An electromechanical brake mechanism

Abstract

The present invention provides an electronic mechanical brake mechanism, which relates to the technical field of brake structure, and comprises: a motor, a harmonic reduction mechanism and a push rod mechanism; the motor comprises a motor housing and a rotor, a stator and a rotating shaft which are sequentially arranged in the motor housing from the outside to the inside, the rotor is fixedly connected to the rotating shaft, one end of the rotating shaft is rotatably connected to the rear end cover of the motor housing around its own axis, the harmonic reduction mechanism is also arranged in the motor housing, the rotating shaft on the side of the rotor away from the rear end cover of the motor housing is inserted into the torque input end on one side of the harmonic reduction mechanism and realizes the transmission connection between the two, the push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism, the harmonic reduction mechanism is used to drive the push rod mechanism to push the lever thrust arm of the brake caliper, the electronic mechanical brake mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of large output torque, large axial bearing capacity, high degree of coupling between mechanisms, compact overall layout and small space occupation.

Description

Technical Field

[0001] The invention relates to the technical field of brake structures, and in particular to an electronic mechanical brake mechanism. Background Art

[0002] At present, most commercial vehicles still use pneumatic brakes, with compressed air output by the engine-driven air compressor as the braking energy. The entire braking system has a complex structure, the chassis occupies a large space, and the braking response time is relatively long.

[0003] The electronic mechanical brake (EMB) system is completely different from the pneumatic brake system of traditional commercial vehicles. The electronic control unit controls the DC motor in the EMB, thereby driving the brake actuator to achieve braking. EMB has the characteristics of high control accuracy and short response time, which is in line with the development trend of automobile electrification and intelligence.

[0004] Due to the large braking force requirements of commercial vehicles, conventional DC motors do not have large axial load-bearing capacity. Existing public technologies mostly use parallel axes to avoid the axial load of the motor, resulting in a large braking system with a complex structure and a low degree of compatibility with traditional commercial vehicle brake calipers. Summary of the invention

[0005] The purpose of the present invention is to provide an electronic mechanical brake mechanism to solve the problems existing in the above-mentioned prior art. The electronic mechanical brake mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of large output torque, large axial bearing capacity, high degree of coupling between mechanisms, compact overall layout, and small space occupancy.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides an electronic mechanical brake mechanism, comprising: a motor, a harmonic reduction mechanism and a push rod mechanism;

[0008] The motor comprises a motor housing and a rotor, a stator and a rotating shaft which are sequentially arranged in the motor housing from the outside to the inside, the rotor is fixedly connected to the rotating shaft, one end of the rotating shaft is rotatably connected to the rear end cover of the motor housing around its own axis, the harmonic reduction mechanism is also arranged in the motor housing, the rotating shaft on the side of the rotor away from the rear end cover of the motor housing is inserted into the torque input end on one side of the harmonic reduction mechanism and realizes the transmission connection between the two, the push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism, the harmonic reduction mechanism is used to drive the push rod mechanism to push the lever thrust arm of the brake caliper, and the push rod mechanism can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface when pushing the lever thrust arm; the rotor and the connecting frame between the rotor and the rotating shaft form a rotor bracket;

[0009] Planar thrust bearings are arranged between the harmonic reduction mechanism and the rotor bracket, between the rotor bracket and the rear end cover of the motor housing, and between the harmonic reduction mechanism and the front end cover of the motor housing; the outer wall surface of the front end cover of the motor housing is used for fixed connection with the brake caliper.

[0010] Preferably, the motor is a permanent magnet synchronous motor, and the stator is a coil winding; the rotating shaft, the rotor bracket and the coil winding are coaxially arranged, and the rotating shaft passes through the central axis hole of the rotor bracket and is fixedly connected to the rotor bracket.

[0011] Preferably, the push rod mechanism includes a threaded rod, a threaded sleeve and a pressure rod, one end of the threaded rod extends into the motor housing and is fixedly connected to the torque output surface via a flange, the threaded sleeve is threadedly connected to the threaded rod, and when the threaded rod rotates, the threaded sleeve is driven to move along the axial direction of the rotating shaft, one end of the pressure rod is arranged on the threaded sleeve, and the other end is used to push the lever thrust arm.

[0012] Preferably, one end of the pressure rod used to push the lever thrust arm is a spherical head, the spherical head has a floating characteristic, and the spherical head can rotate along a first arc, and the center line of the first arc is colinear with the axis of the threaded rod.

[0013] Preferably, the pressure rod includes the spherical top and the pressure rod body, the end of the pressure rod body is provided with a limiting groove, the spherical top includes a head and a connecting rod, the head is fixedly arranged at one end of the connecting rod, the end surface of the head away from the connecting rod is a smooth convex surface, the end of the connecting rod away from the head extends into the limiting groove and is limited in the limiting groove; the inner wall at the opening of the limiting groove is a first annular surface, the outer wall of the connecting rod located in the first annular surface is a second annular surface, the first annular surface and the second annular surface are both revolving surfaces, and the angle between the first annular surface and the second annular surface is α, 0°<α<3°.

[0014] Preferably, the pressure rod body includes a head base and a head cover plate, one end of the head base is detachably connected to the connecting rod, the head base and the end of the threaded sleeve are in ball joint contact, the head cover plate is covered on the end of the threaded sleeve and limits the ball head of the head base in the ball groove of the end of the threaded sleeve, the connecting rod passes through the head cover plate, and the inner wall of the middle through hole of the head cover plate is the first annular surface.

[0015] Preferably, the motor housing includes an intermediate housing, a front end cover and a rear end cover; the intermediate housing is in a sleeve shape, the front end cover and the rear end cover are respectively fixedly arranged at the front and rear ends of the intermediate housing, and sealing rings are arranged between the front end cover and the rear end cover and the intermediate housing.

[0016] Preferably, it also includes an encoder, which is arranged on the rear end cover and is used to monitor the rotation speed and number of revolutions of the rotating shaft.

[0017] Preferably, an electromagnetic power-off brake is installed on the outer side of the rear end cover.

[0018] Preferably, a circumferential limit member is provided on the outer wall of the threaded sleeve, and the circumferential limit member includes a plurality of limit protrusions arranged along the circumference of the threaded sleeve, and the outer side surface of each protrusion is a plane. A guide hole is provided on the front end cover, and the inner wall surface of the guide hole includes a plurality of guide surfaces. The outer side surface of the protrusion cooperates with the guide surface to realize the movement of the threaded sleeve along the axial direction of the rotating shaft.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] When the electronic mechanical brake mechanism provided by the present invention is used for braking, the push rod mechanism pushes the lever thrust arm to make one side of the friction plate close to the brake disc, and the generated reaction force is transmitted to the brake caliper through the harmonic reduction mechanism, the plane thrust bearing between the harmonic reduction mechanism and the rotor bracket, the rotor bracket, the plane thrust bearing between the rotor bracket and the rear end cover of the motor housing, the rear end cover of the motor housing, the intermediate housing and the front end cover in sequence, thereby achieving the purpose of transmitting the axial force and making the opposite side friction plate close to the brake disc, and the harmonic reduction mechanism and the rotor outer side layout form therein can achieve the purpose of amplifying the torque. Therefore, the electronic mechanical brake mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of large output torque, large maximum axial bearing capacity, high degree of coupling between mechanisms, compact overall layout and small space occupancy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A cross-sectional view of the electronic mechanical brake mechanism provided by the present invention;

[0023] Figure 2 for Figure 1 Rear side view of the middle front end cover;

[0024] Figure 3 for Figure 1 Front and side view of the middle front end cover;

[0025] Figure 4 for Figure 1 A view of the push rod mechanism;

[0026] Figure 5 for Figure 1 A cross-sectional view of the contact between the middle spherical plug and the spherical plug cover plate;

[0027] Figure 6 for Figure 1 A view of the medium harmonic reduction mechanism;

[0028] Figure 7 This is the end view of the commercial vehicle brake caliper;

[0029] Figure 8 An assembly view of the electronic mechanical brake mechanism and the commercial vehicle brake caliper provided by the present invention;

[0030] Fig. 9 A schematic diagram of the axial force of the electronic mechanical brake mechanism provided by the present invention;

[0031] Fig.10 It is a schematic diagram of the brake caliper force;

[0032] In the figure: 1, spherical top; 2, top base; 3, threaded sleeve; 4, top cover; 5, threaded rod; 6, first plane thrust ball bearing; 7, cam hub; 8, flexible wheel; 9, flexible thin-walled bearing; 10, front cover; 11, intermediate housing; 12, stator core; 13, coil winding; 14, rotor bracket; 15, rear cover; 16, second plane thrust ball bearing; 17, deep groove ball bearing; 18, rotating shaft; 19, key; 20, third plane thrust ball bearing; 21, sealing groove; 22, inner gear ring; 23, motor front cover fixing threaded hole; 24, guide surface; 25, circumferential limiter; 26, outer gear ring; 27, brake caliper fixing through hole; 28, lever thrust arm; 29, connecting piece; 30, first friction plate; 31, second friction plate; 32, brake caliper; 33, brake disc. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide an electronic mechanical brake mechanism to solve the problems existing in the prior art. The electronic mechanical brake mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of large output torque, large maximum axial bearing capacity, high degree of coupling between mechanisms, compact overall layout, and small space occupancy.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] The present invention provides an electronic mechanical brake mechanism suitable for vehicles requiring a large braking force, such as commercial vehicles. Figures 1 to 9 As shown, it includes: a motor, a harmonic reduction mechanism and a push rod mechanism;

[0037] The motor includes a motor housing and a rotor, a stator and a rotating shaft 18 which are sequentially arranged in the motor housing from the outside to the inside. The rotor is fixedly connected to the rotating shaft 18. One end of the rotating shaft 18 is rotatably connected to the rear end cover 15 of the motor housing around its own axis, and the purpose of rotation connection is achieved through a deep groove ball bearing 17. The harmonic reduction mechanism is also arranged in the motor housing. The rotating shaft 18 on the side of the rotor away from the rear end cover 15 of the motor housing is inserted into the torque input end on one side of the harmonic reduction mechanism to achieve a transmission connection between the two. The push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism. The harmonic reduction mechanism is used to drive the push rod mechanism to push the lever thrust arm 28 of the brake caliper. When the push rod mechanism pushes the lever thrust arm 28, it can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface; the rotor and the connecting frame between the rotor and the rotating shaft 18 form a rotor bracket 14;

[0038] Planar thrust bearings are arranged between the harmonic reduction mechanism and the rotor bracket 14, between the rotor bracket 14 and the rear end cover 15 of the motor housing, and between the harmonic reduction mechanism and the front end cover 10 of the motor housing; the outer wall surface of the front end cover 10 of the motor housing is used for fixed connection with the brake caliper.

[0039] When the electronic mechanical brake mechanism provided by the present invention is used for braking, the push rod mechanism pushes the lever thrust arm 28 to make one side of the friction plate close to the brake disc, and the generated reaction force is transmitted to the brake caliper after passing through the harmonic reduction mechanism, the plane thrust bearing between the harmonic reduction mechanism and the rotor bracket 14, the rotor bracket 14, the plane thrust bearing between the rotor bracket 14 and the rear end cover 15 of the motor housing, the rear end cover 15 of the motor housing, the intermediate housing 11 and the front end cover 10 in sequence, so that the friction plate on the opposite side is close to the brake disc and the axial force is transmitted. The harmonic reduction mechanism and the outer layout of the rotor can achieve the purpose of amplifying the torque. Therefore, the electronic mechanical brake mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of large output torque, large maximum axial bearing capacity, high degree of coupling between mechanisms, compact overall layout and small space occupancy.

[0040] Working principle of brake caliper: the push rod mechanism pushes the lever thrust arm 28, and the lever thrust arm 28 drives the connecting member 29 to move horizontally, so that the friction plate on one side, namely the first friction plate 30, is pressed against the brake disc 33, and the reaction force generated passes through the harmonic reduction mechanism, the plane thrust bearing between the harmonic reduction mechanism and the rotor bracket 14, the rotor bracket 14, the plane thrust bearing between the rotor bracket 14 and the rear end cover 15 of the motor housing, the rear end cover 15 of the motor housing, the intermediate housing 11 and the front end cover 10. Since the front end cover 10 is fixed on the caliper 32, the axial force is transmitted and the friction plate on the opposite side, namely the second friction plate 31, is pressed against the brake disc 33.

[0041] Furthermore, the motor is a permanent magnet synchronous motor, preferably a high-torque permanent magnet synchronous motor, and the stator is a coil winding 13; the rotating shaft 18, the rotor bracket 14 and the coil winding 13 are coaxially arranged, the coil winding 13 refers to multiple groups of coil groups, the rotating shaft 18 passes through the central axis hole of the rotor bracket 14 and is fixedly connected to the rotor bracket 14, and is fixedly connected by multiple bolts.

[0042] Furthermore, the push rod mechanism includes a threaded rod 5, a threaded sleeve 3 and a pressure rod. One end of the threaded rod 5 extends into the motor housing and is fixedly connected to the torque output surface through a flange. The threaded sleeve 3 is threadedly connected to the threaded rod 5. When the threaded rod 5 rotates, the threaded sleeve 3 is driven to move along the axial direction of the rotating shaft 18. One end of the pressure rod is arranged on the threaded sleeve 3, and the other end is used to push the lever thrust arm 28. The push rod mechanism realizes the purpose of converting the rotational torque into linear motion. Braking is realized when the pressure rod is extended, and a contact braking state is realized when the pressure rod is retracted.

[0043] Furthermore, one end of the pressure rod is used to push the lever thrust arm 28, which is a spherical head 1. When the lever thrust arm 28 swings back and forth, the motion trajectory of the contact portion between the lever thrust arm 28 and the spherical head 1 is an arc line. Therefore, the spherical head 1 is provided with a floating characteristic. The spherical head 1 can rotate along a first arc, and the center line of the first arc is colinear with the axis of the threaded rod 5, thereby realizing the arc swing trajectory requirement of the spherical head 1 when pushing the lever thrust arm 28.

[0044] Furthermore, the pressure rod includes a spherical top 1 and a pressure rod body, a limiting groove is provided at the end of the pressure rod body, the spherical top 1 includes a head and a connecting rod, the head is fixedly arranged at one end of the connecting rod, the end face of the head away from the connecting rod is a smooth convex surface, the end of the connecting rod away from the head extends into the limiting groove and is limited in the limiting groove; the inner wall at the opening of the limiting groove is a first annular surface, the outer wall of the connecting rod located in the first annular surface is a second annular surface, the first annular surface and the second annular surface are both revolving surfaces, the angle between the first annular surface and the second annular surface is α, 0°<α<3°, so as to realize the arc swing trajectory requirement of the spherical top 1 when pushing the lever thrust arm 28.

[0045] Furthermore, the pressure rod body includes a plug base 2 and a plug cover plate 4, one end of the plug base 2 is detachably connected to the connecting rod, the plug base 2 and the end of the threaded sleeve 3 are in a ball joint contact form, the plug cover plate 4 is covered on the end of the threaded sleeve 3 and limits the ball head of the plug base 2 in the ball groove at the end of the threaded sleeve 3, the connecting rod passes through the plug cover plate 4, and the inner wall of the middle through hole of the plug cover plate 4 is the first annular surface, and the second annular surface is a cylindrical surface.

[0046] Furthermore, the motor housing includes an intermediate housing 11, a front end cover 10 and a rear end cover 15; the intermediate housing 11 is sleeve-shaped, and the front end cover 10 and the rear end cover 15 are respectively fixedly arranged at the front and rear ends of the intermediate housing 11, and sealing rings are arranged between the front end cover 10 and the rear end cover 15 and the intermediate housing 11, and the sealing rings are arranged in the sealing groove 21, so that the whole mechanism has dustproof and waterproof functions.

[0047] Furthermore, each set of thrust bearings, push rod mechanisms, harmonic reduction mechanisms, motor housings, end covers and corresponding connecting bolts have passed strength verification and meet the load-bearing requirements of large axial forces.

[0048] Furthermore, the harmonic reduction mechanism includes: a cam hub 7, a flexible wheel 8 and a flexible thin-walled bearing 9. The rotating shaft 18 and the cam hub 7 are circumferentially constrained by a key 19. The inner wall of the front end cover 10 is provided with an inner gear ring 22, which cooperates with the outer gear ring 26 on the flexible wheel 8 to further increase the rotational torque. The cam hub 7 is circumferentially constrained by the flexible wheel 8 through the flexible thin-walled bearing 9. The flexible wheel 8 and the threaded rod 5 are fixedly connected by bolts on the flange surface, so that the rotational torque is amplified by the rotor bracket 14 and transmitted to the threaded rod 5.

[0049] Furthermore, the electronic mechanical brake mechanism also includes an encoder, which is arranged on the rear end cover 15. The encoder is used to monitor the rotation speed and number of revolutions of the rotating shaft 18, and can realize servo control of the motor position and rotation speed.

[0050] Furthermore, an electromagnetic power-off brake is installed on the outer side of the rear end cover 15 to realize the parking brake function. The encoder and the electromagnetic power-off brake are common mechanisms and are not described in detail in the present invention.

[0051] Furthermore, a circumferential limit member 25 is provided on the outer wall of the threaded sleeve 3, and the circumferential limit member 25 includes a plurality of limit protrusions arranged along the circumference of the threaded sleeve 3, and the outer side surface of each protrusion is a plane. A guide hole is provided on the front end cover 10, and the inner wall surface of the guide hole includes a plurality of guide surfaces 24. The outer side surface of the protrusion cooperates with the guide surface 24 to realize the movement of the threaded sleeve 3 along the axial direction of the rotating shaft 18.

[0052] The service brake function is implemented as follows:

[0053] The brake control unit (BCU) converts the electric energy stored in the power battery into the electric energy required by the permanent magnet synchronous motor in the EMB according to the braking command. At this time, the coil winding 13 is energized, so that the rotor bracket 14 rotates in the forward direction and drives the rotating shaft 18 to rotate. The harmonic reduction mechanism amplifies the torque of the rotating shaft 18 and transmits it to the threaded rod 5. When the threaded rod 5 rotates, the rotation-to-linear characteristic of the thread is used to push the threaded sleeve 3 to move axially. Since the spherical head 1 and the spherical head base 2 are limited in the ball groove of the threaded sleeve 3 through the spherical head cover plate, the axial movement of the threaded sleeve 3 drives the synchronous axial movement of the spherical head 1, so that the spherical head 1 pushes the lever thrust arm 28 on the brake caliper. The mechanism in the present invention and the commercial vehicle brake caliper are fixedly connected through the fixed threaded hole of the motor front end cover 10 and the brake caliper fixed through hole 27, and finally complete the braking force loading.

[0054] When the BCU receives the brake release command, it controls the change of the terminal voltage polarity of the coil winding 13, the rotor bracket 14 rotates in the opposite direction, and the entire set of actuators completes the reverse movement when the brake force is loaded, thereby achieving the brake force release.

[0055] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An electromechanical brake mechanism, characterized in that: include: Motor, harmonic reduction mechanism and push rod mechanism; The motor comprises a motor housing and a rotor, a stator and a rotating shaft which are sequentially arranged in the motor housing from the outside to the inside, the rotor is fixedly connected to the rotating shaft, one end of the rotating shaft is rotatably connected to the rear end cover of the motor housing around its own axis, the harmonic reduction mechanism is also arranged in the motor housing, the rotating shaft on the side of the rotor away from the rear end cover of the motor housing is inserted into the torque input end on one side of the harmonic reduction mechanism and realizes the transmission connection between the two, the push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism, the harmonic reduction mechanism is used to drive the push rod mechanism to push the lever thrust arm of the brake caliper, and the push rod mechanism can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface when pushing the lever thrust arm; the rotor and the connecting frame between the rotor and the rotating shaft form a rotor bracket; Plane thrust bearings are arranged between the harmonic reduction mechanism and the rotor bracket, between the rotor bracket and the rear end cover of the motor housing, and between the harmonic reduction mechanism and the front end cover of the motor housing; the outer wall surface of the front end cover of the motor housing is used for fixed connection with the brake caliper; the push rod mechanism includes a threaded rod, a threaded sleeve and a pressure rod; the motor housing includes an intermediate housing, a front end cover and a rear end cover; the intermediate housing is sleeve-shaped, the front end cover and the rear end cover are fixedly arranged at the front and rear ends of the intermediate housing respectively, and sealing rings are arranged between the front end cover and the rear end cover and the intermediate housing; the harmonic reduction mechanism includes: a cam hub, a flexible wheel and a flexible thin-walled bearing, the rotating shaft and the cam hub are circumferentially constrained by a key, an inner gear ring is arranged on the inner wall of the front end cover, which cooperates with the outer gear ring on the flexible wheel to further increase the rotational torque, the cam hub is circumferentially constrained by the flexible wheel through the flexible thin-walled bearing, and the flexible wheel and the threaded rod are fixedly connected by bolts on the flange surface, so that the rotational torque is amplified and transmitted to the threaded rod by the rotor bracket.

2. The electromechanical brake mechanism according to claim 1, characterized in that: The motor is a permanent magnet synchronous motor, and the stator is a coil winding; the rotating shaft, the rotor bracket and the coil winding are coaxially arranged, and the rotating shaft passes through the central axis hole of the rotor bracket and is fixedly connected to the rotor bracket.

3. The electromechanical brake mechanism according to claim 1, characterized in that: One end of the threaded rod extends into the motor housing and is fixedly connected to the torque output surface through a flange. The threaded sleeve is threadedly connected to the threaded rod. When the threaded rod rotates, the threaded sleeve is driven to move along the axial direction of the rotating shaft. One end of the pressure rod is arranged on the threaded sleeve, and the other end is used to push the lever thrust arm.

4. The electromechanical brake mechanism according to claim 3, characterized in that: One end of the pressure rod used to push the lever thrust arm is a spherical top head, the spherical top head has a floating characteristic, and the spherical top head can rotate along a first arc, and the center line of the first arc is colinear with the axis of the threaded rod.

5. The electromechanical brake mechanism according to claim 4, characterized in that: The pressure rod includes the spherical top and the pressure rod body, and a limiting groove is arranged at the end of the pressure rod body. The spherical top includes a head and a connecting rod. The head is fixedly arranged at one end of the connecting rod, and the end face of the head away from the connecting rod is a smooth convex surface. The end of the connecting rod away from the head extends into the limiting groove and is limited in the limiting groove; the inner wall at the opening of the limiting groove is a first annular surface, and the outer wall of the connecting rod located in the first annular surface is a second annular surface. The first annular surface and the second annular surface are both revolving surfaces, and the angle between the first annular surface and the second annular surface is α, 0°<α<3°.

6. The electromechanical brake mechanism according to claim 5, characterized in that: The pressure rod body includes a head base and a head cover plate, one end of the head base is detachably connected to the connecting rod, the head base and the end of the threaded sleeve are in ball joint contact, the head cover plate is covered on the end of the threaded sleeve and limits the ball head of the head base in the ball groove of the end of the threaded sleeve, the connecting rod passes through the head cover plate, and the inner wall of the middle through hole of the head cover plate is the first annular surface.

7. The electromechanical brake mechanism according to claim 1, characterized in that: It also includes an encoder, which is arranged on the rear end cover and is used to monitor the rotation speed and number of revolutions of the rotating shaft.

8. The electromechanical brake mechanism according to claim 1, characterized in that: An electromagnetic power-off brake is installed on the outer side of the rear end cover.

9. The electromechanical brake mechanism according to claim 3, characterized in that: A circumferential limit piece is arranged on the outer wall of the threaded sleeve, and the circumferential limit piece includes a plurality of limit protrusions arranged along the circumference of the threaded sleeve, and the outer side surface of each protrusion is a plane. A guide hole is arranged on the front end cover, and the inner wall surface of the guide hole includes a plurality of guide surfaces. The outer side surface of the protrusion cooperates with the guide surface to realize the movement of the threaded sleeve along the axial direction of the rotating shaft.

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