A distributed electronic mechanical braking device and method

Abstract

The present invention discloses a distributed electronic mechanical braking device and method. 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). 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 an 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 motor (101) housing. Bolt connection holes are evenly distributed on the flange. The output shaft adopts a gear shaft structure. The present invention can well use multiple friction plates that are attracted by electromagnetic and spring control to lock the moving gear ring in the reduction device to perform parking braking on the vehicle.

Description

Technical Field

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

[0002] Electro-Mechanical Braking (EMB) is gaining increasing attention in the field of modern vehicle braking technology. Furthermore, with advancements in vehicle technology and increasing demands for braking performance, distributed braking systems have become a research hotspot. Unlike traditional centralized braking systems, distributed braking systems distribute the generation and control of braking force to each tire of the vehicle, making braking force distribution more flexible and precise. This helps improve vehicle handling stability and allows for more braking strategies, such as selective braking or brake force vectoring. However, this also means that each tire requires a separate EMB module, increasing system complexity and control challenges.

[0003] Despite this, the current EMB system design relies heavily on the continuous operation of the brake motor. Prolonged operation can expose the motor to potential failure and power outages. Furthermore, the friction pads and discs of the braking system wear over time, increasing the brake clearance. Consequently, the motor's rotation angle changes compared to its initial state, requiring compensation for wear. Otherwise, the required braking force cannot be achieved. This limiting factor can pose a significant challenge to the vehicle's safety and stability while parked. Therefore, in-depth research and optimization of the reliability of electromechanical braking systems, particularly distributed braking systems, are crucial. Summary of the Invention

[0004] The present invention addresses the shortcomings and deficiencies of the aforementioned prior art by proposing a distributed electromechanical braking device and method. This device utilizes electromagnetically and spring-controlled engagement of multiple friction plates to achieve parking braking. This effectively addresses the issue of overheating or failure of the main motor caused by prolonged power supply during parking braking. A force sensor is installed between the actuator piston and the motion conversion device to control braking force and compensate for backlash, addressing the issue of insufficient braking force due to wear.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a distributed electromechanical 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] 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 motor 101 housing, with bolt connection holes 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 circlip 1 205, a circlip 2 206, a bearing 2 207, a bearing 3 208, a circlip 3 209, a circlip 4 (210), an outer planetary gear 211, and an inner planetary gear 212.

[0008] The fixed gear ring 201 is a hollow cylinder with a cavity 1 formed in the hollow part. The outer planetary gears 211 are distributed circularly on the inner side of the fixed gear ring 201. There is a flange structure on each side 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 with an outer diameter smaller than the inner diameter of the fixed gear ring 201. There are three protruding cylinders 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. From left to right, the diameters of cylindrical surface 1 and cylindrical surface 2 increase successively. End surface 1 is between cylindrical surface 1 and cylindrical surface 2 to form a shoulder structure and cavity 2. There are 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. 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 gears are installed on the three cylinders on the outer side surface of the planetary carrier. 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 planetary carrier. The outer end of each bearing is fixed to the cylinder with a retaining spring; similarly, bearings and inner planetary gears 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 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 retaining spring 3 209 is installed on the annular groove on the right side of the planetary carrier 202 shaft, and the retaining spring 4 210 is installed on the annular groove on the left side of the planetary carrier 202 shaft. The left end face of the bearing 4 208 contacts the right end face of the planetary carrier 202, and the right end face of the bearing 3 208 contacts the left side of the retaining spring 3 209, so that the bearing 3 208 can be fixed. The left end face of the bearing 2 207 contacts the right side of the retaining spring 3 209, and the right end face of the bearing 2 207 contacts the right side of the retaining spring 3 209, so that the bearing 3 208 can be fixed. The outer end faces of the bearing 3 208 and the bearing 2 207 are in contact with the fixed gear ring. 201 contact, each shaft of the planetary carrier 202 has the same structure as bearing 2 207, bearing 3 208, retaining spring 3 209, retaining spring 4 210, and outer planetary gear 211 and is 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 ring gear 203, and 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 ring gear 201, the fixed ring gear 1 201 is installed on the outside of the planetary carrier 202, the retaining spring 1 205 is installed on the annular groove on the left side of the cylindrical surface 3 of the moving ring gear 203, and the retaining spring 206 is installed on the annular groove on the right side of the cylindrical surface 3 of the moving ring gear 203, and 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 face of the moving slider 501. The threads on the inner side face of the moving slider 501 are matched 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 face of the moving slider 501, and balls are provided between the cylindrical step 1 of the rotating screw 504 and the inner end face of the moving slider 501.

[0013] The axial relative motion distance between the moving slider 501 and the rotating screw 504 is l. A displacement sensor 503 is mounted on the moving slider 501 to monitor the relative motion position between the two. A force sensor 505 is mounted on the outer end face of the moving slider 501. A 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 to the inner end face of the moving slider 501. The drive assembly 100, planetary reducer 400, and motion conversion device 500 form the main power unit, with the motion conversion device 500 on the inside, the planetary reducer 400 in the middle, and the drive assembly 100 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 ring gear 203 on the inside of the planetary reducer 400, and the moving slider 501 is initially installed on the side close to the moving ring gear 203. The output gear shaft of the motor 101 of the drive assembly 100 meshes 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 solenoid 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. 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.

[0015] The shift fork 604 is a solid rectangle with a circular hole 1 at the head 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 and 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 ring gear 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 seal 307 .

[0021] The caliper body 301 is a hollow cylinder 1. The inner side 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, cylindrical surface 2, and cylindrical surface 3 increase 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, with a groove in the middle of the arc-shaped boss 1, a boss on each side of the arc-shaped groove 1, and a semicircle with a diameter the same as the width of the boss on each boss. There is a circular hole in the middle of each of the two semicircles, called circular hole 1 and circular hole 2 respectively. On the left side of the arc-shaped boss, there is an arc-shaped boss 2 with the same diameter as the arc-shaped boss 1 but longer. There is an arc-shaped groove 1 on the lower side of the arc-shaped boss 2. The right end face of the arc-shaped boss 2 and the left end face of the hollow cylinder form cavity 3.

[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 an arc-shaped boss 3 and an 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, with a transverse rectangular boss on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2, and a hollow cylinder on each side of the arc-shaped boss with its center on the upper side of the transverse rectangular boss, namely hollow cylinder 1 and hollow cylinder 2, and a longitudinal rectangular boss on each side 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, and a rectangular groove 1 and rectangular groove 2 are formed on both sides at a distance between the longitudinal rectangular boss and the transverse rectangular boss, and a trapezoidal boss with an upper end face perpendicular to the longitudinal rectangular boss, namely trapezoidal boss 1 and trapezoidal boss 2, and a semicircular boss on the lower side of the rectangular boss, and the semicircular boss is higher than the rectangular boss and the arc-shaped boss. shaped boss, and there is a circular groove in each semicircular boss, 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, 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 transverse rectangular boss three and transverse rectangular boss four, there is a smaller transverse rectangular boss, respectively, 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, and there is an arc-shaped boss two between transverse rectangular boss five and 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 306 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 one of the caliper body 301, and the boss on the outside of the moving slider 501 cooperates with the groove on the cylindrical surface two of the caliper body 301; the outer end of the return spring 502 is connected to the end face one 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 two of the caliper body 301, and the outer ring end face of the bearing 206 is in contact with the cylindrical surface three 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 mounted on the fixed gear ring 201 and the caliper body 301 of the transmission assembly 200 and outside 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 extended and retracted 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 ring gear 203, so that the parking friction plate 605 locks the moving ring gear 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 Figure 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 electromagnetic 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 by the motor 101 and transmits it to the motion conversion device 500. The motion conversion device 500 changes the rotation of the planetary reducer 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 driving side friction plate 1 303 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 other side friction plate 2 304 to be pressed against the brake disc 701, thereby finally achieving 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. 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 service brake is applied, the parking solenoid switch 601 turns on, and the parking coil stator 602 begins to operate, causing the parking coil mover 603 to move to the right. At this point, the parking return spring 607 is subjected to an extension force, which compresses the shift fork 604, causing it to rotate counterclockwise. The lower end of the shift fork 604 further compresses the friction plate 605, which in turn applies pressure to the pressure plate 606. This, in turn, compresses the moving ring gear 203, causing the moving slider 501 to remain firmly in its current position. At this point, the motor loses power, thus 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 under pressure. The lower end of the shift fork 604 separates from the friction plate 605, releasing 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] Motor position sensor 102 is used to measure the actual rotation angle of motor 101. This actual angle is compared with the desired angle and the difference between the two is calculated. If the actual angle does not reach the desired angle, motor 101 continues to rotate until the actual angle reaches or exceeds the desired angle. This process is repeated until the difference between the actual and desired angles is eliminated, achieving closed-loop control of motor 101's speed.

[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 the brake force.

[0047] The force sensor monitors the braking force generated by the moving slider 501. The measured braking force is compared with the expected value. If the actual braking force does not reach the expected value, the difference between the two is calculated. The drive motor 101 then continues to operate, pushing the moving slider 501 forward. This process is repeated until the actual braking force reaches or exceeds the expected braking force. This ensures that the moving slider 501 is able to push 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 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 has 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 strong contact with the friction plate. The motor records the current state and works according to the recorded motion 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 motor overheating or failure caused by long-term power supply of the main motor during parking brake.

[0052] 2. The involute small tooth difference planetary reduction gear adopted in the present invention has the characteristics of small volume, light weight and large speed ratio, can adapt to variable speed and load, 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 the braking force and the 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. Those skilled in the art can also derive other drawings based on these drawings without inventive effort. 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 Schematic diagram of the drive components.

[0058] Marking description: 101-Motor. 102-Motor position sensor.

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

[0060] Label explanation: 201-fixed ring gear, 202-planetary 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 This is a cross-sectional view of the caliper brake assembly structure.

[0064] Marking 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 in the working principle diagram.

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

[0067] Figure 7 Schematic diagram of the three-dimensional electromechanical brake device.

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

[0069] Figure 9 Schematic diagram of the monitoring and control unit of the distributed electronic mechanical brake device in the 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] Figure 10 This 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 embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0073] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. 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" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0075] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, 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] 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 motor 101 housing, with bolt connection holes 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 first retaining spring 205, a second retaining spring 206, a second bearing 207, a third bearing 208, a third retaining spring 209, a fourth retaining spring 210, an outer planetary gear 211, and an inner planetary gear 212.

[0080] The fixed gear ring 201 is a hollow cylinder with a cavity 1 formed in the middle. The outer planetary gears 211 are distributed around the inner side of the fixed gear ring 201. There is a flange structure on each of the left and right end faces of the fixed gear ring 201. The flanges have threaded holes evenly distributed on them. 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 with an outer diameter smaller than the inner diameter of the fixed gear ring 201. There are three protruding cylinders evenly distributed on the left and right sides of the planet carrier. The pitch circle formed by the three cylinders is concentric with the hollow disc.

[0082] The moving gear ring 203 is a hollow cylinder with a stepped structure and two steps on its inner side. From left to right, the diameters of the cylindrical surfaces 1 and 2 increase in sequence. End surface 1 forms a shoulder structure and cavity 2 between cylindrical surfaces 1 and 2. The outer end surface has two annular grooves spaced apart. To complement the groove structure of the multi-plate friction plate, the outer side surface of the moving gear ring 203 has n (n ≥ 1) semi-cylindrical bosses evenly distributed along the axial direction of the moving gear ring 203.

[0083] The outer surface of the planet carrier 202 is located in cavity 1 of the fixed gear ring 201, and the inner surface is located in cavity 2 of the moving gear ring 203. Bearings and outer planetary gears are mounted on the three cylinders on the outer surface of the planet carrier. 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 surface of the planet carrier. The outer end of each bearing is fixed to the cylinder with a retaining spring. Similarly, bearings and inner planetary gears are mounted on the three cylinders on the inner surface of the planet carrier, and the fastening method is the same as the outer portion of the outer planet carrier.

[0084] 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 retaining spring 3 209 is installed on the annular groove on the right side of the planetary carrier 202 shaft, and the retaining spring 4 210 is installed on the annular groove on the left side of the planetary carrier 202 shaft. The left end face of the bearing 4 208 contacts the right end face of the planetary carrier 202, and the right end face of the bearing 3 208 contacts the left side of the retaining spring 3 209, so that the bearing 3 208 can be fixed. The left end face of the bearing 2 207 contacts the right side of the retaining spring 3 209, and the right end face of the bearing 2 207 contacts the right side of the retaining spring 3 209, so that the bearing 3 208 can be fixed. The outer end faces of the bearing 3 208 and the bearing 2 207 are in contact with the fixed gear ring. 201 contact, each shaft of the planetary carrier 202 has the same structure as bearing 2 207, bearing 3 208, retaining spring 3 209, retaining spring 4 210, and outer planetary gear 211 and is 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 ring gear 203, and 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 ring gear 201, the fixed ring gear 1 201 is installed on the outside of the planetary carrier 202, the retaining spring 1 205 is installed on the annular groove on the left side of the cylindrical surface 3 of the moving ring gear 203, and the retaining spring 206 is installed on the annular groove on the right side of the cylindrical surface 3 of the moving ring gear 203, and 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. A thread or ball screw is provided on the cylindrical step 1. The cylindrical step 2 is fastened to 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. 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 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 provided on the inner end surface of the moving slider 501, and a ball is provided 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 to the inner end surface of the moving slider 501 .

[0092] The drive assembly 100, the planetary reducer 400, and the motion conversion device 500 form a main power device, with the motion conversion device 500 on the inside, the planetary reducer 400 in the middle, and the drive assembly 100 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 ring gear 203 on the inside of the planetary reducer 400, and the initial installation position of the moving slider 501 is on the side close to the moving ring gear 203. The output gear shaft of the motor 101 of the drive assembly 100 is in three-phase meshing with the outer planetary gear 1, outer planetary gear 2, and 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 cylindrical area is cavity 1. An electromagnetic coil is wound inside the cylinder. The outside of the coil is wrapped with excitation material such as magnetic steel. The cylinder of the parking coil stator 602 has a rectangular boss 2 on the outside, and a cylindrical boss 1 on the inside 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 and a circular hole 2 in the middle. The circular hole 1 of the shift fork 604 is mounted in the annular groove of the parking coil mover 603, and the circular hole 2 of the shift fork 604 is mounted 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 on the inner side and an annular groove on the outer side, 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 portion of the inner side surface of the parking friction plate 605 is mounted in the annular groove of the pressure plate 606, and the lower portion of the inner side surface of the parking friction plate 605 is mounted on the end surface of the concave step surface of the moving ring gear 203; the parking return spring 607 is mounted 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;

[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. The inner side 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, cylindrical surface 2, and cylindrical surface 3 increase 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, with a groove in the middle of the arc-shaped boss 1. There is a boss on each side of the arc-shaped groove 1. Each boss has a semicircle with a diameter the same as the width of the boss. There is a circular hole in the middle of each semicircle, called circular hole 1 and circular hole 2 respectively. On the left side of the arc-shaped boss, there is an arc-shaped boss 2 with the same diameter as the arc-shaped boss 1 but longer. There is an arc-shaped groove 1 on the lower side of the arc-shaped boss 2. The right end face of the arc-shaped boss 2 and the left end face of the hollow cylinder form 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. 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 are rectangular bosses on the left and right sides of 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 boss 3 and arc-shaped boss 4 of the same shape and size, as well as the same rectangular boss;

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

[0107] The clamp 306 is an arc-shaped boss 1, with a transverse rectangular boss on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2, and a hollow cylinder on each side of the arc-shaped boss with its center on the upper side of the transverse rectangular boss, namely hollow cylinder 1 and hollow cylinder 2, and a longitudinal rectangular boss on each side 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, and a rectangular groove 1 and rectangular groove 2 are formed on both sides at a distance between the longitudinal rectangular boss and the transverse rectangular boss, and a trapezoidal boss with an upper end face perpendicular to the longitudinal rectangular boss, namely trapezoidal boss 1 and trapezoidal boss 2, and a semicircular boss on the lower side of the rectangular boss, and the semicircular boss is higher than the rectangular boss and the arc-shaped boss. shaped boss, each of the semicircular bosses has a circular groove, respectively, 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 a left-right symmetrical structure, 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, 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 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 faces of the piston 306 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 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 face of the piston 302 is parallel to the left end face 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 one of the caliper body 301, and the boss on the outside of the moving slider 501 cooperates with the groove on the cylindrical surface two of the caliper body 301; the outer end of the return spring 502 is connected to the end face one 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 two of the caliper body 301, and the outer ring end face of the bearing 206 is in contact with the cylindrical surface three 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 mounted on the fixed gear ring 201 and the caliper body 301 of the transmission assembly 200, and is outside the moving gear ring 203. The left end face of the pressure plate 606 is fixedly connected to the shoulder end face 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 extend and retract 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 ring gear 203, so that the parking friction plate 605 locks the moving ring gear 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 Figure 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 electromagnetic switch 601 .

[0116] like Figure 8 and Figure 10 The working method of a distributed electro-mechanical braking 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 torque-increases the power transmitted by the motor 101 and then transmits it to the motion conversion device 500. The motion conversion device 500 changes the rotation of the planetary reducer 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 achieving 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. 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 service brake is applied, the parking solenoid switch 601 turns on, and the parking coil stator 602 begins to operate, causing the parking coil mover 603 to move to the right. At this point, the parking return spring 607 is subjected to an extension force, which compresses the shift fork 604, causing it to rotate counterclockwise. The lower end of the shift fork 604 further compresses the friction plate 605, which in turn applies pressure to the pressure plate 606. This, in turn, compresses the moving ring gear 203, causing the moving slider 501 to remain firmly in its current position. At this point, the motor loses power, thus 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 under pressure. The lower end of the shift fork 604 separates from the friction plate 605, releasing 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] Motor position sensor 102 is used to measure the actual rotation angle of motor 101. This actual angle is compared with the desired angle and the difference between the two is calculated. If the actual angle does not reach the desired angle, motor 101 continues to rotate until the actual angle reaches or exceeds the desired angle. This process is repeated until the difference between the actual and desired angles is eliminated, achieving closed-loop control of motor 101's speed.

[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 monitors the braking force generated by the moving slider 501. The measured braking force is compared with the expected value. If the actual braking force does not reach the expected value, the difference between the two is calculated. The drive motor 101 then continues to operate, pushing the moving slider 501 forward. This process is repeated until the actual braking force reaches or exceeds the expected braking force. This ensures that the moving slider 501 is able to push 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 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 has 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 strong contact with the friction plate. The motor records the current state and works according to the recorded motion state when braking next time.

[0131] The technical process described above is merely a preferred embodiment of the present invention and does not represent all details of the present invention. Any modifications, equivalent substitutions, and improvements made by any person skilled in the art within the technical scope disclosed by the present invention and within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A distributed electromechanical braking 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); 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 motor (101) housing, and bolt connection holes are evenly distributed on the flange. The output shaft adopts a gear shaft structure. The transmission assembly (200) includes a planetary reducer device (400), a motion conversion device (500) and a parking brake unit (600), wherein 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 circlip 1 (205), a circlip 2 (206), a bearing 2 (207), a bearing 3 (208), a circlip 3 (209), a circlip 4 (210), an outer planetary gear (211) and an inner planetary gear (212); The fixed gear ring (201) is a hollow cylinder, the hollow portion of which forms a cavity 1. The outer planetary gear (211) is distributed circularly on the inner side of the fixed gear ring (201). There is a flange structure on both sides of the left and right end surfaces 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 surface of the fixed gear ring (201); 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. 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 shaft shoulder structure and forming cavity 2, and two annular grooves with a certain interval on the outer end surface; supplementing the groove structure of the multi-plate friction plate, the moving gear ring (203) is evenly distributed with n semi-cylindrical bosses on the outer side of the moving gear ring (203), where n ≥ 1, and the semi-cylindrical bosses are along the axial direction of the moving gear ring (203), so as to form the planet carrier The outer side surface of (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 gears are installed on the three cylinders on the outer side surface of the planetary frame. 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 planetary frame. The outer end of each bearing is fixed to the cylinder with a retaining spring. Bearings and inner planetary gears are installed on the three cylinders on the inner side surface of the planetary frame, and the fastening method is consistent with the outer structure of the outer planetary frame.

2. A distributed electromechanical braking device according to claim 1, 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 face of the fourth bearing (2088) is connected to the planetary carrier (202). ) right end face contacts, the right end face of bearing three (208) contacts 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 the right side of retaining spring three (209), the right end face of bearing two (207) contacts the left side of retaining spring three (209), so that bearing three (208) can be fixed, the outer end faces of bearing three (208) and bearing two (207) contact the fixed gear ring (201), and each shaft of the planetary carrier (202) has a contact with bearing two (207), bearing three (2 08), retaining spring three (209), retaining spring four (210), and outer planetary gear (211) are of the same structure and are assembled in the same manner. 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 ring gear (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 ring gear (201). The fixed ring gear one (2011) is installed on the outer side of the planetary carrier (202). The retaining spring one (205) is installed on the outer side of the planetary carrier (202). The first bearing (204) is fixed by the first retaining spring (205) and the second retaining spring (206). The first retaining spring (205) and the second retaining spring (206) fix the first bearing (204). 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).

3. A distributed electromechanical braking device according to claim 2, characterized in that: The rotating screw (504) is a solid slender shaft with two steps, the cylindrical step 1 is higher than the cylindrical step 2, a section of thread or ball screw is provided on the cylindrical step 1, and the cylindrical step 2 is fastened to the cylindrical surface 1 of the motion gear ring (203). The motion slider (501) is a hollow cylindrical nut structure, and n semi-cylindrical bosses are evenly distributed on the outer side of the motion slider (501), wherein n ≥ 1. The semi-cylindrical bosses are along the axial direction of the motion slider (501). When the rotating screw ( 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 provided on the inner end surface of the moving slider (501), and a ball is provided between the cylindrical step 1 of the rotating screw rod (504) and the inner end surface of the moving slider (501); The axial relative motion distance between the motion slider (501) and the rotating screw (504) is l, the displacement sensor (503) is mounted on the motion slider (501) for monitoring the relative motion position relationship between the motion slider (501) and the rotating screw (504), the force sensor (505) is mounted on the outer end surface of the motion slider (501), the return spring (502) passes through the motion slider (501) and is located on the outer side of the semi-cylindrical boss of the motion slider (501), the inner end of the return spring (502) is fixed on the inner end surface of the motion slider (501), the drive 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 inner side, the planetary reducer device (400) is in the middle, and the drive assembly (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) inside 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 on the planetary carrier (202); and the parking brake unit (600) includes: 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), and the parking coil stator (602) are a hollow cylinder. The hollow cylindrical area is cavity one. An electromagnetic coil is wound inside the cylinder. 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.

4. A distributed electromechanical braking device according to claim 3, characterized in that: 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); 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 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; The outer end of the outer side surface of the motion gear ring (203) is provided with a concave step surface; The upper portion of the inner side surface of the parking friction plate (605) is mounted in the annular groove of the pressure plate (606), and the lower portion of the inner side surface of the parking friction plate (605) is mounted on the end surface of the concave step surface of the moving gear ring (203); the parking return spring (607) is mounted on the right end surface of the second circular groove of the pressure plate (606), and the right end surface of the parking return spring (607) is hinged to the upper end portion of the shift fork (604); 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); The caliper body (301) is a hollow cylinder. The inner side 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, cylindrical surface 2, and cylindrical surface 3 increase in sequence. The end surface 1 is between the cylindrical surface 1 and the cylindrical surface 2 and forms a shoulder structure, forming a cylindrical cavity 1. The end surface 2 is between the cylindrical surface 2 and the cylindrical surface 3 and forms a shoulder structure, forming a cavity 2. There are n rectangular grooves evenly distributed around the inner side of the cylindrical surface 2, where n ≥ 1. The cylinder has 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, each boss has a semicircle with a diameter the same as the width of the boss, and a circular hole in the middle of each of the two semicircles, respectively called circular hole 1 and circular hole 2. On the left side of the arc-shaped boss, there is an arc-shaped boss 2 with the same diameter as the arc-shaped boss 1 but longer. There is an arc-shaped groove 1 on the lower side of the arc-shaped boss 2. The right end surface of the arc-shaped boss 2 and the left end surface of the hollow cylinder form 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 are rectangular bosses 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 an arc-shaped boss 3 and an arc-shaped boss 4 of the same shape and size, as well as the same rectangular boss; The guide pin (305) is a solid cylinder 1, a solid cylinder 2 having a diameter larger than that of the solid cylinder 1 is located on the right side of the solid cylinder, a solid cylinder 3 having a diameter smaller than that of the solid cylinder 2 is located on the right side of the solid cylinder 2, and a solid cylinder 4 having the same diameter as that of the solid cylinder 2 is located on the right side of the solid cylinder 3; The clamp (306) is an arc-shaped boss 1, and there is a transverse rectangular boss on both sides of the arc-shaped boss, namely rectangular boss 1 and transverse rectangular boss 2. There is a hollow cylinder on each side 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 is a longitudinal rectangular boss on each left and right side, whose width is less than the length of the transverse rectangular boss and is perpendicular to the transverse rectangular boss, namely longitudinal rectangular boss 1 and longitudinal rectangular boss 2. There is a rectangular groove 1 and rectangular groove 2 formed at a distance between the longitudinal rectangular boss and the transverse rectangular boss on both sides. There is a trapezoidal boss with an upper end face 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. The semicircular boss is higher than the rectangular boss 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, 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 transverse rectangular boss three and transverse rectangular boss four, there is a smaller transverse rectangular boss, respectively, 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 surfaces of transverse rectangular boss three and transverse rectangular boss four, and 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), connecting the clamp (306) and the caliper body (301) together. The rectangular bosses on both sides of the friction plate (303) are installed in the rectangular grooves 1 and 2. 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. 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). ) are parallel to the left end face, 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 (3077) 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 set between the piston seal 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); 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, outer planetary gear 2, and 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, thereby fixing the transmission assembly (200) and the drive assembly (100); The moving slider (501) passes through the first cavity of the caliper body (301), and the outer boss of the moving slider (501) cooperates with the groove on the second cylindrical surface of the caliper body (301); the outer end of the return spring (502) is connected to the first end surface 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 second cavity of the caliper body (301), and the outer ring end face of the bearing (2066) contacts the third cylindrical surface 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 achieve the installation of the transmission assembly (200) and the fixed connection with the caliper brake assembly (300); The parking brake unit (600) is mounted 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 face of the pressure plate (606) is fixedly connected to the shoulder end face 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 extended and retracted in the cavity of the parking coil stator (602); the shift fork (604) rotates around the cylindrical boss 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 (102), a displacement sensor (503), a force sensor (505), and a parking electromagnetic switch (601).

5. 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 motion sliding. The linear motion of the block (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), 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) back to the initial position, and the piston (302) is also returned 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 motion 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; 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 presses the shift fork (604) to rotate counterclockwise. The lower end of the shift fork (604) further presses 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 in the current position. The motor will lose power supply, thereby protecting the motor. Step 4: Parking brake control without service brake; When the service brake is not applied, 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 back to its original position and is no longer under pressure. The lower end of the shift fork (604) separates from the friction plate (605), releasing 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 the 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, 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 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, the relative position of the moving slider (501) and the rotating screw (504) is accurately controlled. Step 7: Closed-loop control of the 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, and 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 and has no force contact with the piston. The motor should continue to work until the moving slider (501) has 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) has 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 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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