CN110346131A - A kind of cargo vehicle brake tester - Google Patents
A kind of cargo vehicle brake tester Download PDFInfo
- Publication number
- CN110346131A CN110346131A CN201910668231.2A CN201910668231A CN110346131A CN 110346131 A CN110346131 A CN 110346131A CN 201910668231 A CN201910668231 A CN 201910668231A CN 110346131 A CN110346131 A CN 110346131A
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- Prior art keywords
- brake
- shaft
- cooling
- block
- test flume
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Braking Arrangements (AREA)
Abstract
The invention discloses a kind of cargo vehicle brake testers, belong to automobile braking device field, including testing stand main body and the brake assembly to be tested being mounted in the testing stand main body, test flume is offered at the top of the testing stand main body, further include: brake axle can be arranged in the test flume with turning；Brake disc is mounted on the brake axle and is located between two brake(-holder) blocks of the brake assembly to be tested；First motor is mounted in the test flume, for driving the brake axle to rotate；Cooling shaft is rotatably arranged in the test flume；The present invention is provided with cooling block, decalescence material is provided in cooling block, cooling block with being capable of fast endothermic after brake disc, brake disc temperature is effectively reduced, so as to continue to test, test efficiency is improved, and safer compared with being water-cooled, avoids the occurrence of water cooling unevenness causes brake disc surface in uneven thickness.
Description
Technical field
The present invention relates to automobile braking device field, in particular to a kind of cargo vehicle brake tester.
Background technique
Brake is an important component of cargo vehicle, is vital safety device, up-to-standard, property
It can excellent be the important leverage of travel safety, with the development of society and the increasingly increase of vehicle density, the superior system of vehicle
Dynamic performance has caused the extensive concern of traffic control department and manufacturer, and to the safety of driving, more stringent requirements are proposed；
The brake block and brake disc of brake all have heat fade effect, in braking, brake disc and brake block friction meeting
A large amount of heat is generated, meeting in the case where long descending or repeatedly brake causes braking effect so that brake disc and brake block overheat
Difference needs to carry out multiple groups check experiment to brake, that is, will do it multiple braking, in order to anti-during the test of brake
Only heat fade is needed to keep the temperature of brake disc and brake block excessively high, thus be needed to brake on resulting influence
Vehicle piece and brake disc cooling, can be cooled down, watering can not be in the same time to entire by watering in the prior art
Brake block accomplishes the case where average covering, and which results in certain places to be stained with to water, other places will not hit on water, encounters
The brake block of water will acutely be shunk, and the two just will form sharp contrast, and it is bad finally to have led to the entire operating of brake disc,
It will affect the test of subsequent braking effect.
Summary of the invention
The present invention provides a kind of cargo vehicle brake tester, can solve brake tester in the prior art and deposits
The problem of the brake disc of brake cannot be allowed to be quickly cooled down.
A kind of cargo vehicle brake tester, including testing stand main body and be mounted in the testing stand main body wait try
Brake assembly is tested, offers test flume at the top of the testing stand main body, further includes:
Brake axle can be arranged in the test flume with turning；
Brake disc is mounted on the brake axle and is located between two brake(-holder) blocks of the brake assembly to be tested；
First motor is mounted in the test flume, for driving the brake axle to rotate；
Cooling shaft is rotatably arranged in the test flume；
Cooling block is fixed by the connecting rod on the cooling shaft, and it is filled with decalescence materials, can be with the system
Moving plate contact；
Second motor is mounted in the test flume, for driving the cooling shaft to rotate.
Preferably, there are two the cooling blocks, two cooling blocks to be located at the system for connection on the cooling shaft
The two sides of Moving plate, the cooling block is semicircular sector shape, and its side is fixed with multiple radiating fins.
Preferably, setting is respectively provided with that there are two cooling there are two cooling shaft in the test flume on two cooling shafts
Block is fixedly installed gear, two gears engagement connections on two cooling shafts.
Preferably, further including translation mechanism comprising:
Sliding block, fixed case, the first lead screw being threadedly coupled with the sliding block, be threadedly coupled with the fixed case second
Thick stick and third motor；
The first sliding groove matched with the sliding block is offered on the cell wall of the test flume side, the sliding block is slidably
Ground be arranged in the first sliding groove, opened up on the cell wall of the test flume other side due to the fixed case match second
Sliding slot, the fixed case are slidably disposed in the second sliding slot；
First lead screw is rotatably arranged in the first sliding groove；
Second lead screw is rotatably arranged in the second sliding slot；
It is sequentially connected between first lead screw and second lead screw by the first tape handler, the first band passes
Motivation structure is located in the testing stand main body；
The first motor is fixedly mounted in the fixed case；
One end of the brake axle is rotatably arranged on the sliding block；
The third motor is mounted on the outside of the testing stand main body and is sequentially connected with one end of second lead screw.
Preferably, further including the brake(-holder) block cooling mechanism for making the brake(-holder) block cooling comprising cooler pan, shaft and
4th motor, the cooler pan are connect by fixed frame with the shaft, and the 4th motor is mounted on the testing stand main body
It is interior, for driving the shaft to rotate, the shaft is rotatably arranged in the test flume, and the cooler pan can be described
Brake(-holder) block contact.
Preferably, further including driving mechanism comprising the first transmission shaft, second driving shaft and connecting shaft, described first passes
Axis is sequentially connected by the second tape handler and the first motor, and one end of the connecting shaft is plugged on first transmission
It is rotated synchronously in axis and with first transmission shaft, is provided with the first spring between first transmission shaft and the connecting shaft,
One end of first spring and the first transmission axis connection, the other end and the connection axis connection, the connecting shaft are separate
One end of first transmission shaft is pluggable in one end of the second driving shaft, and the connecting shaft can be with second transmission
Axis rotates synchronously, and the second driving shaft is located at the center position of the cooler pan, the second driving shaft and the cooling
Disk rotates synchronously and the second driving shaft can be moved along the direction of the cooling disc thickness, is provided on the fixed frame
Second spring, one end of the second spring are connect with the fixed frame, and the other end is connect with the second driving shaft.
Preferably, opening up fluted on the test flume, the groove is located at the lower section of the brake(-holder) block, in the groove
Third lead screw can be provided with turning, the third lead screw is driven by the output shaft of third tape handler and second motor
It connects, is threaded with jacking block on the third lead screw, the jacking block is slidably disposed in the groove.
Preferably, storing in the test flume has water, water surface elevation is lower than the brake disc, and the test flume is provided with into water
Pipe and outlet pipe, be fixedly connected on the outside of the testing stand main body the first water pump connect with the water inlet pipe and with it is described out
Second water pump of water pipe connection.
Preferably, being filled with the decalescence material of same material in the cooling block and the cooler pan, and described
Decalescence material is paraffin.
Compared with prior art, the beneficial effects of the present invention are: the present invention is provided with cooling block, phase is provided in cooling block
Changeable heat-absorbing material, cooling block with after brake disc can fast endothermic, brake disc temperature is effectively reduced, so as to continue
It is tested, improves test efficiency, and safer compared with being water-cooled, avoiding water cooling unevenness leads to brake disc surface thickness
The occurrence of uneven.
Detailed description of the invention
Fig. 1 is side view of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is cross-sectional view at the A-A of Fig. 1 of the invention；
Fig. 4 is cross-sectional view at the B-B of Fig. 1 of the invention；
Fig. 5 is partial enlarged view at the C of Fig. 2 of the invention；
Fig. 6 is partial enlarged view at the D of Fig. 2 of the invention；
Fig. 7 is partial enlarged view at the E of Fig. 2 of the invention；
Fig. 8 is cross-sectional view at the F-F of Fig. 3 of the invention；
Fig. 9 is partial enlarged view at the G of Fig. 8 of the invention；
Figure 10 is cross-sectional view of the present invention when cooling down to brake disc and brake(-holder) block；
Figure 11 is the structural schematic diagram at the first tape handler of the invention.
Description of symbols:
1- testing stand main body, 2- test flume, 3- brake axle, 4- brake disc, 5- brake(-holder) block, 6- first motor, 7- cooling shaft,
8- cooling block, the second motor of 9-, 10- radiating fin, 11- sliding block, 12- fixed case, the first lead screw of 13-, the second lead screw of 14-, 15-
Three motors, 16- first sliding groove, 17- second sliding slot, the first tape handler of 18-, 20- gear, 21- cooler pan, 22- shaft,
The 4th motor of 23-, 24- fixed frame, the first transmission shaft of 31-, 32- second driving shaft, 33- connecting shaft, 34- the second V belt translation machine
Structure, the first spring of 35-, 36- second spring, 41- groove, 42- third lead screw, 43- third tape handler, 44- jacking block, 51-
Water inlet pipe, 52- outlet pipe, the first water pump of 53-, the second water pump of 54-, 61- caliper, 62- brake pedal, 63- gas tank, 64- are empty
Air compressor.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection scope be not limited by the specific implementation.
As shown in Figure 1 to 11, a kind of cargo vehicle brake tester provided in an embodiment of the present invention, including testing stand
Main body 1 and the brake assembly to be tested being mounted in the testing stand main body 1, the top of the testing stand main body 1 offers
Test flume 2, further includes:
Brake axle 3 can be arranged in the test flume 2 with turning；
Brake disc 4, be mounted on the brake axle 3 and be located at the brake assembly to be tested two brake(-holder) blocks 5 it
Between；
First motor 6 is mounted in the test flume 2, for driving the brake axle 3 to rotate；
Cooling shaft 7 is rotatably arranged in the test flume 2；
Cooling block 8 is fixed by the connecting rod on the cooling shaft 7, it is filled with decalescence material, can with it is described
Brake disc 4 contacts；
Second motor 9 is mounted in the test flume 2, for driving the cooling shaft 7 to rotate；
In brake, after the process that the brake disc of automobile has a low temperature to be raised to high temperature, only temperature rise to some value
The problem of just will appear braking ability decline namely thermal decay, before reaching that temperature of heat fade, the higher brake of temperature
Vehicle performance is better, is not in heat fade generally under use, but in test, often braking time is long for braking, easily occurs
Heat fade situation, cooling block 8 are for the temperature of brake disc 4 is reduced to heat fade temperature or less, are not that will brake
The temperature of disk 4 is reduced to 100 degree or less；
There are two the cooling blocks 8, two cooling blocks 8 to be located at the brake disc 4 for connection on the cooling shaft 7
Two sides, the cooling block 8 is semicircular sector shape, and its side is fixed with multiple radiating fins 10；
Setting is respectively provided with there are two cooling block 8 there are two cooling shaft 7 on two cooling shafts 7 in the test flume 2,
Gear 20, two engagement of gear 20 connections are fixedly installed on two cooling shafts 7；
Four semicircular sector cooling blocks 8 can arrive most of area covering of brake disc 4, improve cooling effect；
When braking, the temperature of brake(-holder) block 5 and brake disc 4 all can be increased quickly, and the area of brake(-holder) block 5 is less than brake disc 4,
Temperature can be higher than brake disc 4, therefore the cooling of brake(-holder) block 5 is also particularly significant, further includes translation mechanism comprising:
Sliding block 11, fixed case 12, the first lead screw 13 being threadedly coupled with the sliding block 11 and 12 screw thread of fixed case connect
The second lead screw 14 and third motor 15 connect；
The first sliding groove 16 matched with the sliding block 11, the sliding block are offered on the cell wall of 2 side of test flume
11 are slidably disposed in the first sliding groove 16, open up on the cell wall of 2 other side of test flume due to the fixed case
12 second sliding slots 17 matched, the fixed case 12 are slidably disposed in the second sliding slot 17；
First lead screw 13 is rotatably arranged in the first sliding groove 16；
Second lead screw 14 is rotatably arranged in the second sliding slot 17；
It is sequentially connected between first lead screw 13 and second lead screw 14 by the first tape handler 18, described the
One tape handler 18 is located in 1 main body of testing stand；
The first motor 6 is fixedly mounted in the fixed case 12；
One end of the brake axle 3 is rotatably arranged on the sliding block 11；
The third motor 15 is mounted on the outside of the testing stand main body 1 and is driven with one end of second lead screw 14
Connection；
Translation mechanism is for removing brake disc 4 so that it is convenient to cool down to brake(-holder) block 5；
It further include the brake(-holder) block cooling mechanism for making the brake(-holder) block 5 cooling comprising cooler pan 21, shaft 22 and the
Four motors 23, the cooler pan 21 are connect by fixed frame 24 with the shaft 22, and the 4th motor 23 is mounted on the examination
It tests in platform main body 1, for driving the shaft 22 to rotate, the shaft 22 is rotatably arranged in the test flume 2, described
Cooler pan 21 can the contact of brake(-holder) block 5；
Cooler pan 21 is plate-like, and area is much larger than brake(-holder) block 5, provides enough cooling effects；
As shown in Figure 8, air compressor 64 can pass pressure by gas compression to gas tank 63, by brake pedal 62
It is handed at caliper 61, is braked so that brake(-holder) block 5 be allowed to clamp brake disc 4；
It further include driving mechanism comprising the first transmission shaft 31, second driving shaft 32 and connecting shaft 33, described first passes axis
31 are sequentially connected by the second tape handler 34 and the first motor 6, and one end of the connecting shaft 33 is plugged on described the
It is rotated synchronously in one transmission shaft 31 and with first transmission shaft 31, between first transmission shaft 31 and the connecting shaft 33
It is provided with the first spring 35, one end of first spring 35 connect with first transmission shaft 31, the other end and the connection
Axis 33 connects, the pluggable one end in the second driving shaft 32 in the one end of the connecting shaft 33 far from first transmission shaft 31
Interior, the connecting shaft 33 can be rotated synchronously with the second driving shaft 32, and the second driving shaft 32 is located at the cooler pan 21
Center position, the second driving shaft 32 is rotated synchronously with the cooler pan 21 and the second driving shaft 32 can be along
The direction of 21 thickness of cooler pan is mobile, is provided with second spring 36 on the fixed frame 24, and the one of the second spring 36
End is connect with the fixed frame 24, and the other end is connect with the second driving shaft 32；
It can clearly find out in conjunction with one end of second driving shaft 32 in one end of the connecting shaft 33 in Fig. 5 and Figure 10, connect
One end of axis 33 is matched with one end of second driving shaft 32；
As shown in figure 5, the first spring 35 is used to push away in the direction of the second driving shaft 32 outward of connecting shaft 33, but can't will
Connecting shaft 33 is completely out, and connecting shaft 33 and the first transmission shaft 31 are always maintained at the state of synchronous rotation, 32 He of second driving shaft
Cooler pan 21 is also always maintained at the state of synchronous rotation, and second driving shaft 32 can be under the conflict of jacking block 44 toward connecting shaft 33
Direction is mobile, so that connecting shaft 33 and second driving shaft 32 can be sequentially connected, second spring 36 is for pulling the second transmission
Axis 32 is mobile toward the direction far from connecting shaft 33, so that second driving shaft 32 can divide with connecting shaft 33 after the withdrawal of jacking block 44
From；
It is provided with protrusion at cooler pan 21 and 32 contact position of second driving shaft, offers and matches on second driving shaft 32
Slot, synchronous rotation is met with this, and relatively move；
Connecting shaft 33 is cold so as to allow first motor 6 to drive for connecting the first transmission shaft 31 and second driving shaft 32
But disk 21 slowly rotates, so that the part for allowing cooler pan 21 not contact with brake block 5 can also be contacted with brake block 5, improves cold
But effect；
Fluted 41 are opened up on the test flume 2, the groove 41 is located at the lower section of the brake(-holder) block 5, the groove 41
Interior be provided with third lead screw 42 with turning, the third lead screw 42 passes through third tape handler 43 and second motor 9
Output shaft is sequentially connected, and jacking block 44 is threaded on the third lead screw 42, and the jacking block 44 is slidably disposed on described
In groove 41；
Multiple tape handlers are the transmission mechanisms common in the art being driven by belt and belt wheel；
Storing in the test flume 2 has water, and water surface elevation is lower than the brake disc 4, and the test flume 2 is provided with water inlet pipe 51
With outlet pipe 52, the outside of the testing stand main body 1 be fixedly connected with the first water pump 53 being connect with the water inlet pipe 51 and with
The second water pump 54 that the outlet pipe 52 connects；Water in test flume 2 is used to cool down to cooling block 8 and cooler pan 21, thus instead
It is multiple to use, it is additionally provided with fan in testing stand main body 1 and is not scheming for drying up the water droplet on cooling block 8 and cooler pan 21, fan
Middle expression；
The decalescence material of same material, and the phase transformation are filled in the cooling block 8 and the cooler pan 21
Heat-absorbing material is paraffin；
Working principle: when being cooled down, first start third motor 15 and drive the first lead screw 13 and the second lead screw 14
It rotates simultaneously, so that sliding block 11 be allowed to slide in first sliding groove 16, fixed case 12 slides in second sliding slot 17,4 He of brake disc
Brake(-holder) block 5 separates, and restarts the 4th motor 23, the 4th motor 23 drives shaft 22 to rotate, so that fixed frame 24 is in vertical shape
State, cooler pan 21 are contacted with brake(-holder) block 5, are cooled down to brake(-holder) block 5, and the second motor 9 is then started, and the second motor 9 drives two
A cooling shaft 7 rotates, so that being cooled down in the brake disc 4 of the patch of cooling block 8 after movement, drives cooling shaft 7 in the second motor 9
While rotation, third lead screw 42 is driven to rotate by third tape handler 43, so that jacking block 44 pushes up second driving shaft outward
32, so that one end of connecting shaft 33 be allowed to be inserted into one end of second driving shaft 32, starting first motor 6 at this time can simultaneously slowly
Cooler pan 21 and brake disc 4 is driven to rotate, the contact area for increasing cooler pan 21 and brake(-holder) block 5 improves cooling effect.
Disclosed above is only several specific embodiments of the invention, and still, the embodiment of the present invention is not limited to this, is appointed
What what those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (9)
1. a kind of cargo vehicle brake tester including testing stand main body and is mounted on to be tested in the testing stand main body
Brake assembly, which is characterized in that offer test flume at the top of the testing stand main body, further includes:
Brake axle can be arranged in the test flume with turning；
Brake disc is mounted on the brake axle and is located between two brake(-holder) blocks of the brake assembly to be tested；
First motor is mounted in the test flume, for driving the brake axle to rotate；
Cooling shaft is rotatably arranged in the test flume；
Cooling block is fixed by the connecting rod on the cooling shaft, and it is filled with decalescence materials, can be with the brake disc
Contact；
Second motor is mounted in the test flume, for driving the cooling shaft to rotate.
2. a kind of cargo vehicle brake tester as described in claim 1, which is characterized in that be connected on the cooling shaft
Two cooling blocks, two cooling blocks are located at the two sides of the brake disc, and the cooling block is semicircular sector shape,
And its side is fixed with multiple radiating fins.
3. a kind of cargo vehicle brake tester as claimed in claim 2, which is characterized in that be provided in the test flume
Two cooling shafts are respectively provided on two cooling shafts there are two cooling block, are fixedly installed gear on two cooling shafts, and two
A gear engagement connection.
4. a kind of cargo vehicle brake tester as claimed in claim 1 or 3, which is characterized in that it further include translation mechanism,
Comprising:
Sliding block, fixed case, the first lead screw being threadedly coupled with the sliding block, the second lead screw being threadedly coupled with the fixed case and
Third motor；
The first sliding groove matched with the sliding block is offered on the cell wall of the test flume side, the sliding block is slideably set
It sets in the first sliding groove, second matched due to the fixed case is opened up on the cell wall of the test flume other side and is slided
Slot, the fixed case are slidably disposed in the second sliding slot；
First lead screw is rotatably arranged in the first sliding groove；
Second lead screw is rotatably arranged in the second sliding slot；
It is sequentially connected between first lead screw and second lead screw by the first tape handler, the first band driver
Structure is located in the testing stand main body；
The first motor is fixedly mounted in the fixed case；
One end of the brake axle is rotatably arranged on the sliding block；
The third motor is mounted on the outside of the testing stand main body and is sequentially connected with one end of second lead screw.
5. a kind of cargo vehicle brake tester as claimed in claim 4, which is characterized in that further include for allowing the system
The cooling brake(-holder) block cooling mechanism of movable plate comprising cooler pan, shaft and the 4th motor, the cooler pan pass through fixed frame and institute
Shaft connection is stated, the 4th motor is mounted in the testing stand main body, for driving the shaft to rotate, and the shaft can
It is rotatably arranged in the test flume, the cooler pan can the brake(-holder) block contact.
6. a kind of cargo vehicle brake tester as claimed in claim 5, which is characterized in that it further include driving mechanism,
Including the first transmission shaft, second driving shaft and connecting shaft, described first, which passes axis, passes through the second tape handler and first electricity
Machine transmission connection, one end of the connecting shaft are plugged in first transmission shaft and rotate synchronously with first transmission shaft,
The first spring, one end of first spring and first transmission are provided between first transmission shaft and the connecting shaft
Axis connection, the other end and the connection axis connection, the one end of the connecting shaft far from first transmission shaft are pluggable described
In one end of second driving shaft, the connecting shaft can be rotated synchronously with the second driving shaft, and the second driving shaft is located at institute
The center position of cooler pan is stated, the second driving shaft and the cooler pan rotate synchronously and the second driving shaft can edge
The cooling disc thickness direction it is mobile, be provided with second spring, one end of the second spring and institute on the fixed frame
Fixed frame connection is stated, the other end is connect with the second driving shaft.
7. a kind of cargo vehicle brake tester as claimed in claim 6, which is characterized in that offered on the test flume
Groove, the groove are located at the lower section of the brake(-holder) block, third lead screw, the third lead screw can be provided in the groove with turning
It is sequentially connected by the output shaft of third tape handler and second motor, is threaded with top on the third lead screw
Block, the jacking block are slidably disposed in the groove.
8. a kind of cargo vehicle brake tester as claimed in claim 7, which is characterized in that storing in the test flume has
Water, water surface elevation are lower than the brake disc, and the test flume is provided with water inlet pipe and outlet pipe, the outside of the testing stand main body
The second water pump for being fixedly connected with the first water pump connecting with the water inlet pipe and being connect with the outlet pipe.
9. a kind of cargo vehicle brake tester as claimed in claim 8, which is characterized in that the cooling block and described cold
But the decalescence material of same material is filled in disk, and the decalescence material is paraffin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668231.2A CN110346131B (en) | 2019-07-23 | 2019-07-23 | Cargo vehicle brake test bench |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668231.2A CN110346131B (en) | 2019-07-23 | 2019-07-23 | Cargo vehicle brake test bench |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110346131A true CN110346131A (en) | 2019-10-18 |
| CN110346131B CN110346131B (en) | 2020-11-27 |
Family
ID=68180034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910668231.2A Expired - Fee Related CN110346131B (en) | 2019-07-23 | 2019-07-23 | Cargo vehicle brake test bench |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110346131B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021109301A1 (en) * | 2019-12-05 | 2021-06-10 | 戴斐 | Smart voice-controlled pipeline and air duct video-based inspection apparatus and robot system |
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| ALEXEY VDOVIN: "A coupled approach for vehicle brake cooling performance simulations", 《INTERNATIONAL JOURNAL OF THERMAL SCIENCES》 * |
| 牛化武: "汽车鼓式制动器冷却能力自控装置的研究", 《拖拉机与农用运输车》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021109301A1 (en) * | 2019-12-05 | 2021-06-10 | 戴斐 | Smart voice-controlled pipeline and air duct video-based inspection apparatus and robot system |
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| CN110346131B (en) | 2020-11-27 |
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