CN211765487U - Electric control brake system and unmanned wide-body vehicle - Google Patents
Electric control brake system and unmanned wide-body vehicle Download PDFInfo
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- CN211765487U CN211765487U CN202020483722.8U CN202020483722U CN211765487U CN 211765487 U CN211765487 U CN 211765487U CN 202020483722 U CN202020483722 U CN 202020483722U CN 211765487 U CN211765487 U CN 211765487U
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Abstract
The utility model provides an electric control brake system and an unmanned wide-body vehicle, wherein the electric control brake system comprises a front electric proportional relay valve, a middle and rear electric proportional relay valve and a two-position three-way electromagnetic valve; the front electric proportional relay valve and the middle and rear electric proportional relay valves are communicated to the air storage cylinder and the front brake air chamber and are used for inflating corresponding air pressure to the corresponding brake air chamber through the air storage cylinder when receiving a brake current signal and releasing the air of the corresponding brake air chamber when receiving a release current signal; the two-position three-way electromagnetic valve is communicated to the air storage cylinder and the parking relay valve and used for controlling the parking relay valve to exhaust the parking air chamber when a parking instruction is received, and the parking relay valve is inflated through the air storage cylinder when a parking release instruction is received, so that the parking relay valve inflates the parking air chamber. The utility model discloses can realize the autonomic braking, parking and the emergency braking of unmanned wide car, or accept braking, parking and the emergency braking control of long-range end.
Description
Technical Field
The utility model relates to an unmanned wide body car field particularly, relates to an electric control braking system and unmanned wide body car.
Background
Aiming at the problems of low production operation efficiency, frequent safety accidents and the like of the current mining area, the mining area tends to use an unmanned wide-body vehicle for operation. An effective electric control autonomous braking scheme and an electric control autonomous parking scheme are lacked in the existing mining unmanned system.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the utility model provides an electric control system and unmanned wide-bodied car to realize autonomous braking, parking and the emergency braking of unmanned wide-bodied car, perhaps accept autonomous braking, parking and the emergency braking control of long-range end.
In order to achieve the above object, the utility model adopts the following technical scheme:
an electric control brake system comprises a front electric proportional relay valve, a middle and rear electric proportional relay valve and a two-position three-way electromagnetic valve;
the front electric proportional relay valve is communicated to the air storage cylinder and the front brake air chamber and is used for inflating the front brake air chamber by corresponding air pressure through the air storage cylinder when a brake current signal is received and releasing air of the front brake air chamber when a release current signal is received;
the middle and rear electric proportional relay valve is communicated to the air storage cylinder and the middle and rear brake air chambers and is used for inflating corresponding air pressure to the middle and rear brake air chambers through the air storage cylinder when a brake current signal is received and releasing air of the middle and rear brake air chambers when a release current signal is received;
the two-position three-way electromagnetic valve is communicated to the air storage cylinder and the parking relay valve and used for controlling the parking relay valve to exhaust the parking air chamber when a parking instruction is received, and the parking relay valve is inflated through the air storage cylinder when a parking release instruction is received, so that the parking relay valve inflates the parking air chamber.
Preferably, in the electronic control brake system, the front electro-proportional relay valve and the middle-rear electro-proportional relay valve are further connected to a brake foot valve to receive a control signal of the brake foot valve, and the air cylinders inflate the front brake air chamber and the middle-rear brake air chamber with air pressure corresponding to the control signal.
Preferably, the electric control braking system further comprises a vehicle control unit;
and the vehicle control unit is connected to the front electric proportional relay valve and the middle and rear electric proportional relay valves and is used for generating a braking current signal according to the current running speed and the target speed.
Preferably, in the electronic control brake system, the vehicle controller is further configured to send a brake current signal when it is determined that a difference between the current running speed and the target speed is greater than a preset value, and send a release current signal to the front electro-proportional relay valve and the middle-rear electro-proportional relay valve after the current running speed is equal to the target speed.
Preferably, in the electrically controlled brake system, a current value of the release current signal is zero.
Preferably, in the electric control brake system, the two-position three-way electromagnetic valve comprises an air inlet, an air outlet and an air outlet;
the air inlet is communicated to the air storage cylinder;
the air outlet is communicated to the parking relay valve.
Preferably, in the electronic control brake system, when the parking instruction is received, the air inlet is closed, the air outlet and the air outlet are opened, and the air outlet is communicated with the air outlet, so that the parking relay valve performs air exhaust of the parking air chamber.
Preferably, in the electronic control brake system, when the parking release instruction is received, the air outlet is closed, the air inlet and the air outlet are opened, and the air inlet is communicated with the air outlet, so that the air cylinder inflates the parking relay valve and the parking air chamber.
Preferably, in the electronic control brake system, the two-position three-way solenoid valve is further connected to a parking switch to receive a control signal of the parking switch to perform a parking operation or a parking release operation.
An unmanned wide-body vehicle comprises the electric control braking system.
The utility model provides an electric control brake system, which comprises a front electric proportional relay valve, a middle and rear electric proportional relay valve and a two-position three-way electromagnetic valve; the front electric proportional relay valve is communicated to the air storage cylinder and the front brake air chamber and is used for inflating the front brake air chamber by corresponding air pressure through the air storage cylinder when a brake current signal is received and releasing air of the front brake air chamber when a release current signal is received; the middle and rear electric proportional relay valve is communicated to the air storage cylinder and the middle and rear brake air chambers and is used for inflating corresponding air pressure to the middle and rear brake air chambers through the air storage cylinder when a brake current signal is received and releasing air of the middle and rear brake air chambers when a release current signal is received; the two-position three-way electromagnetic valve is communicated to the air storage cylinder and the parking relay valve and used for controlling the parking relay valve to exhaust air in a parking air chamber when a parking instruction is received and inflating the parking relay valve through the air storage cylinder when a parking release instruction is received. The utility model discloses an automatically controlled braking system, through set up including electric proportional relay valve and two-position three way solenoid valve in mining truck, can carry out the braking and the parking operation of mining truck through the means of automatically controlled braking signal to realize autonomous braking, parking and the emergency braking of unmanned wide car, or accept braking, parking and the emergency braking control of long-range end.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to illustrate the technical solution of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic structural diagram of an electronic control braking system provided in embodiment 1 of the present invention;
fig. 2 is a schematic view of a current-air pressure characteristic curve provided in embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of another electrically controlled brake system provided in embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of an electronic control braking system provided in embodiment 2 of the present invention;
fig. 5 is a schematic structural diagram of an electronic control brake system provided in embodiment 3 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Example 1
Fig. 1 is a schematic structural diagram of an electronic control brake system provided in embodiment 1 of the present invention.
The electronically controlled brake system 100 includes a front electro-proportional relay valve 110 communicated to the air reservoir 101 and the front brake chamber 102, a middle and rear electro-proportional relay valve 120 communicated to the air reservoir 101 and the middle and rear brake chambers 103, and a two-position three-way solenoid valve 130 communicated to the air reservoir 101 and the parking relay valve 104;
the embodiment of the utility model provides an in, the wide body mining truck generally adopts traditional air brake, in order to realize the unmanned mode of mine car, also beat the mining truck and cause unmanned wide body car, under the air brake system of artifical braking originally, can increase proportional relay valve and realize signal of telecommunication control. Specifically, in a conventional air brake system, a front axle service brake includes an air reservoir 101, a brake foot valve and a front brake chamber 102, when braking is performed, high-pressure air in the air reservoir 101 is input into the front brake chamber 102 at a certain ratio of pressure by triggering the foot valve, so that braking force is generated, and when braking is released, the high-pressure air in the front brake chamber 102 is released.
The embodiment of the utility model provides an in, in original air braking system, can newly-add a preceding electric proportional relay valve 110, this preceding electric proportional relay valve 110 directly communicates gas receiver 101 and preceding brake chamber 102, after receiving the braking instruction, can be with the highly-compressed air input in the gas receiver 101 to in the preceding brake chamber 102 to produce braking force. The braking command is generated by an upper controller of the unmanned wide-body vehicle, and specifically, is generally a current signal, and the front electro-proportional relay valve 110 can input air with corresponding air pressure to the front brake air chamber 102 according to the magnitude of the current value of the current signal after receiving the current signal. Wherein the current-to-air pressure characteristic of the front electro-proportional relay valve 110 may be as shown in figure 2. Fig. 2 is only one current-air pressure characteristic curve provided by the present application, and other current-air pressure characteristic curves may be further provided according to parameters such as a system current range of the unmanned wide-body vehicle, an air pressure upper limit of the front brake chamber 102, and the like, which are not limited herein. And, when the current value is lower than 375mA, the air pressure value output by the front electro-proportional relay valve 110 is zero, that is, the current signal with the current value lower than 375mA can be used as the release current signal for releasing the braking force.
The front electro-proportional relay valve 110 is used for inflating the front brake air chamber 102 by corresponding air pressure through the air cylinder 101 when receiving a brake current signal, and releasing the air of the front brake air chamber 102 when receiving a release current signal;
in the embodiment of the utility model, can be provided with a plurality of air reservoirs 101 simultaneously in unmanned wide-bodied car, the air in this air reservoir 101 is the air after air compressor handles, certain atmospheric pressure has, after being connected to preceding electric proportional relay valve 110, preceding electric proportional relay valve 110 is through the intercommunication control to preceding brake chamber 102, can be with the gas input in the air reservoir 101 to preceding brake chamber 102, and the gaseous in-process atmospheric pressure of inputing also can carry out the control of size, and the upper limit of atmospheric pressure size is the atmospheric pressure value in the air reservoir 101.
The middle-rear electric proportional relay valve 120 is used for inflating the middle-rear brake air chamber 103 by corresponding air pressure through the air cylinder 101 when receiving a brake current signal, and releasing the air of the middle-rear brake air chamber 103 when receiving a release current signal;
similarly, in a conventional pneumatic brake system, a mechanical relay valve is also provided between the middle and rear brake chambers 103 and the air reservoir 101, and the mechanical relay valve mainly functions to control the input of high-pressure air into the brake chambers at a certain pressure ratio and to accelerate the pneumatic action.
The embodiment of the utility model provides an in, this mechanical type relay valve can be replaced by well back electro proportional relay valve 120, and this well back electro proportional relay valve 120 directly communicates gas receiver 101 and well back brake chamber 103, after receiving the braking instruction, can be with the highly-compressed air input in the gas receiver 101 to well back brake chamber 103 in to produce braking force. The braking command is generated by an upper controller of the unmanned wide-body vehicle, and specifically may be a current signal, and the middle-rear electro-proportional relay valve 120 may input air of a corresponding air pressure to the middle-rear brake air chamber 103 according to a magnitude of a current value of the current signal after receiving the current signal. Wherein the current-to-air pressure characteristic of the middle and rear electro-proportional relay valve 120 may also be as shown in figure 2. When the current value is lower than 375mA, the air pressure value output by the middle and rear electric proportional relay valve 120 is zero, that is, the current signal with the current value lower than 375mA can be used as a release current signal for releasing the braking force of the middle and rear brake air chamber 103.
The embodiment of the utility model provides an in, this before electro proportional relay valve 110 and well back electro proportional relay valve 120 can communicate to in same air receiver 101 to transmit the gas in this air receiver 101 to preceding brake chamber 102 and well back brake chamber 103, but, in order to further improve the efficiency of braking, also can be provided with two air receivers 101 in the unmanned wide-bodied car and communicate respectively to before electro proportional relay valve 110 and well back electro proportional relay valve 120. The front electro-proportional relay valve 110 and the middle-rear electro-proportional relay valve 120 may receive the brake current signals with the same current value at the same time to perform simultaneous braking control, or may receive the brake current signals with different current values to perform different braking modes according to different scenes, which is not limited herein.
The two-position three-way solenoid valve 130 is used for controlling the parking relay valve 104 to exhaust a parking air chamber when receiving a parking instruction, and inflating the parking relay valve 104 through the air cylinder 101 when receiving a parking release instruction, so that the parking relay valve 104 inflates the parking air chamber.
In the conventional pneumatic brake system, after a user triggers the parking hand valve during parking, the parking relay valve 104 is controlled to discharge the gas in the parking air chamber and then generate a parking force, and after the user triggers the parking hand valve during parking release, the parking relay valve 104 is controlled to charge the gas in the air reservoir 101 into the parking air chamber, so that the parking force is released.
The embodiment of the utility model provides an in, increase a two-position three way solenoid valve 130 between gas receiver 101 and parking air chamber to accomplish the purpose of automatically controlled parking. The two-position three-way solenoid valve 130 may discharge gas in the parking air chamber when receiving a parking command or an emergency braking command, thereby generating a parking force.
The embodiment of the utility model provides an in, through set up including electric proportion relay valve and two-position three way solenoid valve in mining truck, can carry out the braking and the parking operation of mining truck through the means of electric control to realize the unmanned of mining truck, make unmanned wide-bodied car can carry out autonomic braking and parking, perhaps accept the brake control and the parking control of remote end.
Fig. 3 is a schematic structural diagram of another electronically controlled brake system provided in embodiment 1 of the present invention.
In the embodiment of the utility model provides an in, preceding electric proportional relay valve 110 and well back electric proportional relay valve 120 still is connected to brake foot valve 105, in order to receive brake foot valve 105's control signal, and through gas receiver 101 to preceding brake chamber 102 and well back brake chamber 103 go on with the inflation of the corresponding atmospheric pressure of control signal. That is, the mechanical brake foot valve 105 is retained in the unmanned vehicle, so that when the unmanned vehicle enters the manual driving mode, the driver can control the electro-proportional relay valve through the brake foot valve 105, and the brake foot valve 105 can generate a current value signal, for example, after the driver steps on the brake foot valve 105, the brake foot valve 105 can generate a current signal with a corresponding current value according to the stepping degree and send the current signal to the front electro-proportional relay valve 110 and the middle and rear electro-proportional relay valves 120, so as to control the electro-proportional relay valves to input brake gas into the brake chambers. In addition, the mechanical part of the relay valve can be reserved in the electric proportional relay valve, and in a manual driving mode, a driver controls the triggering of the brake foot valve 105 by stepping on a brake pedal to realize air pressure control on the electric proportional relay valve, so that the electric proportional relay valve is controlled to input brake air into a brake air chamber.
In the embodiment of the present invention, the two-position three-way solenoid valve 130 is further connected to the parking switch 106 to receive the control signal of the parking switch 106 to perform the parking operation or the parking release operation. That is, the unmanned vehicle also includes a mechanical parking switch 106, such as a parking hand valve, which can control the two-position three-way solenoid valve 130 to perform parking or parking release operations according to a current signal.
Example 2
Fig. 4 is a schematic structural diagram of an electronic control brake system provided in embodiment 2 of the present invention.
The electric control brake system 200 comprises a front electric proportional relay valve 210 communicated to an air cylinder and a front brake air chamber, a middle and rear electric proportional relay valve 220 communicated to the air cylinder and a middle and rear brake air chamber, and a two-position three-way electromagnetic valve 230 communicated to the air cylinder and a parking relay valve;
the front electro-proportional relay valve 210 is used for inflating the front brake air chamber by corresponding air pressure through the air reservoir when receiving a brake current signal, and releasing the air of the front brake air chamber when receiving a release current signal;
the middle and rear electric proportional relay valve 220 is used for inflating the middle and rear brake chambers with corresponding air pressure through the air storage cylinder when receiving a brake current signal, and releasing the air of the middle and rear brake chambers when receiving a release current signal;
the two-position three-way solenoid valve 230 is used for controlling the parking relay valve to exhaust a parking air chamber when receiving a parking instruction, and inflating the parking relay valve through an air reservoir when receiving a parking release instruction.
The electric control brake system 200 further includes a vehicle controller 240;
the vehicle controller 240 is connected to the front electro-proportional relay valve 210 and the middle-rear electro-proportional relay valve 220, and is configured to generate a braking current signal according to a current driving speed and a target speed.
In the embodiment of the present invention, above-mentioned vehicle control unit 240 is electrically connected to the upper controller of unmanned wide vehicle, and electrically connected to preceding electric proportional relay valve 210 and well back electric proportional relay valve 220, in order to receive the unmanned wide vehicle target speed that upper controller sent, and detect the speed of traveling of present unmanned wide vehicle through the sensor, judge whether to carry out braking operation or parking operation at present according to target speed and speed of traveling, then can generate corresponding current signal to preceding electric proportional relay valve 210 and well back electric proportional relay valve 220 when needing to carry out braking operation, in order to carry out braking operation. The vehicle controller 240 may be further connected to the two-position three-way solenoid valve 230, and may generate a current signal to the two-position three-way solenoid valve 230 to perform a parking operation when the parking operation is required.
The vehicle controller 240 is further configured to send a braking current signal when it is determined that the difference between the current running speed and the target speed is greater than the preset value, and send a release current signal to the front electro-proportional relay valve 210 and the middle-rear electro-proportional relay valve 220 after the current running speed is equal to the target speed.
The embodiment of the utility model provides an in, this vehicle control unit 240 can also pass through sensor control current speed and target speed, detects in the in-process of braking that current speed of traveling equals the target speed after, then can send release current signal extremely immediately preceding electric proportional relay valve 210 and well back electric proportional relay valve 220 to the operation is braked in the release, avoids the braking excessive, influences the speed of traveling of unmanned wide-bodied car. Wherein the current value of the release current signal is zero.
Example 3
Fig. 5 is a schematic structural diagram of an electronic control brake system provided in embodiment 3 of the present invention.
The electronically controlled brake system 300 includes a front electro-proportional relay valve 310 communicating with the air reservoir 301 and the front brake chamber 302, a middle and rear electro-proportional relay valve 320 communicating with the air reservoir 301 and the middle and rear brake chamber 303, and a two-position three-way solenoid valve 330 communicating with the air reservoir 301 and the parking relay valve 304;
the front electro-proportional relay valve 310 is used for charging the front brake air chamber 302 with corresponding air pressure through the air cylinder 301 when receiving a brake current signal, and releasing the air of the front brake air chamber 302 when receiving a release current signal;
the middle-rear electric proportional relay valve 320 is used for inflating the middle-rear brake air chamber 303 through the air storage cylinder 301 according to the corresponding air pressure when receiving a brake current signal, and releasing the air of the middle-rear brake air chamber 303 when receiving a release current signal;
the two-position three-way solenoid valve 330 is used for controlling the parking relay valve 304 to exhaust a parking air chamber when receiving a parking instruction, and inflating the parking relay valve 304 through the air reservoir 301 when receiving a parking release instruction.
Wherein, the two-position three-way electromagnetic valve 330 comprises an air inlet 331, an air outlet 332 and an air outlet 333;
the air inlet 331 is used for communicating with the air cylinder 301;
the air outlet 332 is adapted to communicate with the park relay valve 304.
When the parking command is received, the air inlet 331 is closed, the air outlet 333 and the air outlet 332 are opened, and the air outlet 333 and the air outlet 332 are communicated, so that the parking relay valve 304 performs parking air chamber exhaust.
When the parking release instruction is received, the air outlet 333 is closed, the air inlet 331 and the air outlet 332 are opened, and the air inlet 331 and the air outlet 332 are communicated, so that the air cylinder 301 inflates the parking relay valve 304 and the parking air chamber.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An electric control brake system is characterized by comprising a front electric proportional relay valve, a middle and rear electric proportional relay valve and a two-position three-way electromagnetic valve;
the front electric proportional relay valve is communicated to the air storage cylinder and the front brake air chamber and is used for inflating the front brake air chamber by corresponding air pressure through the air storage cylinder when a brake current signal is received and releasing air of the front brake air chamber when a release current signal is received;
the middle and rear electric proportional relay valve is communicated to the air storage cylinder and the middle and rear brake air chambers and is used for inflating corresponding air pressure to the middle and rear brake air chambers through the air storage cylinder when a brake current signal is received and releasing air of the middle and rear brake air chambers when a release current signal is received;
the two-position three-way electromagnetic valve is communicated to the air storage cylinder and the parking relay valve and used for controlling the parking relay valve to exhaust the parking air chamber when a parking instruction is received, and the parking relay valve is inflated through the air storage cylinder when a parking release instruction is received, so that the parking relay valve inflates the parking air chamber.
2. The electric brake system according to claim 1, wherein the front and middle rear electric proportional relay valves are further connected to a brake foot valve to receive a control signal of the brake foot valve and to charge the front and middle rear brake chambers with air pressure corresponding to the control signal through the air reservoir.
3. The electronically controlled braking system of claim 1, further comprising a vehicle control unit;
and the vehicle control unit is connected to the front electric proportional relay valve and the middle and rear electric proportional relay valves and is used for generating a braking current signal according to the current running speed and the target speed.
4. The electronically controlled brake system of claim 3, wherein the vehicle control unit is further configured to send a braking current signal when the difference between the current travel speed and the target speed is determined to be greater than the preset value, and to send a release current signal to the front electro-proportional relay valve and the rear electro-proportional relay valve after the current travel speed is equal to the target speed.
5. The electronically controlled brake system of claim 4, wherein the release current signal has a current value of zero.
6. The electrically controlled brake system of claim 1, wherein the two-position, three-way solenoid valve includes an air inlet, an air outlet, and an air outlet;
the air inlet is communicated to the air storage cylinder;
the air outlet is communicated to the parking relay valve.
7. The electric control brake system according to claim 6, wherein upon receiving the parking instruction, the air inlet port is closed, the air outlet port and the air outlet port are opened, and the air outlet port is communicated with the air outlet port to allow the parking relay valve to perform parking air chamber exhaust.
8. The electric control brake system according to claim 6, wherein upon receipt of the parking release command, the exhaust port is closed, the air inlet port and the air outlet port are opened, and the air inlet port is communicated with the air outlet port to inflate the air reservoir to the parking relay valve and the parking air chamber.
9. The electric control brake system according to claim 1, wherein the two-position three-way solenoid valve is further connected to a parking switch to receive a control signal of the parking switch to perform a parking operation or a parking release operation.
10. An unmanned wide-body vehicle, characterized in that, comprises an electric control brake system of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020483722.8U CN211765487U (en) | 2020-04-03 | 2020-04-03 | Electric control brake system and unmanned wide-body vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020483722.8U CN211765487U (en) | 2020-04-03 | 2020-04-03 | Electric control brake system and unmanned wide-body vehicle |
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| CN211765487U true CN211765487U (en) | 2020-10-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284466A (en) * | 2020-04-03 | 2020-06-16 | 三一智矿科技有限公司 | Electric control brake system and unmanned wide-body vehicle |
| CN113602243A (en) * | 2021-08-31 | 2021-11-05 | 东风商用车有限公司 | Emergency braking device for unmanned vehicle |
-
2020
- 2020-04-03 CN CN202020483722.8U patent/CN211765487U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284466A (en) * | 2020-04-03 | 2020-06-16 | 三一智矿科技有限公司 | Electric control brake system and unmanned wide-body vehicle |
| CN113602243A (en) * | 2021-08-31 | 2021-11-05 | 东风商用车有限公司 | Emergency braking device for unmanned vehicle |
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