WO2012062528A2 - Système de freinage pour véhicules automobiles et son procédé de fonctionnement - Google Patents

Système de freinage pour véhicules automobiles et son procédé de fonctionnement Download PDF

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Publication number
WO2012062528A2
WO2012062528A2 PCT/EP2011/067994 EP2011067994W WO2012062528A2 WO 2012062528 A2 WO2012062528 A2 WO 2012062528A2 EP 2011067994 W EP2011067994 W EP 2011067994W WO 2012062528 A2 WO2012062528 A2 WO 2012062528A2
Authority
WO
WIPO (PCT)
Prior art keywords
pressure
cylinder
piston
brake
brake system
Prior art date
Application number
PCT/EP2011/067994
Other languages
German (de)
English (en)
Other versions
WO2012062528A3 (fr
Inventor
Hans-Jörg Feigel
Original Assignee
Continental Teves Ag & Co. Ohg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2012062528A2 publication Critical patent/WO2012062528A2/fr
Publication of WO2012062528A3 publication Critical patent/WO2012062528A3/fr

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Classifications

    • 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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • 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
    • B60T13/10—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 fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
    • B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
    • 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
    • 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
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B60T17/221—Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
    • B60T8/40—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition comprising an additional fluid circuit including fluid pressurising means for modifying the pressure of the braking fluid, e.g. including wheel driven pumps for detecting a speed condition, or pumps which are controlled by means independent of the braking system
    • B60T8/4072—Systems in which a driver input signal is used as a control signal for the additional fluid circuit which is normally used for braking
    • B60T8/4081—Systems with stroke simulating devices for driver input
    • 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
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
    • B60T8/885—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means using electrical circuitry
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/403—Brake circuit failure

Definitions

  • the invention relates to a brake system according to the preamble of claim 1 and to a method for operating a brake system according to the preamble of claim 12.
  • a brake system is known with a brake pedal for actuating a first hydraulic piston, on the actuation of the brake system by the driver an actuating force is applied and which is guided in a retaining piston, an electrically controllable pressure source, a from the pressure source rechargeable high-pressure accumulator, between the high-pressure accumulator and the wheel brakes connected, electrically controllable pressure control valves, and wheel-individual separating piston devices which are acted upon in the "brake-by-wire" mode on a first separating piston surface with the pressure set by the pressure control valves and the pressure from a pressure exerted on a second separating piston surface to the associated wheel brake wei ⁇ tersell.
  • a pressure control therefore takes place before or on the input side of the separating piston devices.
  • the separating pistons are mechanically operated directly by the retaining piston.
  • the disadvantage is considered during this brake system that for a radindividu ⁇ elle pressure control a more complex structure with a separating piston device per wheel brake and an elaborate pressure control valve arrangement and pressure control valve assembly is not ⁇ agile. Furthermore, results from the
  • the present invention has for its object to provide a brake system of simple construction, which at the same time has a small overall length and a high Bremsver Stahlg ⁇ availability, for example in the event of leakage. Another object of the invention is to provide a method for operating such a brake system, which ensures high brake availability of the brake system.
  • the invention is based on the idea to provide each brake circuit a cylinder-separating piston arrangement, at least one wheel brake is connected to the output pressure chamber, wherein at least one electrically controllable pressure control valve between output pressure chamber and associated wheel brake or associated wheel brakes is arranged for setting wheel-individual brake pressures per wheel.
  • the brake system according to the invention is in a "brake-by-wire" mode both by the driver and independently of the driver controllable, is preferably operated in the "brake-by-wire” mode and can be operated in at least one fallback mode, in the only the operation by the driver is possible.
  • the first cylinder-piston arrangement and the cylinder-separating piston arrangements are arranged substantially parallel.
  • One advantage of the inventive brake system is the simp ⁇ che structure of the individual components in a compact size. This is achieved by the arrangement of the radindividu ⁇ economic pressure control valves on the outlet pressure chamber side of the cylinder separation piston arrangements, ie between the cylinder separation piston arrangement and wheel brake. Thus, a wheel-individual pressure control can be achieved without a cylinder-separating piston arrangement per wheel brake must be present.
  • Another advantage of the brake system according to the invention is the possibility of compact design with high system availability.
  • each cylinder separation piston arrangement at the first separating piston surface with a signal generated by the pressure READY ⁇ averaging means pressure or with a er Weg ⁇ th through the bremspedalbetätigbare first cylinder-piston arrangement can be pressurized to a hydraulic actuation of the cylinder separation piston arrangements by to allow the pressure delivery device (power-operated) or by the driver (hydraulic fallback level).
  • the braking system comprises a pressure ⁇ under atmospheres pressure fluid supply reservoir, which is connected via a separable hydraulic connection with the pressure chamber of the ers ⁇ th cylinder-piston arrangement.
  • the first cylinder-piston arrangement and the cylinder-isolating piston arrangements are substantially parallel to one another.
  • the running, adjacent cylinder bores in a Ge ⁇ housing, in which the actuating piston and the separating piston are displaceably guided executed. This allows a compact design with simple and therefore cost-effective production.
  • the pressure supply device is formed by a second piston-cylinder arrangement whose plunger is operable by an electro-mechanical drive device to ⁇ .
  • the second cylinder-piston arrangement can be arranged parallel to the first cylinder-piston arrangement and parallel to the cylinder-separating piston arrangements.
  • a transmission member is preferably arranged, which can be brought to actuate at least one of the separating piston of the cylinder-separating piston arrangements in a force-transmitting connection with the separating piston.
  • the transfer member and the separating piston in the unactuated state of the brake system are preferably such ⁇ ordered that the force-transmitting connection between the transmission member and the separating piston or only comes about when a predetermined operation of the brake pedal is exceeded ⁇ .
  • a contact bar at each separating piston is allocates ⁇ which is spaced in an unactuated state of the braking system of the transmission member by a predetermined distance. After overcoming the distance, the transmission member comes into contact with the arranged on the separating piston ⁇ contact rods and thus actuates the cylinder-piston arrangements mechanically.
  • a Kon ⁇ clock bar is arranged on each separating piston brake pedal side, which is led out of the housing sealed.
  • the force-transmitting connection between the transfer member and the contact rods thus takes place au ⁇ ßer distress the housing.
  • the brake pedal-side seal comprises at least two sealing elements in the region of the contact rod, wherein a hydraulic intermediate space is arranged between the sealing elements, which is separably connected to a pressure medium reservoir.
  • a hydraulic intermediate space is arranged between the sealing elements, which is separably connected to a pressure medium reservoir.
  • an electrically controllable, preferably normally open, diagnostic valve is arranged in the hydraulic.
  • a single electrically controllable, preferably normally closed, Zuschalt ⁇ valve is arranged in the hydraulic connection between the inlet pressure chambers of the cylinder-separating piston assemblies and the pressure supply device.
  • a single electrically controllable, preferably normally open, separating valve is arranged in the hydraulic connection between the inlet pressure chambers of the cylinder-Trennkolben- arrangements and the first hydraulic pressure chamber.
  • a single electrically controllable, preferably normally open, separating valve is arranged in the hydraulic connection between the inlet pressure chambers of the cylinder-Trennkolben- arrangements and the first hydraulic pressure chamber.
  • a single electrically controllable, preferably normally open, separating valve is arranged in the hydraulic connection between the inlet pressure chambers of the cylinder-Trennkolben- arrangements and the first hydraulic pressure chamber.
  • a single electrically controllable, preferably normally open, separating valve is arranged in the hydraulic connection between the inlet pressure chambers of the cylinder-Trennkolben- arrangements and
  • the first hydraulic pressure chamber is preferably connected via a hyd ⁇ raulische conjunction with a simulation device, which the vehicle driver in the "brake-by-wire" - mediated mode, a comfortable pedal feel is particularly preferred the simulation device on and executed switched off, advantageously by means of a. electrically steu ⁇ trollable simulator release valve.
  • the simulation device comprises a means or is connected to a means which allows a controlled change in a flow rate through the simulation device. So the pedal feeling can be varied.
  • the brake system comprises a high-pressure accumulator, which is connected via a preferably electrically closed, electrically controllable valve with the pressure supply means separable hydraulically, so that the high-pressure accumulator can be loaded by the pressure supply device.
  • the brake pressure build-up dynamics of the pressure supply device can be increased.
  • each wheel brake a normally open pressure control valve with exactly one of the cylinder-piston assemblies from floating ⁇ gear pressure chambers hy- rationally connected.
  • each wheel brake is connected via a normally open, analog controllable pressure control ⁇ valve with a parallel check valve connected to one of the output pressure chambers of the cylinder-Trennkolben- arrangements.
  • the wheel-individual pressure control valves are arranged in egg ⁇ ner separately executed pressure modulation arrangement, which further electrically controllable valves, at least one low-pressure accumulator, a pump and an electronic control unit comprises.
  • the control and regulation unit of the pressure modulation arrangement is connected via a control line to a control and regulation unit, which serves to control the pressure supply device.
  • the wheel-individualized pressure regulating valves are arranged in the housing of the first cylinder-piston arrangement and the cylinder-separating piston arrangements.
  • each wheel brake is for the purpose of rapid
  • the output pressure chamber one, advantageously each, cylinder-separating piston assembly is connected in accordance with an embodiment of the invention via a hydraulic connection with a check valve with the pressure medium reservoir.
  • brake fluid can be pumped via the check valves into the intake pressure chambers of the cylinder-piston arrangements are nachgesaugt.
  • the pressure supply device is additionally connected directly hydraulically via a hydraulic connection with each of the brake circuits, wherein the hyd ⁇ raulische compound, preferably, is made separable by an electrically controllable normally closed valve per brake circuit.
  • the hyd ⁇ raulische compound preferably, is made separable by an electrically controllable normally closed valve per brake circuit.
  • a sealing device with at least two juxtaposed sealing elements is provided on the separating piston and / or on the contact rod of one, advantageously each cylinder-separating piston arrangement, the two sealing elements delimiting a hydraulic intermediate space, which is separable with a pressure medium reservoir connected is.
  • the gap is connected via an electrically controllable, advantageously currentless open, diagnostic ⁇ valve with the pressure medium reservoir.
  • a sealing device is provided on the contact rod, which seals the inlet pressure chamber with respect to the atmosphere (housing exterior). Zusharm ⁇ Lich is advantageously provided at the separation piston, such sealing means which seals the inlet pressure space in the direction of the discharge pressure space.
  • the diagnostic valve In the event of detection of a leakage of an input pressure chamber side sealing element, the diagnostic valve is closed to prevent flow of pressure medium into the pressure medium reservoir and thus to enable a hydraulic actuation of the separating ⁇ piston.
  • a joint or to use a single diagnostic valve advantageously all interstices of the ne ⁇ next to one another arranged sealing elements via a common connection line (with the diagnostic valve) are connected to the pressure fluid reservoir.
  • the pressure chamber of the first cylinder-piston assembly in an unactuated state ie, the actuating piston is connected to its brake pump-side stop
  • the pressure chamber is preferably hydraulically connected to the interspaces of the sealing elements arranged side by side.
  • the brake system additionally comprises a further Zy ⁇ linder-piston arrangement, which pressure space to the input pressure space at least one, advantageously all, Zylin ⁇ the separating piston arrangements is connected and the piston of which is mechanically operable by the transmission member.
  • the pressure chamber of the first cylinder-piston arrangement is connected via a hydraulic connection to a simulation device which gives the driver a pleasant pedal feel in a "brake-by-wire" mode electrically controllable simulator-free arranged gabeventils, which is used for switching on and off of the simulation device.
  • the hydraulic connection between the first pressure chamber and the simulation device is preferably connected via a further connecting line, in which a further electrically controllable valve is arranged ⁇ separable connected to a pressure medium reservoir.
  • the diagnostic valve is preferably used to implement the Springer function, which connects the first pressure chamber and / or the interstices with the pressure medium reservoir. Accordingly, the further connecting line in which a closing direction in the simulation device non-return valve is advantageously arranged in the Verbin ⁇ extension line between the valve and the diagnosis exphoff ⁇ men the cylinder separation piston arrangements opens.
  • a return spring for biasing the actuating piston or the separating piston against the brake actuation direction is arranged.
  • the invention also relates to a method for operating a brake system according to the invention.
  • a mechanical fallback level for actuating the other brake circuit available.
  • the mechanical actuation of the uses Bremspe ⁇ dals until About ⁇ exceeding a predetermined actuation path.
  • the first pressure chamber by closing a single arranged between the first cylinder-piston assembly and input pressure chambers of the cylinder-separating piston arrangements electrically controllable isolation valve of the cylinder-separating piston arrangements separated.
  • a pressure build-up in the gap is carried out according to a development of the method.
  • the pressure build-up is generated by the pressure supply device in the intermediate space, wherein the pressure over the first pressure chamber and the is generated by a diagnostic valve separate connection of the intermediate space to the pressure medium reservoir.
  • the diagnosis valve is closed in order to prevent further loss of pressure medium and to maintain an enhanced brake function or at least one hydraulically actuated fallback level.
  • Springer function is preferably connected to an operation of the brake pedal, a hydraulic connection between the first cylinder-piston assembly and a simulation device initially with a Druckstoffvorratsbe ⁇ container and then separated again when the actuation of the brake pedal a predetermined limit over ⁇ moves.
  • the number of valves installed to low hal ⁇ ten, more preferably the above-described Di ⁇ agnoseventil is used for the separation or connection to the pressure medium reservoir.
  • 1 shows a first embodiment of a erfindungsge ⁇ MAESSEN brake system
  • 2 shows a second embodiment of a brake system according to the invention
  • FIG. 3 shows a third embodiment of a erfindungsge ⁇ MAESSEN brake system
  • FIG. 5 shows a fifth embodiment of a erfindungsge ⁇ MAESSEN brake system
  • FIG. 6 shows a sixth embodiment of a fiction, ⁇ brake system
  • FIG. 7 shows a seventh embodiment of a erfindungsge ⁇ MAESSEN brake system
  • FIG. 10 shows a ninth embodiment of a erfindungsge ⁇ MAESSEN brake system
  • Fig. 11 shows a tenth embodiment of a erfindungsge ⁇ MAESSEN brake system.
  • a first embodiment of an inventive brake system ⁇ is shown schematically. Includes the braking ⁇ a plant by means of an actuating or Bremspe- dals operable hydraulic cylinder-piston assembly 2, the actuating piston 3 limits a hydraulic pressure chamber 6 and which can be regarded as a master cylinder, an electrically controllable pressure supply device 4 and two substantially parallel Zylin ⁇ der-separating piston arrangements 7a, 7b.
  • the separating piston 53a, 53b of each cylinder-separating piston arrangement 7a, 7b defines with one surface an inlet pressure chamber 51a, 51b and with another surface an outlet pressure chamber 52a, 52b.
  • the output pressure chambers 52a, 52b take, for example according to unspecified ⁇ recorded return springs that bias the separating piston 53a, 53b against the brake actuation direction.
  • a brake circuit I, II is connected with eg two wheel brakes 5, wherein an electrically controllable pressure modulation device 25 between output pressure chambers 52a, 52b and wheel brakes 5 is provided for setting readindividueller brake pressures.
  • Pressure modulation ⁇ means 25 each wheel brake 5 comprises at least one elekt ⁇ driven controllable pressure regulating valve (for example, an intake valve 27 according to the in Fig. Embodiment 2 shown or one intake and one exhaust valve 27, 30 according to the illustrated in Fig. 3 embodiment).
  • the input pressure chambers 51a, 51b of the cylinder Trennkolben- arrangements 7a, 7b MITEI ⁇ Nander are connected via a hydraulic connection ⁇ line 20 (for example, without an intermediate valve), the pressure in the input pressure chambers 51a, 51b by means of a preferably redundant design pressure sensor 15 is detected.
  • the pressure in one or both output pressure chambers 52a, 52b can be detected by a pressure sensor arranged in one of the brake circuits I, II or by a pressure sensor arranged in each brake circuit I, II.
  • the input pressure chambers 51a, 51b can be shut off with the first cylinder-piston Arrangement 2 connected.
  • the inlet pressure chambers 51a, 51b are shut-off connected to the pressure supply device 4.
  • each of the pressure medium circuits of the two brake circuits I, II of the pressure medium circuit of the other brake circuit and the Druckmit ⁇ circuit from the first cylinder-piston assembly 2 and pressure supply device 4 is hydraulically separated.
  • the cylinder-separating piston arrangements 7a, 7b are advantageously dimensioned such that the volume of pressure medium displaceable from the outlet pressure chambers 52a, 52b covers the volume requirement of the wheel brakes 5 under all conditions (including fading).
  • the brake system comprises a simulation device (pedal feel simulator) 17 acting together with the cylinder-piston arrangement 2, an unpressurized pressure medium reservoir, not shown, and an electronic control unit, not shown, which process the sensor signals and control the electrically controllable Components serves.
  • Cylinder-piston arrangement 2 is formed as a cylindrical bore in a schematically indicated housing 8, where ⁇ is mounted displaceably in the housing 8 in the actuating piston 3 and limited to the housing 8 the pressure chamber 6.
  • the brake system comprises a preferably redundant from ⁇ guided pressure sensor 14 for detecting the driver's braking request. Pressure sensor 14 can also be used to monitor the brake system, for example on leaks.
  • Pressure chamber 6 of the cylinder-piston assembly 2 is in
  • Pressure chamber 6 is with actuated actuating piston 3 with respect to the hydraulic Raulischen connection 42 sealed by a first sealing element, which is adapted to seal against a pressure gradient from the pressure chamber 6 to the hydraulic connection 42.
  • a second sealing element seals the hydraulic connection 42 with respect to the actuating member 1.
  • the cylinder-separating piston arrangements 7a, 7b are formed, for example as cylindrical bores in the housing 8 from ⁇ .
  • the Zy ⁇ linder floating piston assemblies 7a, 7b to each other and to the cylinder-piston assembly 2 are arranged axially parallel.
  • the cylinder floating piston assemblies 7a, 7b are arranged according to the first embodiment on different, preferably ge ⁇ opposite, sides of the cylinder-piston assembly 2, but they can also be arranged on the same side of the cylinder-piston assembly 2.
  • the cylinder floating piston assemblies 7a, 7b are arranged symmetrically with respect to the cylinder-piston assembly 2 to avoid transverse forces on the actuator 1 in the event of mechanical actuation of the separating pistons 53a, 53b, as will be explained in more detail below.
  • the electrically controllable pressure supply device 4 is advantageously designed as a hydraulic cylinder-piston arrangement, the pressure piston 56 is actuated by a schematically indicated electric motor 55 with the interposition of a rotation-translation gear, not shown.
  • the electric motor 55 and the rotational translational gear form an electromechanical drive ⁇ device , for example, serving to detect the rotor position of the electric motor 55, only schematically drawn rotor position sensor 16 is provided.
  • another, preferably redundantly executed, sensor which ei ⁇ ne position or position of the pressure supply device - I i
  • the separating pistons 53a, 53b of the cylinder-separating piston arrangements 7a, 7b can also be actuated via a mechanical operative connection.
  • a Kochtra ⁇ supply member 10 is arranged to actuator 1, for example in the form of a transmission disc ⁇ or a transfer arm.
  • Transmission member 10 can be brought into a force-transmitting connection with at least one of the separating pistons 53a, 53b. According to the example must be terminated at each ⁇ the floating piston 53a, 53b, a contact rod 110a, 110b arranged ⁇ , which is sealed led out of the housing. 8
  • the brake pedal-side ends of the contact rods 110a, 110b are spaced from the transmission member 10 by a distance d.
  • the previously mentioned simulation device 17 is designed hydraulically and essentially comprises a simulator chamber, a
  • Simulator spring chamber with a simulator spring and the two chambers separating simulator piston.
  • the simulator chamber is connected via the hydraulic kauslei ⁇ device 18 to the pressure chamber 6 of the cylinder-piston assembly 2, while the Simulatorfederhunt is connected with the interposition of an electrically actuated, preferably normally closed, Simulatorkegabeventils 21 with the above pressure fluid reservoir.
  • a simulator release valve 21 connected in parallel return ⁇ check valve is connected to the Simulatorfederhunt and allows independent of the switching state of the
  • Simulatorauticianils 21 an inflow of the pressure medium in the Simulatorfederhunt.
  • Simulation device 17 is, for example, by means of the simulator release valve 21, switched off and switched on and gives the driver in a "brake-by-wire" - the usual way brake pedal feeling.
  • simulation device 17 comprises in its inlet or in its outlet a means for changing a flow cross-section.
  • the hydraulic damping properties of the simulation device 17 are varied.
  • the pressure supply device 4 or the entire module 26 is controlled by means of an electronic control and regulation unit ECU.
  • the pressure modulation device 25 is designed as a separate module and ent ⁇ speaks a pressure modulation device, which is known from known conventional electronic brake systems with anti-lock braking system (ABS) and electronic stability program (ESC).
  • ABS anti-lock braking system
  • ESC electronic stability program
  • the wheel brakes 5 of the brake system are connected via the pressure modulation arrangement 25 to the cylinder-separating piston arrangements 7a, 7b or the module 26.
  • Pressure modulation arrangement 25 includes, for example, an electrically controllable inlet and outlet valve per wheel brake, one or more low pressure accumulator and a return pump.
  • the pressure modulation assembly 25 for their driving an own control unit ECU1, the control and regulating unit ECU1 connected via a STEU ⁇ trol cable with the control unit ECU of the Druckbe ⁇ riding provision means 4 or the module 26th
  • a second sealing member 72 seals the hydrauli cal ⁇ connection 43 from opposite the entrance to the pressure space 51a, wherein the sealing member 72 is adapted to seal against a printing equipmen ⁇ falls from the input pressure chamber 51a for the hydraulic connection 43rd
  • the seal of the input pressure chamber 51 a to the outside is made double, ie with two sealing elements 61 and 62, wherein the gap between the two sealing elements 61, 62 to the hydraulic Connection 23 is connected and is thus connected via the diagnostic valve 24 separable with the pressure medium reservoir.
  • the outwardly sealing sealing element 62 seals only against a small pressure difference.
  • the friction of the seal elements 61, 62 is substantially determined by the pressure-loaded sealing member 61 generates, so as to form no adverse Reibkrafterhöhung by the double From ⁇ guide the seal.
  • Monitoring of the seal will be as below will be carried out, thereby possible that the gap of the sealing elements 61, 62 are connected via the diagnostic valve 24 to the pressure medium reservoir.
  • the Trennven valve 19 is closed and the simulation device 17 is switched on (eg by opening the Simulatorfreigabeventils 21) cylinder at a brake pedal operation by the driver
  • the pressure supply device 4 is thus actuated as a function of the brake pedal actuation when the connection valve 22 is opened, and the cylinder separating piston arrangements 7a, 7b are thus on the separating piston surfaces
  • the inlet pressure chambers 51a, 51b are acted upon by the pressure generated by the pressure supply device 4 and the pressure exerted by the Trennkolbenflä ⁇ chen the output pressure chambers 52a, 52b pressure is passed to the brake circuits I, II, resulting in a brake pressure buildup in the wheel brakes 5.
  • the wheel brakes 5 can be operated by the pressure-providing device 4 by means of the cylinder-separating piston assemblies 7 8.
  • a second mode of operation of the brake system which is characterized by egg ne disturbance of the electronics or the power supply of the pressure supply device 4 and a fallback level (fallback mode) corresponds to, or will remain the isolation valve 19 is opened and the
  • Simulator release valve 21 and the Zuschaltventil 22 ge ⁇ closed, so that the input pressure chambers 51 a, 51 b of Zylin the separating piston assemblies 7a, 7b are hydraulically actuated by the driver-actuated cylinder-piston assembly 2 (hydraulic fallback level).
  • valve 22 By connecting valve 22 is prevented, for example, that brake fluid from the pressure chamber 6 of the Zy ⁇ linder piston assembly 2 can get into the pressure chamber 11 of the hydraulic pressure supply device 4.
  • the floating piston 53a, 53b of the cylinder separation piston arrangements 7a, 7b via the mechanical operative connection between the arranged on the actuator 1 transmission member 10 and the (to the separating piston 53a, 53b are operated at ⁇ parent contact rod 110a, 110b mechanical ⁇ cal Fallback level), eg in the event of a brake circuit failure.
  • a second embodiment of an inventive brake system ⁇ is shown schematically.
  • the second embodiment corresponds with respect to the cylinder-piston assembly 2, the pressure supply device 4, the cylinder-separating piston assemblies 7a, 7b and the simulation device 17 and their hydraulic connections and the valves 19, 21, 22, 24 substantially the first embodiment of Fig. 1.
  • the brake system according to the second embodiment comprises a in the housing 8 or module 26 inte ⁇ grated pressure modulation assembly 25 ⁇ , which per wheel 5 includes a preferably normally open valve 27, which in each case hydraulic connection 28 is arranged to the wheel brake 5.
  • a brake pressure modulation is carried out in the "brake-by-wire" mode, preferably by means of the valves 27 and the rapidly reversing drive means 55 of the pressure supply device 4 (indicated by arrow 44) in the so-called multiplex method.
  • Another difference to the first embodiment be ⁇ stands in the seal of the cylinder-separating piston arrangements 7a, 7b.
  • the seals of the inlet pressure chambers 51a, 51b are in Rich ⁇ tion of the hydraulic connection 43 out twice, so with two Sealing elements 71 and 72, wherein the gap between the sealing elements 71, 72 with the hydraulic connection 23 and thus via the diagnostic valve 24 is connected to the pressure medium reservoir, whereby a seal monitoring, as will be explained below, is possible.
  • the third exemplary embodiment illustrated in FIG. 3 corresponds to the cylinder-piston arrangement 2, the pressure supply device 4, the cylinder-separating piston arrangements 7 a, 7 b and the simulation device 17 as well as their hydraulic connections and the valves 19, 21, 22,
  • the brake system according to the third embodiment comprises a pressure modulation arrangement integrated in the housing 8 or module 26, which per wheel brake 5 is a preferably normally open valve 27 and a preferably normally closed outlet valve 30 comprises, which is arranged in each case in a hydraulic connection 31 between the wheel brake 5 and the pressure medium reservoir of the brake system.
  • Each exhaust valve 30 may be used, for example, for a rapid reduction of brake pressure in the associated wheel brake 5 by 30 pressure medium can be discharged into the pressure medium reservoir by opening the exhaust valve.
  • there is another option available which allows an optimization of Bremstikmodula ⁇ tion, for example in the event of simultaneous demand egg Nes pressure reduction at a wheel brake 5 and a pressure build-up at another wheel brake fifth
  • the brake system comprises according to the third exporting ⁇ approximately for each brake circuit I, II a hydraulic Verbin ⁇ dung which the cylinder separation piston assembly-side check circuit 27 connects the valves via a non-return valve 32 to the pressure fluid reservoir.
  • FIG. 4 a fourth embodiment of an OF INVENTION ⁇ to the invention brake system is shown schematically, which be ⁇ réelle the cylinder-piston assembly 2, the pressure supply device 4, the cylinder separation piston arrangements 7a, 7b, and the simulation device 17 and the hydraulic connections and the valves 19, 21, 22, 24 substantially corresponds to the second embodiment of FIG. 2.
  • the brake system comprises per wheel brake 5 a normally open, analog controllable valve 27 'with parallel check valve 33 in the hydraulic connection to the wheel brake 5 and a normally closed outlet valve 30, via which the respective wheel brake 5 with the Druckmit ⁇ telvorrats constituteer the brake system is connectable and its advantages have already been explained in connection with the third embodiment.
  • FIGS. 1 In contrast to the execution ⁇ embodiments of FIGS.
  • each of the brake circuits I, II additionally ei ⁇ ne hydraulic connection with a preferably normally closed valve 34 to the pressure chamber 11 of the Druckbe- equipping device 4 separable connected.
  • a pressure equalization takes place on the piston of the cylinder-separating piston arrangements 7a, 7b, which due to the inequality of the piston surfaces (due to the contact ⁇ rods 110a, 110b) is a provision of the piston, resulting in the exhaustion of the assembly Draining the Bremstik- means by the valves 30 counteracts the rule.
  • the fifth amongsbei ⁇ game shown schematically in FIG. 5 game essentially corresponds to the second,sbei ⁇ game, the seal 72 of the cylinder-Trennkolben- arrangements 7 a, 7 b, however, is simple.
  • the brake system comprises a hydraulic accumulator 36, in particular a high-pressure accumulator, which is connected via a hydraulic connection with a preferably normally closed valve 35 to the pressure chamber 11 of the pressure supply device 4 separable. Hydraulic accumulator 36 can be charged by means of the pressure supply device 4 with pressure medium. The pressure fluid volume stored in hydraulic accumulator 36 can then be used to increase the brake pressure build-up dynamics of pressure supply device 4.
  • a hydraulic accumulator 36 may also be combined with one of the other embodiments.
  • FIG. 6 a sixth embodiment of an OF INVENTION ⁇ to the invention brake system is shown schematically, which be ⁇ ANC the cylinder-piston assembly 2, the pressure supply device 4, the cylinder separation piston arrangements 7a, 7b, and the simulation device 17 and the hydraulic connections, the valves 19, 21, 22, 24 and the
  • Pressure control valves 27, 30 substantially corresponds to the third embodiment of FIG. 3.
  • the brake system comprises a further cylinder-piston arrangement 37, the pressure space 45 of which is connected via a check valve 41 with the connection. tion line to the input pressure chambers 51a, 51b of the cylinder-separating piston assemblies 7a, 7b is connected.
  • pressure chamber 45 is connected via a preferably closed valve 40 with a pressure- limiting valve 39 connected in parallel with the pressure medium reservoir.
  • Piston 38 of the cylinder-piston assembly 37 protrudes from the housing 8 and is mechanically actuated by means of arranged on the actuator 1 transmission member 10. It is conceivable that the piston 38 and transmission member 10 are arranged such that the actuation of the piston 38 takes place only after a pre ⁇ given brake pedal actuation travel (not shown in Fig. 6).
  • Cylinder-piston arrangement 37 fulfills in the fallback level a Rudgenfunktion, as via check valve 41 a
  • the further cylinder-piston arrangement 37 can also be used in combination with one of the other exemplary embodiments.
  • a seventh embodiment of an OF INVENTION ⁇ to the invention brake system is shown schematically, which be ⁇ réelle the cylinder-piston assembly 2, the pressure supply device 4, the cylinder separation piston arrangements 7a, 7b, and the simulation device 17 and the hydraulic connections, the valves 19, 21, 22 and the pressure control valves 27 corresponds to the fifth embodiment.
  • the diagnostic valve 24 ⁇ is performed analogously controllable example.
  • the connection 43 of the cylinder-Trennkolben- arrangement 7a is connected here via the Simulatorfreigabeventil 21 with the pressure fluid reservoir, wherein in the connecting line between connection 43 and the Simulatorfederhunt the simulation device 17 in the direction of Simulatorfederhunt closing check valve 73 is arranged ⁇ .
  • Another object of the invention is therefore to provide a brake system and a method for its operation ⁇ ready, with which is possible to diagnose a leak or faulty seal member. Furthermore, it is advantageous if, in the case of a diagnosed error, ne reinforced braking function or at least a hydraulically actuated fallback level is possible.
  • the example of the second embodiment (see FIG. 2) will be explained in more detail below a review of a brake system according to the invention.
  • the various checking steps are advantageously before commissioning ⁇ sioning of the braking system or at a pre-check routine the brake system, for example, carried out after starting the ignition.
  • the valves 27 are first closed, the Zuschaltventil 22 of Druckbe ⁇ provisioning device 4 is opened and the isolation valve 19 of the cylinder-piston assembly 2 closed.
  • the piston 56 of the pressure supply device 4 is moved in the brake actuation direction (to the left in FIG. 2). Pressurization of the inlet pressure spaces 51a, 51b of the cylinder-separating piston arrangements 7a, 7b by the pressure supply device 4 occurs.
  • the pressure-loaded sealing elements 61, 71 are checked by observing the pressure at the pressure sensor 15.
  • FIG. 8 an eighth embodiment of an OF INVENTION ⁇ to the invention brake system is shown schematically, which be ⁇ acupunctur the cylinder-piston assembly 2, the pressure supply device 4 and the cylinder separation piston arrangements 7a, 7b and their hydraulic connections, the valves 19, 22, 24 and the pressure control valves 27 substantially corresponds to the second embodiment of FIG. 2.
  • the lower ⁇ difference to the second embodiment the pressure supply device 4 and the cylinder separation piston arrangements 7a, 7b and their hydraulic connections, the valves 19, 22, 24 and the pressure control valves 27 substantially corresponds to the second embodiment of FIG. 2.
  • Simulatorkagabeventil 21 with the parallel check valve in the hydraulic connection line 18 between cylinder-piston assembly 2 and simulation device 17, ie between the pressure chamber 6 and the simulator chamber, arranged and the Simulatorfederhunt is connected without an intermediate valve with the pressure fluid reservoir.
  • FIG. 8 is a state of the braking system in the "brake-by-wire" mode is shown with brake pedal. Ent are ⁇ speaking open the pressure control valves 27 and the Zuschalt ⁇ valve 22 and the simulator release valve 21, whereas ⁇ against the separation valve 19
  • the brake system is shortly before failure of one of the pressure-loaded seals 61, 71. If further pressure is built up by the pressure supply device 4, so that one of the pressure-loaded seals 61, 71 fails, then pressure medium can be supplied via line flow in the pressure medium storage container 23. If the leakage detected on the basis of a detected with pressure sensor 15 pressure drop or not, as expected, the entering pressure build-up, so the diagnostic valve 24 is closed, as is Darge ⁇ represents in Fig. 9. this is an outflow of pressure medium via line 23 prevented in the pressure fluid reservoir and the hydrau Liche fallback remains.
  • a ninth embodiment of a brake system according OF INVENTION ⁇ dung is schematically shown, which substantially corresponds to the eighth embodiment.
  • a quad ring 55 on the cylinder-piston assembly 2 as a seal between the port 42 and the pressure chamber 6 and the preservation of the gain after detection of leakage (closing of the diagnostic valve 24) is possible ⁇ lich.
  • a tenth embodiment of a brake system according OF INVENTION ⁇ dung is schematically shown, which loading the cylinder-piston arrangement 2, the pressure supply device 4, the cylinder-separating piston arrangements 7a, 7b and the simulation device 17 and their hydraulic connections, the valves 19, 21, 22, 24 and the
  • Pressure control valves 27 substantially corresponds to the eighth embodiment of FIG. 8.
  • no check valve is connected in parallel with the simulator release valve 21 arranged in line 18 between the pressure chamber 6 and the simulator chamber.
  • a hydraulic connecting line 58 having a valve 50 via the diagnostic valve 24 with the pressure fluid supply reservoir 18 (between the simulator release valve 21 and the simulation device 17).
  • the valve is designed as a closing in the direction of the Simulati ⁇ ons healthy 17 check valve 50 are ⁇ leads.
  • the diagnostic valve 24 can be used for path-dependent connection of the simulation device 17, and thus for the realization of a so-called Springer function. Another valve is not necessary for this ⁇ dig.
  • a corresponding connection line 58 with valve 50 may be combinatorial ⁇ defined with one of the other embodiments.
  • the simulator release valve 21 is opened during braking in the "brake-by-wire" mode (functional brake system) in a brake operation, so that pressure medium from the pressure chamber 6 via the line 58 and the diagnostic valve 24 can flow into the Druckstoffvorratsbenzol ⁇ ter. Diagnostic valve 24 is closed after passing a predetermined Pedalweggrenzivess so that then the simulation device 17 is switched on or
  • a braking system according to the invention is preferably used in motor vehicles ⁇ which are braked by means of generator operation of the electric drive motor (also regenerati ⁇ ves braking or regenerative braking referred to).
  • the Rei ⁇ bung brake (wheel brakes 5) are not necessary, or only supporting be actuated. Accordingly, a brake pedal operation by the driver is not intended to lead to a (significant) braking pressure increase in the wheel brake ⁇ 5 at a Rekupera ⁇ tion braking.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Regulating Braking Force (AREA)
  • Braking Systems And Boosters (AREA)

Abstract

L'invention concerne un système de freinage pour véhicules automobiles doté d'un premier ensemble cylindre-piston (2) dont le piston d'actionnement (3) délimite une première chambre de pression hydraulique (6). Le piston d'actionnement (3) est accouplé par un organe d'actionnement (1) transmettant des forces d'actionnement à une pédale de frein. Le système est également doté d'un dispositif de fourniture de pression (4) pouvant être commandé électriquement et d'au moins deux ensembles cylindre-piston séparateur (7a, 7b) sensiblement parallèles, dont les pistons séparateurs (53a, 53b) montés mobiles délimitent respectivement par une première surface de piston séparateur une chambre de pression d'entrée (51a, 51b) et par une seconde surface de piston séparateur une chambre de pression de sortie (52a, 52b). Chaque ensemble cylindre-piston séparateur peut être soumis (12) à l'action d'une pression produite sur la première surface de piston séparateur par le dispositif de fourniture de pression (4) et chaque ensemble cylindre-piston séparateur transmettant une pression exercée par la seconde surface de piston séparateur à un circuit de freinage (I, II) présentant au moins un frein sur roue (5). La première chambre de pression hydraulique (6) est reliée (9) de manière hydraulique avec verrouillage aux chambres de pression d'entrée (51a, 51b) des ensembles cylindre-piston séparateur. La chambre de pression de sortie (52a, 52b) de chaque ensemble cylindre-piston séparateur est reliée par au moins une soupape de régulation de pression (25, 25', 27, 27', 30) pouvant être commandée électriquement par frein de roue au frein de roue ou aux freins de roue (5) du circuit de freinage (I, II) associé. L'invention concerne également un procédé permettant de faire fonctionner ledit système de freinage.
PCT/EP2011/067994 2010-11-01 2011-10-14 Système de freinage pour véhicules automobiles et son procédé de fonctionnement WO2012062528A2 (fr)

Applications Claiming Priority (8)

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DE102010043197 2010-11-01
DE102010043197.4 2010-11-01
DE102010043217.2 2010-11-02
DE102010043217 2010-11-02
DE102010061872 2010-11-24
DE102010061872.1 2010-11-24
DE201110084391 DE102011084391A1 (de) 2010-11-01 2011-10-13 Bremsanlage für Kraftfahrzeuge und Verfahren zu deren Betrieb
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DE102011118365A1 (de) * 2011-11-14 2013-05-16 Ipgate Ag Elektronisch regelbares Bremsbestätigungssystem
CN104781113A (zh) * 2012-11-14 2015-07-15 罗伯特·博世有限公司 多模式制动系统
DE102015217708A1 (de) * 2015-09-16 2017-03-16 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge
DE102015219905A1 (de) * 2015-10-14 2017-04-20 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung einer Leckage eines hydraulischen Bremssystems eines Fahrzeugs
CN113573959A (zh) * 2019-02-12 2021-10-29 爱皮加特股份公司 失效安全制动系统

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US9409559B2 (en) * 2013-03-13 2016-08-09 Autoliv Asp, Inc. Vehicle braking system with electric brake booster
DE102019123343A1 (de) * 2019-08-30 2021-03-04 Ipgate Ag Bremsvorrichtung, insbesondere für elektrisch angetriebene Kraftfahrzeuge
DE102019123351A1 (de) * 2019-08-30 2021-03-04 Lsp Innovative Automotive Systems Gmbh Bremsvorrichtung, insbesondere für elektrisch angetriebene Kraftfahrzeuge
JP7404887B2 (ja) * 2020-01-24 2023-12-26 株式会社アドヴィックス 制動制御装置

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Publication number Priority date Publication date Assignee Title
DE102011118365A1 (de) * 2011-11-14 2013-05-16 Ipgate Ag Elektronisch regelbares Bremsbestätigungssystem
CN104781113A (zh) * 2012-11-14 2015-07-15 罗伯特·博世有限公司 多模式制动系统
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DE102015217708A1 (de) * 2015-09-16 2017-03-16 Continental Teves Ag & Co. Ohg Bremsanlage für Kraftfahrzeuge
DE102015219905A1 (de) * 2015-10-14 2017-04-20 Continental Teves Ag & Co. Ohg Verfahren zur Bestimmung einer Leckage eines hydraulischen Bremssystems eines Fahrzeugs
CN113573959A (zh) * 2019-02-12 2021-10-29 爱皮加特股份公司 失效安全制动系统
CN113573959B (zh) * 2019-02-12 2024-03-12 爱皮加特股份公司 失效安全制动系统

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