JP2016525661A - 電気液圧式アクチュエータ - Google Patents
電気液圧式アクチュエータ Download PDFInfo
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- 230000002265 prevention Effects 0.000 description 16
- 239000012530 fluid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000003566 sealing material Substances 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
- F16H25/2454—Brakes; Rotational locks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/005—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles by locking of wheel or transmission rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D23/00—Details of mechanically-actuated clutches not specific for one distinct type
- F16D23/12—Mechanical clutch-actuating mechanisms arranged outside the clutch as such
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/06—Fluid-actuated clutches in which the fluid actuates a piston incorporated in, i.e. rotating with the clutch
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
- F16D25/088—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member the line of action of the fluid-actuated members being distinctly separate from the axis of rotation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/12—Details not specific to one of the before-mentioned types
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D28/00—Electrically-actuated clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D29/00—Clutches and systems of clutches involving both fluid and magnetic actuation
- F16D29/005—Clutches and systems of clutches involving both fluid and magnetic actuation with a fluid pressure piston driven by an electric motor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
- F16D65/28—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged apart from the brake
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/08—Fluid-actuated clutches with fluid-actuated member not rotating with a clutching member
- F16D2025/081—Hydraulic devices that initiate movement of pistons in slave cylinders for actuating clutches, i.e. master cylinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/02—Fluid pressure
- F16D2121/04—Fluid pressure acting on a piston-type actuator, e.g. for liquid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/18—Electric or magnetic
- F16D2121/24—Electric or magnetic using motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2123/00—Multiple operation forces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
- F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
- F16D2125/40—Screw-and-nut
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/44—Mechanical mechanisms transmitting rotation
- F16D2125/46—Rotating members in mutual engagement
- F16D2125/52—Rotating members in mutual engagement with non-parallel stationary axes, e.g. worm or bevel gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2084—Perpendicular arrangement of drive motor to screw axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/209—Arrangements for driving the actuator using worm gears
Abstract
Description
電気液圧式アクチュエータは、液圧式のピストンと、スピンドル及びナットを備え、前記ピストンを回転軸線に沿って移動させるスピンドルドライブと、前記ナットに同軸に取り付けられたウォームホイールとを含む。さらには、前記ウォームホイールに噛み合うウォームを備える電気モータが設けられている。前記ナットは、軸受によって半径方向及び軸方向に支持されており、さらには、前記スピンドルを回転不能に固定するために一腕式の回転防止装置が設けられている。前記ウォームホイールに接する前記ウォームの作用点と、前記回転防止装置の作用方向との間には、前記回転軸線に関連する所定の角度が形成されている。前記角度は、前記ナットに所定のトルクが作用した場合に前記ピストンに作用する半径方向の力が最小化されるように選択されている。
ここで、本発明を、添付図面を参照しながらより詳細に説明する。
図1は、液圧を供給するための、特に自動車に搭載されたブレーキ又はクラッチを操作するための電気液圧式アクチュエータ100を示す。アクチュエータ100は、液圧モジュール105と、シリンダ110と、シリンダ内に収容されたピストン115とを含む。ピストン115をシリンダ110に対して封止するために、好ましくはピストンリング120又は別の半径方向シーリングが設けられている。シリンダ115内には作動流体125が収容されており、この作動流体125は、ピストン115がシリンダ110内に押し込まれると加圧される。
a ピストン115に接するスピンドル145の作用点と、ウォームホイール170に接するウォーム165の作用点との間の軸方向距離、
b ウォームホイール170に接するウォーム165の作用点と、ラジアル軸受155との間の軸方向距離、
c ラジアル軸受155と、回転防止装置185との間の軸方向距離、
d ウォーム165とウォームホイール170との間の作用点(観察できない)と、回転軸線175との半径方向距離
e 回転軸線175と、回転防止装置185の中間支持点との間の半径方向距離。
305 Fx_ピストン
310 Fy_ピストン
315 Fz_ピストン
320 Fx_ねじ歯車
325 Fy_ねじ歯車
330 Fz_ねじ歯車
335 Fx_軸受
340 Fy_軸受
345 Fz_軸受
350 Fx_回転防止装置
355 Fy_回転防止装置
360 Fz_回転防止装置
365 F回転防止装置
Fz_回転防止装置=F回転防止装置×cosα
Fy_回転防止装置=F回転防止装置×μ
μ=滑り摩擦係数
ΣFx=−Fx_ピストン−Fx_ねじ歯車−Fx_軸受+Fx_回転防止装置=0
ΣFy=−Fy_ピストン−Fy_ねじ歯車+Fy_軸受−Fy_回転防止装置=0
ΣFz=Fz_ピストン+Fz_ねじ歯車+Fz_軸受+Fy_回転防止装置=0
ΣMx=Fz_ピストン(a+b)+Fz_ねじ歯車b−Fz_軸受c+Fy_回転防止装置esinα=0
ΣMy=−Fz_ねじ歯車d+F回転防止装置e=0
ΣMz=Fx_ピストン(a+b)+Fx_ねじ歯車b−Fy_ねじ歯車d+Fx_回転防止装置c+Fy_回転防止装置ecosα=0
・最大で作用するピストン力 Fy_ピストン
・最大で作用する噛み合い力 Fx_ねじ歯車、Fy_ねじ歯車、Fz_ねじ歯車
・構造空間比a,b,c,d,e
・滑り摩擦係数μは、例えば0.15と仮定される
Fx_ピストン
Fz_ピストン
F回転防止装置
α
Fx_軸受
Fy_軸受
Fz_軸受
Claims (6)
- 電気液圧式アクチュエータ(100)であって、
・液圧式のピストン(115)と、
・スピンドル(145)及びナット(150)を備え、前記ピストン(115)を回転軸線(175)に沿って移動させるスピンドルドライブ(140)と、
・前記ナット(150)に同軸に取り付けられたウォームホイール(170)と、
・前記ウォームホイール(170)に噛み合うウォーム(165)を備える電気モータ(130)と、
・前記ナット(150)を支持するラジアル軸受(155)と、
・前記スピンドル(145)を回転不能に固定するための一腕式の回転防止装置(185)と
を備え、
・前記ウォームホイール(170)に接する前記ウォーム(165)の作用点(205)と、前記回転防止装置(185)の作用方向との間には、前記回転軸線(175)に関連する所定の角度(β)が形成されている
アクチュエータ(100)において、
・前記角度(β)は、前記ナット(150)に所定のトルクが作用した場合に前記ピストン(115)に作用する半径方向の力が最小化されるように選択されている
ことを特徴とする、アクチュエータ(100)。 - 前記ラジアル軸受(155)は、前記回転軸線(175)に対する前記ナット(150)の所定の傾倒を許容する
請求項1記載のアクチュエータ(100)。 - 前記ラジアル軸受(155)は、軸方向で、前記ナット(150)と前記回転防止装置(185)との間に配置されている
請求項1又は2記載のアクチュエータ(100)。 - 前記角度(β)は、前記スピンドル(145)の所定の軸方向位置に関連して決定されている
請求項1から3のいずれか一項記載のアクチュエータ(100)。 - 前記角度(β)は、前記ウォーム(165)と前記ウォームホイール(170)との間の所定の摩擦係数(μ)に関連して決定されている
請求項1から4のいずれか一項記載のアクチュエータ(100)。 - 前記ナット(150)に作用する前記トルクは、前記ピストン(115)に軸方向(x,z)に作用する最大の力によって決定されている
請求項1から5のいずれか一項記載のアクチュエータ(100)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102013213888.1 | 2013-07-16 | ||
DE102013213888.1A DE102013213888B3 (de) | 2013-07-16 | 2013-07-16 | Elektrohydraulischer Aktuator |
PCT/EP2014/064225 WO2015007535A2 (de) | 2013-07-16 | 2014-07-03 | Elektrohydraulischer aktuator |
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JP2016525661A true JP2016525661A (ja) | 2016-08-25 |
JP6243025B2 JP6243025B2 (ja) | 2017-12-06 |
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JP2016526514A Active JP6243025B2 (ja) | 2013-07-16 | 2014-07-03 | 電気液圧式アクチュエータ |
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US (1) | US10174821B2 (ja) |
EP (1) | EP3022101B1 (ja) |
JP (1) | JP6243025B2 (ja) |
CN (1) | CN105393017B (ja) |
DE (1) | DE102013213888B3 (ja) |
WO (1) | WO2015007535A2 (ja) |
Cited By (3)
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CN108799353A (zh) * | 2017-05-02 | 2018-11-13 | 天津市松正电动汽车技术股份有限公司 | 气压离合执行机构 |
KR20200001800A (ko) * | 2018-06-28 | 2020-01-07 | 발레오 앙브라이아쥐 | 클러치 액츄에이터 |
JP7431279B2 (ja) | 2021-06-12 | 2024-02-14 | ビーダブリュアイ(シャンハイ)カンパニー リミテッド | 車両のブレーキシステムのための圧力供給ユニット |
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DE102015212645A1 (de) * | 2015-07-07 | 2017-01-12 | Schaeffler Technologies AG & Co. KG | Kupplungsaktor für ein Kraftfahrzeug mit einteiligem Statorgehäuse |
JP6508107B2 (ja) * | 2016-04-08 | 2019-05-08 | 株式会社アドヴィックス | 車両の制動制御装置 |
DE102016221159A1 (de) * | 2016-10-27 | 2018-05-03 | Schaeffler Technologies AG & Co. KG | Aktor zur Betätigung einer Kupplung und Drehmomentübertragungsstrang |
DE102017114556A1 (de) | 2017-06-29 | 2019-01-03 | Ipgate Ag | Vorrichtung für ein hydraulisches Betätigungssystem |
DE102018202709B3 (de) | 2018-02-22 | 2019-05-16 | Magna Powertrain Bad Homburg GmbH | Elektrohydraulischer Aktuator |
CN109667849A (zh) * | 2018-12-29 | 2019-04-23 | 联合汽车电子有限公司 | 一种电液式自动离合器执行机构 |
DE102019217039A1 (de) * | 2019-11-05 | 2021-05-06 | Robert Bosch Gmbh | Kolbenbetätigungseinrichtung |
DE102020111174B4 (de) * | 2020-04-24 | 2023-05-04 | Schaeffler Technologies AG & Co. KG | Aktor und Drehmoment-Übertragungseinrichtung |
CN112901478A (zh) * | 2021-03-01 | 2021-06-04 | 北京天地玛珂电液控制系统有限公司 | 柱塞泵 |
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WO2015007535A3 (de) | 2015-09-17 |
CN105393017B (zh) | 2017-11-21 |
JP6243025B2 (ja) | 2017-12-06 |
US20160160969A1 (en) | 2016-06-09 |
DE102013213888B3 (de) | 2014-11-13 |
US10174821B2 (en) | 2019-01-08 |
WO2015007535A2 (de) | 2015-01-22 |
EP3022101A2 (de) | 2016-05-25 |
EP3022101B1 (de) | 2017-09-06 |
CN105393017A (zh) | 2016-03-09 |
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