Distributed electronic mechanical braking device and method

Abstract

The invention discloses a distributed electromechanical braking device and method. The device comprises a driving assembly (100), a transmission assembly (200), a caliper braking assembly (300), a planetary reducer device (400), a motion conversion device (500), a parking braking unit (600), a brake disc (701) and a monitoring and control unit (800). The driving assembly (100) comprises a motor (101) and a motor position sensor (102). The motor (101) is a cylindrical alternating current or direct current motor and is provided with a shell, a stator, a rotor for transmitting torque and an output shaft, the output shaft is connected to the inner rotor, a motor position sensor (102) is arranged at the tail end of the motor, a flange plate structure is arranged on the outer side of the shell of the motor (101), and bolt connecting holes are evenly distributed in the flange plate. And the output shaft adopts a gear shaft structural form. A plurality of friction plates which are attracted by electromagnetism and springs can be well used for locking a moving gear ring in a speed reduction device so as to perform parking braking on a vehicle.

Description

Technical Field

[0001] The invention relates to a distributed electronic mechanical braking device and method, belonging to the technical field of machinery. Background Art

[0002] In the field of modern vehicle braking technology, electro-mechanical braking (EMB) has received increasing attention. In addition, with the advancement of vehicle technology and the improvement of braking performance requirements, distributed braking systems have gradually become a hot topic of research. Unlike traditional centralized braking systems, distributed braking systems distribute the generation and control of braking force to each tire of the vehicle, making the braking force distribution more flexible and precise. This helps improve the handling stability of the vehicle and allows for more braking strategies, such as selective braking or braking force vector control. But at the same time, this also means that each tire requires an independent EMB module, which increases the complexity and control challenges of the system.

[0003] Nevertheless, in the current EMB system design, the parking brake process is somewhat dependent on the continuous operation of the brake motor. Long-term operation may expose the motor to potential failure and power outage risks. At the same time, the friction pads and brake discs of the brake system will wear after a period of use, causing the brake clearance to increase. Therefore, the motor's rotation angle will change compared to the initial state, and the wear amount needs to be compensated and controlled, otherwise the braking force cannot reach the required level. This constraint factor may pose a serious challenge to the safety and stability of the vehicle in the parking state. Therefore, it is very important to conduct in-depth research and optimization on the reliability of electronic mechanical braking systems, especially distributed braking systems. Summary of the invention

[0004] The purpose of the present invention is to address the defects and shortcomings of the above-mentioned prior art and propose a distributed electronic mechanical braking device and method. The device realizes parking braking by controlling multiple friction plates attracted by electromagnetic and spring control, which effectively solves the problem of motor overheating or failure caused by long-term power supply of the main motor during parking braking. A force sensor is set between the actuator piston and the motion conversion device to realize braking force control and clearance compensation, so as to solve the problem of insufficient braking force after wear.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a distributed electronic mechanical brake device, which includes a drive assembly 100, a transmission assembly 200, a caliper brake assembly 300, a planetary reducer device 400, a motion conversion device 500, a parking brake unit 600, a brake disc 701 and a monitoring and control unit 800. The drive assembly 100 includes a motor 101 and a motor position sensor 102.

[0006] The motor 101 is a cylindrical AC or DC motor having a housing, a stator, a rotor for transmitting torque, and an output shaft. The output shaft is connected to the inner rotor. A motor position sensor 102 is provided at the end of the motor. There is a flange structure on the outside of the housing of the motor 101, and bolt connection holes are evenly distributed on the flange. The output shaft adopts a gear shaft structure.

[0007] The transmission assembly 200 includes a planetary reducer device 400, a motion conversion device 500 and a parking brake unit 600. The planetary reducer device 400 includes a fixed ring gear 201, a planet carrier 202, a moving ring gear 203, a bearing 1 204, a retaining spring 1 205, a retaining spring 2 206, a bearing 2 207, a bearing 3 208, a retaining spring 3 209, a retaining spring 4 (210), an outer planetary gear 211, and an inner planetary gear 212.

[0008] The fixed gear ring 201 is a hollow cylinder, and the hollow part forms a cavity 1. The outer planetary gears 211 are distributed on the inner circle of the fixed gear ring 201. There is a flange structure on both sides of the left and right end faces of the fixed gear ring 201. The flanges are evenly distributed with threaded holes. There is a rectangular groove 1 on the left end face of the fixed gear ring 201.

[0009] The planet carrier 202 is a hollow disc structure, the outer diameter of which is smaller than the inner diameter of the fixed gear ring 201. Three protruding cylinders are evenly distributed on the left and right sides of the planet carrier, and the pitch circle formed by the three cylinders is concentric with the hollow disc.

[0010] The moving gear ring 203 is a hollow cylinder with a stepped structure having two steps on the inner side surface, and cylindrical surface one and cylindrical surface two with increasing diameters from left to right. End surface one forms a shoulder structure and cavity two between cylindrical surface one and cylindrical surface two, and there are two annular grooves with a certain interval on the outer end surface; to supplement the groove structure of multiple friction plates, n (n≥1) semi-cylindrical bosses are evenly distributed on the outer side surface of the moving gear ring 203, and the semi-cylindrical bosses are along the axial direction of the moving gear ring 203. The outer side surface of the planetary carrier 202 is located in the cavity 1 of the fixed gear ring 201, and the inner side surface is located in the cavity 2 of the moving gear ring 203. Bearings and outer planetary wheels are installed on the three cylinders on the outer side surface of the planetary carrier. Specifically, the inner ring of each outer planetary wheel is fastened to the outer ring of the bearing, and the inner ring of each bearing is fastened to the cylinder on the outer side surface of the planetary carrier, and the outer end of each bearing is fixed to the cylinder with a retaining spring; similarly, bearings and inner planetary wheels are installed on the three cylinders on the inner side surface of the planetary carrier, and the fastening method is consistent with the structure of the outer part of the outer planetary carrier.

[0011] The outer planetary gear one, the outer planetary gear two, and the outer planetary gear three on the planetary carrier 202 are all meshed with the fixed ring gear 201; the inner planetary gear one, the inner planetary gear two, and the inner planetary gear three on the planetary carrier 202 are all meshed with the moving ring gear 203. Specifically: the retaining spring three 209 is installed on the annular groove on the right side of the planetary carrier 202 shaft, and the retaining spring four 210 is installed on the annular groove on the left side of the planetary carrier 202 shaft. The left end face of the bearing four 208 contacts the right end face of the planetary carrier 202, and the right end face of the bearing three 208 contacts the left side of the retaining spring three 209, so that the bearing three 208 can be fixed, the left end face of the bearing two 207 contacts the right side of the retaining spring three 209, and the right end face of the bearing two 207 contacts the right side of the retaining spring three 209, so that the bearing three 208 can be fixed, and the outer end faces of the bearing three 208 and the bearing two 207 contact the fixed ring gear. 201 contact, on each axis of the planetary carrier 202, there is a structure similar to bearing 207, bearing 3 208, retaining spring 3 209, retaining spring 4 210, and outer planetary gear 211 and they are assembled in the same way, the inner planetary gear 212 on the inner side of the planetary carrier 202 is matched with the inner ring gear on the inner side of the moving gear ring 203, the outer planetary gear 211 on the outer side of the planetary carrier 202 is matched with the inner ring gear on the inner side of the fixed gear ring 201, the fixed gear ring 1 201 is installed on the outer side of the planetary carrier 202, retaining spring 1 205 is installed on the annular groove on the left side of the cylindrical surface 3 of the moving gear ring 203, the retaining spring 206 is installed on the annular groove on the right side of the cylindrical surface 3 of the moving gear ring 203, the retaining spring 1 205 and the retaining spring 206 fix the bearing 1204. The motion conversion device 500 includes a motion ring gear 203 , a motion slider 501 , a return spring 502 , a displacement sensor 503 , a rotating screw 504 , and a force sensor 505 .

[0012] The rotating screw 504 is a solid slender shaft with two steps. The cylindrical step 1 is higher than the cylindrical step 2. There is a section of thread or ball screw on the cylindrical step 1. The cylindrical step 2 is fastened to the cylindrical surface 1 of the moving gear ring 203. The moving slider 501 is a hollow cylindrical nut structure. There are n (n≥1) semi-cylindrical bosses evenly distributed on the outer side of the moving slider 501. The semi-cylindrical bosses are along the axial direction of the moving slider 501. When a threaded structure is adopted on the cylindrical step 1 of the rotating screw 504, threads are distributed on the inner end surface of the moving slider 501. The threads on the inner side surface of the moving slider 501 are matched and installed with the threads on the cylindrical step 1 of the rotating screw 504; when a ball screw structure is adopted on the cylindrical step 1 of the rotating screw 504, an inner ball track is also provided on the inner end surface of the moving slider 501, and balls are provided between the cylindrical step 1 of the rotating screw 504 and the inner end surface of the moving slider 501;

[0013] The axial relative movement distance between the moving slider 501 and the rotating screw 504 is l, and the displacement sensor 503 is installed on the moving slider 501 to monitor the relative movement position relationship between the moving slider 501 and the rotating screw 504. The force sensor 505 is installed on the outer end surface of the moving slider 501. The return spring 502 passes through the moving slider 501 and is located on the outer side of the semi-cylindrical boss of the moving slider 501. The inner end of the return spring 502 is fixed on the inner end surface of the moving slider 501. The driving assembly 100, the planetary reducer device 400, and the motion conversion device 500 form a main power device, wherein the motion conversion device 500 is on the inside, the planetary reducer device 400 is in the middle, and the driving assembly 100 is on the outside; specifically: the cylindrical step 2 of the rotating screw 504 of the motion conversion device 500 is fastened to the cylindrical surface 1 of the moving gear ring 203 on the inside of the planetary reducer device 400, and the initial installation position of the moving slider 501 is on the side close to the moving gear ring 203; the output gear shaft of the motor 101 of the driving assembly 100 is meshed with the outer planetary gear 1, outer planetary gear 2, and outer planetary gear 3 on the planetary carrier 202. The parking brake unit 600 includes: a parking electromagnetic switch 601, a parking coil stator 602, a parking coil mover 603, a shift fork 604, a parking friction plate 605, a pressure plate 606, and a parking return spring 607. The parking coil stator 602 is a hollow cylinder, the hollow cylindrical area is cavity one, an electromagnetic coil is wound inside the cylinder, and the outside of the coil is wrapped with excitation materials such as magnetic steel. The cylinder of the parking coil stator 602 has a rectangular boss two on the outside, and a cylindrical boss one on the inside of the rectangular boss two.

[0014] The parking coil mover 603 is a cylinder, and a smaller cylinder 2 is provided at the outer end of the cylinder of the parking coil mover 603 . An annular groove is provided on the outer side of the cylinder 2, and the cylinder gap is installed in the cavity 1 of the parking coil stator 602 .

[0015] The shift fork 604 is a solid rectangle, with a circular hole 1 at the head of the shift fork 604 and a circular hole 2 in the middle; the circular hole 1 of the shift fork 604 is installed in the annular groove of the parking coil mover 603, and the circular hole 2 of the shift fork 604 is installed on the cylindrical boss 1 of the parking coil stator 602.

[0016] The parking friction plate 605 is an annular friction plate.

[0017] The pressure plate 606 is a hollow cylinder, with an annular groove on the inner side of the pressure plate 606, an annular groove on the outer side, and a circular groove 2 outside the annular groove.

[0018] The outer end of the outer side surface of the moving gear ring 203 is provided with a concave step surface.

[0019] The upper part of the inner side surface of the parking friction plate 605 is installed in the annular groove of the pressure plate 606, and the lower part of the inner side surface of the parking friction plate 605 is installed on the end face of the concave step surface of the moving gear ring 203; the parking return spring 607 is installed on the right end face of the circular groove 2 of the pressure plate 606, and the right end face of the parking return spring 607 is hinged to the upper end part of the shift fork 604.

[0020] The caliper brake assembly 300 includes a caliper body 301 , a piston 302 , a friction plate 1 303 , a friction plate 2 304 , a guide pin 305 , a clamp 306 , and a piston sealing ring 307 .

[0021] The caliper body 301 is a hollow cylinder 1, and the inner side surface of the caliper body 301 has a stepped groove structure with two steps. From left to right, there are cylindrical surface 1, cylindrical surface 2, and cylindrical surface 3 with increasing inner diameters. End surface 1 is between cylindrical surface 1 and cylindrical surface 2, and a shoulder structure is formed to form a cylindrical cavity 1. End surface 2 is between cylindrical surface 2 and cylindrical surface 3, and a shoulder structure is formed to form a cavity 2. There are n (n≥1) rectangular grooves evenly distributed around the inner side of cylindrical surface 2. There is an embedded arc-shaped boss 1 on the left side, a groove in the middle of the arc-shaped boss 1, a boss on each side of the arc-shaped groove 1, a semicircle with a diameter the same as the width of the boss on each boss, a circular hole in the middle of each of the two semicircles, called circular hole 1 and circular hole 2 respectively, an arc-shaped boss 2 with the same diameter as the arc-shaped boss 1 but longer on the left side of the arc-shaped boss, an arc-shaped groove 1 on the lower side of the arc-shaped boss 2, and a cavity 3 formed by the right end face of the arc-shaped boss 2 and the left end face of the hollow cylinder.

[0022] The piston 302 is a solid cylinder with a cylindrical groove on the right side of the solid cylinder and a sealing ring groove on the outer side of the piston.

[0023] The friction plate 1 303 is composed of two arc-shaped bosses, namely arc-shaped boss 1 and arc-shaped boss 2. Arc-shaped boss 1 and arc-shaped boss 2 overlap each other. Arc-shaped boss 1 is smaller than arc-shaped boss 2. There is a rectangular groove in the middle of the arc-shaped boss, and there is a rectangular boss on the left and right sides of arc-shaped boss 2.

[0024] The outer shape of the friction plate 2 304 is the same as that of the friction plate 1 303 , and has arc-shaped boss 3 and arc-shaped boss 4 of the same shape and size, as well as the same rectangular boss.

[0025] The guide pin 305 is a solid cylinder 1, on the right side of the solid cylinder there is a solid cylinder 2 with a diameter larger than that of the solid cylinder 1, on the right side of the solid cylinder 2 there is a solid cylinder 3 with a diameter smaller than that of the solid cylinder 2, and on the right side of the solid cylinder 3 there is a solid cylinder 4 with the same diameter as that of the solid cylinder 2.

[0026] The clamp 306 is an arc-shaped boss 1, and there are transverse rectangular bosses on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2. There are hollow cylinders on both sides of the arc-shaped boss, whose center is on the upper side of the transverse rectangular boss, namely hollow cylinder 1 and hollow cylinder 2. There are longitudinal rectangular bosses on the left and right sides, whose width is less than the length of the transverse rectangular boss and perpendicular to the transverse rectangular boss, namely longitudinal rectangular boss 1 and longitudinal rectangular boss 2. There are rectangular grooves 1 and rectangular grooves 2 formed on both sides at a distance between the longitudinal rectangular boss and the transverse rectangular boss. There are trapezoidal bosses with upper end faces perpendicular to the longitudinal rectangular boss, namely trapezoidal boss 1 and trapezoidal boss 2. There is a semicircular boss on the lower side of the rectangular boss, and the semicircular bosses are of equal height and higher than the rectangular bosses and the arc-shaped bosses. shaped boss, and each of the semicircular bosses has a circular groove, namely circular groove one and circular groove two. On the left side of the semicircular boss, there is a boss with the same shape as the transverse rectangular boss, the longitudinal rectangular boss and the trapezoidal boss, and the left and right are symmetrical, forming rectangular groove three and rectangular groove four, which are transverse rectangular boss three, transverse rectangular boss four, longitudinal rectangular boss three, longitudinal rectangular boss four, trapezoidal boss three, and trapezoidal boss four. On the left side of the transverse rectangular boss three and the transverse rectangular boss four, there is a smaller transverse rectangular boss, namely transverse rectangular boss five and transverse rectangular boss six, and the transverse rectangular boss five and the transverse rectangular boss six are parallel to the upper end surfaces of the transverse rectangular boss three and the transverse rectangular boss four, and there is an arc-shaped boss two between the transverse rectangular boss five and the transverse rectangular boss six.

[0027] The guide pin 305 passes through the circular hole of the caliper body 301, and the guide pin 305 is inserted into the circular groove of the clamp 306 to connect the clamp 306 with the caliper body 301. The rectangular bosses on both sides of the friction plate 1 303 are installed in the rectangular groove 1 and the rectangular groove 2. The right end face of the arc-shaped boss 2 of the friction plate 1 303 is parallel to the right end face of the clamp 306. The rectangular bosses on both sides of the friction plate 2 304 are installed in the rectangular groove 3 and the rectangular groove 4. The left end face of the arc-shaped boss 4 of the friction plate 2 304 is parallel to the right end face of the clamp The left end faces of the piston 302 are parallel, so that the friction plate 1 303, the friction plate 2 304 and the clamp 306 are installed in the cavity 3 of the caliper body 301, the brake disc 307 is clamped between the friction plate 1 303 and the friction plate 2 304, the outer side surface of the piston 302 contacts the cylindrical surface 3 of the caliper body 301, and the piston sealing ring 307 is arranged between the piston sealing ring groove of the piston 302 and the cylindrical surface 3 of the caliper body 301, and the left end face of the piston 302 is parallel to the left end face of the hollow cylinder of the caliper body 301.

[0028] The transmission assembly 200 is installed between the caliper brake assembly 300 and the drive assembly 100, and specifically includes:

[0029] The gears on the motor shaft of the motor 101 cooperate with the outer planetary gears 1, 2 and 3 on the outside of the planetary carrier 202; the flange on the left side of the motor 101 and the flange on the right side of the fixed gear ring 201 are connected by bolts to fix the transmission assembly 200 and the drive assembly 100.

[0030] The moving slider 501 passes through the cavity 1 of the caliper body 301, and the boss on the outside of the moving slider 501 cooperates with the groove on the cylindrical surface 2 of the caliper body 301; the outer end of the return spring 502 is connected to the end face 1 of the caliper body 301; the moving slider 501 is rigidly connected to the cylindrical groove of the piston 302 of the caliper brake assembly 300 through the force sensor 505 on the outer end face, and the force sensor 505 monitors the braking force; the moving gear ring 203 is installed in the cavity 2 of the caliper body 301, and the outer ring end face of the bearing 206 is in contact with the cylindrical surface 3 of the caliper body 301; bolts are used to contact the flange of the caliper body 301 and the flange on the left side of the fixed gear ring 201 to realize the installation of the transmission assembly 200 and the fixed connection with the caliper brake assembly 300.

[0031] The parking brake unit 600 is installed on the fixed gear ring 201 and the caliper body 301 of the transmission assembly 200 and on the outer side of the moving gear ring 203 , wherein the left end face of the pressure plate 606 is fixedly connected to the shoulder end face of the caliper body 301 .

[0032] Under the action of the electromagnetic coil of the parking coil stator 602, the parking coil mover 603 can be telescopically operated in the cavity 1 of the parking coil stator 602; the shift fork 604 rotates around the cylindrical boss 1 of the parking coil stator 602 under the driving action of the parking coil mover 603; the lower end of the shift fork 604 pushes the parking friction plate 605 to press the pressure plate 606 and the moving gear ring 203, so that the parking friction plate 605 locks the moving gear ring 203 and the caliper body 301.

[0033] The brake disc 701 is installed between the friction plate 1 303 and the friction plate 2 304 of the caliper brake assembly 300 .

[0034] like Figure 4 and Fig. 9 The monitoring and control unit 800 shown includes a wheel brake controller 801 , a motor position sensor 103 , a displacement sensor 503 , a force sensor 505 , and a parking solenoid switch 601 .

[0035] The present invention also provides a working method of a distributed electronic mechanical braking device, which specifically includes the following:

[0036] Step 1: Service braking process: When the brake pedal is depressed, the wheel brake controller 801 receives the brake signal from the vehicle controller and controls the motor 101 to rotate. The power of the motor 101 is transmitted to the planetary reducer device 400. The planetary reducer device 400 decelerates and torques the power transmitted from the motor 101 and transmits it to the motion conversion device 500. The motion conversion device 500 changes the rotation of the planetary reducer device 400 into the linear motion of the motion slider 501. The motion slider 501 further pushes the piston 302 to move linearly, thereby driving the friction plate 1 303 and the friction plate 2 304 to be pressed against the brake disc 701. After the gap between the friction plate 1 303 on the driving side and the brake disc 701 is eliminated, the caliper body 301 moves in the opposite direction along the guide pin 305. The caliper body 301 drives the friction plate 2 304 on the other side to be pressed against the brake disc 701, thereby finally realizing the application of braking force.

[0037] Step 2: Service brake release process: When the wheel brake controller 801 no longer receives the brake signal from the vehicle controller, the control motor 101 reverses and drives the motion conversion device 500 back to the initial position, and the piston 302 also returns to the initial position, and a braking gap is obtained between the brake disc 701 and the friction plate 1 303 and the friction plate 2 304; if the control motor 101 loses power and does not reverse, the return spring 502 pushes the moving slider 501 back, thereby eliminating the braking force between the brake disc 701 and the friction plate 1 303 and the friction plate 2 304, and obtaining a small braking gap.

[0038] Step 3: Parking brake control with service brake already performed.

[0039] When the vehicle is braked, the parking electromagnetic switch 601 is turned on, and the parking coil stator 602 starts to work, causing the parking coil mover 603 to move to the right. At this time, the parking return spring 607 is subjected to the extension force and compresses the shift fork 604 to rotate counterclockwise. The lower end of the shift fork 604 further compresses the friction plate 605, and the friction plate 605 in turn applies pressure to the pressure plate 606, which in turn exerts a squeezing effect on the moving gear ring 203, causing the moving slider 501 to stay firmly in the current position. At this time, the motor will lose power supply, thereby protecting the motor.

[0040] Step 4: Parking brake control without service brake.

[0041] When the service brake is not applied, the parking electromagnetic switch 601 is closed and the parking coil stator 602 stops working, causing the parking coil mover 603 to move to the left. At this time, the parking return spring 607 is squeezed, and the shift fork 604 rotates clockwise back to its original position and is no longer subjected to pressure. The lower end of the shift fork 604 is separated from the friction plate 605, relieving the pressure on the pressure plate 606. In this way, the moving slider 501 is restored to its original position and the braking process ends.

[0042] Step 5: Closed-loop control of motor position.

[0043] Through the motor position sensor 102, we can obtain the actual rotation angle of the motor 101. We compare the measured actual rotation angle with the expected rotation angle and calculate the difference between the two. If the actual rotation angle fails to reach the expected rotation angle, the motor 101 will continue to run so that the actual rotation angle of the motor 101 immediately reaches or exceeds the expected rotation angle. This process is repeated until the difference between the actual rotation angle and the expected rotation angle is eliminated, thereby achieving closed-loop control of the rotation speed of the motor 101.

[0044] Step 6: Closed-loop control of piston displacement.

[0045] Through the displacement sensor, we can monitor the relative position of the moving slider 501 and the rotating screw 504 in real time, compare the measured actual position with the expected position, and if the actual position fails to reach the expected position, calculate the difference between the two. Then, the drive motor 101 continues to work so that the actual position immediately reaches or exceeds the expected position. This process is repeated until the difference between the actual position and the expected position is eliminated. In this way, precise control of the relative position of the moving slider 501 and the rotating screw 504 is achieved.

[0046] Step 7: Closed-loop control of brake force.

[0047] The force sensor is responsible for monitoring the braking force generated by the moving slider 501. The measured braking force is compared with the expected value. If the actual braking force fails to reach the expected braking force, the difference between the two is calculated. Subsequently, the drive motor 101 will continue to work so that the moving slider 501 continues to push forward. In this way, the actual braking force immediately reaches or exceeds the expected braking force. This process will be repeated until the difference between the actual braking force and the expected braking force is eliminated. In this way, it is ensured that the moving slider 501 can achieve the pushing effect on the piston 302.

[0048] Step 8: Compensation control when friction plate wear occurs.

[0049] When the motor is working, the moving slider 501 moves to the expected position and has no force contact with the piston. The motor should continue to work until the moving slider 501 has a strong contact with the piston. The motor records the current working state and works according to the recorded movement state when braking next time. If the moving slider 501 has a strong contact with the piston, but the piston has no force contact with the friction plate, the motor continues to work until the piston has a strong contact with the friction plate. The motor records the current state and works according to the recorded movement state when braking next time.

[0050] Beneficial effects:

[0051] 1. The present invention can use multiple friction plates that are attracted by electromagnetic and spring control to lock the moving ring gear in the deceleration device to perform parking brake on the vehicle, which effectively solves the problem of overheating or failure of the motor caused by long-term power supply of the main motor during parking brake.

[0052] 2. The involute small-tooth-difference planetary reduction gear device used in the present invention has the characteristics of small volume, light weight and large speed ratio, can adapt to variable speeds and loads, and optimizes the gear stress distribution.

[0053] 3. The present invention adopts a rotary transformer at the motor end, a displacement sensor at the motion conversion device part and a force sensor at the actuator end to comprehensively realize the control of braking force and gap compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative labor. Among them:

[0055] Figure 1 It is a cross-sectional view of the structure of the electronic mechanical brake device.

[0056] Label description: 100-drive assembly, 200-transmission assembly, 300-caliper brake assembly, 400-planetary reducer device, 500-motion conversion device, 600-parking brake unit, 701-brake disc.

[0057] Figure 2 A schematic diagram of the drive components.

[0058] Identification: 101-motor. 102-motor position sensor.

[0059] Figure 3 It is the transmission component and parking brake unit.

[0060] Label description: 201-fixed ring gear, 202-planet carrier, 203-moving ring gear, 204-bearing 1, 205-circlip 1, 206-circlip 2, 207-bearing 2, 208-bearing 3, 209-circlip 3, 210-circlip 4, 211-outer planetary gear, 601-parking solenoid switch, 602-parking coil stator, 603-parking coil mover, 604-shift fork, 605-parking friction plate, 606-pressure plate.

[0061] Figure 4 Schematic diagram of the motion conversion device structure and sensor location.

[0062] Label description: 501-moving slider, 502-return spring, 503-displacement sensor, 504-rotating screw, 505-force sensor.

[0063] Figure 5 It is a cross-sectional view of the caliper brake assembly structure.

[0064] Label description: 301-caliper body, 302-piston, 303-friction plate 1, 304-friction plate 2, 305-guide pin, 306-clamp.

[0065] Figure 6 The planetary gear reduction mechanism is installed on the working principle diagram.

[0066] Label description: 201-fixed ring gear, 202-planet carrier, 203-moving ring gear, 211-outer planetary gear, 212-inner planetary gear.

[0067] Figure 7 A three-dimensional schematic diagram of an electromechanical brake device.

[0068] Figure 8 This is a diagram showing the relationship between braking process function and motion.

[0069] Fig. 9 Schematic diagram of the monitoring and control unit of the distributed electronic mechanical brake device in the whole vehicle.

[0070] Label description: 801-wheel brake controller 1, 802-wheel brake controller 2, 803-wheel brake controller 3, 804-wheel brake controller 4, 805-brake pedal signal, 806-parking brake signal, 807-vehicle controller.

[0071] Fig.10 The figure is a flow chart of the working method of the electronic mechanical brake device. DETAILED DESCRIPTION

[0072] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0073] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0074] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0075] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0076] like Figure 1 As shown, the present invention provides a distributed electronic mechanical braking device, which includes a drive component 100, a transmission component 200, a caliper brake component 300, a planetary reducer device 400, a motion conversion device 500, a parking brake unit 600, a brake disc 701 and a monitoring and control unit 800.

[0077] The driving assembly 100 includes a motor 101 and a motor position sensor 102;

[0078] The motor 101 is a cylindrical AC or DC motor having a housing, a stator, a rotor for transmitting torque, and an output shaft. The output shaft is connected to the inner rotor. A motor position sensor 102 is provided at the end of the motor. There is a flange structure on the outside of the housing of the motor 101, and bolt connection holes are evenly distributed on the flange. The output shaft adopts a gear shaft structure.

[0079] The transmission assembly 200 includes a planetary reducer device 400, a motion conversion device 500 and a parking brake unit 600. The planetary reducer device 400 includes a fixed ring gear 201, a planet carrier 202, a moving ring gear 203, a bearing 1204, a circlip 1 205, a circlip 2 206, a bearing 207, a bearing 3 208, a circlip 3 209, a circlip 4 210, an outer planetary gear 211, and an inner planetary gear 212;

[0080] The fixed gear ring 201 is a hollow cylinder, the hollow part forms a cavity 1, the outer planetary gear 211 is distributed in a circle inside the fixed gear ring 201, there is a flange structure on both sides of the left and right end faces of the fixed gear ring 201, threaded holes are evenly distributed on the flange, and there is a rectangular groove 1 on the left end face of the fixed gear ring 201;

[0081] The planet carrier 202 is a hollow disc structure, the outer diameter of which is smaller than the inner diameter of the fixed gear ring 201. Three protruding cylinders are evenly distributed on the left and right sides of the planet carrier, and the pitch circle formed by the three cylinders is concentric with the hollow disc.

[0082] The moving gear ring 203 is a stepped hollow cylinder with two steps on the inner side, with cylindrical surface 1 and cylindrical surface 2 increasing in diameter from left to right, and end surface 1 between cylindrical surface 1 and cylindrical surface 2 forming a shoulder structure and cavity 2, and two annular grooves with a certain interval on the outer end surface; to supplement the groove structure of the multi-plate friction plate, the outer side surface of the moving gear ring 203 is evenly distributed with n (n≥1) semi-cylindrical bosses, and the semi-cylindrical bosses are along the axial direction of the moving gear ring 203;

[0083] The outer side surface of the planet carrier 202 is located in the cavity 1 of the fixed gear ring 201, and the inner side surface is located in the cavity 2 of the moving gear ring 203. The three cylinders on the outer side surface of the planet carrier are equipped with bearings and outer planetary gears. Specifically, the inner ring of each outer planetary gear is fastened to the outer ring of the bearing, and the inner ring of each bearing is fastened to the cylinder on the outer side surface of the planet carrier. The outer end of each bearing is fixed to the cylinder by a retaining spring. Similarly, the three cylinders on the inner side surface of the planet carrier are equipped with bearings and inner planetary gears, and the fastening method is consistent with the structure of the outer part of the outer planet carrier.

[0084] The outer planetary gear one, the outer planetary gear two, and the outer planetary gear three on the planetary carrier 202 are all meshed with the fixed ring gear 201; the inner planetary gear one, the inner planetary gear two, and the inner planetary gear three on the planetary carrier 202 are all meshed with the moving ring gear 203. Specifically: the retaining spring three 209 is installed on the annular groove on the right side of the planetary carrier 202 shaft, and the retaining spring four 210 is installed on the annular groove on the left side of the planetary carrier 202 shaft. The left end face of the bearing four 208 contacts the right end face of the planetary carrier 202, and the right end face of the bearing three 208 contacts the left side of the retaining spring three 209, so that the bearing three 208 can be fixed, the left end face of the bearing two 207 contacts the right side of the retaining spring three 209, and the right end face of the bearing two 207 contacts the right side of the retaining spring three 209, so that the bearing three 208 can be fixed, and the outer end faces of the bearing three 208 and the bearing two 207 contact the fixed ring gear. 201 contact, on each axis of the planetary carrier 202, there is a structure similar to bearing 207, bearing 3 208, retaining spring 3 209, retaining spring 4 210, and outer planetary gear 211 and they are assembled in the same way, the inner planetary gear 212 on the inner side of the planetary carrier 202 is matched with the inner ring gear on the inner side of the moving gear ring 203, the outer planetary gear 211 on the outer side of the planetary carrier 202 is matched with the inner ring gear on the inner side of the fixed gear ring 201, the fixed gear ring 1 201 is installed on the outer side of the planetary carrier 202, retaining spring 1 205 is installed on the annular groove on the left side of the cylindrical surface 3 of the moving gear ring 203, the retaining spring 206 is installed on the annular groove on the right side of the cylindrical surface 3 of the moving gear ring 203, the retaining spring 1 205 and the retaining spring 206 fix the bearing 1204.

[0085] The motion conversion device 500 includes a motion ring gear 203, a motion slider 501, a return spring 502, a displacement sensor 503, a rotating screw 504, and a force sensor 505;

[0086] The rotating screw 504 is a solid slender shaft with two steps, the cylindrical step 1 is higher than the cylindrical step 2, there is a section of thread or ball screw on the cylindrical step 1, and the cylindrical step 2 is fastened in the cylindrical surface 1 of the moving gear ring 203;

[0087] The moving slider 501 is a hollow cylindrical nut structure, and n (n≥1) semi-cylindrical bosses are evenly distributed on the outer side of the moving slider 501, and the semi-cylindrical bosses are along the axial direction of the moving slider 501;

[0088] When a threaded structure is adopted on the cylindrical step 1 of the rotating screw rod 504, threads are distributed on the inner end surface of the moving slider 501, and the threads on the inner side surface of the moving slider 501 are matched and installed with the threads on the cylindrical step 1 of the rotating screw rod 504; when a ball screw structure is adopted on the cylindrical step 1 of the rotating screw rod 504, an inner ball track is also arranged on the inner end surface of the moving slider 501, and a ball is arranged between the cylindrical step 1 of the rotating screw rod 504 and the inner end surface of the moving slider 501;

[0089] The axial relative movement distance between the moving slider 501 and the rotating screw 504 is l, and the displacement sensor 503 is installed on the moving slider 501 to monitor the relative movement position relationship between the moving slider 501 and the rotating screw 504;

[0090] The force sensor 505 is mounted on the outer end surface of the moving slider 501 .

[0091] The return spring 502 passes through the moving slider 501 and is located outside the semi-cylindrical boss of the moving slider 501 . The inner end of the return spring 502 is fixed on the inner end surface of the moving slider 501 .

[0092] The driving assembly 100, the planetary reducer device 400, and the motion conversion device 500 form a main power device, wherein the motion conversion device 500 is on the inside, the planetary reducer device 400 is in the middle, and the driving assembly 100 is on the outside; specifically: the cylindrical step 2 of the rotating screw 504 of the motion conversion device 500 is fastened to the cylindrical surface 1 of the motion gear ring 203 on the inside of the planetary reducer device 400, and the initial installation position of the motion slider 501 is on the side close to the motion gear ring 203; the output gear shaft of the motor 101 of the driving assembly 100 is meshed with the outer planetary gear 1, the outer planetary gear 2, and the outer planetary gear 3 on the planetary carrier 202;

[0093] The parking brake unit 600 includes: a parking electromagnetic switch 601, a parking coil stator 602, a parking coil mover 603, a shift fork 604, a parking friction plate 605, a pressure plate 606, and a parking return spring 607;

[0094] The parking coil stator 602 is a hollow cylinder, the hollow cylinder area is a cavity 1, an electromagnetic coil is wound inside the cylinder, and the outer side of the coil is wrapped with magnetic steel and other excitation materials. The cylinder of the parking coil stator 602 has a rectangular boss 2 on the outer side, and a cylindrical boss 1 on the inner side of the rectangular boss 2;

[0095] The parking coil mover 603 is a cylinder. A smaller cylinder 2 is provided at the outer end of the cylinder of the parking coil mover 603. An annular groove is provided on the outer side of the cylinder 2. The cylinder gap is installed in the cavity 1 of the parking coil stator 602.

[0096] The shift fork 604 is a solid rectangle, with a circular hole 1 at the head of the shift fork 604 and a circular hole 2 at the middle position; the circular hole 1 of the shift fork 604 is installed in the annular groove of the parking coil mover 603, and the circular hole 2 of the shift fork 604 is installed on the cylindrical boss 1 of the parking coil stator 602;

[0097] The parking friction plate 605 is an annular friction plate;

[0098] The pressure plate 606 is a hollow cylinder, with an annular groove inside the pressure plate 606, an annular groove outside the pressure plate 606, and a circular groove 2 outside the annular groove;

[0099] The outer end of the outer side surface of the moving gear ring 203 is provided with a concave step surface;

[0100] The upper part of the inner side surface of the parking friction plate 605 is installed in the annular groove of the pressure plate 606, and the lower part of the inner side surface of the parking friction plate 605 is installed on the end surface of the concave step surface of the moving gear ring 203; the parking return spring 607 is installed on the right end surface of the circular groove 2 of the pressure plate 606, and the right end surface of the parking return spring 607 is hinged to the upper end of the fork 604;

[0101] The caliper brake assembly 300 includes a caliper body 301, a piston 302, a friction plate 1 303, a friction plate 2 304, a guide pin 305, a clamp 306, and a piston seal 307;

[0102] The caliper body 301 is a hollow cylinder 1, and the inner side surface of the caliper body 301 has a stepped groove structure with two steps. From left to right, there are cylindrical surface 1, cylindrical surface 2, and cylindrical surface 3 with increasing inner diameters. End surface 1 is between cylindrical surface 1 and cylindrical surface 2, and a shoulder structure is formed to form a cylindrical cavity 1. End surface 2 is between cylindrical surface 2 and cylindrical surface 3, and a shoulder structure is formed to form a cavity 2. There are n (n≥1) rectangular grooves evenly distributed around the inner side of cylindrical surface 2. There is an embedded arc-shaped boss 1 on the left side, a groove is formed in the middle of the arc-shaped boss 1, a boss is formed on the left and right sides of the arc-shaped groove 1, each boss has a semicircle with a diameter the same as the width of the boss, and a circular hole is formed in the middle of the two semicircles, respectively called circular hole 1 and circular hole 2, an arc-shaped boss 2 with a diameter the same as that of the arc-shaped boss 1 but longer on the left side of the arc-shaped boss, an arc-shaped groove 1 is formed on the lower side of the arc-shaped boss 2, and the right end face of the arc-shaped boss 2 and the left end face of the hollow cylinder form a cavity 3;

[0103] The piston 302 is a solid cylinder with a cylindrical groove on the right side of the solid cylinder and a sealing ring groove on the outer side of the piston.

[0104] The friction plate 1 303 is composed of two arc-shaped bosses, namely arc-shaped boss 1 and arc-shaped boss 2. The arc-shaped boss 1 and the arc-shaped boss 2 overlap each other. The arc-shaped boss 1 is smaller than the arc-shaped boss 2. There is a rectangular groove in the middle of the arc-shaped boss, and there is a rectangular boss on the left and right sides of the arc-shaped boss 2.

[0105] The outer shape of the friction plate 2 304 is the same as that of the friction plate 1 303, and has arc-shaped bosses 3 and 4 of the same shape and size, and the same rectangular bosses;

[0106] The guide pin 305 is a solid cylinder 1, on the right side of the solid cylinder there is a solid cylinder 2 with a diameter larger than that of the solid cylinder 1, on the right side of the solid cylinder 2 there is a solid cylinder 3 with a diameter smaller than that of the solid cylinder 2, and on the right side of the solid cylinder 3 there is a solid cylinder 4 with the same diameter as that of the solid cylinder 2;

[0107] The clamp 306 is an arc-shaped boss 1, and there are transverse rectangular bosses on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2. There are hollow cylinders on both sides of the arc-shaped boss, whose center is on the upper side of the transverse rectangular boss, namely hollow cylinder 1 and hollow cylinder 2. There are longitudinal rectangular bosses on the left and right sides, whose width is less than the length of the transverse rectangular boss and perpendicular to the transverse rectangular boss, namely longitudinal rectangular boss 1 and longitudinal rectangular boss 2. There are rectangular grooves 1 and rectangular grooves 2 formed on both sides at a distance between the longitudinal rectangular boss and the transverse rectangular boss. There are trapezoidal bosses with upper end faces perpendicular to the longitudinal rectangular boss, namely trapezoidal boss 1 and trapezoidal boss 2. There is a semicircular boss on the lower side of the rectangular boss, and the semicircular bosses are of equal height and higher than the rectangular bosses and the arc-shaped bosses. shaped boss, each of the semicircular bosses has a circular groove, namely circular groove one and circular groove two, and on the left side of the semicircular boss there is a boss with the same shape as the transverse rectangular boss, the longitudinal rectangular boss and the trapezoidal boss, and the left and right are symmetrical, forming rectangular groove three and rectangular groove four, respectively transverse rectangular boss three, transverse rectangular boss four, longitudinal rectangular boss three, longitudinal rectangular boss four, trapezoidal boss three, trapezoidal boss four, and on the left side of the transverse rectangular boss three and the transverse rectangular boss four there is a smaller transverse rectangular boss, respectively transverse rectangular boss five and transverse rectangular boss six, and the transverse rectangular boss five and the transverse rectangular boss six are parallel to the upper end surfaces of the transverse rectangular boss three and the transverse rectangular boss four, and there is an arc-shaped boss two between the transverse rectangular boss five and the transverse rectangular boss six;

[0108] The guide pin 305 passes through the circular hole of the caliper body 301, and the guide pin 305 is inserted into the circular groove of the clamp 306 to connect the clamp 306 with the caliper body 301. The rectangular bosses on both sides of the friction plate 1 303 are installed in the rectangular groove 1 and the rectangular groove 2. The right end face of the arc-shaped boss 2 of the friction plate 1 303 is parallel to the right end face of the clamp 306. The rectangular bosses on both sides of the friction plate 2 304 are installed in the rectangular groove 3 and the rectangular groove 4. The left end face of the arc-shaped boss 4 of the friction plate 2 304 is parallel to the right end face of the clamp The left end surface of the piston 302 is parallel to that of the caliper body 301, so that the friction plate 1 303, the friction plate 2 304 and the clamp 306 are installed in the cavity 3 of the caliper body 301, the brake disc 307 is clamped between the friction plate 1 303 and the friction plate 2 304, the outer side surface of the piston 302 contacts the cylindrical surface 3 of the caliper body 301, and the piston seal 307 is arranged between the piston seal groove of the piston 302 and the cylindrical surface 3 of the caliper body 301, and the left end surface of the piston 302 is parallel to the left end surface of the hollow cylinder of the caliper body 301;

[0109] The transmission assembly 200 is installed between the caliper brake assembly 300 and the drive assembly 100, specifically:

[0110] The gears on the motor shaft of the motor 101 cooperate with the outer planetary gears 1, 2 and 3 on the outside of the planetary carrier 202; the flange on the left side of the motor 101 and the flange on the right side of the fixed gear ring 201 are connected by bolts to fix the transmission assembly 200 and the drive assembly 100.

[0111] The moving slider 501 passes through the cavity 1 of the caliper body 301, and the boss on the outside of the moving slider 501 cooperates with the groove on the cylindrical surface 2 of the caliper body 301; the outer end of the return spring 502 is connected to the end face 1 of the caliper body 301; the moving slider 501 is rigidly connected to the cylindrical groove of the piston 302 of the caliper brake assembly 300 through the force sensor 505 on the outer end face, and the force sensor 505 monitors the braking force; the moving gear ring 203 is installed in the cavity 2 of the caliper body 301, and the outer ring end face of the bearing 206 is in contact with the cylindrical surface 3 of the caliper body 301; bolts are used to contact the flange of the caliper body 301 and the flange on the left side of the fixed gear ring 201 to realize the installation of the transmission assembly 200 and the fixed connection with the caliper brake assembly 300.

[0112] The parking brake unit 600 is installed on the fixed gear ring 201 and the caliper body 301 of the transmission assembly 200, and is outside the moving gear ring 203, wherein the left end surface of the pressure plate 606 is fixedly connected to the shoulder end surface of the caliper body 301;

[0113] Under the action of the electromagnetic coil of the parking coil stator 602, the parking coil mover 603 can be telescopically operated in the cavity 1 of the parking coil stator 602; the shift fork 604 rotates around the cylindrical boss 1 of the parking coil stator 602 under the driving action of the parking coil mover 603; the lower end of the shift fork 604 pushes the parking friction plate 605 to press the pressure plate 606 and the moving gear ring 203, so that the parking friction plate 605 locks the moving gear ring 203 and the caliper body 301;

[0114] The brake disc 701 is installed between the friction plate 1 303 and the friction plate 2 304 of the caliper brake assembly 300 .

[0115] like Figure 4 and Fig. 9 The monitoring and control unit 800 shown includes a wheel brake controller 801 , a motor position sensor 103 , a displacement sensor 503 , a force sensor 505 , and a parking solenoid switch 601 .

[0116] like Figure 8 and Fig.10 The working method of a distributed electromechanical brake device shown includes the following:

[0117] 1) Service braking process: when the brake pedal is depressed, the wheel brake controller 801 receives the brake signal from the vehicle controller and controls the motor 101 to rotate. The power of the motor 101 is transmitted to the planetary reducer device 400. The planetary reducer device 400 decelerates and torques the power transmitted from the motor 101 and transmits it to the motion conversion device 500. The motion conversion device 500 changes the rotation of the planetary reducer device 400 into the linear motion of the motion slider 501. The motion slider 501 further pushes the piston 302 to move linearly, thereby driving the friction plate 1 303 and the friction plate 2 304 to be pressed against the brake disc 701. After the gap between the friction plate 1 303 on the driving side and the brake disc 701 is eliminated, the caliper body 301 moves in the opposite direction along the guide pin 305. The caliper body 301 drives the friction plate 2 304 on the other side to be pressed against the brake disc 701, thereby finally realizing the application of braking force.

[0118] 2) Service brake release process: When the wheel brake controller 801 no longer receives the brake signal from the vehicle controller, the control motor 101 reverses and drives the motion conversion device 500 to return to the initial position, and the piston 302 also returns to the initial position, and a braking gap is obtained between the brake disc 701 and the friction plate 1 303 and the friction plate 2 304; if the control motor 101 loses power and does not reverse, the return spring 502 pushes the moving slider 501 back, thereby eliminating the braking force between the brake disc 701 and the friction plate 1 303 and the friction plate 2 304, and obtaining a small braking gap.

[0119] 3) Parking brake control with service brake already applied

[0120] When the vehicle is braked, the parking electromagnetic switch 601 is turned on, and the parking coil stator 602 starts to work, causing the parking coil mover 603 to move to the right. At this time, the parking return spring 607 is subjected to the extension force and compresses the shift fork 604 to rotate counterclockwise. The lower end of the shift fork 604 further compresses the friction plate 605, and the friction plate 605 in turn applies pressure to the pressure plate 606, which in turn exerts a squeezing effect on the moving gear ring 203, causing the moving slider 501 to stay firmly in the current position. At this time, the motor will lose power supply, thereby protecting the motor.

[0121] 4) Parking brake control without service brake

[0122] When the service brake is not applied, the parking electromagnetic switch 601 is closed and the parking coil stator 602 stops working, causing the parking coil mover 603 to move to the left. At this time, the parking return spring 607 is squeezed, and the shift fork 604 rotates clockwise back to its original position and is no longer subjected to pressure. The lower end of the shift fork 604 is separated from the friction plate 605, relieving the pressure on the pressure plate 606. In this way, the moving slider 501 is restored to its original position and the braking process ends.

[0123] 5) Closed-loop control of motor position

[0124] Through the motor position sensor 102, we can obtain the actual rotation angle of the motor 101. We compare the measured actual rotation angle with the expected rotation angle and calculate the difference between the two. If the actual rotation angle fails to reach the expected rotation angle, the motor 101 will continue to run so that the actual rotation angle of the motor 101 immediately reaches or exceeds the expected rotation angle. This process is repeated until the difference between the actual rotation angle and the expected rotation angle is eliminated, thereby achieving closed-loop control of the rotation speed of the motor 101.

[0125] 6) Closed-loop control of piston displacement

[0126] Through the displacement sensor, we can monitor the relative position of the moving slider 501 and the rotating screw 504 in real time, compare the measured actual position with the expected position, and if the actual position fails to reach the expected position, calculate the difference between the two. Then, the drive motor 101 continues to work so that the actual position immediately reaches or exceeds the expected position. This process is repeated until the difference between the actual position and the expected position is eliminated. In this way, precise control of the relative position of the moving slider 501 and the rotating screw 504 is achieved.

[0127] 7) Closed-loop control of brake force

[0128] The force sensor is responsible for monitoring the braking force generated by the moving slider 501. The measured braking force is compared with the expected value. If the actual braking force fails to reach the expected braking force, the difference between the two is calculated. Subsequently, the drive motor 101 will continue to work so that the moving slider 501 continues to push forward. In this way, the actual braking force immediately reaches or exceeds the expected braking force. This process will be repeated until the difference between the actual braking force and the expected braking force is eliminated. In this way, it is ensured that the moving slider 501 can achieve the pushing effect on the piston 302.

[0129] 8) Compensation control when friction plate wear occurs

[0130] When the motor is working, the moving slider 501 moves to the expected position and has no force contact with the piston. The motor should continue to work until the moving slider 501 has a strong contact with the piston. The motor records the current working state and works according to the recorded movement state when braking next time. If the moving slider 501 has a strong contact with the piston, but the piston has no force contact with the friction plate, the motor continues to work until the piston has a strong contact with the friction plate. The motor records the current state and works according to the recorded movement state when braking next time.

[0131] The technical process described above is only a preferred embodiment of the present invention, but does not represent all the details of the present invention. Any modification, equivalent substitution and improvement made by any professional familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A distributed electromechanical brake device, characterized in that: The device comprises a drive assembly (100), a transmission assembly (200), a caliper brake assembly (300), a planetary reducer device 400, a motion conversion device 500, a parking brake unit (600), a brake disc (701) and a monitoring and control unit (800); the drive assembly (100) comprises a motor (101) and a motor position sensor (102).

2. A distributed electromechanical brake device according to claim 1, characterized in that: The motor (101) is a cylindrical AC or DC motor having a housing, a stator, a rotor for transmitting torque, and an output shaft. The output shaft is connected to the inner rotor. A motor position sensor (102) is provided at the end of the motor. A flange structure is provided on the outer side of the housing of the motor (101). Bolt connection holes are evenly distributed on the flange. The output shaft adopts a gear shaft structure.

3. A distributed electromechanical brake device according to claim 1, characterized in that: The transmission assembly (200) comprises a planetary reducer device (400), a motion conversion device (500) and a parking brake unit (600), wherein the planetary reducer device (400) comprises a fixed ring gear (201), a planet carrier (202), a moving ring gear (203), a bearing 1 (204), a retaining spring 1 (205), a retaining spring 2 (206), a bearing 2 (207), a bearing 3 (208), a retaining spring 3 (209), a retaining spring 4 (210), an outer planetary gear (211) and an inner planetary gear (212).

4. A distributed electromechanical brake device according to claim 3, characterized in that: The fixed gear ring (201) is a hollow cylinder, the hollow part of which forms a cavity 1. The outer planetary gears (211) are distributed circularly inside the fixed gear ring (201). There is a flange structure on both sides of the left and right end faces of the fixed gear ring (201), and threaded holes are evenly distributed on the flange. There is a rectangular groove 1 on the left end face of the fixed gear ring (201).

5. A distributed electromechanical brake device according to claim 3, characterized in that: The planet carrier (202) is a hollow disc structure, the outer diameter of which is smaller than the inner diameter of the fixed gear ring (201). Three protruding cylinders are evenly distributed on the left and right sides of the planet carrier, and the pitch circle formed by the three cylinders is concentric with the hollow disc.

6. A distributed electromechanical brake device according to claim 3, characterized in that: The moving gear ring (203) is a stepped hollow cylinder with two steps on the inner side, with cylindrical surface 1 and cylindrical surface 2 increasing in diameter from left to right, with end surface 1 between cylindrical surface 1 and cylindrical surface 2 forming a shaft shoulder structure and cavity 2, and two annular grooves with a certain interval on the outer end surface; in addition to the groove structure of the multi-plate friction plate, the outer side surface of the moving gear ring (203) is evenly distributed with n (n≥1) semi-cylindrical bosses, and the semi-cylindrical bosses are arranged along the axial direction of the moving gear ring (203) to connect the planet carrier (202) The outer side surface of the planetary frame is located in the cavity 1 of the fixed gear ring (201), and the inner side surface is located in the cavity 2 of the moving gear ring (203). The three cylinders on the outer side surface of the planetary frame are equipped with bearings and outer planetary wheels. Specifically, the inner ring of each outer planetary wheel is fastened to the outer ring of the bearing, and the inner ring of each bearing is fastened to the cylinder on the outer side surface of the planetary frame. The outer end of each bearing is fixed to the cylinder by a retaining spring. The three cylinders on the inner side surface of the planetary frame are equipped with bearings and inner planetary wheels. The fastening method is consistent with the outer structure of the outer planetary frame.

7. A distributed electromechanical brake device according to claim 3, characterized in that: The outer planetary gears 1, 2 and 3 on the planetary carrier (202) are all meshed with the fixed gear ring (201); the inner planetary gears 1, 2 and 3 on the planetary carrier (202) are all meshed with the moving gear ring (203), specifically: the third retaining spring (209) is installed on the annular groove on the right side of the planetary carrier (202) shaft, the fourth retaining spring (210) is installed on the annular groove on the left side of the planetary carrier (202) shaft, and the left end surface of the fourth bearing (208) is connected to the planetary carrier (202). ), the right end face of bearing three (208) contacts with the left side of retaining spring three (209), so that bearing three (208) can be fixed, the left end face of bearing two (207) contacts with the right side of retaining spring three (209), the right end face of bearing two (207) contacts with the outer end face of bearing three (208) and bearing two (207) contacts with the fixed gear ring (201), and each shaft of the planetary carrier (202) has a contact with bearing two (207), bearing three ( 208), a retaining spring three (209), a retaining spring four (210), and an outer planetary gear (211) having the same structure and being assembled in the same manner, the inner planetary gear (212) on the inner side of the planetary carrier (202) and the inner gear ring on the inner side of the moving gear ring (203) are matched with each other, the outer planetary gear (211) on the outer side of the planetary carrier (202) and the inner gear ring on the inner side of the fixed gear ring (201) are matched with each other, the fixed gear ring one (201) is installed on the outer side of the planetary carrier (202), and the retaining spring one (205) is connected to the planetary carrier (202). The motion conversion device (500) is installed on the annular groove on the left side of the cylindrical surface three of the moving gear ring (203), the retaining spring (206) is installed on the annular groove on the right side of the cylindrical surface three of the moving gear ring (203), the retaining spring (205) and the retaining spring (206) fix the bearing (204), and the motion conversion device (500) includes the moving gear ring (203), the moving slider (501), the return spring (502), the displacement sensor (503), the rotating screw (504), and the force sensor (505).

8. A distributed electromechanical brake device according to claim 7, characterized in that: The rotating screw (504) is a solid slender shaft with two steps, the cylindrical step one is higher than the cylindrical step two, a section of thread or ball screw is arranged on the cylindrical step one, the cylindrical step two is fastened to the cylindrical surface one of the moving gear ring (203), the moving slider (501) is a hollow cylindrical nut structure, and n (n≥1) semi-cylindrical bosses are evenly distributed on the outer side of the moving slider (501), and the semi-cylindrical bosses are arranged along the axial direction of the moving slider (501). When the rotating screw (504) is rotated, the semi-cylindrical bosses are rotated. When a threaded structure is adopted on the cylindrical step 1 of the rotating screw rod (504), threads are distributed on the inner end surface of the moving slider (501), and the threads on the inner side surface of the moving slider (501) are matched with the threads on the cylindrical step 1 of the rotating screw rod (504) for installation; when a ball screw structure is adopted on the cylindrical step 1 of the rotating screw rod (504), an inner ball track is also arranged on the inner end surface of the moving slider (501), and a ball is arranged between the cylindrical step 1 of the rotating screw rod (504) and the inner end surface of the moving slider (501); The axial relative movement distance between the moving slider (501) and the rotating screw (504) is l, the displacement sensor (503) is installed on the moving slider (501) to monitor the relative movement position relationship between the moving slider (501) and the rotating screw (504), the force sensor (505) is installed on the outer end surface of the moving slider (501), the return spring (502) passes through the moving slider (501) and is located on the outer side of the semi-cylindrical boss of the moving slider (501), the inner end of the return spring (502) is fixed on the inner end surface of the moving slider (501), the driving component (100), the planetary reducer device (400), and the motion conversion device (500) form a main power device, wherein the motion conversion device (500) is on the inner side, the planetary reducer device (400) is in the middle, and the driving component (100) is on the outer side; specifically: the cylindrical step 2 of the rotating screw (504) of the motion conversion device (500) is fastened to The moving slider (501) is initially installed on a cylindrical surface 1 of the moving gear ring (203) on the inner side of the planetary reducer device (400) at a side close to the moving gear ring (203); the output gear shaft of the motor (101) of the drive assembly (100) is meshed with the outer planetary gear 1, the outer planetary gear 2, and the outer planetary gear 3 on the planetary carrier (202); the parking brake unit (600) comprises: a parking electromagnetic switch (601), a parking coil stator (602), The parking coil mover (603), the shift fork (604), the parking friction plate (605), the pressure plate (606), the parking return spring (607), the parking coil stator (602) is a hollow cylinder, the hollow cylinder area is cavity one, an electromagnetic coil is wound inside the cylinder, and the outside of the coil is wrapped with magnetic steel or other excitation materials. The cylinder of the parking coil stator (602) has a rectangular boss two on the outside, and a cylindrical boss one on the inside of the rectangular boss two.

9. A distributed electromechanical brake device according to claim 8, characterized in that: The parking coil mover (603) is a cylinder, a smaller cylinder 2 is provided at the outer end of the cylinder of the parking coil mover (603), an annular groove is provided on the outer side of the cylinder 2, and the cylinder gap is installed in the cavity 1 of the parking coil stator (602); The shift fork (604) is a solid rectangle, with a circular hole 1 at the head of the shift fork (604) and a circular hole 2 at the middle position; the circular hole 1 of the shift fork (604) is installed in the annular groove of the parking coil mover (603), and the circular hole 2 of the shift fork (604) is installed on the cylindrical boss 1 of the parking coil stator (602); The parking friction plate (605) is an annular friction plate; The pressure plate (606) is a hollow cylinder, with an annular groove inside the pressure plate (606), an annular groove outside the pressure plate (606), and a second circular groove outside the annular groove; The outer end of the outer side surface of the moving gear ring (203) is provided with a concave step surface; The upper part of the inner side surface of the parking friction plate (605) is installed in the annular groove of the pressure plate (606), and the lower part of the inner side surface of the parking friction plate (605) is installed on the end surface of the concave step surface of the moving gear ring (203); the parking return spring (607) is installed on the right end surface of the circular groove 2 of the pressure plate (606), and the right end surface of the parking return spring (607) is hinged to the upper end of the shift fork (604); The caliper brake assembly (300) comprises a caliper body (301), a piston (302), a friction plate 1 (303), a friction plate 2 (304), a guide pin (305), a clamp (306), and a piston sealing ring (307); The caliper body (301) is a hollow cylinder 1. The inner side surface of the caliper body (301) has a stepped groove structure with two steps. From left to right, the inner diameters of the cylindrical surface 1, the cylindrical surface 2, and the cylindrical surface 3 are increased in sequence. The end surface 1 is between the cylindrical surface 1 and the cylindrical surface 2, and the shoulder structure is formed to form a cylindrical cavity 1. The end surface 2 is between the cylindrical surface 2 and the cylindrical surface 3, and the shoulder structure is formed to form a cavity 2. There are n (n≥1) rectangular grooves evenly distributed around the inner side of the cylindrical surface 2. There is an embedded arc-shaped boss 1 on the left side of the cylinder, a groove is formed in the middle of the arc-shaped boss 1, a boss is formed on the left and right sides of the arc-shaped groove 1, each boss has a semicircle with a diameter the same as the width of the boss, and a circular hole is formed in the middle of the two semicircles, respectively called circular hole 1 and circular hole 2, an arc-shaped boss 2 with a diameter the same as that of the arc-shaped boss 1 but longer on the left side of the arc-shaped boss, an arc-shaped groove 1 is formed on the lower side of the arc-shaped boss 2, and the right end face of the arc-shaped boss 2 and the left end face of the hollow cylinder form a cavity 3; The piston (302) is a solid cylinder with a cylindrical groove on the right side of the solid cylinder, and a sealing ring groove is provided on the outer side of the piston; The friction plate 1 (303) is composed of two arc-shaped bosses, namely arc-shaped boss 1 and arc-shaped boss 2. The arc-shaped boss 1 and the arc-shaped boss 2 overlap each other. The arc-shaped boss 1 is smaller than the arc-shaped boss 2. There is a rectangular groove in the middle of the arc-shaped boss, and there is a rectangular boss on the left and right sides of the arc-shaped boss 2. The outer shape of the friction plate 2 (304) is the same as that of the friction plate 1 (303), and has arc-shaped bosses 3 and 4 of the same shape and size, as well as the same rectangular bosses; The guide pin (305) is a solid cylinder 1, on the right side of the solid cylinder there is a solid cylinder 2 with a diameter larger than that of the solid cylinder 1, on the right side of the solid cylinder 2 there is a solid cylinder 3 with a diameter smaller than that of the solid cylinder 2, and on the right side of the solid cylinder 3 there is a solid cylinder 4 with the same diameter as that of the solid cylinder 2; The clamp (306) is an arc-shaped boss 1, and there are transverse rectangular bosses on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2. On both sides of the arc-shaped boss, there are hollow cylinders with their centers on the upper side of the transverse rectangular boss, namely hollow cylinder 1 and hollow cylinder 2. On the left and right sides, there are longitudinal rectangular bosses with a width less than the length of the transverse rectangular boss and perpendicular to the transverse rectangular boss, namely longitudinal rectangular boss 1 and longitudinal rectangular boss 2. On both sides, there are rectangular grooves 1 and 2 formed at a distance between the longitudinal rectangular boss and the transverse rectangular boss. There are trapezoidal bosses with upper end faces perpendicular to the longitudinal rectangular boss, namely trapezoidal boss 1 and trapezoidal boss 2. There is a semicircular boss on the lower side of the rectangular boss, and the semicircular bosses are of equal height and higher than the rectangular bosses and Arc-shaped boss, each of the semicircular bosses has a circular groove, namely circular groove one and circular groove two. On the left side of the semicircular boss, there is a boss with the same shape as the transverse rectangular boss, the longitudinal rectangular boss and the trapezoidal boss, and the left and right are symmetrical, forming rectangular groove three and rectangular groove four, namely transverse rectangular boss three, transverse rectangular boss four, longitudinal rectangular boss three, longitudinal rectangular boss four, trapezoidal boss three, trapezoidal boss four. On the left side of transverse rectangular boss three and transverse rectangular boss four, there are smaller transverse rectangular bosses, namely transverse rectangular boss five and transverse rectangular boss six, and transverse rectangular boss five and transverse rectangular boss six are parallel to the upper end faces of transverse rectangular boss three and transverse rectangular boss four. There is an arc-shaped boss two between transverse rectangular boss five and transverse rectangular boss six. The guide pin (305) passes through the circular hole of the caliper body (301), and the guide pin (305) is inserted into the circular groove of the clamp (306), so that the clamp (306) and the caliper body (301) are connected together. The rectangular bosses on both sides of the friction plate (303) are installed in the rectangular grooves 1 and 2, and the right end face of the arc-shaped boss 2 of the friction plate (303) is parallel to the right end face of the clamp (306). The rectangular bosses on both sides of the friction plate (304) are installed in the rectangular grooves 3 and 4, and the left end face of the arc-shaped boss 4 of the friction plate (304) is parallel to the right end face of the clamp (306). ) left end surface is parallel, so that the friction plate 1 (303), the friction plate 2 (304) and the clamp (306) are installed in the cavity 3 of the caliper body (301), the brake disc (307) is clamped between the friction plate 1 (303) and the friction plate 2 (304), the outer side surface of the piston (302) contacts the cylindrical surface 3 of the caliper body (301), and the piston seal (307) is arranged between the piston seal groove of the piston (302) and the cylindrical surface 3 of the caliper body (301), and the left end surface of the piston (302) is parallel to the left end surface of the hollow cylinder of the caliper body (301); The transmission assembly (200) is installed between the caliper brake assembly (300) and the drive assembly (100), specifically: The gear on the motor shaft of the motor (101) cooperates with the outer planetary gear 1, the outer planetary gear 2, and the outer planetary gear 3 on the outer side of the planetary carrier (202); the flange on the left side of the motor (101) and the flange on the right side of the fixed gear ring (201) are connected by bolts, so that the transmission assembly (200) and the drive assembly (100) are fixedly connected; The moving slider (501) passes through the cavity body 1 of the caliper body (301), and the boss on the outer side of the moving slider (501) cooperates with the groove on the cylindrical surface 2 of the caliper body (301); the outer end of the return spring (502) is connected to the end surface 1 of the caliper body (301); the moving slider (501) is rigidly connected to the cylindrical groove of the piston (302) of the caliper brake assembly (300) through the force sensor (505) on the outer end surface, and the force sensor (505) monitors the braking force; the moving gear ring (203) is installed in the cavity 2 of the caliper body (301), and the outer ring end face of the bearing (206) is in contact with the cylindrical surface 3 of the caliper body (301); bolts are used to contact the flange of the caliper body (301) and the flange on the left side of the fixed gear ring (201), so as to realize the installation of the transmission assembly (200) and the fixed connection with the caliper brake assembly (300); The parking brake unit (600) is installed on the fixed gear ring (201) and the caliper body (301) of the transmission assembly (200), and is outside the moving gear ring (203), wherein the left end surface of the pressure plate (606) is fixedly connected to the shoulder end surface of the caliper body (301); Under the action of the electromagnetic coil of the parking coil stator (602), the parking coil mover (603) can be telescopically operated in the cavity 1 of the parking coil stator (602); the shift fork (604) rotates around the cylindrical boss 1 of the parking coil stator (602) under the driving action of the parking coil mover (603); the lower end of the shift fork (604) pushes the parking friction plate (605) to press the pressure plate (606) and the moving gear ring (203), so that the parking friction plate (605) locks the moving gear ring (203) and the caliper body (301); The brake disc (701) is installed between the friction plate 1 (303) and the friction plate 2 (304) of the caliper brake assembly (300); The monitoring and control unit (800) includes a wheel brake controller (801), a motor position sensor (103), a displacement sensor (503), a force sensor (505), and a parking electromagnetic switch (601).

10. A method for operating a distributed electronic mechanical brake device, characterized in that: The method comprises the following steps: Step 1: Service braking process: When the brake pedal is depressed, the wheel brake controller (801) receives the brake signal from the vehicle controller and controls the motor (101) to rotate. The power of the motor (101) is transmitted to the planetary reducer device (400). The planetary reducer device (400) decelerates and increases the torque of the power transmitted from the motor (101) and transmits it to the motion conversion device (500). The motion conversion device (500) changes the rotation of the planetary reducer device (400) into a motion slider. (501) moves linearly, the moving slider (501) further pushes the piston (302) to move linearly, thereby driving the friction plate 1 (303) and the friction plate 2 (304) to be pressed against the brake disc (701), and after the gap between the friction plate 1 (303) on the driving side and the brake disc (701) is eliminated, the caliper body (301) moves in the opposite direction along the guide pin (305), and the caliper body (301) drives the friction plate 2 (304) on the other side to be pressed against the brake disc (701), thereby applying the braking force; Step 2: Service brake release process: When the wheel brake controller (801) no longer receives the brake signal from the vehicle controller, the control motor (101) is reversed and drives the motion conversion device (500) to return to the initial position, and the piston (302) also returns to the initial position, and a braking gap is obtained between the brake disc (701) and the friction plate 1 (303) and the friction plate 2 (304); if the control motor (101) loses power and does not reverse, the return spring (502) pushes the moving slider (501) back, thereby eliminating the braking force between the brake disc (701) and the friction plate 1 (303) and the friction plate 2 (304), and obtaining a small amount of braking gap; Step 3: Parking brake control with service brake already performed; When the vehicle is braked, the parking electromagnetic switch (601) is turned on, and the parking coil stator (602) starts to work, causing the parking coil mover (603) to move to the right. At this time, the parking return spring (607) is subjected to the extension force and compresses the shift fork (604) to rotate counterclockwise. The lower end of the shift fork (604) further compresses the friction plate (605). The friction plate (605) then applies pressure to the pressure plate (606). The pressure plate (606) then exerts a squeezing effect on the moving gear ring (203), causing the moving slider (501) to stay firmly at the current position. The motor will lose power supply, thereby protecting the motor. Step 4: Parking brake control without service brake; When the vehicle is not braked, the parking electromagnetic switch (601) is closed, the parking coil stator (602) stops working, causing the parking coil mover (603) to move to the left. At this time, the parking return spring (607) is squeezed, and the shift fork (604) rotates clockwise to return to its original position and is no longer subjected to pressure. The lower end of the shift fork (604) is separated from the friction plate (605), relieving the pressure on the pressure plate (606), and the moving slider (501) is restored to its original position, and the braking process ends. Step 5: Closed-loop control of motor position; The actual rotation angle of the motor (101) is obtained by using a motor position sensor (102), and the measured actual rotation angle is compared with an expected rotation angle to calculate the difference between the two. If the actual rotation angle fails to reach the expected rotation angle, the motor (101) will continue to operate so that the actual rotation angle of the motor (101) immediately reaches or exceeds the expected rotation angle. This process is repeated until the difference between the actual rotation angle and the expected rotation angle is eliminated, thereby achieving closed-loop control of the rotation speed of the motor (101); Step 6: Closed-loop control of piston displacement; The displacement sensor can monitor the relative position of the moving slider (501) and the rotating screw (504) in real time, and compare the measured actual position with the expected position. If the actual position fails to reach the expected position, the difference between the two is calculated. Then, the driving motor (101) continues to work so that the actual position immediately reaches or exceeds the expected position. This process is repeated until the difference between the actual position and the expected position is eliminated. In this way, accurate control of the relative position of the moving slider (501) and the rotating screw (504) is achieved. Step 7: Closed-loop control of brake force; The force sensor is responsible for monitoring the braking force generated by the moving slider (501), comparing the measured braking force with the expected value, and if the actual braking force fails to reach the expected braking force, calculating the difference between the two, then the drive motor (101) will continue to work, so that the moving slider (501) continues to push forward, so that the actual braking force immediately reaches or exceeds the expected braking force, and this process will be repeated until the difference between the actual braking force and the expected braking force is eliminated, and the moving slider (501) pushes the piston (302); Step 8: Compensation control when friction plate wear occurs; When the motor is working, the moving slider (501) moves to the expected position without force contact with the piston. The motor should continue to work until the moving slider (501) is in strong contact with the piston. The motor records the current working state and works according to the recorded motion state when braking next time. If the moving slider (501) is already in strong contact with the piston, but the piston is not in strong contact with the friction plate, the motor continues to work until the piston is in strong contact with the friction plate. The motor records the current state and works according to the recorded motion state when braking next time.

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