CN200942768Y - Vehicle parking brake system - Google Patents
Vehicle parking brake system Download PDFInfo
- Publication number
- CN200942768Y CN200942768Y CN 200620106319 CN200620106319U CN200942768Y CN 200942768 Y CN200942768 Y CN 200942768Y CN 200620106319 CN200620106319 CN 200620106319 CN 200620106319 U CN200620106319 U CN 200620106319U CN 200942768 Y CN200942768 Y CN 200942768Y
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- brake
- control unit
- ecu
- automobile
- electrical control
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Abstract
The utility model discloses a vehicle parking brake system, which comprises an electric-control part, a reducing mechanism, a helical transmission mechanism and a brake caliper assembly, wherein after receiving external input signals, the electric-control unit performs analysis and processing of the signals before outputting control signals to a DC motor; after speed deceleration to multiply the torque by the reducing mechanism, output from the DC motor drives motion of the helical transmission mechanism; driven by the helical transmission mechanism, the brake block assembly functions to brake the brake disc. The utility model changes the conventional mechanical parking brake system into an electromechanical parking brake system by applying electron technologies for intelligent control over the mechanical structure. To perform parking brake, the driver merely has to press the parking brake button and the electric-control unit can control the electric motor according to input signals of corresponding sensors; then after speed deceleration to multiply the torque by the reducing mechanism, output from the motor is converted from whirling motion into linear motion by the helical transmission mechanism, and drives the brake block assembly to press the brake disc to brake the wheels. The utility model can provide safe and reliable parking brake for vehicles.
Description
[technical field]
The utility model relates to motor vehicle braking system, relates in particular to park braking system for automobile.
[background technology]
Traditional emergency brake system all is to adopt mechanical Parking Brake, connects hand brake lever and Parking Brake control torque arm by rope.The labour intensity of chaufeur was big when this Parking Brake was operated, each in addition braking back friction lining all can have wearing and tearing in various degree, braking is removed the back friction lining and is got back to original position again, like this, along with the continuous wearing and tearing of friction lining, the distance between friction lining and the brake disc will be increasing behind the repeated use, braking response speed is just more and more slower, the reliability variation of system need regularly be maintained, to guarantee the safe and reliable of brake system.Present brake system brake off immediately when the cycling start of ramp, for driving technique is not very high non-professional chaufeur, the ramp cycling start comparison difficulty that operates, so all liking the ramp, a lot of general chaufeurs of driving technique do not stop, so just brought a lot of inconvenience, when serious even cause contingency to chaufeur.
[summary of the invention]
The purpose of this utility model solves the problems of the prior art exactly, proposes a kind of park braking system for automobile, can reduce the labour intensity of navigating mate greatly.
For achieving the above object, the utility model proposes a kind of park braking system for automobile, comprise electric-controlled parts, speed reduction gearing, screw-drive mechanism and brake caliper assembly, after the ECU (Electrical Control Unit) of electric-controlled parts receives extraneous incoming signal, it is carried out analyzing and processing, export control signal again and give the DC machine of electric-controlled parts, the output of DC machine is slowed down to increase through speed reduction gearing and is turned round the motion of rear drive screw-drive mechanism, brake disc is braked by the driving of screw-drive mechanism as the brake pad assembly of a brake caliper assembly part.
As preferably, described electric-controlled parts comprises braking during standstill switch, car speed sensor, ECU (Electrical Control Unit), DC machine, and described braking during standstill switch links to each other with the input end of ECU (Electrical Control Unit) with car speed sensor, and DC machine links to each other with the mouth of ECU (Electrical Control Unit).
As preferably, described DC machine adopts direct current torque motor or dc stepper motor or servomotor.
As preferably, described electric-controlled parts also comprises the clutch pedal position sensor, and described clutch pedal position sensor links to each other with the input end of ECU (Electrical Control Unit).
As preferably, described electric-controlled parts also comprises brake pedal position sensor, and described brake pedal position sensor links to each other with the input end of ECU (Electrical Control Unit).
As preferably, described electric-controlled parts also comprises accelerator pedal position sensor, and described accelerator pedal position sensor links to each other with the input end of ECU (Electrical Control Unit).
As preferably, described electric-controlled parts also comprises the motor tachometer generator, and described motor tachometer generator links to each other with the input end of ECU (Electrical Control Unit).
As preferably, described speed reduction gearing can adopt Worm and Worm Gear Driving or epicyclic gear transmission or Oscillating Tooth Gear Reducer.
As preferably, described screw-drive mechanism comprises piston, nut, screw rod and guide groove, and an end of described screw rod is connected in the nut, and an end of nut is arranged in the guide groove, and the other end is arranged in the piston.
As preferably, described screw-drive mechanism comprises piston, nut, screw rod and guide groove, and an end of described nut is connected outside the screw rod, and the centre portion of screw rod is arranged in the guide groove, and the other end is arranged in the piston.
As preferably, described screw-drive mechanism also comprises locating dowel pin, and the described locating dowel pin cell body that will lead is fixed on the caliper.
The beneficial effects of the utility model: the utility model is improved to the electric mechanical emergency brake system with traditional mechanical emergency brake system, adopt Eltec that physical construction is carried out Based Intelligent Control, only need be when navigating mate carries out braking during standstill by brake switch, ECU (Electrical Control Unit) will be controlled motor according to the incoming signal of respective sensor, the output of motor is slowed down to increase through speed reduction gearing and is turned round the back and will rotatablely move by screw-drive mechanism and change into straight-line motion, and the promotion brake pad assembly compresses brake disc vehicle is braked.Adopt the motor tachometer generator that the revolution of brake off rear motor is limited, like this, the distance between friction lining and the brake disc is a definite value, and the braking response speed of brake system can remain unchanged, the system reliability height, and the maintenance cycle is long.Adopt clutch pedal position sensor and accelerator pedal position sensor to realize ramp cycling start aux. controls, the approaching more position that depresses fully of accelerator pedal position, the engagement amount of power-transfer clutch is also big more when removing braking during standstill fully, has realized that the ramp cycling start steadily controls.Adopt brake pedal position sensor to assist the driving control of braking, when the service brake failure of apparatus, brake pedal position sensor outputs signal to ECU (Electrical Control Unit), by ECU (Electrical Control Unit) control machine operation, realize service brake, make vehicle braked system safety and reliability.
Feature of the present utility model and advantage will be elaborated in conjunction with the accompanying drawings by embodiment.
[description of drawings]
Fig. 1 is the structured flowchart of the utility model park braking system for automobile;
Fig. 2 is the structured flowchart of automatically controlled part in the utility model park braking system for automobile;
Fig. 3 is the structural representation of mechanical control part in the utility model park braking system for automobile;
Fig. 4 is the structural representation of speed reduction gearing in the utility model park braking system for automobile;
Fig. 5 is the structural representation of screw-drive mechanism in the utility model park braking system for automobile.
[specific embodiment]
Fig. 1 is the structured flowchart of the utility model park braking system for automobile; Comprise electric-controlled parts 101, speed reduction gearing 102, screw-drive mechanism 103 and brake caliper assembly 104, after the ECU (Electrical Control Unit) 207 of electric-controlled parts 101 receives extraneous incoming signal, it is carried out analyzing and processing, export control signal again and give the DC machine 208 of electric-controlled parts 101, the output of DC machine 208 is slowed down to increase through speed reduction gearing 102 and is turned round 103 motions of rear drive screw-drive mechanism, brake disc 302 is braked by the driving of screw-drive mechanism 103 as the brake pad assembly 301 of brake caliper assembly 104 parts.
Fig. 2 is the structured flowchart of automatically controlled part in the utility model park braking system for automobile; Described electric-controlled parts 101 comprises braking during standstill switch 201, car speed sensor 202, ECU (Electrical Control Unit) 207, DC machine 208, described braking during standstill switch 201 links to each other with the input end of car speed sensor 202 with ECU (Electrical Control Unit) 207, and DC machine 208 links to each other with the mouth of ECU (Electrical Control Unit) 207.Described DC machine 208 adopts direct current torque motor or dc stepper motor or servomotor.Described electric-controlled parts 101 also comprises clutch pedal position sensor 203, and described clutch pedal position sensor 203 links to each other with the input end of ECU (Electrical Control Unit) 207.Described electric-controlled parts 101 also comprises brake pedal position sensor 204, and described brake pedal position sensor 204 links to each other with the input end of ECU (Electrical Control Unit) 207.Described electric-controlled parts 101 also comprises accelerator pedal position sensor 205, and described accelerator pedal position sensor 205 links to each other with the input end of ECU (Electrical Control Unit) 207.Described electric-controlled parts 101 also comprises motor tachometer generator 206, and described motor tachometer generator 206 links to each other with the input end of ECU (Electrical Control Unit) 207.
Clutch pedal position sensor 203 is installed on the clutch operation, and its mouth links to each other with ECU (Electrical Control Unit) 207 by modulate circuit, is used to discern the position of power-transfer clutch; Brake pedal sensor 204 is installed on the drg steering unit, and its mouth also is to link to each other with ECU (Electrical Control Unit) 207 by modulate circuit, is used for the rate of braking of identification of driver; Accelerator pedal position sensor 205 is installed on the acceleration pedal steering unit, and its mouth also is to link to each other with ECU (Electrical Control Unit) 207 by modulate circuit, is used for the intention of identification of driver; Car speed sensor 202 is installed on the brake support frame, and its mouth also is to link to each other with ECU (Electrical Control Unit) 207 by modulate circuit, is used to detect the speed of a motor vehicle; Braking during standstill switch 201 is used for braking during standstill or removes braking during standstill, takes into account identification ramp cycling start simultaneously; Motor tachometer generator 206 is used to detect the motor revolution.The modulate circuit effect is that the sensor and on-off signal are handled, and becomes that antijamming capability is strong, the acceptable signal of computing machine.The driving circuit effect is that the command signal that ECU (Electrical Control Unit) 207 is sent is carried out processing and amplifying, makes it can drive actuating unit DC machine 208.
There is auxiliary braking control program under the control program implementing braking during standstill and remove braking during standstill, automatic compensation friction disc wear clearance control program, auxiliary ramp cycling start control program, the service brake failure conditions etc. in the ECU (Electrical Control Unit) 207.According to the output of car speed sensor 202, accelerator pedal position sensor 205 and braking during standstill switch 201, when ECU (Electrical Control Unit) 207 judgement vehicles stopped, acceleration pedal does not depress and require to implement braking during standstill, motor was just changeing the enforcement braking during standstill; When ECU (Electrical Control Unit) judgement vehicle stopped, acceleration pedal does not depress and require to remove braking during standstill, braking during standstill was removed in the motor counter-rotating; Because the speed reduction gearing transmitting ratio is very big, motor rotates one, and to change the displacement of screw-drive mechanism very little, so when removing braking during standstill, ECU (Electrical Control Unit) is by the motor tachometer generator, control motor counter-rotating revolution can accurately be controlled the friction disc wear gap.When vehicle stops, acceleration pedal has depressed and require to remove braking during standstill, ECU (Electrical Control Unit) 207 is judged the ramp cycling start, controlled by clutch position sensor 203 output signals the opportunity of removing braking during standstill, the approaching more position that depresses fully of accelerator pedal position, the engagement amount of power-transfer clutch is also big more when removing braking during standstill fully.When the speed of a motor vehicle is not 0 and when pressing the braking during standstill switch, ECU (Electrical Control Unit) 207 is judged the service brake inefficacy, step on brake pedal this moment, brake pedal position sensor 204 will give ECU (Electrical Control Unit) 207 inputs a signal, ECU (Electrical Control Unit) 207 is sent the rotation of instruction control motor after receiving signal and processing, implements auxiliary braking.Brake pedal is stepped on deeply more, and the output torque of motor is big more, and the braking gripping power is big more, so just can realize gradual braking.
ECU (Electrical Control Unit) 107 is accepted the signal of braking during standstill switch 201, car speed sensor 202, motor tachometer generator 206, clutch pedal position sensor 203, brake pedal position sensor 204 and accelerator pedal position sensor 205, carry out signal analysis, processing, judge decision-making, actuating unit DC machine 208 is controlled, its forward, reverse or stop are changeed.Just changeing the auxiliary braking under the situation of implementing braking during standstill or service brake inefficacy; Parking or service brake are removed in counter-rotating; Stall makes vehicle be in Parking or disarm state.
Fig. 3 is the structural representation of mechanical control part in the utility model park braking system for automobile; Fig. 4 is the structural representation of speed reduction gearing in the utility model park braking system for automobile; Described speed reduction gearing 102 also can adopt Worm and Worm Gear Driving or epicyclic gear transmission or Oscillating Tooth Gear Reducer.Employed in figure 4 is small teeth number difference planet gear mechanism, and its transmitting ratio is 150.5.Comprise input shaft 317, dual gear 314, first inner gear 315, secondary annulus 310.DC machine 208 is as input, and the moment of torsion that drives 208 generations of 102 pairs of DC machine of speed reduction gearing slows down to increase and turns round.
Fig. 5 is the structural representation of screw-drive mechanism in the utility model park braking system for automobile.Described screw-drive mechanism 103 comprises piston 305, nut 303, screw rod 335 and guide groove 333.The internal connection relation and the mode of motion of screw-drive mechanism 103 can have following two kinds: an end of 1. described screw rod 335 is connected in the nut 303, and an end of nut 303 is arranged in the guide groove 333, and the other end is arranged in the piston 305.At this moment, speed reduction gearing 102 drives screw rod 335 rotations, and nut 303 is subjected to the circumferential restriction of guide groove 333, can only promote piston 305 along the line slideway of guide groove 333 and move; One end of 2. described nut 303 is connected outside the screw rod 335, and the centre portion of screw rod 335 is provided with 0 in guide groove 333, and the other end is arranged in the piston 305.At this moment, speed reduction gearing 102 drives nut 303 rotations, and screw rod 335 is subjected to the circumferential restriction of guide groove 333, can only promote piston 305 along the line slideway of guide groove 333 and move.Described screw-drive mechanism 103 also comprises locating dowel pin 331, and described locating dowel pin 331 cell body that will lead is fixed on the caliper.Below 1. be that example is further described with form: screw-drive mechanism 103 is installed in the cylinder hole of hydraulic braking caliper 337, cylinder hole inwall processes guide groove 333, be assemblied on the inwall of cylinder hole after also can processing guide groove 333 separately, an end of nut 303 just is arranged in the guide groove 333.The output of speed reduction gearing 102 links to each other with screw rod 335 in the screw-drive mechanism 103, and screw rod 335 cooperates with nut 303.Screw rod 335 is subjected to the axial restraint of circlip for shaft 327 and wear washer 332, can only rotate, and nut 303 can only be moved along the line slideway of guide groove 333 by the circumferential restriction of guide groove 333.When screw rod 335 rotations, nut 303 just promotes piston 305 and slides in guide groove 333, thereby reaches the purpose of the friction lining on clamping or the take-off the brake block assembly 301.Also be provided with wave spring washer 329 and packing ring 328 between circlip 327 and the hydraulic braking caliper 337.Like this, screw-drive mechanism 103 motion that just rotation motion is in line promotes the friction lining on the brake pad assembly 301, produces the braking gripping power; Simultaneously has auto-lock function between screw rod 335 and the nut 303, even guarantee the motor also reliably Parking of not working.
The whole principle of work of present embodiment is: the braking of normal circumstances down train is finished by common hydraulic brake, DC machine 208 receives ECU (Electrical Control Unit) 207 output commands when the needs braking during standstill, DC machine 208 is just being changeed 317 rotations of drive eccentric shaft, dual gear 314 is driven by eccentric shaft 317, on one side around the eccentric shaft rotation, revolve round the sun around inner gear separately in one side, thereby driven gear 310 rotations, the output of gear 310 simultaneously drives screw rod 335 rotations again, and nut 303 circumferencial directions are subjected to guide groove 333 restrictions, can only axial motion, piston 305 and brake pad assembly 301 are subjected to the axial thrust effect of nut 303 like this, produce gripping power; When removing braking during standstill, DC machine 208 receives ECU (Electrical Control Unit) 207 output commands, DC machine 208 counter-rotatings, reciprocal displacement when nut 303 produces with braking during standstill, the axial force that acts on the piston 305 is removed, and piston packing ring 306 is owing to exist elastic deformation, reciprocal displacement when forcing piston 305 to produce a certain amount of and braking during standstill, thereby make between brake pad assembly 301 and the brake disc 302 and produce certain clearance, this moment, braking during standstill was removed fully.
The mechanical control part of system also comprises leather cup 304, lip-type packing 307, first deep groove ball bearing 308, second deep groove ball bearing 309, breather stem vent plug 311, the 3rd deep groove ball bearing 312, front case 313, first inner gear 315, the 4th deep groove ball bearing 316, flange 318, flat key 319, roller bearing end cap 320, spacer 322, the 5th deep groove ball bearing 323, rear side housing 324, the one O shape circle 325, the 2nd O shape circle 326, terminal pad 330, support 334, piston dust boot 336 and hydraulic braking caliper 337.
The foregoing description is to explanation of the present utility model, is not to qualification of the present utility model, and any structure after simple transformation on the utility model basis all belongs to protection domain of the present utility model.
Claims (10)
1. park braking system for automobile, it is characterized in that: comprise electric-controlled parts (101), speed reduction gearing (102), screw-drive mechanism (103) and brake caliper assembly (104), after the ECU (Electrical Control Unit) (207) of electric-controlled parts (101) receives extraneous incoming signal, it is carried out analyzing and processing, export control signal again and give the DC machine (208) of electric-controlled parts (101), the output of DC machine (208) is slowed down to increase through speed reduction gearing (102) and is turned round rear drive screw-drive mechanism (103) motion, and the brake pad assembly (301) a part of as brake caliper assembly (104) braked brake disc (302) by the driving of screw-drive mechanism (103).
2. park braking system for automobile as claimed in claim 1, it is characterized in that: described electric-controlled parts (101) comprises braking during standstill switch (201), car speed sensor (202), ECU (Electrical Control Unit) (207), DC machine (208), described braking during standstill switch (201) links to each other with the input end of car speed sensor (202) with ECU (Electrical Control Unit) (207), and DC machine (208) links to each other with the mouth of ECU (Electrical Control Unit) (207).
3. park braking system for automobile as claimed in claim 2 is characterized in that: described DC machine (208) adopts direct current torque motor or dc stepper motor or servomotor.
4. park braking system for automobile as claimed in claim 2 is characterized in that: described electric-controlled parts (101) also comprises clutch pedal position sensor (203), and described clutch pedal position sensor (203) links to each other with the input end of ECU (Electrical Control Unit) (207).
5. park braking system for automobile as claimed in claim 2 is characterized in that: described electric-controlled parts (101) also comprises brake pedal position sensor (204), and described brake pedal position sensor (204) links to each other with the input end of ECU (Electrical Control Unit) (207).
6. park braking system for automobile as claimed in claim 2 is characterized in that: described electric-controlled parts (101) also comprises accelerator pedal position sensor (205), and described accelerator pedal position sensor (205) links to each other with the input end of ECU (Electrical Control Unit) (207).
7. park braking system for automobile as claimed in claim 2 is characterized in that: described electric-controlled parts (101) also comprises motor tachometer generator (206), and described motor tachometer generator (206) links to each other with the input end of ECU (Electrical Control Unit) (207).
8. park braking system for automobile as claimed in claim 1 is characterized in that: described speed reduction gearing (102) can adopt Worm and Worm Gear Driving or epicyclic gear transmission or Oscillating Tooth Gear Reducer.
9. park braking system for automobile as claimed in claim 1, it is characterized in that: described screw-drive mechanism (103) comprises piston (305), spiral shell (303), screw rod (335) and guide groove (333), one end of described screw rod (335) is connected in the nut (303), one end of nut (303) is arranged in the guide groove (333), and the other end is arranged in the piston (305).
10. park braking system for automobile as claimed in claim 1, it is characterized in that: described screw-drive mechanism (103) comprises piston (305), nut (303), screw rod (335) and guide groove (333), one end of described nut (303) is connected outside the screw rod (335), the centre portion of screw rod (335) is arranged in the guide groove (333), and the other end is arranged in the piston (305).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620106319 CN200942768Y (en) | 2006-08-02 | 2006-08-02 | Vehicle parking brake system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620106319 CN200942768Y (en) | 2006-08-02 | 2006-08-02 | Vehicle parking brake system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200942768Y true CN200942768Y (en) | 2007-09-05 |
Family
ID=38717395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620106319 Expired - Lifetime CN200942768Y (en) | 2006-08-02 | 2006-08-02 | Vehicle parking brake system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200942768Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102642531A (en) * | 2012-04-23 | 2012-08-22 | 东莞市瑞达电瓶车科技有限公司 | Automatic parking device of four-wheel electric vehicle |
| CN102774365A (en) * | 2012-05-25 | 2012-11-14 | 浙江万安科技股份有限公司 | Intelligent handbrake device and control method |
| CN103182939A (en) * | 2013-03-12 | 2013-07-03 | 刘金鹏 | Manual gear automotive electronic parking control system and control method |
| CN103303295A (en) * | 2012-03-08 | 2013-09-18 | 现代摩比斯株式会社 | Brake of vehicle |
| US8783723B2 (en) | 2012-01-20 | 2014-07-22 | Johnson Electric S.A. | Safety belt system and belt winder |
| CN102059954B (en) * | 2009-11-17 | 2015-04-29 | 德昌电机(深圳)有限公司 | Electric parking brake system and permanent magnet direct current motor thereof |
| CN105936262A (en) * | 2016-07-12 | 2016-09-14 | 桂林思超汽车科技有限公司 | Electrically-controlled auxiliary braking method and device |
| CN106032141A (en) * | 2015-03-19 | 2016-10-19 | 比亚迪股份有限公司 | Vehicle parking braking control system, method and vehicle |
| CN109927686A (en) * | 2017-12-15 | 2019-06-25 | 大陆汽车系统公司 | Electronic brake motor manually controls when clamp parking brake activates |
| CN111731251A (en) * | 2019-03-25 | 2020-10-02 | 瀚德万安(上海)电控制动系统有限公司 | Actuator control method, actuator, and electromechanical brake system |
-
2006
- 2006-08-02 CN CN 200620106319 patent/CN200942768Y/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9033117B2 (en) | 2009-11-17 | 2015-05-19 | Johnson Electric S.A. | Motor and electric parking brake system |
| CN102059954B (en) * | 2009-11-17 | 2015-04-29 | 德昌电机(深圳)有限公司 | Electric parking brake system and permanent magnet direct current motor thereof |
| US8783723B2 (en) | 2012-01-20 | 2014-07-22 | Johnson Electric S.A. | Safety belt system and belt winder |
| CN103303295A (en) * | 2012-03-08 | 2013-09-18 | 现代摩比斯株式会社 | Brake of vehicle |
| CN103303295B (en) * | 2012-03-08 | 2015-07-22 | 现代摩比斯株式会社 | Brake of vehicle |
| CN102642531A (en) * | 2012-04-23 | 2012-08-22 | 东莞市瑞达电瓶车科技有限公司 | Automatic parking device of four-wheel electric vehicle |
| CN102774365A (en) * | 2012-05-25 | 2012-11-14 | 浙江万安科技股份有限公司 | Intelligent handbrake device and control method |
| CN103182939A (en) * | 2013-03-12 | 2013-07-03 | 刘金鹏 | Manual gear automotive electronic parking control system and control method |
| CN106032141A (en) * | 2015-03-19 | 2016-10-19 | 比亚迪股份有限公司 | Vehicle parking braking control system, method and vehicle |
| CN106032141B (en) * | 2015-03-19 | 2019-01-29 | 比亚迪股份有限公司 | Parking braking control system, method and vehicle for vehicle |
| CN105936262A (en) * | 2016-07-12 | 2016-09-14 | 桂林思超汽车科技有限公司 | Electrically-controlled auxiliary braking method and device |
| CN105936262B (en) * | 2016-07-12 | 2019-01-11 | 桂林思超汽车科技有限公司 | Electric-control auxiliary brake method and device |
| CN109927686A (en) * | 2017-12-15 | 2019-06-25 | 大陆汽车系统公司 | Electronic brake motor manually controls when clamp parking brake activates |
| CN111731251A (en) * | 2019-03-25 | 2020-10-02 | 瀚德万安(上海)电控制动系统有限公司 | Actuator control method, actuator, and electromechanical brake system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20070905 |
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| EXPY | Termination of patent right or utility model |