Parking mechanism, electronic mechanical brake and braking method

Abstract

The invention relates to the technical field of wheel braking, and discloses a parking mechanism, an electronic mechanical brake and a braking method.The parking mechanism comprises a parking motor, a cam, an ejector rod and an elastic element, and the parking motor is connected with the cam and used for driving the cam to rotate; the cam is in contact fit with the ejector rod and is used for driving the ejector rod to linearly move; the ejector rod is sleeved with the elastic element, and the elastic element is used for elastically supporting the ejector rod so that the ejector rod can be kept in contact fit with the cam. The ejector rod is provided with the inclined face part, the inclined groove is formed in the executing mechanism of the brake, the inclined face part and the inclined groove can form a wedge-shaped matching structure, it can be guaranteed that the executing mechanism of the brake does not return, in other words, the brake block does not return, braking clamping force is kept, and parking is achieved. The parking mechanism has the stable parking braking capacity, parking braking does not depend on traveling braking, when the traveling braking function fails, the parking braking can enable the vehicle to slow down and stop, the redundant braking effect is achieved, and the braking safety of the vehicle is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wheel braking, and in particular to a parking mechanism, an electronic mechanical brake and a braking method. Background Art

[0002] With the advancement of electrification, intelligentization, and wire-controlled vehicles, electromechanical braking systems have developed rapidly, addressing the shortcomings of traditional braking systems. China's national standard GB-7258 stipulates that motor vehicles should be equipped with braking systems or devices sufficient to decelerate, stop, and park the vehicle, and that the control devices for the service brake and the parking brake should be independent of each other. The parking mechanism of electromechanical brakes uses the same power transmission path as the locking brake to achieve the parking function.

[0003] Chinese patent CN118636853A discloses an actuator and electromechanical brake system with integrated parking control. The system includes a motor, a transmission mechanism, an EPB coil, and a locking pin. The transmission mechanism includes a corrugated transmission gear. The EPB coil is divided into an EPB unlocking coil and an EPB locking coil. A circuit board controls the power supply to the two coils, enabling the locking pin to engage the corrugated transmission gear, restricting gear rotation and achieving parking. Parking brakes require high strength for the locking pin, resulting in low reliability.

[0004] Chinese patent CN116424292A discloses a parking brake device for an electromechanical brake system. The device comprises a housing, a motor, an electromagnet assembly, a ratchet, and a pawl. The ratchet is press-fitted onto the motor shaft. The electromagnet assembly drives the pawl to engage with the ratchet, locking the motor shaft and thus achieving parking. During normal driving, the electromagnet remains energized for extended periods, which can easily lead to overheating and damage.

[0005] In the above two technical solutions, the parking brake depends on the service brake, and the control device of the service brake and the control device of the parking brake are not independent of each other, resulting in poor independence and stability of the parking brake. Summary of the Invention

[0006] The present invention addresses the problems of poor independence and stability of parking brakes in the prior art and provides a parking mechanism, an electromechanical brake and a braking method, which can effectively improve the reliability of parking brakes and ensure parking safety.

[0007] The present invention is achieved through the following technical solutions: A parking mechanism includes a parking motor, a cam, a push rod, and an elastic element. The parking motor is connected to the cam to drive the cam to rotate; the cam contacts and cooperates with the push rod to drive the push rod to move linearly; the elastic element is sleeved on the push rod and is used to elastically support the push rod to maintain contact and cooperation between the push rod and the cam. The push rod is provided with an inclined portion, and the brake actuator is provided with an inclined groove. The inclined portion can form a wedge-shaped matching structure with the inclined groove, which can keep the brake actuator in a parking brake state.

[0008] Optionally, the actuator includes a moving element for driving the brake pad of the brake caliper to move, the moving element is provided with a straight groove and the oblique groove, and the brake caliper is provided with a limiting screw, the limiting screw can be embedded in the straight groove to limit the rotation of the moving element.

[0009] Optionally, a limiting keyway or a limiting protrusion is further provided on one side of the push rod, which is used to cooperate with a corresponding limiting protrusion or limiting keyway in the mounting hole on the brake caliper to limit the rotation of the push rod.

[0010] Optionally, the elastic element is a coil spring.

[0011] An electronic mechanical brake comprises the parking mechanism, and also comprises a service brake motor, a parking brake motor and a transmission mechanism, wherein the service brake motor and the parking brake motor are respectively connected to the transmission mechanism, and the transmission mechanism is connected to the actuator to drive the actuator to push the brake block to clamp the brake disc.

[0012] Optionally, the transmission mechanism includes a service brake driving wheel, a parking brake driving wheel, a service brake idler wheel, a parking brake idler wheel and a driven wheel; the service brake driving wheel is fixed on the shaft of the service brake motor, the parking brake driving wheel is fixed on the shaft of the parking brake motor, the service brake driving wheel is transmission-connected to the service brake idler wheel, the parking brake driving wheel is transmission-connected to the parking brake idler wheel, the service brake idler wheel and the parking brake idler wheel are transmission-connected to the driven wheel respectively, and the driven wheel is connected to the actuator.

[0013] Optionally, the actuator adopts a planetary roller screw, and the nut of the planetary roller screw is connected to the moving element.

[0014] Optionally, a control unit is further included, and the control unit is connected to the service brake motor, the parking brake motor and the parking motor respectively.

[0015] A braking method based on the brake includes a driving and parking brake control process, and the specific steps include: S101, receiving a brake control signal sent by a control unit; S102, determining whether the received brake control signal is a service brake control signal, if so, proceeding to the next step; if not, proceeding to step S112; S103, controlling the service brake motor to eliminate the brake gap, and recording the service brake motor rotation angle value a; S104, determining whether the rate of change of the motor rotation angle of the service brake motor decreases suddenly, if so, proceeding to the next step; if not, returning to step S103; S105, clearing the service brake motor rotation angle value a; S106, controlling the service brake motor angle so that the service brake motor angle follows the target angle, and recording the motor angle value as b; S107, determine whether the parking brake signal is received, if so, proceed to step S112; if not, proceed to the next step; S108, determining whether a braking end signal is received, if so, proceeding to the next step; if not, returning to step S106; S109, controlling the service brake motor to reverse at a rated speed; S110, determining whether the service brake motor current change rate is zero, if so, proceeding to the next step; if not, returning to step S109; S111, clearing the service brake motor rotation angle value b to zero, controlling the service brake motor to reverse at the rated speed for a set time, and then proceeding to step S124; S112, reading the current state of the vehicle brake motor angle value b; S113, determine whether the service brake motor angle value is zero, if so, proceed to the next step; if not, proceed to step S116; S114: Control the parking brake motor to rotate forward at the rated speed to eliminate the brake clearance; S115, determining whether the rate of change of the motor rotation angle of the parking brake motor decreases suddenly, if so, proceeding to step S117; if not, returning to step S114; S116, calculating the angle c that the parking brake motor should further rotate; S117, controlling the parking brake motor angle so that the parking brake motor angle reaches a target angle; S118. Control the parking motor to rotate, driving the cam to press the push rod downward, so that the inclined portion of the push rod can abut against the inclined groove of the actuator, thereby limiting the retraction of the moving element of the actuator; S119, the control unit sends a signal for the parking brake motor to rotate in the reverse direction; S120, determining whether the parking brake motor reverse rotation angle is less than a critical value; if so, proceeding to the next step; if not, proceeding to step S125; S121, parking brake completed; S122, parking brake motor is powered off; S123, parking brake status is set to "1"; S124, determine whether there is a vehicle power-off signal; if so, end; if not, jump to step 101; S125, parking abnormality, alarm issued; S126, controlling the parking brake motor to rotate forward to compensate for the loss of brake clamping force; S127: Remind the driver to perform parking brake inspection, and then jump to step 124.

[0016] Optionally, a parking brake release control process is also included, and the specific steps include: S201, determines whether the parking brake release signal is received; if so, proceeds to the next step; if not, proceeds to step S209; S202, controlling the parking brake motor to rotate forward to a set angle so that the moving element and the push rod release contact; S203, controlling the parking motor to reverse, causing the push rod to reset upward under the action of the elastic element, so that the push rod is separated from the moving element, and the moving element can retreat without restriction; S204, controlling the parking brake motor, applying a rated reverse voltage to the parking brake motor, causing the parking brake motor to reverse at a rated speed, thereby releasing the brake; S205, determining whether the parking brake motor current change rate is zero, if so, proceeding to the next step, if not, returning to step S204; S206, controlling the parking brake motor to reverse at a rated speed for a set time; S207: A fixed brake gap is generated, and the parking brake is released; S208, the parking brake state is set to "0"; end; S209, obtaining the vehicle wheel speed sensor value; S210, determine whether the vehicle speed is zero in the current state, if so, jump to step S201; if not, go to the next step; S211: Determine whether the accelerator pedal opening is zero. If not, jump to step S202; if yes, proceed to the next step; S212: Alarm is issued, indicating vehicle slipping; S213, control the parking brake motor to rotate forward, increasing the parking brake clamping force; S214: Remind the driver to perform parking brake inspection; end.

[0017] The technical solution of the present invention has at least the following beneficial effects: The present invention adopts a cam-driven push rod to realize a wedge-shaped structure to lock the moving element (roller screw nut). The wedge-shaped structure has a self-locking ability, that is, it can be locked tighter when the moving element retracts, and provides a detection and verification scheme for the parking brake, thereby improving the reliability of the parking brake.

[0018] The parking brake system of this invention is independent of the service brake. Conventional systems typically use only a single drive motor (the service brake motor in this embodiment). Once the drive motor reaches the parking brake's clamping force, the transmission mechanism is locked using a ratchet or other means. If the drive motor fails, the parking function becomes unavailable. Therefore, the parking brake system of this invention offers greater independence, providing stable parking braking capability.

[0019] The present invention adopts a driving brake motor and a parking brake motor to realize a braking redundancy function. Regardless of whether the driving brake motor is used in conjunction with the parking motor or the parking brake motor is used in conjunction with the parking motor, the parking brake function can be realized. In the event of failure of one of the motors, the vehicle will not lose the most basic driving and parking braking capabilities, thereby improving the safety of the vehicle during braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the brake structure of the present invention; Figure 2 This is a schematic diagram of the decomposed structure of the brake of the present invention; Figure 3 Schematic diagram of the structure of the parking mechanism of the present invention; Figure 4 A cross-sectional view of the electronic mechanical brake of the present invention in a parking brake release state (the ejector rod and the sleeve are not in contact); Figure 5 A cross-sectional view of the electronic mechanical brake of the present invention in the parking brake state (the ejector rod abuts against the sleeve); Figure 6 A flow chart of driving and parking brake control of the braking method of the present invention; Figure 7 This is a flow chart of the parking brake release control process of the present invention.

[0021] Reference numerals: 101-housing, 111-service brake motor, 112-parking brake motor, 120-transmission mechanism, 121-service brake driving wheel, 122-parking brake driving wheel, 123-service brake idler wheel, 124-parking brake idler wheel, 125-driven wheel, 131-sleeve, 1311-bevel groove, 1312-straight groove, 132-planetary roller screw, 133-limit screw, 141-parking motor, 142-cam, 143-thrust rod, 1430-inclined portion, 144-elastic element, 200-brake caliper, 201-brake block, 202-brake disc, 203-brake bracket. DETAILED DESCRIPTION

[0022] Reference Figure 1-Figure 5 The brake of the present invention includes a control unit, a housing 101, a service brake motor 111, a parking brake motor 112, a transmission mechanism 120, and an actuator. The transmission mechanism 120 amplifies the output torque of the motor, and the actuator converts the rotational motion of the motor into linear motion. The brake caliper 200 is mounted on the brake bracket 203. The service brake motor 111 and the parking brake motor 112 are respectively connected to the transmission mechanism 120. The transmission mechanism 120 is connected to the actuator to drive the actuator to push the brake block 201 located on the brake caliper 200 and the brake bracket 203 to move, thereby clamping the brake disc 202 to generate a braking torque. The control unit can be a conventional control device in this field. The control unit is respectively connected to the service brake motor 111, the parking brake motor 112, and the parking motor 141.

[0023] Among them, the transmission mechanism 120 includes a service brake driving wheel 121, a parking brake driving wheel 122, a service brake idler wheel 123, a parking brake idler wheel 124 and a driven wheel 125; the service brake driving wheel 121 is fixed on the shaft of the service brake motor 111, the parking brake driving wheel 122 is fixed on the shaft of the parking brake motor 112, the service brake driving wheel 121 is transmission-connected with the service brake idler wheel 123, the parking brake driving wheel 122 is transmission-connected with the parking brake idler wheel 124, the service brake idler wheel 123 and the parking brake idler wheel 124 are respectively transmission-connected with the driven wheel 125, and the driven wheel 125 is connected to the actuator.

[0024] The actuator includes a planetary roller screw 132 and a moving element. The moving element in the present invention adopts a sleeve 131. The nut of the planetary roller screw 132 is connected to the moving element. The sleeve 131 and the nut of the planetary roller screw 132 can be fixedly connected by welding or other methods.

[0025] The brake of the present invention also includes a parking mechanism, which includes a parking motor 141, a cam 142, a push rod 143 and an elastic element 144. The parking motor 141 is electrically connected to the control unit; the parking motor 141 is connected to the cam 142 for driving the cam 142 to rotate; the cam 142 is in contact with the push rod 143, and the contour surface of the cam 142 is in contact with the upper top surface of the push rod 143 to drive the push rod 143 to move in a straight line. A limiting keyway or a limiting protrusion is also provided on one side of the push rod 143 for cooperating with a corresponding limiting protrusion or limiting keyway in the mounting hole position on the brake caliper 200 to limit the rotation of the push rod 143 and keep the push rod 143 moving on a straight path. An elastic element 144 is sleeved on the push rod 143. The elastic element 144 is used to elastically support the push rod 143 to keep the push rod 143 in contact with the cam 142. The elastic element 144 is a coil spring and has a certain pre-pressure during assembly, so that the push rod 143 is always pressed upward against the cam 142.

[0026] Push rod 143 is provided with an inclined portion 1430, specifically arranged at its bottom end surface. The brake actuator is provided with an inclined groove 1311, specifically, the sleeve 131 of the actuator. The inclined portion 1430 of push rod 143 forms a wedge-shaped fit with the inclined groove 1311 of the sleeve 131. When push rod 143 is pressed downward, it pushes the sleeve 131 in the direction that causes the brake pad 201 to clamp against the brake disc 202. This locks the sleeve 131 after the required braking force is reached, maintaining the sleeve 131 in the braking state and preventing it from rolling back. Furthermore, the sleeve 131 is provided with a straight groove 1312, into which a limit screw 133 is inserted on the brake caliper 200 to restrict the rotation of the sleeve 131, ensuring that the sleeve can only move in a straight line.

[0027] When the vehicle needs to slow down and stop during driving, that is, the service brake function is needed, the service brake motor 111 drives the service brake driving wheel 121 to rotate, and the service brake driving wheel 121 then drives the service brake idler wheel 123 to rotate, and the service brake idler wheel 123 drives the driven wheel 125 to rotate, and the driven wheel 125 drives the planetary roller screw 132 of the actuator to move, and the nut of the planetary roller screw 132 moves to realize the movement of the sleeve 131 of the actuator, and the sleeve 131 pushes the brake block 201 to move, clamping the brake disc 202 to achieve braking; when braking is completed or the brake clamping force needs to be reduced, the service brake motor 111 can be reversed.

[0028] When the vehicle needs to stop for a long time or park on a slope, that is, when the parking brake function is needed, the parking brake motor 112 drives the parking brake active wheel 122 to rotate, and the parking brake active wheel 122 then drives the parking brake idler wheel 124 to rotate, and the parking brake idler wheel 124 drives the driven wheel 125 to rotate, and the driven wheel 125 drives the planetary roller screw 132 of the actuator to move, and the nut of the planetary roller screw 132 moves to realize the sleeve 131 of the actuator. When the brake pad 201 moves, the sleeve 131 pushes the brake pad 201 to clamp the brake disc 202. When the brake clamping force rises to the required level for parking, the parking motor 141 drives the cam 142 to rotate, causing the push rod 143 to move linearly downward, ultimately causing the inclined portion 1430 to press against the inclined groove 1311, restricting the sleeve 131 from retreating backward. The inclined portion 1430 and the inclined groove 1311 form a wedge-shaped structure with self-locking ability, which can stably maintain the brake clamping force and achieve parking. After the inclined portion 1430 abuts the inclined groove 1311, it is necessary to test whether the push rod 143 has effectively locked the sleeve 131, thereby improving the reliability and safety of parking.

[0029] When the parking brake of the vehicle needs to be released, in order to prevent the push rod 143 and the sleeve 131 from being stuck too tightly due to the vehicle being parked for a long time or on a steep slope, and the push rod being unable to return to its original position under the action of the elastic element 144, the parking brake motor 112 is first controlled to drive the sleeve 131 in the direction of clamping the brake pad 201 on the brake disc 202, so that the gap between the push rod 143 and the sleeve 131 is loosened. Then, the parking motor 141 rotates to drive the cam 142 to rotate, and the push rod 143 returns to its original position under the action of the elastic element 144. Finally, the parking brake motor 112 is controlled to rotate in the reverse direction to drive the sleeve 131 back, thereby releasing the vehicle brake.

[0030] In the present invention, dual motors are used to implement driving brakes and parking brakes. The two motors are independent of each other and simultaneously form a redundant configuration. When the driving brake motor 111 fails, the driving brake can be implemented by the parking brake motor 112. When the parking brake motor 112 fails, the parking brake can also be implemented by the driving brake motor 111, significantly improving safety. The parking brake process has dual brake locking achieved by the parking brake motor 112 and the parking motor 141. First, the parking brake is controlled by the parking brake motor 112, and then the parking brake is locked by the cam 142 mechanism controlled by the parking motor 141. This makes the parking brake more secure and effectively avoids the instability factors existing in single-system braking. The present invention also provides a braking method for the brake, including driving and parking brake control processes and a parking brake release control process.

[0031] Among them, reference Figure 6 , the driving and parking brake control process, the specific steps include: S101, receiving a brake control signal sent by a control unit; S102, determining whether the received brake control signal is a service brake control signal, if so, proceeding to the next step; if not, proceeding to step S112; S103, controlling the service brake motor to eliminate brake clearance, and recording the rotation angle value of the service brake motor a. The brake clearance is eliminated by applying a rated voltage to the service brake motor, causing the service brake motor to rotate forward at a rated speed, thereby eliminating the brake clearance at the fastest speed. S104, determining whether the rate of change of the motor rotation angle of the service brake motor decreases suddenly. If so, it means that the brake clearance has been completely eliminated, and the process proceeds to the next step; if not, the process returns to step S103; S105, clearing the service brake motor rotation angle value a; S106, controlling the service brake motor angle so that the service brake motor angle follows the target angle, and recording the motor angle value as b; S107, determine whether the parking brake signal is received, if so, proceed to step S112; if not, proceed to the next step; S108, determining whether a braking end signal is received, if so, proceeding to the next step; if not, returning to step S106; S109, controlling the service brake motor to reverse at the rated speed to release the brake at the fastest speed; S110, determining whether the service brake motor current change rate is zero. If so, it means that the sleeve and the brake caliper are just separated, and the process proceeds to the next step; if not, returning to step S109; S111, clearing the service brake motor rotation angle value b to zero, controlling the service brake motor to reverse at the rated speed for a set time, and then proceeding to step S124; S112, reading the current state of the vehicle brake motor angle value b; S113, determine whether the service brake motor angle value is zero, if so, proceed to the next step; if not, proceed to step S116; S114: Control the parking brake motor to rotate forward at the rated speed to eliminate the brake clearance; S115, determining whether the rate of change of the motor rotation angle of the parking brake motor decreases suddenly, if so, proceeding to the next step; if not, returning to step S114; S116, calculating the angle c that the parking brake motor should further rotate; S117, controlling the parking brake motor angle so that the parking brake motor angle reaches a target angle; S118. Control the parking motor to rotate, driving the cam to press the push rod downward, so that the inclined portion of the push rod can abut against the inclined groove of the actuator, thereby limiting the retraction of the moving element of the actuator; S119, the control unit sends a signal for the parking brake motor to rotate in the reverse direction; S120, determining whether the parking brake motor reverse rotation angle is less than a critical value; if so, proceeding to the next step; if not, proceeding to step S125; S121, parking brake completed; S122, parking brake motor is powered off; S123, parking brake status is set to "1"; S124, determine whether there is a vehicle power-off signal; if so, end; if not, jump to step 101; S125, parking abnormality, alarm issued; S126, controlling the parking brake motor to rotate forward to compensate for the loss of brake clamping force; S127: Remind the driver to perform parking brake inspection, and then jump to step 124.

[0032] After the parking motor is locked and the parking brake is implemented, the present invention sends a reverse signal to the parking brake motor to make it reverse so as to detect whether it is really locked, thereby further verifying whether the parking brake is successful, thereby ensuring the success rate of the parking brake.

[0033] Reference Figure 7 , releasing the parking brake control process, the specific steps include: S201, determines whether the parking brake release signal is received; if so, proceeds to the next step; if not, proceeds to step S209; S202, controlling the parking brake motor to rotate forward to a set angle so that the sleeve and the push rod release contact; S203, controlling the parking motor to reverse, causing the push rod to reset upward under the action of the elastic element, so that the push rod is separated from the sleeve, and the sleeve can retreat without restriction; S204, controlling the parking brake motor, applying a rated reverse voltage to the parking brake motor, causing the parking brake motor to reverse at a rated speed, thereby releasing the brake; S205, determining whether the parking brake motor current change rate is zero, if so, proceeding to the next step, if not, returning to step S204; S206, controlling the parking brake motor to reverse at a rated speed for a set time; S207: A fixed brake gap is generated, and the parking brake is released; S208, the parking brake state is set to "0"; end; S209, obtaining the vehicle wheel speed sensor value; S210, determine whether the vehicle speed is zero in the current state, if so, jump to step S201; if not, go to the next step; S211: Determine whether the accelerator pedal opening is zero. If not, jump to step S202; if yes, proceed to the next step; S212: Alarm is issued, indicating vehicle slipping; S213, control the parking brake motor to rotate forward, increasing the parking brake clamping force; S214: Remind the driver to perform parking brake inspection; end.

[0034] During the process of releasing the parking brake, the present invention also detects the wheel speed and the pedal opening to ensure that the parking release is a normal release process operated by humans, rather than being released when the vehicle slips, thereby ensuring the normal implementation of the parking release.

Claims

1. A parking mechanism, characterized in that: The parking mechanism comprises a parking motor, a cam, a push rod and an elastic element. The parking motor is connected to the cam to drive the cam to rotate. The cam contacts and cooperates with the push rod to drive the push rod to move linearly. The elastic element is sleeved on the push rod to elastically support the push rod to keep the push rod in contact with the cam. The push rod is provided with an inclined portion, and the brake actuator is provided with an inclined groove. The inclined portion can form a wedge-shaped matching structure with the inclined groove, which can keep the brake actuator in a parking brake state.

2. The parking mechanism according to claim 1, characterized in that: The actuator includes a moving element for driving the brake block of the brake caliper to move, the moving element is provided with a straight groove and the oblique groove, and the brake caliper is provided with a limit screw, the limit screw can be embedded in the straight groove to limit the rotation of the moving element.

3. The parking mechanism according to claim 1, characterized in that: A limiting keyway or a limiting protrusion is further provided on one side of the push rod, which is used to cooperate with a corresponding limiting protrusion or limiting keyway in the mounting hole to limit the rotation of the push rod.

4. The parking mechanism according to claim 1, characterized in that: The elastic element is a coil spring.

5. An electromechanical brake comprising the parking mechanism according to any one of claims 1 to 4, characterized in that: It also includes a service brake motor, a parking brake motor and a transmission mechanism. The service brake motor and the parking brake motor are respectively connected to the transmission mechanism, and the transmission mechanism is connected to the actuator to drive the actuator to push the brake block to clamp the brake disc.

6. The electromechanical brake according to claim 5, characterized in that The transmission mechanism includes a service brake driving wheel, a parking brake driving wheel, a service brake idler wheel, a parking brake idler wheel and a driven wheel; the service brake driving wheel is fixed on the shaft of the service brake motor, the parking brake driving wheel is fixed on the shaft of the parking brake motor, the service brake driving wheel is transmission-connected with the service brake idler wheel, the parking brake driving wheel is transmission-connected with the parking brake idler wheel, the service brake idler wheel and the parking brake idler wheel are transmission-connected with the driven wheel respectively, and the driven wheel is connected to the actuator.

7. The electromechanical brake according to claim 5, characterized in that The actuator adopts a planetary roller screw, and the nut of the planetary roller screw is connected with the moving element.

8. The electromechanical brake according to claim 5, characterized in that It also includes a control unit, which is connected to the service brake motor, the parking brake motor and the parking motor respectively.

9. A braking method based on the electromechanical brake according to any one of claims 5 to 8, characterized in that: Including driving and parking brake control process, the specific steps include: S101, receiving a brake control signal sent by a control unit; S102, determining whether the received brake control signal is a service brake control signal, if so, proceeding to the next step; if not, proceeding to step S112; S103, controlling the service brake motor to eliminate the brake gap, and recording the service brake motor rotation angle value a; S104, determining whether the rate of change of the motor rotation angle of the service brake motor decreases suddenly, if so, proceeding to the next step; if not, returning to step S103; S105, clearing the service brake motor rotation angle value a; S106, controlling the service brake motor angle so that the service brake motor angle follows the target angle, and recording the motor angle value as b; S107, determine whether the parking brake signal is received, if so, proceed to step S112; if not, proceed to the next step; S108, determining whether a braking end signal is received, if so, proceeding to the next step; if not, returning to step S106; S109, controlling the service brake motor to reverse at a rated speed; S110, determining whether the service brake motor current change rate is zero, if so, proceeding to the next step; if not, returning to step S109; S111, clearing the service brake motor rotation angle value b to zero, controlling the service brake motor to reverse at the rated speed for a set time, and then proceeding to step S124; S112, reading the current state of the vehicle brake motor angle value b; S113, determine whether the service brake motor angle value is zero, if so, proceed to the next step; if not, proceed to step S116; S114: Control the parking brake motor to rotate forward at the rated speed to eliminate the brake clearance; S115, determining whether the rate of change of the motor rotation angle of the parking brake motor decreases suddenly, if so, proceeding to step S117; if not, returning to step S114; S116, calculating the angle c that the parking brake motor should further rotate; S117, controlling the parking brake motor angle so that the parking brake motor angle reaches a target angle; S118. Control the parking motor to rotate, driving the cam to press the push rod downward, so that the inclined portion of the push rod can abut against the inclined groove of the actuator, thereby limiting the retraction of the moving element of the actuator; S119, the control unit sends a signal for the parking brake motor to rotate in the reverse direction; S120, determining whether the parking brake motor reverse rotation angle is less than a critical value; if so, proceeding to the next step; if not, proceeding to step S125; S121, parking brake completed; S122, parking brake motor is powered off; S123, parking brake status is set to "1"; S124, determine whether there is a vehicle power-off signal; if so, end; if not, jump to step S101; S125, parking abnormality, alarm issued; S126, controlling the parking brake motor to rotate forward to compensate for the loss of brake clamping force; S127: Remind the driver to perform parking brake inspection, and then jump to step S124.

10. The braking method of an electromechanical brake according to claim 9, characterized in that: It also includes the parking brake release control process, the specific steps include: S201, determines whether the parking brake release signal is received; if so, proceeds to the next step; if not, proceeds to step S209; S202, controlling the parking brake motor to rotate forward to a set angle so that the moving element and the push rod release contact; S203, controlling the parking motor to reverse, causing the push rod to reset upward under the action of the elastic element, so that the push rod is separated from the moving element, and the moving element can retreat without restriction; S204, controlling the parking brake motor, applying a rated reverse voltage to the parking brake motor, causing the parking brake motor to reverse at a rated speed, thereby releasing the brake; S205, determining whether the parking brake motor current change rate is zero, if so, proceeding to the next step, if not, returning to step S204; S206, controlling the parking brake motor to reverse at a rated speed for a set time; S207: A fixed brake gap is generated, and the parking brake is released; S208, the parking brake state is set to "0"; end; S209, obtaining the vehicle wheel speed sensor value; S210, determine whether the vehicle speed is zero in the current state, if so, jump to step S201; if not, go to the next step; S211: Determine whether the accelerator pedal opening is zero. If not, jump to step S202; if yes, proceed to the next step; S212: Alarm is issued, indicating vehicle slipping; S213, control the parking brake motor to rotate forward, increasing the parking brake clamping force; S214: Remind the driver to perform parking brake inspection; end.

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