Patent ID: 6969126

Claim:
A braking apparatus comprising: a brake disk arranged on a rotary shaft of a wheel; at least a brake pad; a brake cylinder including a piston arranged to press the brake pad against the brake disk under the pressure of a brake fluid; a pump arranged to supply the brake fluid to the brake cylinder; and a controller arranged to regulate input of the brake fluid to the brake cylinder for maintaining a preset clearance between the brake pad and the brake disk, and for performing a position control operation to move the brake pad towards the brake disk and a force control operation to press the brake pad against the brake disk in accordance with a required braking force, the controller comprising: a pad clearance setting unit arranged to set a preset clearance between the brake pad and the brake disk; a pad position control unit arranged to move the brake pad to a position substantially in contact with the brake disk; a brake force control unit arranged to control the pressure to press the brake pad against the brake disk; and a switching unit arranged to switch between the brake force control unit, the pad position control unit and the pad clearance setting unit, to regulate the input of the brake fluid to the brake cylinder, wherein a driving torque of the pump generated in response to a pad position command is larger than the driving torque of the pump generated in response to a braking force command.