WO2019076548A1 - Integriertes hydraulikmodul einer elektrohydraulischen servobremse - Google Patents
Integriertes hydraulikmodul einer elektrohydraulischen servobremse Download PDFInfo
- Publication number
- WO2019076548A1 WO2019076548A1 PCT/EP2018/074680 EP2018074680W WO2019076548A1 WO 2019076548 A1 WO2019076548 A1 WO 2019076548A1 EP 2018074680 W EP2018074680 W EP 2018074680W WO 2019076548 A1 WO2019076548 A1 WO 2019076548A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- piston
- ring
- needles
- hydraulic module
- notches
- Prior art date
Links
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
- B60T13/74—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
- 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
- B60T13/746—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 and mechanical transmission of the braking action
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1414—Characterised by the construction of the motor unit of the straight-cylinder type with non-rotatable piston
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1471—Guiding means other than in the end cap
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/06—Details
- F15B7/08—Input units; Master units
-
- 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
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
- F16H25/2214—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls with elements for guiding the circulating balls
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05C—INDEXING SCHEME RELATING TO MATERIALS, MATERIAL PROPERTIES OR MATERIAL CHARACTERISTICS FOR MACHINES, ENGINES OR PUMPS OTHER THAN NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES
- F05C2201/00—Metals
- F05C2201/02—Light metals
- F05C2201/021—Aluminium
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05C—INDEXING SCHEME RELATING TO MATERIALS, MATERIAL PROPERTIES OR MATERIAL CHARACTERISTICS FOR MACHINES, ENGINES OR PUMPS OTHER THAN NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES
- F05C2201/00—Metals
- F05C2201/04—Heavy metals
- F05C2201/0433—Iron group; Ferrous alloys, e.g. steel
- F05C2201/0448—Steel
Definitions
- the subject of the present invention is an integrated hydraulic module of an electrohydraulic power brake, which comprises:
- a cylinder that receives a piston that defines a chamber that receives the brake fluid to supply the brake circuit in response to the brake commands
- the piston being connected to the motor of the module by a ball screw which controls the translational movement of the piston by its rotary motion
- the threaded sleeve of the ball screw is rotationally driven by the electric motor.
- Such an integrated hydraulic module of an electro-hydraulic servo brake is already known. It is formed from an anodized aluminum piston with an outer flange provided with notches to overlap with the straight needles fixed in the body of the cylinder.
- connection between the notches of the flange and the needles for rotational blocking is provided with a fine layer of grease to reduce the friction coefficient.
- the present invention has the object, an integrated
- the invention has a hydraulic module of an electro-hydraulic servo brake of the type defined above, characterized in that the piston is a piece which is formed of a cylindrical body made of anodized aluminum and an outer ring made of steel, which forcibly mounted on the edge of the piston and is provided with notches having a cross section corresponding to the useful cross section of the needles and in a corresponding position about the axis xx to cooperate with the needles and to translate the piston and to rotationally block it to form the core of the Rotationally blocking the ball screw by leaving it translationally free along the axis.
- This module has the advantage that it has a simple and reliable design for the guidance of the piston and its rotational blocking, without increasing the space requirement.
- the open edge of the piston comprises cutouts and the ring in the form of a circular ring has a grooved inner surface and an outer surface provided with as many notches as there are guide pins, the notches being in one Position about the axis corresponding to the needles, and in the radial direction the notches of the ring comprises radial tabs which face towards the inside, these tabs having a circumferential length which corresponds to the circumferential length of the cutouts of the piston, and their position corresponding to that of the cutouts, so that the tabs fit into each other by close fitting Set the cutouts and hook the grooves of the inner circumference of the ring in the peripheral surface of the edge of the piston.
- This assembly mode of the body of the piston and the collar is a form-fitting assembly that is stable and does not weaken the composite piston thus obtained.
- This assembly is simple and quick to carry out both for the shaping of the two components as well as for their union.
- the open edge of the piston comprises cutouts and the ring in the form of a circular ring has a grooved inner surface and an outer surface provided with as many notches as there are guide pins, the notches extending are in a position about the axis corresponding to the needles, and in the radial direction of the notches, the ring comprises radial tabs facing inside, these tabs having a circumferential length corresponding to the circumferential length of the cutouts of the piston, and their Position corresponds to that of the cutouts, so that by tight mounting the tabs settle in the cutouts and the grooves of the inner circumference of the ring hook into the peripheral surface of the edge of the piston.
- the cutouts of the open edge of the piston have a rectangular shape and the radial tabs have a rectangular cross section with a radial width which is equal to the radial width of the cutouts.
- the outer surface of the ring includes an auxiliary notch to allow the passage of air on both sides of the ring when the piston is in motion in the cylinder.
- This notch prevents air from becoming trapped around the piston at the front or rear of the ring and movement the piston brakes. Thus, it is avoided to disturb the function of the brake system.
- the cylinder has three guide needles distributed at equal angles. This tripartite symmetry forms the minimum and most balanced guide for this function.
- the needles have a cylindrical shape with a circular cross-section and the notches have a circular arc-shaped cross section corresponding to the cross section of the needles.
- the notches surround the needles about half the circumference of the needles.
- FIG. 1 is a cross-section of the hydraulic block equipped with its hydraulic module, itself cut axially, FIG.
- FIG. 2 is an axial section of only the hydraulic module
- FIG. 3 is an isometric view of the piston of the hydraulic module
- FIG. 4A is an isometric view of the body of the composite piston and notches, FIG.
- FIG. 4B is an isometric view of a ring to be mounted to the body of the piston of FIG. 3A by close fitting;
- FIG. 5A is an isometric view of the hydraulic module without planetary gear
- FIG. 5B is an isometric view of the hydraulic module with the planetary gear and its hood
- the invention as subject matter has a hydraulic module 1 for a hydraulic block 100, which is superimposed by a brake fluid reservoir 101, the Hydraulic block 100 powered.
- the control unit 102 of the module is mounted on the side of the hydraulic block 100.
- the hydraulic block 100 is crossed by the hydraulic module 1, which is externally fixed to one side of the block 1 covered by its electric motor 5 (its hood), which itself is separately fixed to this side of the hydraulic block 100.
- the hydraulic block 100 thus formed is fixed to the dash panel of the vehicle by a support plate 103 supported by the back of the hydraulic block 100 according to the installation orientation of the block in the vehicle.
- Lines pass through the hydraulic block 100 for the exchange of brake fluid between the reservoir 101 and the hydraulic block 100 and between the latter and the brake circuit in accordance with the control signals applied to the control unit 102 by the brake pedal and / or the brake control systems (ABS, EPS).
- ABS brake pedal and / or the brake control systems
- the hydraulic module 1 consists of a fixed cylinder 2, which limits a brake fluid chamber 4 for supplying the brake circuit by the piston 3 with a piston 3.
- the piston 3 is connected to the electric motor 5 of the servo brake, which receives the electrical signals from the control unit 102.
- the electric motor is connected to the piston 3 and a ball screw 6, which transforms the rotational movement of the motor 5 in a translational movement of the piston 3.
- the ball screw 6 consists on the one hand of a threaded core 61 which is rotatably and translationally connected according to the axis xx fixed to the piston 3, which is itself rotationally blocked, and on the other hand, a threaded sleeve 62 which surrounds the core 61 and the movement of the electric motor 5 through a planetary gear 51 receives.
- the threaded core 61 is embedded by a positive connection by its extension 612 in the thickness of the bottom 31 of the piston 3.
- the sleeve 62 communicates with the threaded core 61 via balls 63 engaged in a loop, so that the rotation of the sleeve 62, which is translationally fixed according to the axis xx, the translation of the threaded core 61 and the piston 3, which in turn are rotationally fixed generated.
- the planetary gear 51 consists of a central pinion 51 1, which is supported by the axis 52 of the motor 5 and with planetary gears 512 is engaged, whose axes are fixedly connected to the threaded sleeve 62, to drive them.
- the planetary gear 51 is covered with a hood 513, which is fastened to the housing 7 of the module 1, which is traversed by the axis 52 of the motor 5.
- the housing 7 is provided with a mounting collar 73 to be mounted on the side of the hydraulic block 1.
- the core 61 Since the axis 52 and its attachment to the central pinion 51 1 protrude from the surface of the planetary gear 51, the core 61 has in its opposite surface a cavity 61 1, which allows this projecting portion (without contact with this) free When the core 61 is in its most retracted position, which is shown in Fig. 1 and 2.
- the sleeve 62 is rotatably mounted in the fixed rim 71 of the housing 7 by a ball bearing 72.
- the piston 3, which slides in the hydraulic cylinder 2 is provided at the edge 34 of its jacket 32 with an outer ring 35, which cooperates with guide pins 21 (FIG. 2).
- These needles 21 are straight, parallel to the axis xx of the cylinder 2; they are each held at the end of an elongated cavity 22, which is parallel to the axis xx: in the body of the cylinder 2.
- Fig. 1 does not show the needle that would be cut. This needle 21 is shown only in Fig. 2.
- the ring 35 is notched 351 with circular arc
- FIG. 2 shows in section the ring 35 engaged with the needle 21 and showing the engagement of the cut shapes of the notch 351 of the shell 32 and the tab 353 of the ring 35. Since the cutting plane is axial, the other needles 21 and the notches 351 of the ring 35 do not appear.
- the jacket 32 of the piston 3 cooperates in a sealed manner with the seals 23 (sleeves) of the cylinder 2.
- These peripheral seals 23 lie on both sides of the openings of connecting lines between the cylinder 2 and the brake fluid reservoir 101. These openings are not shown in detail since their function is known.
- Fig. 3 is a side view of the piston 3, which is formed from the cylindrical body 32 (shell), the closed bottom 31, which faces the chamber 4 of the cylinder 2, connects with its peripheral surface by a peripheral zone 33, the is provided with recesses 321, which are intended to dampen the interruption of the fluid flow in the passage of the piston 3 at the peripheral openings of the cylinder, which communicate with the brake fluid reservoir in order to avoid the sudden effects of pressure surges.
- the open end 34 of the piston 3 is surrounded by the ring 35, which ensures the rotational blocking of the piston.
- the ring 35 has circumferential notches 351 equal in number to those of the needles 21 so as to overlap them and thus block the rotation of the piston 3 and the core 61 about the axis xx.
- the needles 21 are present, for example, in a number of three, which are distributed at equal angles about the axis xx.
- Figs. 4A and 4B show the body of the piston 3 and its ring 35, which are separated prior to their assembly.
- the open edge 34 of the piston 3 has rectangular cutouts 341 with a circumferential width LP.
- the ring 35 has a grooved circular inner surface 352 with protruding radial tabs 353 having a circumferential cross-section (circumferential width) equal to that LP of the notches 341 of the rim 34 of the piston and in coincident positions. These radial tabs 353 are therefore in distributed at equal angles.
- the smooth outer edge of the ring 35 has its notches 351 at the level of the tabs 353, so that this zone of the ring is not weakened by a reduction in thickness at the level of the notches 351.
- the ring 35 also has an auxiliary score 354 between two guide grooves.
- This auxiliary notch 354 serves both to orient this piece during assembly and to avoid the compression of air on either side of the ring 35 when the piston 3 shifts rapidly in the cylinder 2.
- the axial depth of the cutouts 341 is substantially equal to the thickness of the flaps 353 of the collar 35.
- the inner diameter of the ring 35 is slightly smaller than the outer diameter of the piston 3, so that the assembly of the ring 35 and the shell 32 of the piston takes place according to the axis forcibly.
- the teeth of the grooves 352 are engaged with the outer surface of the skirt 34 of the shell 32 and also compressively compress the three cutouts 341 so as to compress the tabs 353.
- the piston 3 is a piece of anodized aluminum and the ring is made of steel.
- the assembly of the piston 3 is mechanically resistant to the violent and optionally alternating forces exerted on the spindle and transmitted to the ring / needle interface.
- Figures 5A, 5B show the hydraulic module 1 partially assembled (Figure 5A) and fully assembled ( Figure 5B) to be mounted in the hydraulic block 100.
- the cylinder 2 is mounted to the housing 7 with a mounting collar 73 but without the gear 51 and its hood 513.
- the cylinder 2 appears around the threaded core 61, which shows the end of the needles 21 and the outer ring 35 with its notches 351 overlapping the needles 21 and the edge 34 of the skirt 32 of the piston.
- the sleeve 62 is not shown and only the end of the core 61 protruding appears.
- the mounting collar 73 includes holes 731 for the screws and the circumference has locking tabs 732 to cooperate with the hood 63 of the motor 5 when attached to the block 100 (FIG. 1).
- Fig. 5B shows the hydraulic module 1 assembled but without its electric motor 5.
- the sleeve 62 is in place in the extension 74 of the housing 7; the sleeve 62 and the balls of the spindle are in place as well as the gear 51 and the hood 513.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Braking Arrangements (AREA)
- Braking Systems And Boosters (AREA)
- Actuator (AREA)
- Details Of Reciprocating Pumps (AREA)
- Reciprocating Pumps (AREA)
- Transmission Devices (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020207013790A KR102543379B1 (ko) | 2017-10-18 | 2018-09-12 | 전기 유압식 서보 브레이크의 통합형 유압 모듈 |
JP2020520006A JP6928721B2 (ja) | 2017-10-18 | 2018-09-12 | 電気液圧式のサーボブレーキの一体型の液圧モジュール |
DE112018005606.6T DE112018005606A5 (de) | 2017-10-18 | 2018-09-12 | Integriertes hydraulikmodul einer elektrohydraulischen servobremse |
US16/652,530 US10919510B2 (en) | 2017-10-18 | 2018-09-12 | Integrated hydraulic module of an electrohydraulic servo brake |
CN201880068056.7A CN111201169B (zh) | 2017-10-18 | 2018-09-12 | 电动液压伺服制动器的集成液压模块 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1759769 | 2017-10-18 | ||
FR1759769A FR3072348B1 (fr) | 2017-10-18 | 2017-10-18 | Module hydraulique de servofrein electrohydraulique integre |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019076548A1 true WO2019076548A1 (de) | 2019-04-25 |
Family
ID=60450906
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2018/074680 WO2019076548A1 (de) | 2017-10-18 | 2018-09-12 | Integriertes hydraulikmodul einer elektrohydraulischen servobremse |
Country Status (7)
Country | Link |
---|---|
US (1) | US10919510B2 (de) |
JP (1) | JP6928721B2 (de) |
KR (1) | KR102543379B1 (de) |
CN (1) | CN111201169B (de) |
DE (1) | DE112018005606A5 (de) |
FR (1) | FR3072348B1 (de) |
WO (1) | WO2019076548A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020224846A1 (de) * | 2019-05-09 | 2020-11-12 | Robert Bosch Gmbh | Hydraulikaggregat für eine hydraulische fahrzeugbremsanlage |
CN113891822A (zh) * | 2019-06-07 | 2022-01-04 | 罗伯特·博世有限公司 | 用于液压的车辆制动装备的液压机组以及用于组装液压机组的方法 |
JP2022553232A (ja) * | 2019-10-16 | 2022-12-22 | ビーワイディー カンパニー リミテッド | ブレーキシステム用のピストンポンプアセンブリ及びその制御方法 |
US12024141B2 (en) | 2021-11-26 | 2024-07-02 | Robert Bosch Gmbh | Pump assembly, in particular for generating pressure in a brake circuit of a controllable power brake system of a motor vehicle |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017214593A1 (de) * | 2017-08-22 | 2019-02-28 | Robert Bosch Gmbh | Kolbenpumpenaggregat für eine hydraulische Fremdkraft-Fahrzeugbremsanlage |
CN113753008B (zh) * | 2021-09-16 | 2023-03-24 | 中汽创智科技有限公司 | 一种压力控制模块及电液伺服制动系统 |
FR3133812B1 (fr) * | 2022-03-22 | 2024-04-05 | Bosch Gmbh Robert | Module hydraulique générateur de pression pour un système de freinage |
KR102644872B1 (ko) | 2022-04-05 | 2024-03-07 | 현대모비스 주식회사 | 차량의 전자식 제동장치 |
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2017
- 2017-10-18 FR FR1759769A patent/FR3072348B1/fr active Active
-
2018
- 2018-09-12 DE DE112018005606.6T patent/DE112018005606A5/de active Pending
- 2018-09-12 CN CN201880068056.7A patent/CN111201169B/zh active Active
- 2018-09-12 US US16/652,530 patent/US10919510B2/en active Active
- 2018-09-12 WO PCT/EP2018/074680 patent/WO2019076548A1/de active Application Filing
- 2018-09-12 KR KR1020207013790A patent/KR102543379B1/ko active IP Right Grant
- 2018-09-12 JP JP2020520006A patent/JP6928721B2/ja active Active
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---|---|---|---|---|
WO2020224846A1 (de) * | 2019-05-09 | 2020-11-12 | Robert Bosch Gmbh | Hydraulikaggregat für eine hydraulische fahrzeugbremsanlage |
CN113891822A (zh) * | 2019-06-07 | 2022-01-04 | 罗伯特·博世有限公司 | 用于液压的车辆制动装备的液压机组以及用于组装液压机组的方法 |
CN113891822B (zh) * | 2019-06-07 | 2024-04-12 | 罗伯特·博世有限公司 | 用于液压的车辆制动装备的液压机组以及用于组装液压机组的方法 |
JP2022553232A (ja) * | 2019-10-16 | 2022-12-22 | ビーワイディー カンパニー リミテッド | ブレーキシステム用のピストンポンプアセンブリ及びその制御方法 |
JP7420929B2 (ja) | 2019-10-16 | 2024-01-23 | ビーワイディー カンパニー リミテッド | ブレーキシステム用のピストンポンプアセンブリ及びその制御方法 |
US12024141B2 (en) | 2021-11-26 | 2024-07-02 | Robert Bosch Gmbh | Pump assembly, in particular for generating pressure in a brake circuit of a controllable power brake system of a motor vehicle |
Also Published As
Publication number | Publication date |
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JP2020536784A (ja) | 2020-12-17 |
KR102543379B1 (ko) | 2023-06-14 |
KR20200066704A (ko) | 2020-06-10 |
FR3072348B1 (fr) | 2019-11-08 |
US10919510B2 (en) | 2021-02-16 |
FR3072348A1 (fr) | 2019-04-19 |
CN111201169A (zh) | 2020-05-26 |
US20200240443A1 (en) | 2020-07-30 |
DE112018005606A5 (de) | 2020-07-02 |
CN111201169B (zh) | 2022-04-15 |
JP6928721B2 (ja) | 2021-09-01 |
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