole, and the through hole is identical with the axis of the piston chamber, and the first piston is slideably set
It is placed in the piston chamber;
Lock pin is provided with the first piston, the lock pin coordinates with first extension, by described second
Piston locking;
Lock pin back-moving spring is provided between the lock pin and housing, and the lock pin back-moving spring is in precompressed
Contracting state.
Optionally, formed with inclined-plane on the boss, and the boss card make it that formed with boss on the lock pin
Close in the groove, or the inclined-plane on the inclined-plane of the boss and first extension coordinates.
Optionally, the internal diameter of the first annular portion, annular connecting portion and the second ring part is identical, and is more than the circle
The internal diameter in cylinder portion.
Optionally, the thrust washer is two, and two thrust washers are located at the both ends of the cylindrical portion, and the respectively
One end top of two springs is located on the thrust washer, and other end top is located on the cone pin.
Optionally, the second piston also includes the second extension, and one end of second extension is fixed on described
One ring part, and along the axially extending of the second piston, displacement sensing is provided with the second extension of the second piston
Device.
Optionally, the second sealing ring is provided between the first piston and the wall of the piston chamber.
Optionally, first piston sealing ring, second ring are provided between the first annular portion and the piston cylinder
Second piston sealing ring is provided between shape portion and the housing.
The present invention has the advantages that:The hydraulic pressure automatic parking device of the present invention passes through hydraulic operation, using the teaching of the invention it is possible to provide
Larger operating physical force, and it is compact-sized, it can be conveniently integrated in automatic transmission, parking gear realizes mechanical locking, work
Make reliable.
Brief description of the drawings
Fig. 1 is the structural representation of the hydraulic pressure automatic parking device of the present invention;
Fig. 2 is the sectional view of the hydraulic pressure automatic parking device of the present invention;
Fig. 3 is that the hydraulic pressure automatic parking device of the present invention plucks the schematic diagram of gear state;
Fig. 4 be the hydraulic pressure automatic parking device of the present invention when being linked into parking gear, the tooth of ratchet and the teeth groove of parking gear
Schematic diagram during alignment;
Fig. 5 be the hydraulic pressure automatic parking device of the present invention when being linked into parking gear, the tooth of ratchet and the tooth top of parking gear
Diagram during alignment;
Fig. 6 is the structural representation of the piston assembly of the hydraulic pressure automatic parking device of the present invention;
Fig. 7 is the structural representation of the lockable mechanism of the present invention;
Fig. 8 is the structural representation of the second piston of the present invention;
Mark is illustrated as in figure:1- alignment pins;2- rotary shafts;3- ratchets;4- bolts;5- housings;6- parking gears;
7- piston cylinders;The sealing rings of 8- first;9- first piston sealing rings;The springs of 10- first;11- second pistons;12- push rods;13- stops
Pushing pad piece;14- second piston sealing rings;15- second springs;16- cone pins;The snap rings of 17- first;18- return torsion springs;21-
One ring part;22- annular connecting portions;The ring parts of 23- second;24- cylindrical portions;30- piston assemblies;31- lock pins;32- first
Piston;The sealing rings of 33- second;The snap rings of 34- second;35- lock pin back-moving springs;38- displacement transducers;41- hydraulic power lists
Member;42-TCU;The magnetic valves of 45- first;46- second solenoid valves;47- first through hole;The through holes of 48- second;49- piston chamber;51-
First extension;The extensions of 52- second;53- grooves;54- inclined-planes;66- sealing rings;68- guide grooves;69- third through-holes;71-
Boss;72- inclined-planes.
Embodiment
Technical scheme is further elaborated with reference to embodiment and accompanying drawing.
Embodiment 1
Present embodiments provide a kind of hydraulic pressure automatic parking device, including housing 5, piston cylinder 7, piston assembly 30 and locking
Mechanism.
Parking gear 6 is installed, the parking gear 6 is with transmission shaft one on the transmission shaft (being not drawn into figure) of vehicle
Play rotation.Return torsion spring 18 is enclosed in alignment pin 2, and one end is connected with ratchet 3, and the other end is connected with locating shaft 1.
The housing 5 can be independent part, also can be as a part for case of transmission;In the present embodiment, the shell
Body 5 has been internally formed cavity, it is highly preferred that the cavity is divided into diameter increased first diameter segment, successively from right to left
Two diameter segments, the 3rd diameter segment and the 4th diameter segment, i.e., the diameter of described first diameter segment are less than the diameter of Second bobbin diameter section, institute
The diameter for stating Second bobbin diameter section is less than the diameter of the 3rd diameter segment, and the diameter of the 3rd diameter segment is less than the straight of the 4th diameter segment
Footpath.
The piston cylinder 7 is fixed on the inside of the housing 5 by the first snap ring 17, i.e., on described piston cylinder 7 formed with
The shaft shoulder, the shaft shoulder are fastened on the 3rd diameter segment and connected with the 4th diameter segment on the step of place formation, and the one of the piston cylinder 7
End left end be fixed on by the first snap ring 17 on the housing 5, it is preferable that the piston cylinder 7 be internally formed cylinder
Cavity, the internal diameter of the cylindrical cavity are less than the diameter of Second bobbin diameter section, and the 3rd of the piston cylinder 7 and the housing 5 is straight
The first sealing ring 8 is provided between the section of footpath.
The piston assembly 30 is arranged in the housing 5, and can be horizontally slipped in the housing 5, the present embodiment
In, the piston assembly 30 includes second piston 11, push rod 12, second spring 15 and cone pin 16, and the second piston 11 is wrapped
Include first annular portion 21, annular connecting portion 22, the second ring part 23 and cylindrical portion 24, the diameter in the first annular portion is less than the
The diameter in second ring portion, moreover, being connected between the first annular portion and the second ring part by annular connecting portion, the cylinder
The one end in portion is connected to second ring part, and causes the first annular portion, annular connecting portion, the second ring part and cylinder
It is coaxially disposed between portion.
The first annular portion is slidably disposed in the cylindrical empty intracavitary of the piston cylinder 7, second ring part
It is slidably disposed in the Second bobbin diameter section of the housing 5, and is set between the first annular portion and the piston cylinder 7
There is first piston sealing ring 9, second piston sealing ring 14 is provided between second ring part and the housing 5, with institute
State formation first piston chamber, the housing 5 between housing 5, piston cylinder 7, first annular portion, annular connecting portion and the second ring part
On offer first through hole 47, the first through hole 47 connects with the first piston chamber.
The other end of the cylindrical portion passes through the housing 5, and outside the housing 5, is covered in the cylindrical portion 11
Provided with the first spring 10, one end top of first spring 10 is located on second ring part, and other end top is located at the shell
On body 5, and the first spring 10 is in its pre-compressed state, in the present embodiment, is provided between the cylindrical portion and the housing 5 close
Seal ring 66, moreover, second piston chamber is formed between the cylindrical portion, the second ring part and housing 5, moreover, being opened on the housing 5
Provided with the second through hole 48, second through hole 48 connects with the second piston chamber.
The internal diameter in the first annular portion, annular connecting portion and the second ring part is identical, and more than the cylindrical portion
Internal diameter.
The push rod 12 is fixed in the second piston 11 by thrust washer 13, and coaxial with the second piston 11
Set, in the present embodiment, the thrust washer 13 is two, and two thrust washers 13 are located at the both ends of the cylindrical portion respectively.
Formed with projection on the push rod 12, the cone pin 16 is fastened in the projection, and second spring 15
One end top is located on the thrust washer 13, and other end top is located on the cone pin 16, and the second spring 15 is in
Its pre-compressed state.
The second piston 11 also includes the first extension 51 and the second extension 52, first extension 51 and second
One end of extension 52 is both secured to the first annular portion, and is lived along the axially extending of the second piston 11, described second
Displacement transducer 38 is provided with second extension 52 of plug 11, to measure the second piston by institute's displacement sensors 38
11 position, and fluted 53 are opened up on first extension 51, and in the other end shape of first extension 51
Into there is inclined-plane 54.
In the present embodiment, the piston cylinder 7 and housing 5 are fixed by bolt 4, on the internal face of the piston cylinder 7
Guide groove 68 is offered along the axis direction of the piston cylinder 7, first extension 51 is slidably disposed in the guiding
In groove 68, so that when the second piston 11 is moved relative to the piston cylinder 7, first extension 51 is in the guide groove
Slided in 68, so as to be positioned by the guide groove 68 to the circumference of the second piston 11.
When second piston 11 is in diverse location, for second piston 11 is locked at into the position, the hydraulic pressure of the present embodiment
Automatic parking device also includes lockable mechanism, and the lockable mechanism includes first piston 32, lock pin 31 and lock pin and resets bullet
Spring 35;Formed with piston chamber 49 on the housing 5, and correspond on the piston cylinder 7 position of the piston chamber 49
Through hole is offered, the through hole is identical with the axis of the piston chamber 49, and the first piston 32 is slidably disposed in institute
State in piston chamber, and preferably, the piston chamber is internally provided with the second snap ring 34, and second snap ring 34 is used for pair
First piston 32 carries out axial limiting.
The second sealing ring is provided between the first piston 32 and the wall of the piston chamber 49, and described first lives
Lock pin is provided with beyond the Great Wall, and the lock pin coordinates with first extension, by the second piston locking.
Specifically, lock pin back-moving spring 35 is provided between the lock pin 31 and housing 5, and the lock pin resets
Spring 35 is in its pre-compressed state, to be resetted lock pin 31 by the lock pin return spring 35, on the lock pin 31
Formed with boss 71, formed with inclined-plane 72 on the boss 71, and the boss 71 can be fastened in the groove 53,
Or backstop is carried out to the inclined-plane 54 of first extension 51.
In original state, the tooth on ratchet 3 engages the hydraulic pressure automatic parking device of the present invention with the teeth groove of parking gear,
Boss 71 on lock pin 31 is in the groove 53 of second piston, and speed changer is in parking and put into gear state, realizes second piston
11 axial mechanical lockings.
After TCU42, which receives parking, plucks gear order, second solenoid valve 46 is opened, and hydraulic oil flows into piston chamber 49, pushes away
Dynamic first piston 32, first piston 32 promote lock pin 31 to move to specified location, and second piston 11 realizes unblock;Now first
Magnetic valve 45 is opened, and hydraulic oil promotes second piston 11 to overcome the elastic force of the first spring 10 to move to the other end, in the process
TCU42 receives the signal of piston displacement sensor 38, judges that second piston 11 to after specified location, closes second solenoid valve 46,
The return under the elastic force of lock pin back-moving spring 35 of lock pin 31, is then shut off the first magnetic valve 45, and the first of second piston 11
Inclined-plane 54 on extension 51 coordinates with the inclined-plane 72 on the boss 71 of lock pin 31, realizes 11 axial mechanical lock of second piston
Only.The return in the presence of return torsion spring 18 of ratchet 3, pluck gear and complete.
When TCU42 receive parking put into gear order after, second solenoid valve 46 is opened, hydraulic oil flow into piston chamber 49, push away
Dynamic first piston 32 and lock pin 31 move to specified location, and second piston 11 realizes unblock;First spring 10 promotes second to live
Plug 11, second piston 11 promote push rod 12 and cone pin 16, and TCU receives the signal of piston displacement sensor 38 in the process,
Second piston 11 is judged to after specified location, and second solenoid valve 46 is closed, elastic force of the lock pin 31 in lock pin back-moving spring 35
Lower return, the boss 71 of lock pin 31 engage with the groove 53 on the first extension 51 of second piston 11, realize second piston
11 mechanical lockings.
When the tooth top of ratchet 3 aligns with the teeth groove of parking gear 6, cone pin 16 promotes under the thrust of the first spring 10
Ratchet 3 is engaged with parking gear 6, and realization is put into gear;
When the tooth top of ratchet 3 aligns with the tooth top of parking gear 6, the first spring 10 persistently gives taper by piston assembly 30
Pin 16 applies the power of a setting, and as the vehicle moves, cone pin 16 promotes ratchet 3 to be engaged with parking gear 6, and realization is put into gear.
The hydraulic pressure automatic parking device also includes TCU42, the first magnetic valve 45, second solenoid valve 46 and hydraulic power list
Member 41, the hydraulic power unit 41 is connected to the through hole 48 of first through hole 47 and second by the first magnetic valve 45, and passes through
Second solenoid valve 46 is connected to piston chamber 49, also, the TCU signals are connected to the electromagnetism of the first magnetic valve 45 and second
Valve 46, to control the motion of first magnetic valve 45 and second solenoid valve 46.
First magnetic valve and second solenoid valve can be integrated in transmission valve body, can also be arranged on housing, liquid
The hydraulic oil of pressure power unit first via after pressure regulation flows into the first magnetic valve, and two oil-outs of the first magnetic valve connect the respectively
One plunger shaft and second piston chamber, control piston assembly axial movement, realize that gear is put into gear and plucked in parking, the second road flows into the second electricity
Magnet valve, oil-out are connected with first piston, promote lock pin movement, realize piston assembly locking.
The sequencing of above example only for ease of describing, does not represent the quality of embodiment.
Finally it should be noted that:The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that:It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic;
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (9)
1. a kind of hydraulic pressure automatic parking device, it is characterised in that including housing, piston cylinder and piston assembly;
The piston cylinder is fixed on the inside of the housing by the first snap ring;The piston cylinder be internally formed cylinder
Cavity;
The piston assembly includes second piston, push rod, second spring and cone pin, and the second piston includes first annular
Portion, annular connecting portion, the second ring part and cylindrical portion, the diameter in the first annular portion are less than the diameter of the second ring part, institute
State and connected between first annular portion and the second ring part by annular connecting portion, one end of the cylindrical portion is connected to described second
Ring part, and to be coaxially disposed between the first annular portion, annular connecting portion, the second ring part and cylindrical portion;
The first annular portion is slidably disposed in the cylindrical empty intracavitary of the piston cylinder, and second ring part is slidably
Ground is arranged in the housing, and between the housing, piston cylinder, first annular portion, annular connecting portion and the second ring part
First piston chamber is formed, offers first through hole on the housing, the first through hole connects with the first piston chamber;
The other end of the cylindrical portion passes through the housing, and is located at the hull outside, and first is arranged with the cylindrical portion
Spring, one end top of first spring are located on second ring part, and other end top is set on the housing, and the first bullet
Spring is in its pre-compressed state;Second piston chamber is formed between the cylindrical portion, the second ring part and housing, is opened up on the housing
There is the second through hole, second through hole connects with the second piston chamber;
The push rod is fixed in the second piston by thrust washer, and is coaxially disposed with the second piston;
Formed with projection on the push rod, the cone pin is located in the projection, and the second spring is sheathed on the push rod
On, and thrust is applied to the cone pin.
2. hydraulic pressure automatic parking device according to claim 1, it is characterised in that the second piston is also prolonged including first
The first annular portion is fixed in extending portion, one end of first extension, and along the axially extending of the second piston, it is described
Opened up on first extension it is fluted, and first extension the other end formed with inclined-plane;The piston cylinder it is interior
Guide groove is offered along the axis direction of the piston cylinder on wall, first extension is slidably disposed in the guiding
In groove.
3. hydraulic pressure automatic parking device according to claim 2, it is characterised in that also including lockable mechanism, the locking
Mechanism includes first piston, lock pin and lock pin back-moving spring;Formed with piston chamber on the housing, and in the work
The position that the piston chamber is corresponded on plug cylinder offers through hole, and the through hole is identical with the axis of the piston chamber, described
First piston is slidably disposed in the piston chamber;
Lock pin is provided with the first piston, the lock pin coordinates with first extension, by the second piston
Locking;
Lock pin back-moving spring is provided between the lock pin and housing, and the lock pin back-moving spring is in precommpression shape
State.
4. hydraulic pressure automatic parking device according to claim 3, it is characterised in that formed with boss on the lock pin,
Formed with inclined-plane on the boss, and the boss is fastened in the groove, or the inclined-plane of the boss and institute
The inclined-plane for stating the first extension coordinates.
5. hydraulic pressure automatic parking device according to claim 4, it is characterised in that the first annular portion, annular connection
Portion is identical with the internal diameter of the second ring part, and more than the internal diameter of the cylindrical portion.
6. hydraulic pressure automatic parking device according to claim 5, it is characterised in that the thrust washer is two, two
Thrust washer is located at the both ends of the cylindrical portion respectively, and one end top of second spring is located on the thrust washer, another
End top is located on the cone pin.
7. hydraulic pressure automatic parking device according to claim 6, it is characterised in that the second piston is also prolonged including second
The first annular portion is fixed in extending portion 52, one end of second extension, and along the axially extending of the second piston, institute
State and be provided with displacement transducer on the second extension of second piston.
8. hydraulic pressure automatic parking device according to claim 7, it is characterised in that the first piston and the plunger shaft
The second sealing ring is provided between the wall of room.
9. hydraulic pressure automatic parking device according to claim 8, it is characterised in that the first annular portion and the piston
First piston sealing ring is provided between cylinder, second piston sealing ring is provided between second ring part and the housing.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201711035644.4A CN107628007B (en) | 2017-10-30 | 2017-10-30 | Hydraulic automatic parking device |
Applications Claiming Priority (1)
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CN201711035644.4A CN107628007B (en) | 2017-10-30 | 2017-10-30 | Hydraulic automatic parking device |
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CN107628007A true CN107628007A (en) | 2018-01-26 |
CN107628007B CN107628007B (en) | 2024-03-19 |
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CN201711035644.4A Active CN107628007B (en) | 2017-10-30 | 2017-10-30 | Hydraulic automatic parking device |
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Cited By (2)
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CN111231919A (en) * | 2019-12-27 | 2020-06-05 | 中国第一汽车股份有限公司 | Automatic parking method and system and vehicle |
CN112178184A (en) * | 2020-10-15 | 2021-01-05 | 中国第一汽车股份有限公司 | Hydraulic control system of automatic transmission |
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CN104019226A (en) * | 2014-06-18 | 2014-09-03 | 安徽江淮汽车股份有限公司 | Automobile and automatic transmission parking system thereof |
DE102015002428A1 (en) * | 2015-02-26 | 2015-08-20 | Daimler Ag | Parking lock module |
JP2017166637A (en) * | 2016-03-17 | 2017-09-21 | 本田技研工業株式会社 | Parking actuator valve |
CN207345775U (en) * | 2017-10-30 | 2018-05-11 | 中国第一汽车股份有限公司 | Hydraulic pressure automatic parking device |
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CN101506013A (en) * | 2006-08-25 | 2009-08-12 | Zf腓特烈港股份公司 | Parking brake device for motor vehicle gearboxes |
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CN203717893U (en) * | 2014-02-08 | 2014-07-16 | 安徽江淮汽车股份有限公司 | Parking mechanism for automatic transmission |
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CN111231919A (en) * | 2019-12-27 | 2020-06-05 | 中国第一汽车股份有限公司 | Automatic parking method and system and vehicle |
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Also Published As
Publication number | Publication date |
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CN107628007B (en) | 2024-03-19 |
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