Parking mechanism, control method, braking device, and vehicle

Abstract

This application relates to the field of parking technology, providing a parking mechanism, control method, braking device, and vehicle, which can improve parking reliability. The parking mechanism includes a base, a drive shaft, a pawl, and a drive assembly. A parking ratchet is coaxially fixed to the drive shaft; the drive assembly includes a drive member, a connector, and an elastic member. The connector is slidably connected to the output end of the drive member along a first direction. The elastic member is disposed between the output end and the connector, configured to apply an elastic force along the first direction to the connector, restricting the connector to a limiting portion at the output end, and causing the connector to drive the pawl to engage with the parking ratchet. The drive member is configured to drive the connector to translate relative to the base along the first direction, causing the pawl to engage or disengage with the parking ratchet. In this application, even if the tip of the pawl abuts against the tooth tip of the parking ratchet, the pawl can still engage with the ratchet under the drive of the elastic member when the parking mechanism is de-energized, thus improving parking reliability.

Description

Technical Field

[0001] This application relates to the field of parking technology, and in particular to a parking mechanism, control method, braking device and vehicle. Background Technology

[0002] An electronic parking brake (EPB) is a device that uses a motor and an electronic control unit to brake and release a vehicle. The motor's output shaft drives friction pads to clamp the brake disc. When the friction pads clamp the brake disc, a ratchet engages with a pawl, limiting the rotation of the motor's output shaft and keeping the friction pads in the clamping position, thus achieving parking.

[0003] However, in related technologies, when parking is required, the pawl may not be able to properly engage with the ratchet, leading to parking failure and poor parking reliability. Summary of the Invention

[0004] This application provides a parking mechanism, control method, braking device, and vehicle that can improve the reliability of parking.

[0005] In a first aspect, this application provides a parking mechanism, which includes a base, a drive shaft, a pawl, and a drive assembly. The drive shaft is rotatably connected to the base around its own axis and configured to drive a friction plate to clamp a brake disc. A parking ratchet is coaxially fixed to the drive shaft. The pawl is movably disposed on the base to engage or disengage with the parking ratchet. The drive assembly includes a drive member, a connecting member, and an elastic member. The connecting member is connected to the pawl and slidably connected to the output end of the drive member along a first direction. The output end has a limiting portion. The elastic member is disposed between the output end and the connecting member and configured to apply an elastic force along the first direction to the connecting member, restricting the connecting member to the limiting portion and causing the connecting member to drive the pawl to engage with the parking ratchet. The drive member is configured to drive the connecting member to translate relative to the base along the first direction, causing the pawl to engage or disengage with the parking ratchet.

[0006] The parking ratchet provided in this application has a drive component that drives a pawl through a connector, causing the pawl to engage or disengage from the parking ratchet. The connector is slidably connected to the output end of the drive component, and an elastic element restricts the position of the connector at the output end. The direction in which the connector slides relative to the output end is the same as the direction in which the output end drives the connector to move relative to the base. That is, in addition to the output end being able to drive the pawl to engage or disengage from the parking ratchet through the connector, the sliding of the connector relative to the output end can also drive the pawl to engage or disengage from the parking ratchet.

[0007] The elastic force of the elastic element on the connecting element enables the connecting element to drive the pawl to engage with the parking ratchet. Thus, during the parking start process, if the tip of the pawl abuts against the tooth tip of the parking ratchet, preventing the pawl from engaging the ratchet groove (i.e., the pawl fails to engage with the parking ratchet), when the parking mechanism is de-energized, the drive shaft can rotate freely relative to the base. The elastic recovery of the compressed friction plate causes the parking ratchet to reverse relative to the base, rotating the ratchet groove to the tip of the pawl. In this case, the pawl can engage with the parking ratchet under the action of the elastic element. In other words, in this application, even if the output end drives the pawl to move relative to the base during the parking start process, causing the tip of the pawl to abut against the tooth tip of the parking ratchet, the pawl can still engage with the parking ratchet under the action of the elastic element when the parking mechanism is de-energized, achieving parking. Therefore, this application improves the reliability of parking.

[0008] Understandably, in this application, during the parking start process, if the tip of the pawl abuts against the tooth tip of the parking ratchet, the movement of the pawl relative to the base is restricted by the parking ratchet, making it difficult for the pawl to continue rotating relative to the parking ratchet. In this case, the movement of the connecting member relative to the base is also restricted by the pawl, making it difficult for the connecting member to move relative to the base. When the output end is slidably connected to the connecting member, even when the tip of the pawl abuts against the tooth tip of the parking ratchet and the connecting member is difficult to move relative to the base, the output end can still continue to move relative to the base to the target position, causing the elastic element to undergo significant deformation and accumulate energy. In this case, the connecting member separates from the limiting part. When the parking mechanism is de-energized, the elastic recovery of the compressed friction plate causes the parking ratchet to reverse relative to the base. The elastic recovery of the elastic element allows the connecting member to slide relative to the output end, moving the connecting member to the limiting part and causing the connecting member to engage the pawl with the parking ratchet.

[0009] Furthermore, in this application, the elastic element is disposed between the output end and the connecting member. The reaction force of the connecting member on the elastic element acts on the output end through the elastic element. During the movement of the output end relative to the base, the elastic element moves together with the output end. Compared to placing the elastic element between the connecting member and the base, in this application, the elastic element moves together with the output end, so that the output end does not need to overcome the elastic force of the elastic element to drive the pawl to separate from the parking ratchet. When the pawl is in the position separated from the parking ratchet, the output end does not need to constantly overcome the elastic force of the elastic element. This helps to reduce the energy consumption of the drive component, improve the smoothness of releasing the parking brake, and reduce the risk of elastic element failure.

[0010] In addition, during the process of the output end driving the pawl through the connector, the deformation of the elastic element can play a certain buffering role, which can improve the stress situation of the output end and the pawl. The output end and the pawl are not easily damaged or deformed, which is conducive to improving the reliability of parking.

[0011] In some possible implementations of this application, the pawl is rotatably connected to the base, the axis of rotation of the pawl relative to the base is parallel to the axis of the drive shaft and perpendicular to the first direction; the pawl has a connecting hole, the depth direction of the connecting hole is parallel to the axis of the drive shaft, and a connecting member extends into the connecting hole along the depth direction of the connecting hole and engages with the connecting hole.

[0012] By rotatably connecting the pawl to the base, the connection between the pawl and the base is relatively stable and convenient, and the cost is low. The axis of rotation of the pawl relative to the base is parallel to the axis of the drive shaft, which reduces the space required for the pawl's rotation relative to the base along the drive shaft axis, thus improving space utilization. Generally, the axis of the drive shaft is the same as the axis of the wheel. The parking mechanism needs to be installed at the wheel, and the axial length of the space near the wheel for installing the parking mechanism is relatively small. The parallelism between the axis of rotation of the pawl relative to the base and the axis of the drive shaft allows the pawl to adapt well to the confined space at the wheel. Furthermore, the connector mates with the connecting hole to connect with the pawl, resulting in a simple, reliable, and low-cost connection structure.

[0013] In some possible implementations of this application, the base has a mounting surface facing the drive assembly along the axial direction of the drive shaft, and the drive assembly is mounted on the mounting surface; along the axial direction of the drive shaft, one end of the connector near the mounting surface is connected to the output end, and the other end passes through the connection hole.

[0014] In this way, by mounting the drive assembly on the mounting surface, the drive assembly is more securely mounted on the base. By connecting one end of the connector near the mounting surface to the output end along the axial direction of the drive shaft, and the other end passing through the connecting hole, during the installation of the drive assembly and pawl on the base, the drive assembly can be placed on the mounting surface first, and then the pawl can be moved relative to the drive assembly in the opposite direction of the mounting surface. This allows the connector to extend into the connecting hole along the direction of the mounting surface and engage with the connecting hole. During the installation of the pawl, the pawl can rotate significantly relative to the base to ensure accurate matching between the pawl and the connector. The installation process can be achieved using a robotic arm, making it convenient and quick.

[0015] In some possible implementations of this application, one of the base and the drive member has a strip-shaped hole that extends along a first direction, and a fastener passes through the strip-shaped hole. The fastener passes through the other of the base and the drive member, so that the base and the drive member are fastened to each other.

[0016] In this way, the mounting position of the drive component on the base can be adjusted to a certain extent along the first direction, which is highly adaptable and can compensate for machining errors of the pawl, connector, and drive component. Moreover, during the process of moving the pawl in the opposite direction of the mounting surface so that the connector extends into the connecting hole along the direction of the mounting surface, the position of the drive component relative to the base can be finely adjusted, making it easier for the connector to extend into the connecting hole and making the installation of the pawl and connector more convenient.

[0017] In some possible implementations of this application, the elastic element is a compression spring, the axial direction of the compression spring is the same as the first direction, the compression spring is sleeved on the output end, the output end has a stop, and the two ends of the compression spring abut against the stop and the connecting member respectively along the first direction.

[0018] In this way, the structure of the elastic element is relatively simple and reliable. The compression spring is sleeved on the output end, and the installation of the compression spring is relatively stable and reliable. During the extension and retraction of the compression spring, the output end can limit the compression spring, making the extension and retraction process of the compression spring relatively smooth and not prone to deviation. The force of the compression spring on the connecting part is not prone to skew, making the sliding of the connecting part relative to the output end relatively smooth and not prone to jamming.

[0019] In some possible implementations of this application, the connector is formed with a sliding hole, the depth direction of which is the same as the first direction, and the output end passes through the sliding hole along the first direction and slides with the sliding hole.

[0020] In this way, the output end slides into the sliding hole to achieve a sliding connection between the connector and the output end. The connection between the connector and the output end is relatively simple, reliable, and low in cost.

[0021] In some possible implementations of this application, the driving component includes a fixed part and a sliding part. The fixed part is fixedly connected to the base; the sliding part extends along a first direction, one end of the sliding part is slidably connected to the fixed part, and the other end extends out of the fixed part along the first direction, with the output end being the portion of the sliding part extending out of the fixed part; the limiting part is detachably connected to the output end, and along the first direction, the connecting part is located on the side of the limiting part closer to the fixed part.

[0022] In this way, the limiting part is less likely to cause inconvenience to the installation of the connector, improving the ease of assembling the drive assembly. During the assembly of the drive assembly, the connector can be first fitted onto the sliding part, that is, the sliding part extends into the sliding hole along the direction from the fixed part to the sliding part, and then the limiting part is installed at the output end, so that the connector is confined between the limiting part and the elastic element. In the implementation where the elastic element is a compression spring, the compression spring can be first fitted onto the sliding part, then the connector can be fitted onto the sliding part, and then the limiting part is installed at the output end, so that the connector and the compression spring are confined between the limiting part and the stop. During the process of fitting the connector onto the sliding part, the limiting part is not connected to the sliding part, avoiding the problem of the limiting part interfering with the connector during the installation of the connector on the sliding part, thus improving the ease of assembling the drive assembly.

[0023] Secondly, this application provides a control method applied to the parking mechanism provided in the first aspect of this application. The control method includes:

[0024] In response to receiving information that the vehicle is in a parked state and a command to release the parking brake, the drive shaft is controlled to rotate relative to the base, causing the friction pads to move towards the brake disc, and the drive component is controlled to drive the connecting component to translate relative to the base, so that the pawl separates from the parking ratchet. Control the drive shaft to rotate relative to the base, causing the friction pads to move away from the brake disc.

[0025] In this way, during the release of the parking brake, the drive shaft rotates relative to the base, causing the friction pads to move closer to the brake disc. Under these conditions, the drive shaft drives the parking ratchet to rotate clockwise around its own axis, allowing the pawl to smoothly slide over the teeth of the parking ratchet. Furthermore, the parking ratchet applies centrifugal force to the pawl, causing it to tend to disengage from the ratchet groove. During this disengagement, the pawl's movement is restricted by the connecting member. If the connecting member is rigidly connected to the output end, the pawl's movement is significantly restricted. However, in this application, the connecting member is slidably connected to the output end, and the elastic member restricts the position of the connecting member along the first direction at the output end. During the disengagement, the pawl can cause the connecting member to compress the elastic member, allowing the elastic member to deform. This reduces the resistance to the translational movement of the connecting member relative to the base, resulting in less resistance to the pawl's disengagement. Consequently, the pawl can move rapidly and with a large amplitude under the centrifugal force of the parking ratchet, allowing it to smoothly disengage from the ratchet groove.

[0026] Furthermore, during the release of the parking brake, the output end of the drive unit also drives the pawl to move relative to the base, causing the pawl to disengage from the ratchet groove. The centrifugal force of the parking ratchet and the driving force of the drive unit work together on the pawl, making the process of the pawl disengaging from the ratchet groove relatively smooth. After the pawl disengages from the ratchet groove, the drive shaft unlocks and can rotate relative to the base, causing the friction pads to move away from the brake disc, thus releasing the parking brake.

[0027] Therefore, this application can improve the smoothness of the pawl disengaging from the ratchet groove, thereby improving the smoothness of the release process and making the release process efficient and fast.

[0028] Thirdly, this application provides a braking device, which includes friction pads and a parking mechanism provided in the first aspect of this application. A drive shaft is drivenly connected to the friction pads and configured to drive the friction pads to clamp the brake disc.

[0029] The braking device provided in this application, including the parking mechanism provided in the first aspect of this application, can achieve the same technical effect as the parking mechanism, that is, it can improve the reliability of parking.

[0030] Fourthly, this application provides a vehicle that includes the braking device provided in the third aspect of this application.

[0031] The vehicle provided in this application, including the braking device provided in the third aspect of this application, can achieve the same technical effect as the braking device, that is, it can improve the reliability of parking. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a structural diagram of a parking mechanism in related technologies; Figure 2 Schematic diagrams of the parking mechanism in some embodiments of this application; Figure 3 Exploded views of the parking mechanism in some embodiments of this application; Figure 4 Exploded views of the driving components in some embodiments of this application; Figure 5 Schematic diagrams of the assembly structure of the parking mechanism in some embodiments of this application; Figure 6 Schematic diagrams of the parking mechanism in other embodiments of this application; Figure 7 Flowcharts of control methods in some embodiments of this application.

[0034] Explanation of reference numerals in the attached figures: 1. Base; 11. Mounting surface; 2. Drive shaft; 3. Parking ratchet; 4. Pawl; 41. Connecting hole; 42. Pin hole; 5. Drive assembly; 51. Drive component; 511. Fixing part; 5111. Strip hole; 512. Output end; 5121. Stop part; 52. Connecting part; 521. Protrusion; 522. Sliding hole; 53. Elastic element; 54. Limiting part; 6. Pins. Detailed Implementation

[0035] The technical solutions in this application will now be described clearly and in detail with reference to the accompanying drawings.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] In the description of the embodiments of this application, the terms "comprising / including" or "having" specify the presence of the stated features, integrals, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, integrals, steps, operations, components, parts, or combinations thereof.

[0039] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A alone, A and B simultaneously, and B alone. In addition, in the description of the embodiments of this application, "multiple" means two or more. When a statement such as "at least one of..." is placed after a column of elements, it modifies the entire column of elements, rather than individual elements in the column.

[0040] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0041] In the description of the embodiments of this application, expressions used in the singular form include plural expressions, unless the singular expression has a significantly different meaning in the context. Furthermore, in the embodiments below, it will also be understood that the terms "comprising" and / or "having" as used herein indicate the presence of the stated feature or component, but do not exclude the presence or addition of one or more other features or components.

[0042] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0043] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, encompassing both direct contact and indirect contact through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term in the embodiments of this application according to the specific circumstances.

[0044] As described in the background section, an electronic parking brake (EPB) is a device that uses a motor and an electronic control unit to brake and release a vehicle. The motor's output shaft drives friction pads to clamp the brake disc. When the friction pads clamp the brake disc, a ratchet engages with a pawl, limiting the rotation of the motor's output shaft and keeping the friction pads in the position of clamping the brake disc, thus achieving parking.

[0045] However, in related technologies, when parking is required, the pawl may not be able to properly engage with the ratchet, leading to parking failure and poor parking reliability.

[0046] The following is a further analysis of the reasons for the poor reliability of parking in related technologies: In related technologies, the chuck is generally driven by an electromagnetic drive to engage and disengage with the ratchet. The output shaft of the electromagnetic drive is directly rotatably connected to the chuck, and the extension distance of the output shaft determines the chuck's posture relative to the base. (Refer to...) Figure 1 When the tip of the ratchet tooth abuts against the tip of the pawl, the electromagnetic drive is de-energized. The extension length of the output shaft of the electromagnetic drive remains the same as before the power is de-energized, making it difficult to adjust the posture of the pawl relative to the base after the power is de-energized, and the pawl cannot engage with the ratchet.

[0047] This application provides a vehicle, such as a sedan, SUV, or sport utility vehicle (SUV).

[0048] Please refer to Figure 2 , Figure 3 and Figure 4 The vehicle provided in this application embodiment includes a braking device. The braking device includes friction pads and a parking mechanism, and the parking mechanism includes a base 1, a drive shaft 2, a pawl 4, and a drive assembly 5. The drive shaft 2 is rotatably connected to the base 1 around its own axis and is configured to drive the friction plate to clamp the brake disc. The driving shaft 2 is coaxially fixed with the parking ratchet 3. The pawl 4 is movably disposed on the base 1 to engage or disengage with the parking ratchet 3. The drive assembly 5 includes a drive member 51, a connecting member 52 and an elastic member 53. The connecting member 52 is connected to the pawl 4 and is slidably connected to the output end 512 of the drive member 51 along a first direction. The output end 512 is provided with a limiting part 54. The elastic member 53 is disposed between the output end 512 and the connecting member 52 and is configured to apply an elastic force along the first direction to the connecting member 52, restrict the connecting member 52 to the limiting part 54, and cause the connecting member 52 to drive the pawl 4 to engage with the parking ratchet 3. The drive member 51 is configured to drive the connecting member 52 to translate relative to the base 1 along the first direction, so that the pawl 4 engages or disengages with the parking ratchet 3.

[0049] Please refer to Figure 2 , Figure 3 and Figure 4 In the parking ratchet 3 provided in this application embodiment, the driving member 51 drives the pawl 4 through the connecting member 52, so that the pawl 4 engages or disengages with the parking ratchet 3. The connecting member 52 is slidably connected to the output end 512 of the driving member 51. The elastic member 53 restricts the position of the connecting member 52 at the output end 512. The sliding direction of the connecting member 52 relative to the output end 512 is the same as the direction in which the output end 512 drives the connecting member 52 to move relative to the base 1. That is, in addition to the output end 512 being able to drive the pawl 4 to engage or disengage with the parking ratchet 3 through the connecting member 52, the sliding of the connecting member 52 relative to the output end 512 can also drive the pawl 4 to engage or disengage with the parking ratchet 3.

[0050] Please refer to Figure 2 , Figure 3 and Figure 4The elastic force of the elastic element 53 on the connecting element 52 enables the connecting element 52 to drive the pawl 4 to engage with the parking ratchet 3. Thus, during the parking process, if the tip of the pawl 4 abuts against the tooth tip of the parking ratchet 3, causing the pawl 4 to fail to engage with the ratchet groove, that is, the pawl 4 fails to engage with the parking ratchet 3, when the parking mechanism is de-energized, the drive shaft 2 can rotate freely relative to the base 1. The elastic recovery of the friction plate in the compressed state causes the parking ratchet 3 to reverse relative to the base 1, causing the ratchet groove to rotate to the tip of the pawl 4. In this case, the pawl 4 can engage with the parking ratchet 3 under the drive of the elastic element 53. That is, in this embodiment, even during the parking start process, the output terminal 512 drives the pawl 4 to move relative to the base 1, causing the tip of the pawl 4 to abut against the tooth tip of the parking ratchet 3. Even when the parking mechanism is de-energized, the pawl 4 can still engage with the parking ratchet 3 under the action of the elastic element 53, thus achieving parking. Therefore, this embodiment can improve the reliability of parking.

[0051] Understandably, please refer to Figure 2 , Figure 3 and Figure 4 In this embodiment, during the parking start process, if the tip of the pawl 4 abuts against the tooth tip of the parking ratchet 3, the movement of the pawl 4 relative to the base 1 is restricted by the parking ratchet 3, making it difficult for the pawl 4 to continue rotating relative to the parking ratchet 3. In this case, the movement of the connecting member 52 relative to the base 1 is also restricted by the pawl 4, making it difficult for the connecting member 52 to move relative to the base 1. The output end 512 is slidably connected to the connecting member 52. Even when the tip of the pawl 4 abuts against the tooth tip of the parking ratchet 3 and the connecting member 52 is difficult to move relative to the base 1, the output end 512 can still continue to move relative to the base 1 to the target position, causing the elastic member 53 to undergo significant deformation and accumulate energy. In this case, the connecting member 52 separates from the limiting part 54. This ensures that the elastic force of the elastic member 53 at its elastic deformation limit is less than or equal to the instantaneous output force that the output end 512 can output when the tip of the pawl 4 is tightly pressed against the tooth tip of the parking ratchet 3, ensuring that the output end 512 moves to the target stroke. When the parking mechanism is de-energized, the elastic recovery of the compressed friction plate causes the parking ratchet 3 to reverse relative to the base 1. The elastic element 53 then recovers elastically, which can cause the connector 52 to slide relative to the output end 512, so that the connector 52 moves to the limiting part 54 and causes the connector 52 to engage the pawl 4 with the parking ratchet 3.

[0052] In addition, please refer to Figure 2 , Figure 3 and Figure 4In this embodiment, the elastic element 53 is disposed between the output end 512 and the connecting member 52. The reaction force of the connecting member 52 on the elastic element 53 is applied to the output end 512 through the elastic element 53. During the movement of the output end 512 relative to the base 1, the elastic element 53 moves together with the output end 512. Compared to disposing the elastic element 53 between the connecting member 52 and the base 1, in this embodiment, the elastic element 53 moves together with the output end 512, so that the output end 512 does not need to overcome the elastic force of the elastic element 53 to drive the pawl 4 to separate from the parking ratchet 3. When the pawl 4 is in the position separated from the parking ratchet 3, the output end 512 does not need to constantly overcome the elastic force of the elastic element 53. This is beneficial to reduce the energy consumption of the drive component 51, improve the smoothness of releasing the parking brake, and reduce the risk of elastic element 53 failure.

[0053] Additionally, please refer to Figure 2 , Figure 3 and Figure 4 During the process of the output end 512 driving the pawl 4 to move through the connector 52, the deformation of the elastic element 53 can play a certain buffering role, which can improve the force situation of the output end 512 and the pawl 4. The output end 512 and the pawl 4 are not easily damaged or deformed, which is conducive to improving the reliability of parking.

[0054] Understandably, please refer to Figure 2 , Figure 3 and Figure 4 In this embodiment, the tip of the pawl 4 abuts against the tooth tip of the parking ratchet 3. When the parking mechanism is de-energized, the parking ratchet 3 reverses under the elastic restoring force of the friction plate, allowing the pawl 4 to engage with the parking ratchet 3 under the drive of the elastic element 53, thus achieving parking. That is, even if the parking ratchet 3 reverses to a certain extent, the friction plate remains in the state of clamping the brake disc. In this case, the pawl 4 engages with the parking ratchet 3 under the drive of the elastic element 53, keeping the friction plate in the state of clamping the brake disc, thus achieving parking. In some embodiments of this application, the pawl 4 can engage with the ratchet groove when the angle of reversal of the parking ratchet 3 is greater than or equal to the central angle corresponding to the two ratchet grooves of the parking ratchet 3.

[0055] Please refer to Figure 2 , Figure 3 and Figure 4It should be explained that, in this embodiment, the drive shaft 2 drives the friction pad to clamp the brake disc by rotating relative to the base 1. When the parking ratchet 3 and pawl 4 are engaged, the rotation of the drive shaft 2 relative to the base 1 is restricted, thus restricting the movement of the friction pad relative to the brake disc along the axial direction of the brake disc. The friction pad remains in the state of clamping the brake disc, and the vehicle is in a parked state. When the parking ratchet 3 and pawl 4 are disengaged, the drive shaft 2 can rotate relative to the base 1, and the friction pad can move relative to the brake disc along the axial direction of the brake disc, allowing the vehicle to switch between driving and braking states.

[0056] Please refer to Figure 2 , Figure 3 and Figure 4 In this embodiment of the application, the axial direction of the drive shaft 2 is shown in the second direction in the figure.

[0057] Please refer to Figure 2 , Figure 3 and Figure 4 It should be explained that, in the embodiments of this application, the pawl 4 switches between an engagement with the parking ratchet 3 and a disengagement from the parking ratchet 3 in the form of movement relative to the base 1.

[0058] Please refer to Figure 2 , Figure 3 and Figure 4 It should be explained that, in the embodiments of this application, when the parking ratchet 3 and the pawl 4 are engaged, when the parking ratchet 3 rotates forward, the pawl 4 can smoothly slide over the tooth surface of the parking ratchet 3, and the rotation of the parking ratchet 3 is not easily blocked by the pawl 4. When the parking ratchet 3 rotates backward, the pawl 4 is blocked at the root of the teeth of the parking ratchet 3, and the parking ratchet 3 is difficult to rotate, thus achieving the anti-reverse function.

[0059] Please refer to Figure 2 , Figure 3 and Figure 4 Generally, in some embodiments of this application, the braking device includes an electric motor, and the drive shaft 2 can be the output shaft of the electric motor, or the output shaft of the electric motor can be connected to the drive shaft 2 in a transmission manner to drive the drive shaft 2 to rotate relative to the base 1. During the power-off process of the drive mechanism, the electric motor can be de-energized first, followed by the drive component 51, or the electric motor can be de-energized later and the drive component 51 can be de-energized first, or the drive component 51 and the electric motor can be de-energized simultaneously.

[0060] Please refer to Figure 2 , Figure 3 and Figure 4Generally, in some embodiments of this application, the braking device further includes a lead screw mechanism, which includes a lead screw and a piston. The lead screw is rotatably connected to the base 1, and the drive shaft 2 is drive-connected to the lead screw. This drive shaft 2 can be connected to the lead screw via a reduction gear set, or it can be coaxially fixed with the lead screw. The drive shaft 2 is configured to drive the lead screw to rotate relative to the base 1 around its own axis. The axial direction of the lead screw is the same as the axial direction of the drive shaft 2 and the same as the axial direction of the wheel. The lead screw is helically connected to the piston, allowing the electric motor to drive the piston to translate relative to the base 1 along the wheel's axial direction. The piston is connected to the friction plate. During the process of the electric motor driving the piston to translate relative to the base 1 along the wheel's axial direction, the piston drives the friction plate to translate relative to the wheel, thereby causing the friction plate to clamp the brake disc.

[0061] Please refer to Figure 2 , Figure 3 and Figure 4 Generally, in some embodiments of this application, the reduction gear set includes a first gear and a second gear. The first gear is coaxially fixed to the drive shaft 2, and the second gear is coaxially arranged with the lead screw and is connected in a transmission manner. The diameter of the second gear is larger than that of the first gear, and the first gear and the second gear are connected in a transmission manner. This achieves the effect of speed reduction and torque increase. The coaxial arrangement of the second gear and the lead screw can be either coaxially fixed or connected through a planetary gear train, for example, the second gear can be coaxially fixed to the sun gear of the planetary gear train, the second gear can be rotatably connected to the base 1 around its own axis, the lead screw can be coaxially fixed to the planet carrier of the planetary gear train, and the ring gear of the planetary gear train can be fixedly connected to the base 1. In some embodiments of this application, the gear assembly may also include an idler gear, and the first gear and the second gear can be connected in a transmission manner through the idler gear.

[0062] Please refer to Figure 2 , Figure 3 and Figure 4Generally, in some embodiments of this application, the braking device further includes a caliper body and a caliper frame. The meanings of caliper body and caliper frame are the same as those commonly understood by those skilled in the art, and will not be repeated here. The braking device can be a floating brake caliper or a fixed brake caliper. Taking a floating brake caliper as an example, in some embodiments of this application, the caliper body and the caliper frame are slidably connected along the axial direction of the lead screw, generally through a guide pin. The base 1 is fixedly connected to the caliper body. There are two friction pads, both of which are slidably connected to the caliper frame. The two friction pads together clamp the brake disc, and the relative sliding direction is parallel to the axial direction of the lead screw. The two friction pads are the first friction pad and the second friction pad. The surface of the first friction pad away from the brake disc abuts against the piston, so that the piston can drive the first friction pad to move closer to the brake disc. The surface of the second friction pad away from the brake disc abuts against the caliper body. When the first friction pad is in contact with the brake disc, the rotation of the lead screw relative to the piston can cause the lead screw to drive the caliper to move relative to the brake disc along the axial direction of the lead screw, thereby causing the caliper to drive the second friction pad to contact the brake disc, so that the first friction pad and the second friction pad together clamp the brake disc.

[0063] Please refer to Figure 2 , Figure 3 and Figure 4 Generally, in some embodiments of this application, the braking device includes a brake caliper body and a brake caliper controller. The brake caliper body includes a caliper body, a caliper frame, and friction pads, etc. The brake caliper controller may include a parking mechanism and a lead screw, and may also include a reduction gear assembly, etc. The base 1 may refer to the lower housing of the brake caliper controller. The brake caliper controller generally also includes an upper housing. The upper housing and the lower housing are arranged opposite to each other along the axial direction of the lead screw, together forming a receiving cavity. The parking ratchet 3, the pawl 4, and the drive assembly 5 are all disposed in the receiving cavity. The drive shaft 2 passes through the lower housing and extends into the receiving cavity. The reduction gear assembly may also be disposed in the receiving cavity. The lead screw passes through the lower housing and extends out of the receiving cavity, and is helically connected to the piston. The piston is disposed in the caliper body.

[0064] Please refer to Figure 2 , Figure 3 and Figure 4 Generally, in some embodiments of this application, the driving element 51 is an electromagnetic actuator, such as an electromagnetic push rod.

[0065] Please refer to Figure 2 , Figure 3 and Figure 4 In some embodiments of this application, the pawl 4 is rotatably connected to the base 1, and the axis of rotation of the pawl 4 relative to the base 1 is parallel to the axis of the drive shaft 2 and perpendicular to the first direction; the pawl 4 has a connecting hole 41, the depth direction of the connecting hole 41 is parallel to the axis of the drive shaft 2, and the connecting member 52 extends into the connecting hole 41 along the depth direction of the connecting hole 41 and cooperates with the connecting hole 41.

[0066] By rotatably connecting the pawl 4 to the base 1, the connection between the pawl 4 and the base 1 is relatively stable and convenient, and the cost is low. The axis of rotation of the pawl 4 relative to the base 1 is parallel to the axis of the drive shaft 2, which reduces the space required for the rotation of the pawl 4 relative to the base 1 in the axial direction of the drive shaft 2, thus improving space utilization. Generally, the axis of the drive shaft 2 is the same as the axis of the wheel. The parking mechanism needs to be installed at the wheel, and the axial length of the space near the wheel for installing the parking mechanism is small. This allows the pawl 4 to adapt well to the narrow space at the wheel, as the axis of rotation of the pawl 4 relative to the base 1 is parallel to the axis of the drive shaft 2. Furthermore, the connector 52 mates with the connecting hole 41 to connect with the pawl 4, resulting in a simple, reliable, and low-cost connection structure.

[0067] Please refer to Figure 2 , Figure 3 and Figure 4 In some embodiments of this application, the surface of the connector 52 along one side of the second direction includes a limiting surface, which can be a plane. The limiting surface abuts against the pawl 4, and the surface of the pawl 4 abutting against the limiting surface can also be a plane. The limiting surface protrudes along the second direction, forming a protruding post 521, which mates with the connecting hole 41. In this way, the limiting surface can limit the pawl 4, resulting in a high degree of stability in the installation of the pawl 4.

[0068] Please refer to Figure 2 , Figure 3 and Figure 4 In some embodiments of this application, the connecting hole 41 extends radially along the axis of rotation of the pawl 4 relative to the base 1, and the connecting member 52 slides in conjunction with the connecting hole 41 along the extending direction of the connecting hole 41. Thus, during the rotation of the pawl 4 relative to the base 1 driven by the output end 512, the connecting member 52 can move relative to the pawl 4 along the extending direction of the connecting hole 41, making the rotation of the pawl 4 relative to the base 1 smoother and preventing the output end 512 from wobbling.

[0069] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the base 1 has a mounting surface 11, which faces the drive assembly 5 along the axial direction of the drive shaft 2, and the drive assembly 5 is mounted on the mounting surface 11; along the axial direction of the drive shaft 2, one end of the connector 52 near the mounting surface 11 is connected to the output end 512, and the other end passes through the connection hole 41.

[0070] Please refer to the following: Figure 4 , Figure 5 and Figure 6By mounting the drive assembly 5 on the mounting surface 11, the installation of the drive assembly 5 on the base 1 is made more stable. By connecting one end of the connector 52 near the mounting surface 11 along the axial direction of the drive shaft 2 to the output end 512, and the other end passing through the connection hole 41, during the installation of the drive assembly 5 and the pawl 4 on the base 1, the drive assembly 5 can be placed on the mounting surface 11 first, and then the pawl 4 can be moved relative to the drive assembly 5 in the opposite direction of the orientation of the mounting surface 11, so that the connector 52 extends into the connection hole 41 along the orientation of the mounting surface 11 and engages with the connection hole 41. During the installation of the pawl 4, the pawl 4 can be rotated relatively significantly relative to the base 1 so that the pawl 4 accurately matches the connector 52. The installation process can be realized by a robot, which is convenient and quick.

[0071] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the mounting surface 11 is provided with a pin 6, and the pawl 4 has a pin hole 42, which is rotatably engaged with the pin 6 to allow the pawl 4 to be rotatably connected to the base 1. This facilitates a relatively convenient rotatable connection between the pawl 4 and the base 1.

[0072] During the installation of the drive assembly 5 onto the base 1, the drive component 51 with its output end 512 in the retracted state can be placed on the mounting surface 11 for rough positioning. The robotic arm then grasps the pawl 4, and using image recognition of the connector 52 and pin 6, the connecting hole 41 is aligned with the connector 52, and the pin hole 42 is aligned with the pin 6 for assembly. Fasteners are then installed to secure the drive component 51 to the base 1. It should be noted that in this embodiment, when the output end 512 is in the retracted state, the parking ratchet 3 is separated from the pawl 4.

[0073] Of course, please refer to Figure 2 , Figure 3 and Figure 4 In some embodiments of this application, the connector 52 may be connected to the output end 512 at one end away from the mounting surface 11 along the axial direction of the drive shaft 2, and the other end may be inserted through the connection hole 41.

[0074] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, one of the base 1 and the drive member 51 has a strip hole 5111, the strip hole 5111 extends along a first direction, and a fastener passes through the strip hole 5111. The fastener passes through the other of the base 1 and the drive member 51, so that the base 1 and the drive member 51 are fastened to each other.

[0075] Please refer to the following: Figure 4 , Figure 5 and Figure 6The installation position of the drive component 51 on the base 1 can be adjusted to a certain extent along the first direction, making it highly adaptable and able to compensate for machining errors of the pawl 4, connector 52, and drive component 51. Moreover, during the process of moving the pawl 4 in the opposite direction to the mounting surface 11 so that the connector 52 extends into the connecting hole 41 along the mounting surface 11, the position of the drive component 51 relative to the base 1 can be finely adjusted, making it easier for the connector 52 to extend into the connecting hole 41, thus facilitating the installation of the pawl 4 and the connector 52.

[0076] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the elastic element 53 is a compression spring, the axial direction of the compression spring is the same as the first direction, the compression spring is sleeved on the output end 512, the output end 512 has a stop 5121, and the two ends of the compression spring abut against the stop 5121 and the connecting member 52 respectively along the first direction.

[0077] Please refer to the following: Figure 4 , Figure 5 and Figure 6 The structure of the elastic element 53 is relatively simple and reliable. The compression spring is sleeved on the output end 512. The installation of the compression spring is relatively stable and reliable. During the extension and retraction of the compression spring, the output end 512 can limit the compression spring, making the extension and retraction process of the compression spring relatively smooth and not easy to deviate. The force of the compression spring on the connecting part 52 is not easy to be biased, making the sliding of the connecting part 52 relative to the output end 512 relatively smooth and not easy to get stuck.

[0078] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the output end 512 can be constructed as a push rod, with the axis of the push rod pointing in a first direction. This results in a simpler structure and lower cost for the output end 512. In some embodiments of this application, the push rod protrudes radially, forming a first step. The protrusion height can be 1 to 2 millimeters, and the first step is the stop 5121. This simplifies the manufacturing process of the stop 5121 and reduces cost.

[0079] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the connector 52 is formed with a sliding hole 522. The depth direction of the sliding hole 522 is the same as the first direction. Along the first direction, the output end 512 passes through the sliding hole 522 and slides with the sliding hole 522.

[0080] Please refer to the following: Figure 4 , Figure 5 and Figure 6The output end 512 is slidably engaged with the sliding hole 522 to achieve a sliding connection between the connector 52 and the output end 512. The connection between the connector 52 and the output end 512 is relatively simple, reliable, and low in cost.

[0081] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the driving member 51 includes a fixing part 511 and a sliding part. The fixing part 511 is fixedly connected to the base 1; the sliding part extends along a first direction, one end of the sliding part is slidably connected to the fixing part 511, and the other end extends out of the fixing part 511 along the first direction, and the output end 512 is the part of the sliding part that extends out of the fixing part 511; the limiting part 54 is detachably connected to the output end 512, and along the first direction, the connecting member 52 is located on the side of the limiting part 54 near the fixing part 511.

[0082] Please refer to the following: Figure 4 , Figure 5 and Figure 6 The limiting part 54 does not easily cause inconvenience to the installation of the connector 52, thus improving the ease of assembly of the drive assembly 5. During the assembly of the drive assembly 5, the connector 52 can be first fitted onto the sliding part, that is, the sliding part extends into the sliding hole 522 along the direction from the fixed part 511 to the sliding part, and then the limiting part 54 is installed on the output end 512, so that the connector 52 is limited between the limiting part 54 and the elastic member 53. In the implementation where the elastic member 53 is a compression spring, the compression spring can be first fitted onto the sliding part, then the connector 52 can be fitted onto the sliding part, and then the limiting part 54 can be installed on the output end 512, so that the connector 52 and the compression spring are limited between the limiting part 54 and the stop part 5121. During the process of fitting the connector 52 onto the sliding part, the limiting part 54 is not connected to the sliding part, avoiding the problem of the limiting part 54 interfering with the connector 52 during the installation of the connector 52 on the sliding part, thus improving the ease of assembly of the drive assembly 5.

[0083] Please refer to Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the limiting part 54 is a first open retaining ring, the axial direction of the first open retaining ring is the same as the first direction, and the first open retaining ring is sleeved on the output end 512. In this way, the limiting part 54 has a lower cost and the installation of the limiting part 54 on the output end 512 is more convenient.

[0084] Please refer to Figure 4 , Figure 5 and Figure 6In some embodiments of this application, the stop 5121 may be detachably connected to the output end 512. The stop 5121 may be a second open retaining ring, the axial direction of which is the same as the first direction, and the second open retaining ring is sleeved on the output end 512. Along the first direction, the connecting member 52 and the elastic member 53 are located on the side of the stop 5121 near the fixing part 511. During the assembly of the drive assembly 5, the connecting member 52, the elastic member 53, and the stop 5121 may be installed on the output end 512 in sequence. In some embodiments of this application, the push rod protrudes radially, forming a second step. The protrusion height may be 1 to 2 mm, and the second step is the stop 5121. In this way, the manufacturing of the limiting part 54 is simpler and the cost is lower.

[0085] Please refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 This application also provides a control method, which is applied to the parking mechanism provided in this application. The control method includes: S101. In response to receiving information that the vehicle is in a parking state and an instruction to release the parking, control the drive shaft 2 to rotate relative to the base 1, so that the friction pad moves towards the brake disc, and control the drive component 51 to drive the connecting component 52 to translate relative to the base 1, so that the pawl 4 separates from the parking ratchet 3. S102, control the drive shaft 2 to rotate relative to the base 1, so that the friction pad moves away from the brake disc.

[0086] In this way, during the release of the parking brake, the drive shaft 2 rotates relative to the base 1, causing the friction pad to move towards the brake disc. Under these conditions, the drive shaft 2 drives the parking ratchet 3 to rotate clockwise around its own axis, and the pawl 4 can smoothly slide over the tooth surface of the parking ratchet 3. The parking ratchet 3 can also apply centrifugal force to the pawl 4, making the pawl 4 tend to disengage from the ratchet groove. During the process of pawl 4 disengaging from the ratchet groove, the movement of pawl 4 is restricted by the connecting member 52. If the connecting member 52 is rigidly connected to the output end 512, the movement of pawl 4 will be greatly restricted by the connecting member 52. However, in this embodiment, the connecting member 52 is slidably connected to the output end 512, and the elastic member 53 restricts the position of the connecting member 52 along the first direction at the output end 512. During the process of pawl 4 disengaging from the ratchet groove, pawl 4 can drive the connecting member 52 to compress the elastic member 53. The elastic member 53 can deform, and the translational movement of the connecting member 52 relative to the base 1 is less obstructed. This makes the connecting member 52 less obstructive to the movement of pawl 4 disengaging from the ratchet groove. Under the action of the centrifugal force of the parking ratchet 3, pawl 4 can generate a large amplitude and rapid movement, and pawl 4 can smoothly disengage from the ratchet groove.

[0087] Furthermore, during the release of the parking brake, the output end 512 of the drive component 51 also drives the pawl 4 to move relative to the base 1, causing the pawl 4 to disengage from the ratchet groove. The centrifugal force of the parking ratchet 3 and the driving force of the drive component 51 work together on the pawl 4, making the process of the pawl 4 disengaging from the ratchet groove relatively smooth. After the pawl 4 disengages from the ratchet groove, the drive shaft 2 unlocks and can rotate relative to the base 1, causing the friction pads to move away from the brake disc, thus releasing the parking brake.

[0088] Therefore, the embodiments of this application can improve the smoothness of the pawl 4 disengaging from the ratchet groove, thereby improving the smoothness of the release process and making the release process efficient and fast.

[0089] In S101 of this application embodiment, the operation of controlling the rotation of the drive shaft 2 relative to the base 1 and the operation of controlling the drive member 51 to drive the connector 52 to translate relative to the base 1 can be performed simultaneously or sequentially.

[0090] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A parking mechanism, characterized in that, include: Base (1); The drive shaft (2) is rotatably connected to the base (1) around its own axis and is configured to drive the friction plate to hold the brake disc. The drive shaft (2) is coaxially fixed with a parking ratchet (3). A pawl (4) is movably disposed on the base (1) to engage or disengage with the parking ratchet (3); The drive assembly (5) includes a drive member (51), a connector (52), and an elastic member (53). The connector (52) is connected to the pawl (4) and is slidably connected to the output end (512) of the drive member (51) along a first direction. The output end (512) is provided with a limiting part (54). The elastic member (53) is disposed between the output end (512) and the connector (52) and is configured to apply an elastic force along the first direction to the connector (52), restrict the connector (52) to the limiting part (54), and cause the connector (52) to drive the pawl (4) to engage with the parking ratchet (3). The drive member (51) is configured to drive the connector (52) to translate relative to the base (1) along the first direction, so that the pawl (4) engages or disengages with the parking ratchet (3).

2. The parking mechanism according to claim 1, characterized in that, The pawl (4) is rotatably connected to the base (1). The axis of rotation of the pawl (4) relative to the base (1) is parallel to the axis of the drive shaft (2) and perpendicular to the first direction. The pawl (4) has a connecting hole (41), the depth direction of which is parallel to the axis of the drive shaft (2). Along the depth direction of the connecting hole (41), the connector (52) extends into the connecting hole (41) and engages with the connecting hole (41).

3. The parking mechanism according to claim 2, characterized in that, The base (1) has a mounting surface (11) which faces the drive assembly (5) along the axial direction of the drive shaft (2), and the drive assembly (5) is mounted on the mounting surface (11). Along the axial direction of the drive shaft (2), one end of the connector (52) near the mounting surface (11) is connected to the output end (512), and the other end passes through the connection hole (41).

4. The parking mechanism according to claim 1, characterized in that, One of the base (1) and the drive member (51) has a strip hole (5111) extending along the first direction. A fastener passes through the strip hole (5111) and passes through the other of the base (1) and the drive member (51) to fasten the base (1) and the drive member (51) to each other.

5. The parking mechanism according to any one of claims 1 to 4, characterized in that, The elastic element (53) is a compression spring. The axial direction of the compression spring is the same as the first direction. The compression spring is sleeved on the output end (512). The output end (512) has a stop (5121). The two ends of the compression spring abut against the stop (5121) and the connecting member (52) respectively along the first direction.

6. The parking mechanism according to any one of claims 1 to 4, characterized in that, The connector (52) has a sliding hole (522) with the same depth direction as the first direction. Along the first direction, the output end (512) passes through the sliding hole (522) and slides in cooperation with the sliding hole (522).

7. The parking mechanism according to claim 6, characterized in that, The driving element (51) includes: The fixing part (511) is fixedly connected to the base (1); The sliding part extends along the first direction, one end of the sliding part is slidably connected to the fixed part (511), and the other end extends out of the fixed part (511) along the first direction. The output end (512) is the part of the sliding part that extends out of the fixed part (511). The limiting part (54) is detachably connected to the output end (512), and along the first direction, the connecting member (52) is located on the side of the limiting part (54) close to the fixing part (511).

8. A control method, characterized in that, The control method, applied to the parking mechanism according to any one of claims 1 to 7, comprises: In response to receiving information that the vehicle is in a parking state and an instruction to release the parking, the drive shaft (2) is controlled to rotate relative to the base (1), causing the friction pad to move towards the brake disc, and the drive member (51) is controlled to drive the connecting member (52) to translate relative to the base (1), so that the pawl (4) separates from the parking ratchet (3). Control the drive shaft (2) to rotate relative to the base (1) so that the friction pad moves away from the brake disc.

9. A braking device, characterized in that, include: Friction plate; The parking mechanism according to any one of claims 1 to 7, wherein the drive shaft (2) is connected to the friction plate in a transmission manner and is configured to drive the friction plate to clamp the brake disc.

10. A vehicle, characterized in that, Includes the braking device as described in claim 9.

Images