CN110346131B - Cargo vehicle brake test bench - Google Patents

Cargo vehicle brake test bench Download PDF

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Publication number
CN110346131B
CN110346131B CN201910668231.2A CN201910668231A CN110346131B CN 110346131 B CN110346131 B CN 110346131B CN 201910668231 A CN201910668231 A CN 201910668231A CN 110346131 B CN110346131 B CN 110346131B
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CN
China
Prior art keywords
test
cooling
brake
shaft
groove
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Expired - Fee Related
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CN201910668231.2A
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Chinese (zh)
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CN110346131A (en
Inventor
姚雪萍
冀秉魁
门玉琢
李明达
李飞燕
金鑫
董晗
王隶梓
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Changchun Institute of Applied Chemistry of CAS
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Changchun Institute of Applied Chemistry of CAS
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Priority to CN201910668231.2A priority Critical patent/CN110346131B/en
Publication of CN110346131A publication Critical patent/CN110346131A/en
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Publication of CN110346131B publication Critical patent/CN110346131B/en
Expired - Fee Related legal-status Critical Current
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00Testing of machine parts
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00Testing of vehicles
    • G01M17/007Wheeled or endless-tracked vehicles

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Braking Arrangements (AREA)

Abstract

The invention discloses a cargo vehicle brake test bench, belonging to the field of vehicle brake equipment, comprising a test bench main body and a brake component to be tested, which is arranged on the test bench main body, wherein the top of the test bench main body is provided with a test groove, and the test bench also comprises: a brake shaft rotatably disposed in the test bath; the brake disc is installed on the brake shaft and is positioned between the two brake pads of the brake assembly to be tested; the first motor is arranged in the test groove and used for driving the brake shaft to rotate; a cooling shaft rotatably disposed in the test bath; the cooling block is arranged, the phase-change heat-absorbing material is arranged in the cooling block, the cooling block can absorb heat quickly after contacting with the brake disc, the temperature of the brake disc is effectively reduced, the test can be continuously carried out, the test efficiency is improved, the cooling block is safer than water cooling, and the condition that the thickness of the surface of the brake disc is uneven due to uneven water cooling is avoided.

Description

Cargo vehicle brake test bench
Technical Field
The invention relates to the field of automobile braking equipment, in particular to a cargo vehicle brake test bed.
Background
The brake is an important component of a truck, is a vital safety device, has qualified quality and excellent performance, is an important guarantee of driving safety, and has the advantages that with the development of the society and the increasing increase of traffic density, the superior braking performance of the vehicle draws the extensive attention of traffic control departments and manufacturers, and higher requirements are put forward on the driving safety;
the brake disc and the brake disc of the brake have thermal attenuation effect, when the brake is in braking, the friction between the brake disc and the brake disc can generate a large amount of heat, the brake disc and the brake disc can be overheated under the condition of long downhill or repeated braking, so that the braking effect is poor, in the test process of the brake, a plurality of groups of contrast tests need to be carried out on the brake, namely, multiple times of braking can be carried out, in order to prevent the influence of thermal attenuation on the result, the temperature of the brake disc and the brake disc needs to be kept not to be too high, so that the temperature of the brake disc and the brake disc needs to be reduced, in the prior art, the temperature is reduced by watering, the watering can not evenly cover the whole brake disc at the same time, so that some places are stained with water, other places do not touch water, the brake disc touching water can shrink violently, the contrast between the brake disc and the brake disc can be bright, and finally the whole operation of the, subsequent testing of the braking effect is affected.
Disclosure of Invention
The invention provides a truck brake test bed which can solve the problem that a brake disc of a brake cannot be cooled quickly in the brake test bed in the prior art.
The utility model provides a cargo vehicle brake test bench, includes the test bench main part and installs the stopper subassembly of waiting to test in the test bench main part, the test groove has been seted up at the top of test bench main part, still includes:
a brake shaft rotatably disposed in the test bath;
the brake disc is installed on the brake shaft and is positioned between the two brake pads of the brake assembly to be tested;
the first motor is arranged in the test groove and used for driving the brake shaft to rotate;
a cooling shaft rotatably disposed in the test bath;
the cooling block is fixed on the cooling shaft through a connecting rod, filled with a phase change heat absorption material and capable of contacting with the brake disc;
and the second motor is arranged in the test groove and used for driving the cooling shaft to rotate.
Preferably, the cooling shaft is connected with two cooling blocks, the two cooling blocks are respectively located on two sides of the brake disc, the cooling blocks are in a semicircular fan shape, and a plurality of radiating fins are fixed on the peripheral sides of the cooling blocks.
Preferably, two cooling shafts are arranged in the test tank, two cooling blocks are arranged on the two cooling shafts, gears are fixedly arranged on the two cooling shafts, and the two gears are meshed and connected.
Preferably, a translation mechanism is further included, comprising:
the device comprises a sliding block, a fixed box, a first lead screw in threaded connection with the sliding block, a second lead screw in threaded connection with the fixed box and a third motor;
a first sliding groove matched with the sliding block is formed in the groove wall on one side of the test groove, the sliding block is slidably arranged in the first sliding groove, a second sliding groove matched with the fixed box is formed in the groove wall on the other side of the test groove, and the fixed box is slidably arranged in the second sliding groove;
the first lead screw is rotatably arranged in the first sliding chute;
the second lead screw is rotatably arranged in the second sliding chute;
the first lead screw and the second lead screw are in transmission connection through a first belt transmission mechanism, and the first belt transmission mechanism is positioned in the test bed main body;
the first motor is fixedly arranged in the fixed box;
one end of the brake shaft is rotatably arranged on the sliding block;
and the third motor is arranged on the outer side of the test bed main body and is in transmission connection with one end of the second lead screw.
Preferably, the brake pad cooling mechanism for cooling the brake pad further comprises a cooling disc, a rotating shaft and a fourth motor, the cooling disc is connected with the rotating shaft through a fixing frame, the fourth motor is installed in the test bed main body and is used for driving the rotating shaft to rotate, the rotating shaft is rotatably arranged in the test groove, and the cooling disc can be contacted with the brake pad.
Preferably, the cooling device further comprises a driving mechanism which comprises a first transmission shaft, a second transmission shaft and a connecting shaft, wherein the first transmission shaft is in transmission connection with the first motor through a second belt transmission mechanism, one end of the connecting shaft is inserted into the first transmission shaft and synchronously rotates with the first transmission shaft, a first spring is arranged between the first transmission shaft and the connecting shaft, one end of the first spring is connected with the first transmission shaft, the other end of the first spring is connected with the connecting shaft, one end of the connecting shaft, far away from the first transmission shaft, can be inserted into one end of the second transmission shaft, the connecting shaft can synchronously rotate with the second transmission shaft, the second transmission shaft is positioned at the center of the cooling disc, the second transmission shaft and the cooling disc synchronously rotate, and the second transmission shaft can move along the thickness direction of the cooling disc, and a second spring is arranged on the fixed frame, one end of the second spring is connected with the fixed frame, and the other end of the second spring is connected with the second transmission shaft.
Preferably, the test tank is provided with a groove, the groove is located below the brake pad, a third lead screw is rotatably arranged in the groove, the third lead screw is in transmission connection with an output shaft of the second motor through a third belt transmission mechanism, the third lead screw is in threaded connection with a top block, and the top block is slidably arranged in the groove.
Preferably, water is stored in the test tank, the water level is lower than the brake disc, the test tank is provided with a water inlet pipe and a water outlet pipe, and the outer side of the test bed main body is fixedly connected with a first water pump connected with the water inlet pipe and a second water pump connected with the water outlet pipe.
Preferably, the cooling block and the cooling disc are both filled with phase-change heat-absorbing materials made of the same material, and the phase-change heat-absorbing materials are paraffin.
Compared with the prior art, the invention has the beneficial effects that: the cooling block is arranged, the phase-change heat-absorbing material is arranged in the cooling block, the cooling block can absorb heat quickly after contacting with the brake disc, the temperature of the brake disc is effectively reduced, the test can be continuously carried out, the test efficiency is improved, the cooling block is safer than water cooling, and the condition that the thickness of the surface of the brake disc is uneven due to uneven water cooling is avoided.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken at A-A of FIG. 1 in accordance with the present invention;
FIG. 4 is a cross-sectional view taken at B-B of FIG. 1 in accordance with the present invention;
FIG. 5 is an enlarged view of a portion of the present invention at C of FIG. 2;
FIG. 6 is an enlarged view of a portion of the present invention at D of FIG. 2;
FIG. 7 is an enlarged view of a portion of the invention at E of FIG. 2;
FIG. 8 is a cross-sectional view at F-F of FIG. 3 of the present invention;
FIG. 9 is an enlarged view of a portion of the invention at G of FIG. 8;
FIG. 10 is a cross-sectional view of the present invention cooling a brake rotor and brake pad;
fig. 11 is a schematic view of the structure of the first belt drive mechanism of the present invention.
Description of reference numerals:
1-test bed main body, 2-test groove, 3-brake shaft, 4-brake disc, 5-brake disc, 6-first motor, 7-cooling shaft, 8-cooling block, 9-second motor, 10-heat dissipation fin, 11-slide block, 12-fixed box, 13-first lead screw, 14-second lead screw, 15-third motor, 16-first chute, 17-second chute, 18-first belt transmission mechanism, 20-gear, 21-cooling disc, 22-rotating shaft, 23-fourth motor, 24-fixed frame, 31-first transmission shaft, 32-second transmission shaft, 33-connecting shaft, 34-second belt transmission mechanism, 35-first spring, 36-second spring, 41-groove, 42-a third screw rod, 43-a third belt transmission mechanism, 44-a top block, 51-a water inlet pipe, 52-a water outlet pipe, 53-a first water pump, 54-a second water pump, 61-a brake caliper, 62-a brake pedal, 63-an air tank and 64-an air compressor.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 to 11, a truck brake test bed provided by an embodiment of the present invention includes a test bed main body 1 and a brake assembly to be tested mounted on the test bed main body 1, a test groove 2 is opened on a top of the test bed main body 1, and the test bed further includes:
a brake shaft 3 rotatably disposed in the test bath 2;
a brake disc 4 mounted on the brake shaft 3 and located between two brake pads 5 of the brake assembly to be tested;
the first motor 6 is arranged in the test groove 2 and is used for driving the brake shaft 3 to rotate;
a cooling shaft 7 rotatably provided in the test bath 2;
a cooling block 8 fixed on the cooling shaft 7 through a connecting rod, filled with a phase change heat absorbing material and capable of contacting with the brake disc 4;
the second motor 9 is arranged in the test groove 2 and used for driving the cooling shaft 7 to rotate;
when braking, the brake disc of the automobile has a process of low temperature rise to high temperature, the problem of brake performance reduction can occur only after the temperature rises to a certain value, namely, the thermal attenuation phenomenon, before the temperature reaches the thermal attenuation temperature, the brake performance is better as the temperature is higher, the thermal attenuation can not occur under the general use, but the braking times are more and the braking time is longer, the thermal attenuation condition is easy to occur, the cooling block 8 is used for reducing the temperature of the brake disc 4 to be below the thermal attenuation temperature, and the temperature of the brake disc 4 is not reduced to be below 100 ℃;
the cooling shaft 7 is connected with two cooling blocks 8, the two cooling blocks 8 are respectively positioned at two sides of the brake disc 4, the cooling blocks 8 are in a semicircular fan shape, and a plurality of radiating fins 10 are fixed on the peripheral sides of the cooling blocks 8;
two cooling shafts 7 are arranged in the test tank 2, two cooling blocks 8 are arranged on the two cooling shafts 7, gears 20 are fixedly arranged on the two cooling shafts 7, and the two gears 20 are meshed and connected;
the four semicircular fan-shaped cooling blocks 8 can cover most of the area of the brake disc 4, so that the cooling effect is improved;
during braking, the temperature of the brake pad 5 and the brake disc 4 will increase rapidly, the area of the brake pad 5 is smaller than that of the brake disc 4, the temperature of the brake pad 5 is higher than that of the brake disc 4, therefore, the cooling of the brake pad 5 is also important, and the device also comprises a translation mechanism which comprises:
the device comprises a sliding block 11, a fixed box 12, a first lead screw 13 in threaded connection with the sliding block 11, a second lead screw 14 in threaded connection with the fixed box 12 and a third motor 15;
a first sliding groove 16 matched with the sliding block 11 is formed in the groove wall on one side of the test groove 2, the sliding block 11 is slidably arranged in the first sliding groove 16, a second sliding groove 17 matched with the fixed box 12 is formed in the groove wall on the other side of the test groove 2, and the fixed box 12 is slidably arranged in the second sliding groove 17;
the first lead screw 13 is rotatably arranged in the first chute 16;
the second lead screw 14 is rotatably arranged in the second sliding chute 17;
the first lead screw 13 and the second lead screw 14 are in transmission connection through a first belt transmission mechanism 18, and the first belt transmission mechanism 18 is positioned in the main body of the test bed 1;
the first motor 6 is fixedly arranged in the fixed box 12;
one end of the brake shaft 3 is rotatably arranged on the slide block 11;
the third motor 15 is installed on the outer side of the test bed main body 1 and is in transmission connection with one end of the second lead screw 14;
the translation mechanism is used for moving the brake disc 4 away, so that the brake pad 5 is conveniently cooled;
the brake pad cooling mechanism is used for cooling the brake pad 5 and comprises a cooling disc 21, a rotating shaft 22 and a fourth motor 23, wherein the cooling disc 21 is connected with the rotating shaft 22 through a fixing frame 24, the fourth motor 23 is installed in the test bed main body 1 and is used for driving the rotating shaft 22 to rotate, the rotating shaft 22 is rotatably arranged in the test groove 2, and the cooling disc 21 can be contacted with the brake pad 5;
the cooling disc 21 is disc-shaped and has an area much larger than that of the brake pad 5, providing a sufficient cooling effect;
as shown in fig. 8, the air compressor 64 compresses air to the air tank 63, and the pressure can be transmitted to the brake caliper 61 through the brake pedal 62, so that the brake pads 5 clamp the brake disc 4 for braking;
the cooling device further comprises a driving mechanism which comprises a first transmission shaft 31, a second transmission shaft 32 and a connecting shaft 33, wherein the first transmission shaft 31 is in transmission connection with the first motor 6 through a second belt transmission mechanism 34, one end of the connecting shaft 33 is inserted into the first transmission shaft 31 and synchronously rotates with the first transmission shaft 31, a first spring 35 is arranged between the first transmission shaft 31 and the connecting shaft 33, one end of the first spring 35 is connected with the first transmission shaft 31, the other end of the first spring is connected with the connecting shaft 33, one end of the connecting shaft 33 far away from the first transmission shaft 31 can be inserted into one end of the second transmission shaft 32, the connecting shaft 33 can synchronously rotate with the second transmission shaft 32, the second transmission shaft 32 is located at the center of the cooling disc 21, and the second transmission shaft 32 and the cooling disc 21 synchronously rotate, The second transmission shaft 32 can move along the thickness direction of the cooling plate 21, a second spring 36 is arranged on the fixed frame 24, one end of the second spring 36 is connected with the fixed frame 24, and the other end of the second spring 36 is connected with the second transmission shaft 32;
as can be clearly seen in conjunction with one end of the connecting shaft 33 in fig. 5 and one end of the second transmission shaft 32 in fig. 10, one end of the connecting shaft 33 is fitted with one end of the second transmission shaft 32;
as shown in fig. 5, the first spring 35 is used for pushing the connecting shaft 33 outward in the direction of the second transmission shaft 32, but does not completely push the connecting shaft 33 out, the connecting shaft 33 and the first transmission shaft 31 always keep a synchronous rotation state, the second transmission shaft 32 and the cooling plate 21 also always keep a synchronous rotation state, the second transmission shaft 32 can move in the direction of the connecting shaft 33 under the interference of the top block 44, so that the connecting shaft 33 and the second transmission shaft 32 can be in transmission connection, the second spring 36 is used for pulling the second transmission shaft 32 to move in the direction away from the connecting shaft 33, and the second transmission shaft 32 can be separated from the connecting shaft 33 after the top block 44 is retracted;
a bulge is arranged at the contact position of the cooling disc 21 and the second transmission shaft 32, and a matched groove is formed in the second transmission shaft 32 so as to synchronously rotate and relatively move;
the connecting shaft 33 is used for connecting the first transmission shaft 31 and the second transmission shaft 32, so that the first motor 6 can drive the cooling disc 21 to slowly rotate, the part of the cooling disc 21 which is not in contact with the brake pad 5 can also be in contact with the brake pad 5, and the cooling effect is improved;
a groove 41 is formed in the test tank 2, the groove 41 is positioned below the brake block 5, a third lead screw 42 is rotatably arranged in the groove 41, the third lead screw 42 is in transmission connection with an output shaft of the second motor 9 through a third belt transmission mechanism 43, a top block 44 is in threaded connection with the third lead screw 42, and the top block 44 is slidably arranged in the groove 41;
the plurality of belt transmission mechanisms are common transmission mechanisms in the prior art which transmit through belts and belt wheels;
the test bench is characterized in that water is stored in the test tank 2, the water level is lower than the brake disc 4, the test tank 2 is provided with a water inlet pipe 51 and a water outlet pipe 52, and the outer side of the test bench main body 1 is fixedly connected with a first water pump 53 connected with the water inlet pipe 51 and a second water pump 54 connected with the water outlet pipe 52; the water in the test tank 2 is used for cooling the cooling block 8 and the cooling disc 21 so as to be repeatedly used, and the test bed main body 1 is also provided with a fan which is not shown in the figure and is used for drying water drops on the cooling block 8 and the cooling disc 21;
the cooling block 8 and the cooling disc 21 are both filled with phase-change heat-absorbing materials made of the same material, and the phase-change heat-absorbing materials are paraffin;
the working principle is as follows: when the temperature needs to be reduced, the third motor 15 is started to drive the first lead screw 13 and the second lead screw 14 to rotate simultaneously, so that the sliding block 11 slides in the first sliding groove 16, the fixed box 12 slides in the second sliding groove 17, the brake disc 4 is separated from the brake disc 5, the fourth motor 23 is started, the fourth motor 23 drives the rotating shaft 22 to rotate, so that the fixed frame 24 is in a vertical state, the cooling disc 21 is in contact with the brake disc 5 to cool the brake disc 5, then the second motor 9 is started, the second motor 9 drives the two cooling shafts 7 to rotate, so that the cooling block 8 is attached to the moved brake disc 4 to be cooled, the second motor 9 drives the cooling shaft 7 to rotate, meanwhile, the third lead screw 42 is driven to rotate through the third belt transmission mechanism 43, so that the top block 44 pushes the second transmission shaft 32 outwards, so that one end of the connecting shaft 33 is inserted into one end of the second transmission shaft 32, at this time, the first motor 6 is started to slowly drive the cooling disc 21 and the brake disc 4 to rotate at the same time, so that the contact area between the cooling disc 21 and the brake disc 5 is increased, and the cooling effect is improved.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.

Claims (8)

1. The utility model provides a cargo vehicle brake test bench, includes the test bench main part and installs the stopper subassembly of waiting to test in the test bench main part, its characterized in that, the test groove has been seted up at the top of test bench main part, still includes:
a brake shaft rotatably disposed in the test bath;
the brake disc is installed on the brake shaft and is positioned between the two brake pads of the brake assembly to be tested;
the first motor is arranged in the test groove and used for driving the brake shaft to rotate;
a cooling shaft rotatably disposed in the test bath;
the cooling block is fixed on the cooling shaft through a connecting rod, filled with a phase change heat absorption material and capable of contacting with the brake disc;
the second motor is arranged in the test groove and used for driving the cooling shaft to rotate;
the cooling shaft is connected with two cooling blocks, the two cooling blocks are respectively positioned on two sides of the brake disc, the cooling blocks are in a semicircular fan shape, and a plurality of radiating fins are fixed on the peripheral sides of the cooling blocks.
2. The truck brake test stand of claim 1, wherein two cooling shafts are disposed in the test groove, two cooling blocks are disposed on each of the two cooling shafts, gears are fixedly disposed on each of the two cooling shafts, and the two gears are meshed and connected.
3. A truck brake test stand according to claim 1 or 2, further comprising a translation mechanism comprising:
the device comprises a sliding block, a fixed box, a first lead screw in threaded connection with the sliding block, a second lead screw in threaded connection with the fixed box and a third motor;
a first sliding groove matched with the sliding block is formed in the groove wall on one side of the test groove, the sliding block is slidably arranged in the first sliding groove, a second sliding groove matched with the fixed box is formed in the groove wall on the other side of the test groove, and the fixed box is slidably arranged in the second sliding groove;
the first lead screw is rotatably arranged in the first sliding chute;
the second lead screw is rotatably arranged in the second sliding chute;
the first lead screw and the second lead screw are in transmission connection through a first belt transmission mechanism, and the first belt transmission mechanism is positioned in the test bed main body;
the first motor is fixedly arranged in the fixed box;
one end of the brake shaft is rotatably arranged on the sliding block;
and the third motor is arranged on the outer side of the test bed main body and is in transmission connection with one end of the second lead screw.
4. The truck brake test stand of claim 3, further comprising a brake pad cooling mechanism for cooling the brake pad, wherein the brake pad cooling mechanism comprises a cooling plate, a rotating shaft and a fourth motor, the cooling plate is connected with the rotating shaft through a fixing frame, the fourth motor is installed in the test stand body and is used for driving the rotating shaft to rotate, the rotating shaft is rotatably arranged in the test groove, and the cooling plate can be contacted with the brake pad.
5. The truck brake test stand of claim 4, further comprising a driving mechanism including a first transmission shaft, a second transmission shaft and a connecting shaft, wherein the first transmission shaft is in transmission connection with the first motor through a second belt transmission mechanism, one end of the connecting shaft is inserted into the first transmission shaft and rotates synchronously with the first transmission shaft, a first spring is disposed between the first transmission shaft and the connecting shaft, one end of the first spring is connected with the first transmission shaft, the other end of the first spring is connected with the connecting shaft, one end of the connecting shaft away from the first transmission shaft is inserted into one end of the second transmission shaft, the connecting shaft can rotate synchronously with the second transmission shaft, the second transmission shaft is located at the center of the cooling plate, and the second transmission shaft rotates synchronously with the cooling plate, And the second transmission shaft can move along the thickness direction of the cooling disc, a second spring is arranged on the fixed frame, one end of the second spring is connected with the fixed frame, and the other end of the second spring is connected with the second transmission shaft.
6. The truck brake test stand of claim 5, wherein the test slot has a groove formed therein, the groove is located below the brake pad, a third lead screw is rotatably disposed in the groove, the third lead screw is drivingly connected to the output shaft of the second motor through a third belt transmission mechanism, and a top block is threadedly connected to the third lead screw and slidably disposed in the groove.
7. The truck brake test bed as claimed in claim 6, wherein the test tank stores water, the water level is lower than the brake disc, the test tank is provided with a water inlet pipe and a water outlet pipe, and a first water pump connected with the water inlet pipe and a second water pump connected with the water outlet pipe are fixedly connected to the outer side of the test bed main body.
8. The truck brake test stand of claim 7, wherein the cooling block and the cooling plate are both filled with a phase change heat absorbing material of the same material, and the phase change heat absorbing material is paraffin.
CN201910668231.2A 2019-07-23 2019-07-23 Cargo vehicle brake test bench Expired - Fee Related CN110346131B (en)

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

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Application Number Priority Date Filing Date Title
CN201910668231.2A CN110346131B (en) 2019-07-23 2019-07-23 Cargo vehicle brake test bench

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CN110346131A CN110346131A (en) 2019-10-18
CN110346131B true CN110346131B (en) 2020-11-27

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CN110919668B (en) * 2019-12-05 2020-08-14 戴斐 Intelligent voice control pipeline, air pipe video detection device and robot system

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汽车鼓式制动器冷却能力自控装置的研究;牛化武;《拖拉机与农用运输车》;20090630;第36卷(第3期);第56-58页 *

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