CN108313036A - A kind of electromagnet brake pedal apparatus and control method - Google Patents
A kind of electromagnet brake pedal apparatus and control method Download PDFInfo
- Publication number
- CN108313036A CN108313036A CN201810025666.0A CN201810025666A CN108313036A CN 108313036 A CN108313036 A CN 108313036A CN 201810025666 A CN201810025666 A CN 201810025666A CN 108313036 A CN108313036 A CN 108313036A
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- Prior art keywords
- pedal
- circuit
- force
- push rod
- brake pedal
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Classifications
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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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The present invention discloses a kind of novel brake pedal electromagnetic analogue and method,By using electromagnetic structure as electromagnetic induction device,Directly trample brake pedal,Elastic force is generated by the compression of spring,And the push rod being connected with pedal is pushed to move forward,After push rod is moved to given position,Push rod makes electromagnetic coil circuit be closed and be contacted with variable resistance,And as push rod moves the size of change variable resistance,Change solenoid current with this,Make to generate the variable electromagnetic field of magnetic field intensity between iron core and permanent magnet,Generate repulsive force,Pressure sensor acquires the resultant force of elastic force and repulsive force,Pass to the ECU of braking system,Required brake force is calculated according to the signal received by ECU again,Control executing agency is braked,The structure of brake pedal can either be simplified,It again can be accurate,Quickly simulate pedal feedback power.
Description
Technical field
The present invention relates to Development of HEV Technology fields, more particularly to a kind of electromagnet brake pedal apparatus and control
Method.
Background technology
Braking system on orthodox car is by providing a Brake feedback power by brake piping.With electronic
The development of automobile is eliminated brake piping this structure and is controlled entire braking system using electric signal as medium.
Therefore the device with pedal now on electric vehicle mainly simulates traditional pedal feedback power, this kind by pedal simulator
Device with pedal all includes hydraulic cylinder, oil pump, pressure regulator valve (solenoid valve), pressure sensor, electronic control unit (ECU) substantially in structure
Equal components, operation principle is to convert pedal travel to electric signal to pass to electronic control unit (ECU), passes through electronic control unit
(ECU) circulation area for adjusting pressure regulator valve (solenoid valve), to control the flow into hydraulic cylinder, therefore this pedal simulator
It is to provide pedal brake feedback force by the variation of hydraulic cylinder inner area, and it is more complicated in structure.
Current existing electronic pedal simulator is more complicated in structure, utilizes hydraulic device (hydraulic cylinder, hydraulic pressure
Pump, pressure regulator valve) pedal feedback power is provided, although can reach certain accuracy, structure is more complicated.In addition, peace
It is limited to fill the space of device with pedal, is taken up space using the pedal simulator of hydraulic device bigger.Also, existing electricity
Sub- pedal simulator is the displacement that pedal is measured using displacement sensor, this displacement signal is passed to ECU, then by
ECU calculates required pedal reaction force, and control hydraulic device is adjusted, when can reduce the feedback of brake force to a certain extent
Between, it can further influence the time of braking.
Invention content
For overcome the deficiencies in the prior art, the present invention is directed to hybrid vehicle brake pedal apparatus and control method,
It is proposed a kind of electromagnet brake pedal apparatus and control method, replaced with electromagnetic structure original hydraulic cylinder, oil pump and
Pressure regulator valve, it is simpler in structure, meet the requirement of automotive light weight technology.
The present invention electromagnet brake pedal apparatus the technical solution adopted is that：It is filled including brake pedal, electromagnetic induction
It sets, ECU modules, brake pedal includes pedal pad, pedal arm, supporting rack；Calutron includes push rod, permanent magnet, spring, iron
Core, controller, electromagnetic coil；ECU modules include pressure sensor, electronic control unit ECU, executing agency；
The pedal arm is equipped with hinge, and the hinge is connected with one end of attachment device, the other end of the attachment device
It is connect with permanent magnet one end, the permanent magnet other end is connected by spring with iron core one end, and the iron core other end connects with pressure sensor
It connects；The pressure sensor is linked in sequence with electronic control unit ECU, executing agency；
Push rod is housed, the end of push rod is close to controller in the attachment device；Controller includes variable resistance, always opens
Pass, malfunction indicator lamp, vehicle power supply, branch switch, relay KR coils.
Further, electromagnetic coil is sleeved on iron core.
Further, brake pedal is mounted on by double torsion spring on supporting rack.
Further, controller；Vehicle power supply in portion's circuit, master switch series connection, circuit A and circuit B be connected in parallel on vehicle power supply,
Master switch both ends, circuit A are connected by relay KR coils, electromagnetic coil, variable resistance, and circuit B is by branch switch, indicating fault
Lamp string joins.
The control method of above-mentioned electromagnet brake pedal apparatus is：Pedal pad is stepped on, pedal arm is driven to pass through double torsion bullets
Spring rotates, while permanent magnet and push rod move horizontally when pedal arm passes through hinge；The permanent magnet other end is connect by spring and iron core
Generation elastic force is touched and compresses, which is transmitted to by iron core on pressure sensor, and a based-pedal feedback force is provided,
Push rod is not contacted with controller；Increase pedal force, push rod continues to move horizontally to be contacted with controller, and master switch is closed, controller
Internal circuit is closed, and electromagnetic coil, which is powered, generates electromagnetic field, generates repulsive force with permanent magnet, pressure sensor acquires elasticity in real time
Power and the resultant force of repulsive force pass to electronic control unit ECU as pedal feedback power, and electronic control unit ECU controls executing agency is defeated
Go out brake force, completes braking.
Further, the controller internal circuit course of work is：
Circuit A is normal, increases pedal force, and push rod continues to move horizontally to be contacted with controller, and master switch is closed, circuit A productions
Raw electric current, variable resistance become smaller with the mobile access resistance value of push rod, and electric current increases in the A of circuit, and electric current increases in electromagnetic coil, production
Raw is magnetic field-enhanced, increases the repulsive force of electromagnetic coil and permanent magnet；Meanwhile relay KR coils generation magnetism makes branch switch
It disconnects, circuit B open circuits, malfunction indicator lamp does not work.
Further, controller internal circuit failure alarm procedure is：
Circuit A open circuits, circuit A no currents, relay KR coils are nonmagnetic, can not attract branch switch, circuit B accesses,
Circuit B has electric current, malfunction indicator lamp work that electromagnetic induction device is reminded to break down.
Further, electromagnetic induction device failure emergency braking process：
Circuit A is breaking, circuit A no currents, and no current in electromagnetic coil does not generate magnetism, can not generate row with permanent magnet
Repulsion, spring are kept in contact with iron core, and regarding pedal force as pedal feedback power by spring is transmitted to pressure sensor, and transmits
Electronic control unit ECU, electronic control unit ECU controls executing agency is given to export brake force, complete braking.
Beneficial effects of the present invention：
1, compared with existing pedal simulator, the electromagnet device with pedal that the present invention designs has given up liquid in structure
Pressure device (hydraulic cylinder, hydraulic pump, pressure regulator valve), makes it become simpler, can be that other structures vacate more installation skies
Between, meet the requirement of automotive light weight technology；
2, in control, electromagnetic braking pedal is the size that electric current is directly changed by the pedal force of driver, to carry
For different Brake feedback power, signal conversion is carried out to pedal travel without using ECU, therefore also avoid because braking force feedback
The problem that time is elongated and causes braking time elongated.Further, since the magnetic signature of electromagnet is that nonlinear feature is presented,
Pedal feedback power can be more accurately simulated by the change of electromagnet magnetic field force.
Description of the drawings
Fig. 1 to Fig. 2 is the electromagnetic braking pedal structure schematic diagram of the present invention；
Fig. 3 is the internal circuit diagram of controller in electromagnetic braking pedal of the present invention；
Fig. 4 is system structure diagram；
Fig. 5 is system flow chart；
In figure：1- pedal pads, 2- pedal arms, 3- hinges, 4- push rods, 5- permanent magnets, 6- springs, 7- electromagnetic coils, 8- controls
Device processed, 9- iron cores, 10- executing agencies, 11- pressure sensors, 12- electronic control unit ECU, 13- double torsion spring, 14- variable resistances,
15- master switch, 16- malfunction indicator lamp, 17- vehicle power supplies, 18- branch switch, 19- relay KR coils, 20- supporting racks, 21-
Attachment device.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.Such as Fig. 1,2, the present invention includes brake pedal, electromagnetic induction device, ECU moulds
Block, brake pedal include pedal pad 1, pedal arm 2, supporting rack 14；Calutron includes push rod 4, permanent magnet 5, spring 6, iron core
9, controller 8, electromagnetic coil 7；ECU modules include pressure sensor 11, electronic control unit ECU12, executing agency 10；
Attachment device 21 is connect by hinge 3 with pedal arm 2 in electromagnetic induction device, the other end of attachment device 21 with forever
5 one end of magnet connects, and 5 other end of permanent magnet is connected by spring 6 with 9 one end of iron core, 9 other end of iron core and pressure sensor
11；Push rod 4 is housed in attachment device 21；Pressure sensor 11 and electronic control unit ECU12, executing agency 10 are linked in sequence；
Controller 8 include variable resistance 14, master switch 15, malfunction indicator lamp 16, vehicle power supply 17, branch switch 18,
Relay KR coils 19.Electromagnetic coil 7 is sleeved on iron core 9.Brake pedal is mounted on by double torsion spring 13 on supporting rack 20.
Such as Fig. 3, vehicle power supply 17, master switch 15 are connected in 8 internal circuit of controller, and circuit A and circuit B is connected in parallel on vehicle-mounted
Power supply 17,15 both ends of master switch, circuit A are connected by relay KR coils 19, electromagnetic coil 7, variable resistance 14, and circuit B is by propping up
Way switch 18, malfunction indicator lamp 16 are connected.
The controller internal circuit course of work is：
Circuit A is normal, increases pedal force, and push rod 4 continues to move horizontally to be contacted with controller 8, and master switch 15 is closed, circuit
A generates electric current, and variable resistance 14 becomes smaller with the mobile access resistance value of push rod 4, and electric current increases in the A of circuit, electric current in electromagnetic coil 7
Increase, magnetic field-enhanced, the repulsive force of increase electromagnetic coil 7 and permanent magnet 5 of generation；Meanwhile relay KR coils 19 generate magnetic
Property so that branch switch 18 is disconnected, circuit B open circuits, malfunction indicator lamp 16 do not work.
8 internal circuit failure alarm procedure of controller is：
Circuit A open circuits, circuit A no currents, relay KR coils 19 are nonmagnetic, and branch switch 18, circuit B can not be attracted logical
Road, circuit B have electric current, malfunction indicator lamp 16 to work, electromagnetic induction device are reminded to break down.
Electromagnetic induction device failure emergency braking process：
Circuit A is breaking, circuit A no currents, and no current in electromagnetic coil 7 does not generate magnetism, can not be generated with permanent magnet 5
Repulsive force, spring 6 are kept in contact with iron core 9, and regarding pedal force as pedal feedback power by spring 6 is transmitted to pressure sensor
11, and electronic control unit ECU12 is passed to, electronic control unit ECU12 controls executing agency 10 exports brake force, completes braking.
Such as Fig. 4, Fig. 5, the control method of electromagnet brake pedal apparatus steps on pedal pad 1, and pedal arm 2 is driven to pass through
Double torsion spring 13 rotates, while pedal arm 2 is moved horizontally by permanent magnet when hinge 35 and push rod 4；5 other end of permanent magnet passes through
Spring 6 contacts with iron core 9 and compresses generation elastic force, which is transmitted to by iron core 9 on pressure sensor 11, provides one
A based-pedal feedback force, push rod 4 are not contacted with controller 8；Increase pedal force, push rod 4 continues to move horizontally to be connect with controller 8
It touches, master switch 15 is closed, and 8 internal circuit of controller is closed, and electromagnetic coil 7, which is powered, generates electromagnetic field, and repulsion is generated with permanent magnet 5
Power, pressure sensor 11 acquires the resultant force of elastic force and repulsive force as pedal feedback power in real time, and passes to electronic control unit
ECU12, electronic control unit ECU12 controls executing agency 10 export brake force, complete braking.
By the characteristic of traditional pedal, there are non-linear relations for pedal travel and pedal force, therefore in electronic control unit ECU12
Traditional pedal characteristic is stored, the resultant force of elastic force and repulsive force is acquired by pressure sensor 11, keeps it special as traditional pedal
Pedal force F in propertyp, to which the brake force size that final ECU should be exported be calculated.
Specific calculating brake force method is as follows：
In traditional pedal characteristic, apply pedal force Fp, loine pressure that pipe-line system can be generated：
Wherein, F in formulapFor pedal force；η is pedal gear mechanical efficiency；i1For treadle lever ratio；B helps for vacuum booster
Power ratio；dBFor master cylinder cylinder diameter.Therefore the brake force of automobile antero posterior axis generation is：
Front axle：
Rear axle：
(2), in (3) formula, β is brake-power balance coefficient；P0、P0' it is respectively forward and backward brake valve opening pressure；C1、
C2Respectively forward and backward brake factor；df、drRespectively forward and backward wheel-braking cylinder cylinder diameter；r1、r2Respectively forward and backward braking
Device effective brake radius；R1、R2Respectively forward and backward vehicle wheel roll radius；η is mechanical efficiency.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
According to equivalent variations or modification made by disclosed principle, mentality of designing, within protection scope of the present invention.
Claims (8)
1. a kind of electromagnet brake pedal apparatus, which is characterized in that including brake pedal, electromagnetic induction device and ECU modules,
The brake pedal includes pedal pad (1), pedal arm (2) and supporting rack (20)；The electromagnetic induction device include push rod (4),
Permanent magnet (5), spring (6), iron core (9), controller (8) and electromagnetic coil (7)；The ECU modules include pressure sensor
(11), electronic control unit ECU (12) and executing agency (10)；
The pedal arm (2) is equipped with hinge (3), and the hinge (3) is connected with one end of attachment device (21), the attachment device
(21) the other end is connect with permanent magnet (5) one end, and permanent magnet (5) other end is connected by spring (6) with iron core (9) one end,
Iron core (9) other end is connect with pressure sensor (11)；The pressure sensor (11) and electronic control unit ECU (12), execution machine
Structure (10) is linked in sequence；
Push rod (4) is housed, the end of push rod (4) is close to controller (8) on the attachment device (21)；Controller (8) includes
Variable resistance (14), master switch (15), malfunction indicator lamp (16), vehicle power supply (17), branch switch (18), relay KR coils
(19)。
2. a kind of electromagnet brake pedal apparatus according to claim 1, which is characterized in that the electromagnetic coil (7)
It is sleeved on iron core (9).
3. a kind of electromagnet brake pedal apparatus according to claim 1, which is characterized in that the brake pedal passes through
Double torsion spring (13) is mounted on supporting rack (20).
4. a kind of electromagnet brake pedal apparatus according to claim 1, which is characterized in that in the controller (8)
Vehicle power supply (17) in portion's circuit, master switch (15) series connection, vehicle power supply (17), master switch (15) both ends shunt circuit A and are returned
Road B, circuit A are composed in series by relay KR coils (19), electromagnetic coil (7), variable resistance (14), and circuit B is by branch switch
(18), malfunction indicator lamp (16) is composed in series.
5. a kind of a kind of control method of electromagnet brake pedal apparatus as described in claim 1, which is characterized in that step on
Pedal pad (1) drives pedal arm (2) to be rotated by double torsion spring (13), while pedal arm (2) makes permanent magnet by hinge (3)
(5) it is moved horizontally with push rod (4)；Permanent magnet (5) other end contacts with iron core (9) by spring (6) and compresses generation elastic force,
The elastic force is transmitted to by iron core (9) on pressure sensor (11), provides a based-pedal feedback force, push rod (4) not with
Controller (8) contacts；Increase pedal force, push rod (4) continues to move horizontally to be contacted with controller (8), and master switch (15) is closed, control
Device (8) internal circuit processed is closed, and electromagnetic coil (7), which is powered, generates electromagnetic field, and repulsive force, pressure sensing are generated with permanent magnet (5)
Device (11) acquires the resultant force of elastic force and repulsive force as pedal feedback power in real time, and passes to electronic control unit ECU (12), automatically controlled
Unit ECU (12) controls executing agency (10) and exports brake force, completes braking.
6. a kind of a kind of control method of electromagnet brake pedal apparatus as claimed in claim 5, which is characterized in that control
Device (8) internal circuit course of work is：
Circuit A is normal, increases pedal force, and push rod (4) continues to move horizontally to be contacted with controller (8), and master switch (15) is closed, and returns
Road A generates electric current, and variable resistance (14) becomes smaller with the mobile access resistance value of push rod (4), and electric current increases in the A of circuit, electromagnetic coil
(7) electric current increases in, magnetic field-enhanced, the repulsive force of increase electromagnetic coil (7) and permanent magnet (5) of generation；Meanwhile relay KR
Coil (19), which generates magnetism, makes branch switch (18) disconnect, and circuit B open circuits, malfunction indicator lamp (16) does not work.
7. a kind of a kind of control method of electromagnet brake pedal apparatus as claimed in claim 5, which is characterized in that control
Device (8) internal circuit failure alarm procedure is：
Circuit A open circuits, circuit A no currents, relay KR coils (19) are nonmagnetic, and branch switch (18), circuit B can not be attracted logical
Road, circuit B have electric current, malfunction indicator lamp (16) work that electromagnetic induction device is reminded to break down.
8. a kind of a kind of control method of electromagnet brake pedal apparatus as claimed in claim 6, which is characterized in that electromagnetism
Sensing device failure emergency braking process：
Circuit A is breaking, circuit A no currents, and no current in electromagnetic coil (7) does not generate magnetism, can not be generated with permanent magnet (5)
Repulsive force, spring (6) are kept in contact with iron core (9), and regarding pedal force as pedal feedback power by spring (6) is transmitted to pressure biography
Sensor (11), and electronic control unit ECU (12) is passed to, electronic control unit ECU (12) controls executing agency (10) and exports brake force, complete
At braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810025666.0A CN108313036B (en) | 2018-01-11 | 2018-01-11 | Novel electromagnetic brake pedal device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810025666.0A CN108313036B (en) | 2018-01-11 | 2018-01-11 | Novel electromagnetic brake pedal device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108313036A true CN108313036A (en) | 2018-07-24 |
| CN108313036B CN108313036B (en) | 2021-04-20 |
Family
ID=62893921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810025666.0A Active CN108313036B (en) | 2018-01-11 | 2018-01-11 | Novel electromagnetic brake pedal device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108313036B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484200A (en) * | 2018-12-11 | 2019-03-19 | 重庆交通职业学院 | The throttle and magnetic brake and power generation integrated system of electric car |
| CN109606337A (en) * | 2018-11-19 | 2019-04-12 | 江苏大学 | A kind of electronic wedge brake apparatus and its braking method directly driven based on electric pole |
| CN110053547A (en) * | 2019-04-09 | 2019-07-26 | 浙江零跑科技有限公司 | A kind of induction braking light switch of used in new energy vehicles |
| CN110356225A (en) * | 2019-06-24 | 2019-10-22 | 浙江零跑科技有限公司 | A kind of adjustable feedback force formula gas pedal |
| CN110606062A (en) * | 2019-09-20 | 2019-12-24 | 开沃新能源汽车集团有限公司 | Permanent magnet linear nonlinear line-control brake device |
| CN111220066A (en) * | 2018-11-27 | 2020-06-02 | 深圳比亚迪微电子有限公司 | Braking depth detection device with brake switch and vehicle |
| CN113320395A (en) * | 2021-08-03 | 2021-08-31 | 深圳市伟鑫达电子有限公司 | New energy automobile arresting gear |
| CN113405815A (en) * | 2021-06-29 | 2021-09-17 | 湘潭大学 | Intelligent brake system pedal stroke detection device and detection method |
| CN115998331A (en) * | 2023-02-21 | 2023-04-25 | 汕头市超声仪器研究所股份有限公司 | Probe control system and control method for remote ultrasonic diagnosis |
| CN116394891A (en) * | 2023-04-06 | 2023-07-07 | 徐州淮海新能源汽车有限公司 | Brake structure for new energy automobile |
| US11698655B1 (en) * | 2022-02-24 | 2023-07-11 | AAC Acoustic Technologies (Shanghai) Co., Ltd. | Force feedback device and handle using same |
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| JPS59118557A (en) * | 1982-12-23 | 1984-07-09 | Mazda Motor Corp | Electromagnetic servo-brake for automobile |
| KR20080051321A (en) * | 2006-12-05 | 2008-06-11 | 현대자동차주식회사 | A pedal travel simulator for a brake by wire system |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606337B (en) * | 2018-11-19 | 2021-11-23 | 江苏大学 | Electronic wedge type braking device based on electric pole direct drive and braking method thereof |
| CN109606337A (en) * | 2018-11-19 | 2019-04-12 | 江苏大学 | A kind of electronic wedge brake apparatus and its braking method directly driven based on electric pole |
| CN111220066A (en) * | 2018-11-27 | 2020-06-02 | 深圳比亚迪微电子有限公司 | Braking depth detection device with brake switch and vehicle |
| CN109484200A (en) * | 2018-12-11 | 2019-03-19 | 重庆交通职业学院 | The throttle and magnetic brake and power generation integrated system of electric car |
| CN109484200B (en) * | 2018-12-11 | 2024-01-23 | 重庆交通职业学院 | Throttle and magnetic braking and power generation integrated system of electric automobile |
| CN110053547A (en) * | 2019-04-09 | 2019-07-26 | 浙江零跑科技有限公司 | A kind of induction braking light switch of used in new energy vehicles |
| CN110356225A (en) * | 2019-06-24 | 2019-10-22 | 浙江零跑科技有限公司 | A kind of adjustable feedback force formula gas pedal |
| CN110606062A (en) * | 2019-09-20 | 2019-12-24 | 开沃新能源汽车集团有限公司 | Permanent magnet linear nonlinear line-control brake device |
| CN113405815A (en) * | 2021-06-29 | 2021-09-17 | 湘潭大学 | Intelligent brake system pedal stroke detection device and detection method |
| CN113320395B (en) * | 2021-08-03 | 2021-10-12 | 深圳市伟鑫达电子有限公司 | New energy automobile arresting gear |
| CN113320395A (en) * | 2021-08-03 | 2021-08-31 | 深圳市伟鑫达电子有限公司 | New energy automobile arresting gear |
| US11698655B1 (en) * | 2022-02-24 | 2023-07-11 | AAC Acoustic Technologies (Shanghai) Co., Ltd. | Force feedback device and handle using same |
| CN115998331A (en) * | 2023-02-21 | 2023-04-25 | 汕头市超声仪器研究所股份有限公司 | Probe control system and control method for remote ultrasonic diagnosis |
| CN116394891A (en) * | 2023-04-06 | 2023-07-07 | 徐州淮海新能源汽车有限公司 | Brake structure for new energy automobile |
| CN116394891B (en) * | 2023-04-06 | 2023-09-22 | 徐州淮海新能源汽车有限公司 | Brake structure for new energy automobile |
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|---|---|
| CN108313036B (en) | 2021-04-20 |
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