CN219428105U - Electromagnetic liquid combined type linear control braking system - Google Patents
Electromagnetic liquid combined type linear control braking system Download PDFInfo
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- CN219428105U CN219428105U CN202222665527.9U CN202222665527U CN219428105U CN 219428105 U CN219428105 U CN 219428105U CN 202222665527 U CN202222665527 U CN 202222665527U CN 219428105 U CN219428105 U CN 219428105U
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Abstract
The utility model discloses an electromagnetic liquid combined type brake-by-wire system, which comprises wheels, a brake disc assembly, a motor braking module, a magnetorheological fluid braking module and a control module, wherein the wheels are arranged on the wheels; in the system, the motor braking module and the magnetorheological fluid braking module can realize independent braking, the magnetorheological fluid braking module generates braking force by changing the intensity of a magnetic field borne by the magnetorheological fluid during braking, and the motor braking module is pressed against the brake disc by the motor-driven brake caliper assembly to generate braking force, so that the motor braking module and the motor-driven brake caliper assembly can work simultaneously to generate large braking force and accelerate response speed, redundant backup under faults can be realized, and the control precision, response speed and reliability of the linear control braking system are greatly improved.
Description
Technical Field
The utility model belongs to the technical field of vehicle braking, and particularly relates to an electromagnetic liquid combined type line control braking system.
Background
The brake-by-wire technology is one of the key technologies with the highest technical difficulty in the chassis of the automatic driving vehicle. The safety and stability of the vehicle are determined, and only good enough braking performance is provided for people to travel.
Current brake-by-wire systems can be classified into hydraulic brake-by-wire systems, pneumatic brake-by-wire systems, and electromechanical brake systems, depending on the form of driving. In the past, brake-by-wire hydraulic and pneumatic brake systems have been developed based on conventional hydraulic or pneumatic brake systems. It still uses hydraulic and pneumatic pressures as actuators and problems of response delay and low accuracy remain. The electromechanical braking system completely discards the pneumatic or hydraulic structure, only adopts the motor as an actuator, has more simplified structure and higher response speed and control precision, and is more suitable for automatic driving vehicles. However, the problems of no backup braking and smaller braking force are not popularized at present because of the occurrence of locked-rotor heat generation.
In order to provide a brake-by-wire technology suitable for an automatic driving vehicle, current scholars propose a brake-by-wire system based on magnetorheological fluid. The method is mainly based on the magnetorheological effect of the magnetorheological fluid, and the yield stress of the magnetorheological fluid is regulated by changing the intensity of a magnetic field applied to the magnetorheological fluid so as to change the braking force of a braking system. Compared with the traditional brake, the brake system based on the magnetorheological fluid has the advantages of high response speed, low brake noise, low brake energy consumption, strong adjustability and the like, and gradually becomes one of research hot spots and development directions of the automobile brake system.
However, the brake disc of the current magneto-rheological fluid brake always rubs with magneto-rheological fluid, so that unnecessary energy consumption is caused by increasing the resistance of the whole vehicle when the brake is not braked. Meanwhile, the magnetorheological fluid brake realizes braking by means of fluid shearing force, so that braking is not timely or even difficult to completely brake due to dragging when the braking force demand is large. In addition, only one set of actuating mechanism has no backup capability. Thus, the current requirements of autonomous vehicles for response speed, control accuracy, redundancy capability, and large braking force are still difficult to simultaneously meet.
Disclosure of Invention
In order to overcome the defects in the prior art, the utility model provides an electromagnetic liquid combined type linear control braking system, which solves the problem that the existing linear control braking technology cannot simultaneously provide quick response, high precision, strong redundancy and large braking force for an automatic driving vehicle. The utility model combines the advantages of an electromechanical braking system and a magnetorheological fluid braking system, designs a brake-by-wire system which combines the advantages of the two systems and can improve the large braking force and the strong redundancy capacity, generates the braking force by changing the magnetic field intensity of the magnetorheological fluid in the magnetorheological fluid braking part during braking, and directly drives the motor to generate the braking force in the motor braking part, so that the two systems can work simultaneously to generate the large braking force and accelerate the response speed, and can realize redundancy backup under faults, thereby greatly improving the control precision, the response speed and the reliability of the brake-by-wire system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model relates to an electromagnetic liquid combined type linear control braking system, which comprises the following components: the device comprises wheels, a brake disc assembly, a motor braking module, a magnetorheological fluid braking module and a control module;
the brake disc assembly comprises a brake disc A disc, a brake disc B disc, a threaded blind hole, a stepped through hole, a fastening screw A, a rolling shaft and a flange disc, wherein the outer side (one side opposite to a wheel) of the brake disc assembly is connected with a hub of the wheel through a screw, and the inner side (one side opposite to a vehicle body) of the brake disc assembly is arranged on an axle of a vehicle through the screw;
the stepped through hole and the threaded blind hole are respectively formed in the brake disc A and the brake disc B;
the fastening screw A passes through the stepped through hole and is connected with the threaded blind hole so as to connect the brake disc A and the brake disc B;
the two sides of the brake disc B are respectively connected with the hub of the wheel and the flange plate through screws;
the brake disc A is connected to an axle of the vehicle through a screw;
one end of the rolling shaft is fixedly connected with the flange plate, and the other end of the rolling shaft is inserted into a claw bearing of the vehicle;
the motor braking module comprises a motor, a motor shaft, a speed reducer shaft and a brake caliper assembly;
the motor is arranged on an axle of the vehicle, and the output end of the motor is fixedly connected with the input end of the motor shaft;
the input end of the speed reducer is in spline connection with the output end of the motor shaft, and the output end of the speed reducer is fixedly connected with the input end of the speed reducer shaft;
the brake caliper assembly is arranged on a claw or an axle of the vehicle, and the input end of the brake caliper assembly is fixedly connected with the output end of the speed reducer shaft;
the magnetorheological fluid braking module comprises a friction wheel, a flange shaft, a bearing A, a flange sleeve, a bearing B, a bearing C, a magnetorheological fluid wheel, an excitation coil, an electromagnetic clutch, a magnetorheological fluid wheel shell, a flange shaft hole and a fastening screw B;
the friction wheel consists of a thin circular ring and a thick circular ring and is sleeved on the bearing B;
the bearing A and the bearing B are sleeved on the rolling shaft, wherein the flange sleeve is sleeved on the bearing A;
the input end of the flange shaft is fixedly connected with the flange sleeve, and the output end of the flange shaft is in sliding connection with the friction wheel through the flange shaft hole;
the bearing C is sleeved on a thick circular ring of the friction wheel, and the magnetorheological fluid wheel is sleeved on the bearing C;
the inner side of the magnetorheological fluid wheel is also connected with the brake disc A through a fastening screw B, and the inner cavity of the magnetorheological fluid wheel is filled with magnetorheological fluid;
the exciting coil is wound on the magnetorheological fluid wheel shell;
the electromagnetic clutch is fixedly arranged on an axle of the vehicle and used for controlling the movement state of the flange sleeve, the electromagnetic clutch is in a disconnection state when the vehicle is not braked, the magnetorheological fluid wheel rotates together with the brake disc A, and the friction wheel and the flange sleeve rotate along with each other under the inherent viscous characteristic of magnetorheological fluid; when braking, the electromagnetic clutch is attracted, the flange sleeve is locked, meanwhile, the rotation of the friction wheel is also limited, at the moment, the magnetorheological fluid wheel and the friction wheel generate relative motion, rolling resistance is generated, braking is realized, and the braking force can be regulated by changing the current in the exciting coil;
the control module includes: the electronic control unit, the current sensor, the pressure sensor, the torque sensor and the wheel speed sensor;
the current sensor is arranged in the exciting coil and used for acquiring a current signal of the exciting coil and transmitting the current signal to the electronic control unit;
the pressure sensor is arranged on the speed reducer shaft and is used for acquiring a pressure signal output by the speed reducer and transmitting the pressure signal to the electronic control unit;
the torque sensor is arranged on the electromagnetic clutch and is used for acquiring a torque signal transmitted by the flange sleeve and transmitting the torque signal to the electronic control unit;
the wheel speed sensor is arranged on the wheel and used for acquiring a wheel speed signal of the wheel and transmitting the signal to the electronic control unit;
the input end of the electronic control unit is respectively and electrically connected with the current sensor, the pressure sensor, the torque sensor and the wheel speed sensor, and the output end of the electronic control unit is electrically connected with the motor, the exciting coil and the electromagnetic clutch and is used for receiving a system state signal and controlling the system to brake.
Further, the inner side of the brake disc A and the outer side of the brake disc B are respectively provided with a heat dissipation groove with a rectangular section for dissipating heat of the brake disc A and the brake disc B.
Further, the inner wall surface of the magnetorheological fluid wheel shell and the wall surface of the thin ring of the friction wheel, which is contacted with the magnetorheological fluid, are provided with the slide-inhibiting grooves with rectangular cross sections, and the slide-inhibiting grooves are used for preventing the magnetorheological fluid from generating wall surface sliding effect during braking.
Further, the radial section of the friction wheel is cross-shaped, the vertical edge is a thin circular ring, and the horizontal edge is a thick circular ring.
Further, the number of the bearings C is two, and the bearings C are respectively sleeved on two sides of the thick circular ring of the friction wheel.
Furthermore, the liquid injection groove is formed in the inner side of the magnetorheological fluid wheel shell, no liquid is arranged during installation, and after the installation is completed, the magnetorheological fluid is injected, so that the installation convenience is improved, and meanwhile, the pollution is reduced.
The utility model has the beneficial effects that:
the utility model fully utilizes the advantages of the electromechanical braking system and the magnetorheological fluid intelligent material, and the advantages of the electromechanical braking and the magnetorheological fluid braking are complemented, so that on one hand, the braking force provided by the braking system can be greatly improved, the response speed and the braking precision of the system are accelerated, on the other hand, the two execution systems can be mutually redundant, the safety of the system is greatly improved, and the strict requirement of the automatic driving technology on the performance of the linear control braking system is met.
Compared with the prior magnetorheological fluid brake, the electromagnetic clutch is additionally arranged, the friction wheel and the magnetorheological fluid synchronously move under the disconnected state of the electromagnetic clutch by utilizing the viscous characteristic of the magnetorheological fluid, and the scheme solves the problem that the brake disc of the prior magnetorheological fluid brake always rubs with the magnetorheological fluid, and reduces a large amount of unnecessary energy consumption.
The utility model discards the redundant pipelines of the pneumatic and hydraulic braking adopted by the existing vehicle, and simultaneously, compared with the existing electronic mechanical braking, the added magnetorheological fluid braking part is only modified at the braking disc, so that the hardware compatibility is high, the later modification is more convenient, and in addition, the preparation cost of the magnetorheological fluid is lower, so that the cost of the whole system has larger advantages compared with that of the hydraulic and pneumatic braking system.
Drawings
FIG. 1 is a schematic illustration of an electromagnetic fluid combination brake-by-wire system in accordance with the present utility model;
FIG. 2 is a cross-sectional view of an electromagnetic fluid combined brake-by-wire system A-A according to the present utility model;
FIG. 3 is a front view (left) and a side view (right) of a brake disk A in accordance with the present utility model;
FIG. 4 is a front view (left) and a side view (right) of a brake disk B according to the present utility model;
FIG. 5 is a front view (left) and a side view (right) of the friction wheel of the present utility model;
in the figure, 1-wheel, 2-brake caliper assembly, 3-friction wheel, 4-flange shaft, 5-speed reducer shaft, 6-speed reducer, 7-motor shaft, 8-motor, 9-electronic control unit, 10-pressure sensor, 11-current sensor, 12-fastening screw B, 13-electromagnetic clutch, 14-torque sensor, 15-brake disk A disk, 16-rolling shaft, 17-bearing A, 18-flange sleeve, 19-bearing B, 20-bearing C, 21-liquid injection groove, 22-magnetorheological liquid wheel, 23-exciting coil, 24-brake disk B disk, 25-wheel speed sensor, 26-flange disk, 27-magnetorheological liquid wheel housing, 28-slide inhibiting groove, 29-flange shaft hole, 30-heat dissipation groove, 31 stepped through hole, 32-fastening screw A, 33-threaded blind hole, 34-thin ring, 35-thick ring.
Detailed Description
The utility model will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the utility model.
Referring to fig. 1 to 5, an electromagnetic liquid combined type brake-by-wire system of the present utility model includes: the device comprises wheels 1, a brake disc assembly, a motor braking module, a magnetorheological fluid braking module and a control module;
the brake disc assembly comprises a brake disc A disc 15, a brake disc B disc 24, a threaded blind hole 33, a stepped through hole 31, a fastening screw A32, a rolling shaft 16 and a flange 26, wherein the outer side (the side opposite to the wheel) of the brake disc assembly is connected with the hub of the wheel 1 through screws, and the inner side (the side opposite to the vehicle body) of the brake disc assembly is mounted on an axle of a vehicle through screws;
the stepped through hole 31 and the threaded blind hole 33 are respectively formed on the brake disc A disc 15 and the brake disc B disc 24;
the fastening screw A32 passes through the stepped through hole 31 and is connected with the threaded blind hole 33 so as to connect the brake disc A15 and the brake disc B24;
the two sides of the brake disc B24 are respectively connected with the hub of the wheel 1 and the flange 26 through bolts;
the brake disc A disc 15 is connected to an axle of the vehicle through screws;
one end of the rolling shaft 16 is fixedly connected with the flange plate 26, and the other end of the rolling shaft is inserted into a claw bearing of a vehicle;
the motor braking module comprises a motor 8, a motor shaft 7, a speed reducer 6, a speed reducer shaft 5 and a brake caliper assembly 2;
the motor 8 is arranged on an axle of the vehicle, and the output end of the motor 8 is fixedly connected with the input end of the motor shaft 7;
the input end of the speed reducer 6 is in spline connection with the output end of the motor shaft 7, and the output end of the speed reducer is fixedly connected with the input end of the speed reducer shaft 5;
the brake caliper assembly 2 is arranged on a claw or an axle of a vehicle, and the input end of the brake caliper assembly is fixedly connected with the output end of the speed reducer shaft 5;
the magnetorheological fluid braking module comprises a friction wheel 3, a flange shaft 4, a bearing A17, a flange sleeve 18, a bearing B19, a bearing C20, a magnetorheological fluid wheel 22, an excitation coil 23, an electromagnetic clutch 13, a magnetorheological fluid wheel housing 27, a flange shaft hole 29 and a fastening screw B12;
the friction wheel 3 consists of a thin circular ring 34 and a thick circular ring 35, and is sleeved on the bearing B19;
the bearing A17 and the bearing B19 are sleeved on the rolling shaft 16, wherein the flange sleeve 18 is sleeved on the bearing A17;
the input end of the flange shaft 4 is fixedly connected with the flange sleeve 18, and the output end is in sliding connection with the friction wheel 3 through the flange shaft hole 29;
the bearing C20 is sleeved on a thick circular ring 35 of the friction wheel 3, and the magnetorheological fluid wheel 22 is sleeved on the bearing C20;
the inner side of the magnetorheological fluid wheel 22 is also connected with the brake disc A15 through a fastening screw B12, and the inner cavity of the magnetorheological fluid wheel is filled with magnetorheological fluid;
the exciting coil 23 is wound on the magnetorheological fluid wheel housing 27;
the electromagnetic clutch 13 is fixedly arranged on an axle of the vehicle and used for controlling the movement state of the flange sleeve 18, the electromagnetic clutch 13 is in a disconnected state when the vehicle is not braked, the magnetorheological fluid wheel 22 rotates together with the brake disc A15, and the friction wheel 3 and the flange sleeve 18 rotate along with each other under the inherent viscous characteristic of magnetorheological fluid; when braking, the electromagnetic clutch 13 is attracted, the flange sleeve 18 is locked, meanwhile, the rotation of the friction wheel 3 is also limited, at the moment, the relative motion of the magnetorheological fluid wheel 22 and the friction wheel 3 is generated, rolling resistance is generated, braking is realized, and the braking force can be regulated by changing the current in the exciting coil 23;
the control module includes: an electronic control unit 9, a current sensor 11, a pressure sensor 10, a torque sensor 14, and a wheel speed sensor 25;
the current sensor 11 is arranged in the exciting coil 23 and is used for acquiring a current signal of the exciting coil 23 and transmitting the current signal to the electronic control unit 9;
the pressure sensor 10 is arranged on the speed reducer shaft 5, and is used for acquiring a pressure signal output by the speed reducer 6 and transmitting the pressure signal to the electronic control unit 9;
the torque sensor 14 is mounted on the electromagnetic clutch 13, and is used for acquiring a torque signal transmitted by the flange sleeve 18 and transmitting the torque signal to the electronic control unit 9;
the wheel speed sensor 25 is mounted on the wheel 1, and is used for acquiring a wheel speed signal of the wheel 1 and transmitting the signal to the electronic control unit 9;
the input end of the electronic control unit 9 is electrically connected with the current sensor 11, the pressure sensor 10, the torque sensor 14 and the wheel speed sensor 25 respectively, and the output end is electrically connected with the motor 8, the exciting coil 23 and the electromagnetic clutch 13, and is used for receiving a system state signal and controlling the system to brake.
The inner side of the brake disc a 15 and the outer side of the brake disc B24 are both provided with heat dissipation grooves 30 with rectangular cross sections for dissipating heat of the brake disc a 15 and the brake disc B24.
Wherein, the inner wall surface of the magnetorheological fluid wheel housing 27 and the wall surface of the thin ring 34 of the friction wheel 3 contacted with the magnetorheological fluid are provided with a slide inhibiting groove 28 with a rectangular cross section, which is used for preventing the magnetorheological fluid from generating wall surface sliding effect during braking.
The radial section of the friction wheel 3 is cross-shaped, the vertical edge is a thin circular ring 34, and the horizontal edge is a thick circular ring 35.
The two bearings C20 are respectively sleeved on two sides of the thick ring 35 of the friction wheel 3.
The magnetorheological fluid wheel housing 27 is provided with a fluid injection groove 21 at the inner side, and is installed without fluid during installation, and the magnetorheological fluid is injected after the installation is completed so as to improve the convenience of the installation and reduce pollution.
Although the embodiments of the present utility model have been described above, the present utility model is not limited to the above-described specific embodiments and application fields, and the above-described specific embodiments are merely illustrative, and not restrictive. Those skilled in the art, having the benefit of this disclosure, may effect numerous forms of the utility model without departing from the scope of the utility model as claimed.
Claims (6)
1. An electromagnetic fluid combination brake-by-wire system, comprising: the device comprises wheels, a brake disc assembly, a motor braking module, a magnetorheological fluid braking module and a control module;
the brake disc assembly comprises a brake disc A disc, a brake disc B disc, a threaded blind hole, a stepped through hole, a fastening screw A, a rolling shaft and a flange disc, wherein the outer side of the brake disc assembly, namely one side opposite to a wheel, is connected with a hub of the wheel through a screw, and the inner side of the brake disc assembly, namely one side opposite to a vehicle body, is arranged on an axle of a vehicle through the screw;
the stepped through hole and the threaded blind hole are respectively formed in the brake disc A and the brake disc B;
the fastening screw A passes through the stepped through hole and is connected with the threaded blind hole so as to connect the brake disc A and the brake disc B;
the two sides of the brake disc B are respectively connected with the hub of the wheel and the flange plate through screws;
the brake disc A is connected to an axle of the vehicle through a screw;
one end of the rolling shaft is fixedly connected with the flange plate, and the other end of the rolling shaft is inserted into a claw bearing of the vehicle;
the motor braking module comprises a motor, a motor shaft, a speed reducer shaft and a brake caliper assembly;
the motor is arranged on an axle of the vehicle, and the output end of the motor is fixedly connected with the input end of the motor shaft;
the input end of the speed reducer is in spline connection with the output end of the motor shaft, and the output end of the speed reducer is fixedly connected with the input end of the speed reducer shaft;
the brake caliper assembly is arranged on a claw or an axle of the vehicle, and the input end of the brake caliper assembly is fixedly connected with the output end of the speed reducer shaft;
the magnetorheological fluid braking module comprises a friction wheel, a flange shaft, a bearing A, a flange sleeve, a bearing B, a bearing C, a magnetorheological fluid wheel, an excitation coil, an electromagnetic clutch, a magnetorheological fluid wheel shell, a flange shaft hole and a fastening screw B;
the friction wheel consists of a thin circular ring and a thick circular ring and is sleeved on the bearing B;
the bearing A and the bearing B are sleeved on the rolling shaft, wherein the flange sleeve is sleeved on the bearing A;
the input end of the flange shaft is fixedly connected with the flange sleeve, and the output end of the flange shaft is in sliding connection with the friction wheel through the flange shaft hole;
the bearing C is sleeved on a thick circular ring of the friction wheel, and the magnetorheological fluid wheel is sleeved on the bearing C;
the inner side of the magnetorheological fluid wheel is also connected with the brake disc A through a fastening screw B, and the inner cavity of the magnetorheological fluid wheel is filled with magnetorheological fluid;
the exciting coil is wound on the magnetorheological fluid wheel shell;
the electromagnetic clutch is fixedly arranged on an axle of the vehicle and used for controlling the movement state of the flange sleeve, the electromagnetic clutch is in a disconnection state when the vehicle is not braked, the magnetorheological fluid wheel rotates together with the brake disc A, and the friction wheel and the flange sleeve rotate along with each other under the inherent viscous characteristic of magnetorheological fluid; when braking, the electromagnetic clutch is attracted, the flange sleeve is locked, meanwhile, the rotation of the friction wheel is also limited, at the moment, the magnetorheological fluid wheel and the friction wheel generate relative motion, rolling resistance is generated, braking is realized, and the braking force can be regulated by changing the current in the exciting coil;
the control module includes: the electronic control unit, the current sensor, the pressure sensor, the torque sensor and the wheel speed sensor;
the current sensor is arranged in the exciting coil and used for acquiring a current signal of the exciting coil and transmitting the current signal to the electronic control unit;
the pressure sensor is arranged on the speed reducer shaft and is used for acquiring a pressure signal output by the speed reducer and transmitting the pressure signal to the electronic control unit;
the torque sensor is arranged on the electromagnetic clutch and is used for acquiring a torque signal transmitted by the flange sleeve and transmitting the torque signal to the electronic control unit;
the wheel speed sensor is arranged on the wheel and used for acquiring a wheel speed signal of the wheel and transmitting the signal to the electronic control unit;
the input end of the electronic control unit is respectively and electrically connected with the current sensor, the pressure sensor, the torque sensor and the wheel speed sensor, and the output end of the electronic control unit is electrically connected with the motor, the exciting coil and the electromagnetic clutch and is used for receiving a system state signal and controlling the system to brake.
2. The electromagnetic and hydraulic combined brake-by-wire system according to claim 1, wherein the inner side of the brake disk a and the outer side of the brake disk B are both provided with heat dissipation grooves with rectangular cross sections for dissipating heat of the brake disk a and the brake disk B.
3. The electromagnetic liquid combined type linear control brake system according to claim 1, wherein the inner wall surface of the magnetorheological fluid wheel housing and the wall surface of the thin ring of the friction wheel, which is contacted with the magnetorheological fluid, are provided with slide suppressing grooves with rectangular cross sections, and the slide suppressing grooves are used for preventing the magnetorheological fluid from generating a wall surface sliding effect during braking.
4. The electromagnetic and hydraulic combined brake-by-wire system of claim 1, wherein the radial cross section of the friction wheel is cross-shaped, the vertical side is a thin circular ring, and the horizontal side is a thick circular ring.
5. The electromagnetic and hydraulic combined brake-by-wire system according to claim 1, wherein the number of the bearings C is two, and the bearings C are respectively sleeved on two sides of the thick circular ring of the friction wheel.
6. The electromagnetic liquid combined type linear control brake system according to claim 1, wherein the magnetorheological fluid tank is arranged on the inner side of the magnetorheological fluid wheel housing, and the magnetorheological fluid can be injected after the magnetorheological fluid tank is installed so as to improve the installation convenience.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222665527.9U CN219428105U (en) | 2022-10-10 | 2022-10-10 | Electromagnetic liquid combined type linear control braking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222665527.9U CN219428105U (en) | 2022-10-10 | 2022-10-10 | Electromagnetic liquid combined type linear control braking system |
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| Publication Number | Publication Date |
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| CN219428105U true CN219428105U (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222665527.9U Active CN219428105U (en) | 2022-10-10 | 2022-10-10 | Electromagnetic liquid combined type linear control braking system |
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| CN (1) | CN219428105U (en) |
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