Self-compensating brake mechanism based on direct-drive motor

Abstract

The application discloses a kind of self-compensation brake mechanisms based on direct drive motor, belong to self-compensation brake technical field, a kind of self-compensation brake mechanisms based on direct drive motor, including motor main body, auxiliary mechanism, including outer frame, first electromagnetic block and clamping block, the clamping block end face is provided with two first strong spring, compensation mechanism, including brake disc, front plate, shell, four limit plates, gear ring and four push plate, the shell end face is opened with ring groove, the ring groove inside is provided with push ring, the ring groove inside is provided with brake block, the push ring outer end is provided with ring frame, the ring frame inside is provided with four pull spring.Let the embedded block move synchronously by pull spring can pull the adjustment ring rotate on ring block, so as to drive embedded block to be blocked by blocking block and move between push ring and brake block, let brake block move outward and let it be flush with shell end face again, complete brake block supplement, avoid unable to accurately brake.

Description

Technical Field

[0001] This invention relates to the field of self-compensating braking technology, and more specifically, to a self-compensating braking mechanism based on a direct-drive motor. Background Technology

[0002] Direct drive motors, as motors that directly drive loads, are widely used in many fields. Because they eliminate transmission structures such as lead screws, belts, and gears, they have high overall rigidity, high operating precision, and high speed, and can drive large mass loads with a large inertia ratio. However, when running at high speed with a large load, if there is a sudden power failure, the direct drive motor will continue to run at high speed due to inertia because it has no reduction mechanism and low friction. It cannot stop in time. At this time, a braking mechanism is required. Mechanical braking uses an electromagnet to attract the adsorbed part when energized and releases it when the power is cut off. The elastic support structure uses friction parts to restrict the movement of the motor rotor.

[0003] Braking is achieved by squeezing the brake disc to stop the motor, but repeated and prolonged braking will cause wear on the brake pads. Worn brake pads will result in longer braking time and failure to brake at the most critical moment, leading to unstable braking. To solve these problems, this application proposes a novel self-compensating braking mechanism based on a direct drive motor. Summary of the Invention

[0004] The purpose of this invention is to provide a self-compensating braking mechanism based on a direct-drive motor to solve the problems mentioned in the background art: a first strong spring pushes a locking block to engage with the brake disc, making the braking of the brake disc more stable; a rotating adjusting ring can drive the inserting block to move; the inserting block is blocked by the blocking block and inserts between the push ring and the brake block, thereby supplementing the brake block; when the push ring moves, the telescopic plate will extend and retract accordingly, avoiding the need to supplement the brake block and affecting its normal use.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a self-compensating braking mechanism based on a direct-drive motor, comprising a motor body, and;

[0006] The auxiliary mechanism includes an outer frame, a first electromagnetic block, and a locking block, wherein the locking block has two first high-strength springs on its end face;

[0007] The compensation mechanism includes a brake disc, a front plate, a housing, four limiting plates, a toothed ring, and four push plates. The housing has an annular groove on its end face, a push ring inside the groove, a brake block inside the groove, an annular frame at the outer end of the push ring, four tension springs inside the frame, an adjusting ring on the end face of the frame, and four fixing blocks on the end face of the adjusting ring. Each fixing block is connected to a spring rod, and each spring rod is connected to an insert block. Four blocking blocks are located inside the annular groove. Each of the four limiting plates is connected to a toothed plate, each toothed plate is connected to a pushing spring, and each of the four push plates is connected to a second strong spring.

[0008] By adopting the above technical solution, the first strong spring pushes the buckle to engage with the brake disc, making the brake disc stop more stably;

[0009] By pulling the spring, the adjusting ring is moved, causing the adjusting ring to move the insert block, so that the insert block is engaged between the brake block and the push ring, thereby increasing the extension length of the brake block and facilitating the replenishment of the brake block.

[0010] The ring frame can move synchronously with the push ring, allowing the adjusting ring to move as well, thus preventing the embedded block from affecting the operation of the brake block.

[0011] Preferably, the outer frame end face is provided with a first placement groove, the first electromagnetic block is disposed inside the first placement groove, the card block end face is provided with a central column, and the central column is disposed inside the first placement groove.

[0012] By adopting the above technical solution, when the first electromagnetic block is energized, the first electromagnetic block will pull the central column, causing the central column to retract into the first placement slot, thus releasing the contact between the locking block and the brake disc.

[0013] Preferably, the brake disc end face is provided with multiple slots, the locking block is connected to the slots, and the four embedded blocks are all disposed between the push ring and the brake block.

[0014] By adopting the above technical solution, the brake disc is fixed by inserting a locking block into the slot at the outer end of the brake disc, thus preventing it from rotating.

[0015] Preferably, the end face of the adjusting ring is provided with four telescopic plates, and the four telescopic plates are respectively connected to four toothed plates.

[0016] By adopting the above technical solution, the telescopic plate can follow the movement of the adjusting ring, thus avoiding jamming.

[0017] Preferably, the annular groove has four inner grooves, four second strong springs are respectively disposed in the four inner grooves, and four push plates are respectively disposed in the four inner grooves.

[0018] By adopting the above technical solution, the second strong spring inside the inner groove can push the push ring through the push plate, so that the push ring can stop the brake disc through the brake block.

[0019] Preferably, the annular groove has four second placement slots inside, and each of the four second placement slots is provided with a second electromagnetic block.

[0020] By adopting the above technical solution, by charging the second electromagnetic block inside the second placement slot, the second electromagnetic block can attract the push plate, causing the push ring to release the pushing force on the brake block, thereby releasing the brake disc to stop.

[0021] Preferably, the outer shell end face has four outer grooves, and the four limiting plates are respectively disposed inside the four outer grooves.

[0022] By adopting the above technical solution, the limiting plate can move inside the outer groove, and the limiting plate can realize the wear detection of the brake block.

[0023] Preferably, each of the four outer grooves has a moving groove inside, and the four toothed plates are respectively disposed inside the four moving grooves, and each of the four toothed plates is engaged with the toothed ring.

[0024] By adopting the above technical solution, the toothed plate can be engaged with the toothed ring, thereby fixing the toothed ring and preventing the adjustment ring connected to the toothed ring from rotating.

[0025] Preferably, the outer end of the adjusting ring has four notches, and the four blocking blocks are respectively disposed inside the four notches.

[0026] By adopting the above technical solution, the notch provides sufficient space for the blocking block, thus avoiding affecting the rotation of the adjusting ring.

[0027] Preferably, the adjusting ring end face is provided with four upper blocks, the ring frame is provided with four lower blocks, and the four pulling springs are respectively disposed between the four upper blocks and the four lower blocks.

[0028] By adopting the above technical solution, the stability of the adjusting ring rotating at the outer end of the ring frame is increased by the upper and lower blocks, and the adjusting ring can be pulled by the pull spring to achieve the rotation of the adjusting ring.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1) When this printing machinery is in use, if it is necessary to brake the motor, the power to the first electromagnetic block will be disconnected, so that the first electromagnetic block loses its electromagnetic attraction, thereby releasing the pull and fixation on the locking block. At this time, the first strong spring can push the locking block, so that the buckle pops out and locks into the outer end of the brake disc, thereby realizing the locking of the brake disc, allowing the brake disc to stop faster and preventing its rotation.

[0031] 2) When this printing machinery is in use, after the brake block is worn, the end face of the brake block and the end face of the outer shell can no longer be flush. At this time, the push spring pushes the toothed plate to loosen its contact with the toothed ring, thereby loosening the fixation of the toothed ring. At this time, the adjusting ring connected to the toothed ring no longer has the limiting force. The pull spring can pull the adjusting ring to rotate on the ring block, thereby driving the embedded block to move synchronously. At this time, the embedded block is blocked by the blocking block and moves between the push ring and the brake block, allowing the brake block to move outward and become flush with the end face of the outer shell again. Moreover, the moving brake block can push the limiting plate, allowing the limiting plate to drive the toothed plate to reset and fix the toothed ring, thereby completing the replacement of the brake block and effectively avoiding brake response delay.

[0032] 3) When this printing machinery is in use, during braking, the second strong spring pushes the push plate, which in turn pushes the push ring, causing the push ring to move the brake block out of the outer casing to brake the brake disc. In addition, the push ring will drive the ring frame to move synchronously, causing the adjusting plate to move as well, thus preventing the embedded block from affecting the normal use of the brake block. Attached Figure Description

[0033] Figure 1 This is an isometric view of the present invention;

[0034] Figure 2 This is a schematic diagram of the axial side of the rear section of the present invention;

[0035] Figure 3 This is an isometric view of the compensation mechanism of the present invention;

[0036] Figure 4 This is a schematic diagram of the axle side of the brake disc of the present invention;

[0037] Figure 5 This is an axial side view of the outer casing of the present invention;

[0038] Figure 6 This is a schematic diagram of the axial side of the push ring of the present invention;

[0039] Figure 7 This is a side sectional view of the outer casing of the present invention;

[0040] Figure 8 This is an axial side view of the internal structure of the outer casing of the present invention;

[0041] Figure 9 This is an axial view of the second placement groove of the present invention;

[0042] Figure 10 This is a schematic diagram of the axial side of the toothed ring of the present invention;

[0043] Figure 11 This is an axial view of the ring frame of the present invention;

[0044] Figure 12 This is a schematic diagram of the axial side of the toothed plate of the present invention.

[0045] Explanation of the numbers in the diagram: 1. Motor body; 2. Auxiliary mechanism; 3. Compensation mechanism; 201. Outer frame; 202. First electromagnetic block; 203. First placement slot; 204. Locking block; 205. First strong spring; 206. Central column; 301. Brake disc; 302. Locking slot; 303. Outer shell; 304. Brake block; 305. Limiting plate; 306. Ring groove; 307. Push ring; 308. Adjusting ring; 309. Blocking block; 310. Extension 311. Shrink plate; 312. Fixing block; 313. Elastic rod; 314. Embedded block; 315. Inner groove; 316. Ring frame; 317. Gear ring; 318. Second strong spring; 319. Push plate; 320. Second electromagnetic block; 321. Moving groove; 322. Outer groove; 323. Second placement groove; 324. Front plate; 325. Notched groove; 326. Upper block; 327. Lower block; 328. Pulling spring; 329. Toothed plate. Detailed Implementation

[0046] Example 1, please refer to Figures 1 to 4 A self-compensating braking mechanism based on a direct-drive motor includes a motor body 1;

[0047] The auxiliary mechanism 2 includes an outer frame 201, a first electromagnetic block 202 and a locking block 204, with two first strong springs 205 provided on the end face of the locking block 204.

[0048] Specifically, the outer frame 201 has a first placement groove 203 on its end face, the first electromagnetic block 202 is disposed inside the first placement groove 203, and the card block 204 has a central column 206 on its end face, which is disposed inside the first placement groove 203.

[0049] Furthermore, the outer frame 201 is fixedly installed on the rear side of one end face of the motor body 1. The first placement groove 203 is opened in the middle of one end face of the outer frame 201. The central column 206 is slidably sleeved inside the first placement groove 203. The locking block 204 is fixedly installed on one end face of the central column 206. The first electromagnetic block 202 is embedded in the inner wall of one side of the first placement groove 203. The two first strong springs 205 are respectively fixedly installed on the upper and lower sides of one end face of the outer frame 201. The locking block 204 is composed of an arc block and an arc-shaped protrusion. The arc block fits against the outer end of the chuck, making the locking effect of the locking block 204 better. The contact surface between the outer frame 201 and the motor body 1 is arc-shaped. The outer frame 201 has a protrusion that is embedded in the end face of the motor body 1.

[0050] The steps of using this invention are as follows: The first electromagnetic block 202 inside the first placement slot 203 is energized, causing the first electromagnetic block 202 to attract the central column 206, which is made of metal. The central column 206 pulls the locking block 204 close to the outer frame 201. At this time, the first powerful spring 205 extends and retracts into an energy storage state. When it is necessary to stop the motor, the first electromagnetic block 202 is de-energized, and the first powerful spring 205 pushes the locking block 204, causing the locking block 204 to lock the brake disc 301, thereby stopping the motor.

[0051] Example 2, please refer to Figures 2 to 12 The difference from Embodiment 1 lies in that the compensation mechanism 3 includes a brake disc 301, a front plate 323, a housing 303, four limiting plates 305, a toothed ring 316, and four push plates 318. The housing 303 has an annular groove 306 on its end face, a push ring 307 inside the annular groove 306, a brake block 304 inside the annular groove 306, and an annular frame 315 at the outer end of the push ring 307. Four tension springs 327 are installed inside the annular frame 315. An adjusting ring 308 is provided on the end face of the ring frame 315. Four fixing blocks 311 are provided on the end face of the adjusting ring 308. Each of the four fixing blocks 311 is connected to a spring rod 312. Each of the four spring rods 312 is connected to an embedded block 313. Four blocking blocks 309 are provided inside the ring groove 306. Each of the four limiting plates 305 is connected to a toothed plate 329. Each of the four toothed plates 329 is connected to a pushing spring 328. Each of the four push plates 318 is connected to a second strong spring 317.

[0052] Specifically, the brake disc 301 has multiple slots 302 on its end face, the locking block 204 is connected to the slots 302, four embedded blocks 313 are all set between the push ring 307 and the brake block 304, the adjusting ring 308 has four telescopic plates 310 on its end face, the four telescopic plates 310 are respectively connected to four toothed plates 329, the annular groove 306 has four inner grooves 314, four second strong springs 317 are respectively set inside the four inner grooves 314, four push plates 318 are respectively set inside the four inner grooves 314, the annular groove 306 has four second placement slots 322, and each of the four second placement slots 322 has a second electromagnetic block 319.

[0053] Furthermore, an annular groove 306 is formed on the front end face of the outer shell 303, and a push ring 307 is slidably sleeved on the inner rear wall of the annular groove 306. The push ring 307 is an annular metal plate that can be attracted by the second electromagnetic block 319. It is sleevedly connected to the brake block 304. The sleeve between the two structures has strong resistance. Without the influence of external force, the movement of the push ring 307 can drive the movement of the brake block 304. The brake block 304 is slidably sleeved inside the annular groove 306. The brake block 304 is an annular brake pad that fits against the brake disc 301 to stop the brake disc 301. The brake block 304 and the push ring 307 are slidably sleeved together, and the ring frame 315 is fixedly sleeved on the outer end face of the push ring 307. An adjusting ring 308 is slidably disposed on the front end face of a ring frame 315. Four fixing blocks 311 are equidistantly fixed on the front end face of the adjusting ring 308. Each fixing block 311 is a cylinder with a notch. Four elastic rods 312 are fixedly connected to the four fixing blocks 311 respectively. The elastic rods 312 are embedded inside the notches of the fixing blocks 311 and have a certain elasticity. Four insert blocks 313 are fixedly connected to the four elastic rods 312 respectively. The elasticity of the elastic rods 312 can drive the insert blocks 313 to reset, allowing the inserts to retract into the area of ​​the adjusting ring 308. Four blocking blocks 309 are equidistantly fixed inside the ring groove 306. The outer surface of each blocking block 309 is arc-shaped. The four blocking blocks 309 and the four insert blocks 313 are fixedly connected to the ring groove 306 respectively. The insert block 313 is movably connected. Four toothed plates 329 are respectively fixedly installed at the middle position of the rear end face of the four limiting plates 305. Each toothed plate 329 is a vertical plate with trapezoidal teeth. These teeth can be inserted into the toothed ring 316 to fix the toothed ring 316 and prevent its rotation. Four push springs 328 are respectively fixedly installed on the opposite end face of the four toothed plates 329. Four second strong springs 317 are respectively fixedly installed on the rear end face of the four push plates 318. Multiple slots 302 are equidistantly opened on the outer end face of the brake disc 301. Four telescopic plates 310 are equidistantly fixed on the front end face of the adjusting ring 308. The front end face of the four telescopic plates 310 is respectively fixed on the rear end face of the four toothed plates 329. The telescopic plates 310 are telescopic plates. The movement is coordinated with the adjustment ring 308 to prevent it from restricting the normal use of the brake block 304. Four inner grooves 314 are equidistantly opened on the rear inner wall of the annular groove 306. The second strong springs 317 are respectively fixedly installed on the rear inner wall of the four inner grooves 314. Four push plates 318 are respectively slidably sleeved inside the four inner grooves 314. Four second placement grooves 322 are equidistantly opened on the rear inner wall of the annular groove 306. The four inner grooves 314 and the four second placement grooves 322 are staggered. The second electromagnetic blocks 319 are respectively fixedly installed on the rear inner wall of the second placement grooves 322. The brake disc 301 is located between the front plate 323 and the outer shell 303. The front plate 323 and the brake disc 301 are rotatably connected. The gear ring 316 is rotatably located on the front side of the inner wall of the annular groove 306.The toothed ring 316 has teeth inside, and the adjusting ring 308 can be fixed by the telescopic plate 310.

[0054] Specifically, the outer casing 303 has four outer grooves 321 on its end face, four limiting plates 305 are respectively disposed inside the four outer grooves 321, each of the four outer grooves 321 has a moving groove 320, four toothed plates 329 are respectively disposed inside the four moving grooves 320, and each of the four toothed plates 329 is engaged with a toothed ring 316. The outer end of the adjusting ring 308 has four notches 324, four blocking blocks 309 are respectively disposed inside the four notches 324, the end face of the adjusting ring 308 has four upper blocks 325, the ring frame 315 has four lower blocks 326 inside, and four pulling springs 327 are respectively disposed between the four upper blocks 325 and the four lower blocks 326.

[0055] Furthermore, four outer slots 321 are equidistantly formed on the inner side of the front end face of the outer casing 303, four limiting plates 305 are slidably disposed inside the four outer slots 321, four movable slots 320 are respectively formed in the middle of the rear inner wall of the four outer slots 321, four toothed plates 329 are respectively slidably disposed inside the four movable slots 320, four actuating springs 328 are respectively fixedly connected to the inside of the four movable slots 320, and the four toothed plates 329 are all engaged with the toothed rings 316. Four notches 324 are equidistantly formed on the inner side of the outer casing 303. Four upper blocks 325 are equidistantly fixed on the outer side of the front end face of the adjusting ring 308, and four lower blocks 326 are equidistantly fixed on the inner wall of the rear side of the ring frame 315. Four pulling springs 327 are respectively fixed between the four upper blocks 325 and the four lower blocks 326. The upper blocks 325 slide inside the ring frame 315, making the adjusting ring 308 more stable when rotating. The ring frame 315 is embedded in the inner wall of the rear side of the ring groove 306 and can move synchronously with the push ring 307.

[0056] The steps of using this invention are as follows: When the motor starts, the second electromagnetic block 319 inside the second placement slot 322 is energized, causing the second electromagnetic block 319 to attract the push ring 307, making the push ring 307 tightly fit against the inner wall of the ring groove 306. At this time, the pushing force on the brake block 304 is released, and the brake block 304 follows the push ring 307 into the ring groove 306. The end face of the brake block 304 is flush with the front end face of the outer shell 303. When it is necessary to brake the motor, the second electromagnetic block 319 is de-energized, and the second strong spring 317 inside the inner groove 314 pushes the push plate 318. The push plate 318 pushes the push ring 307, causing the push ring 307 to push the brake block 304 through the embedded block 313, making the brake block 304 fit against the inner wall of the ring groove 306. The end face of the brake disc 301 enables braking of the brake disc 301. During prolonged use, the brake pads 304 will wear down. This wear will cause the brake pads to become flush with the end face of the outer casing 303 when they retract into the ring groove 306. At this point, a very thin limiting plate 305 will slide out of the outer groove 321. The limiting plate 305 is controlled by a toothed block, which is pushed by a spring 328 inside the moving groove 320, causing the toothed block and the limiting plate 305 to move synchronously. The toothed block releases its engagement with the toothed ring 316, and the arc-shaped protrusion at the front of the limiting plate 305 slides to the end face of the brake pads 304. Because the toothed block releases its engagement with the toothed ring 316, the adjusting ring 308 connected to the toothed ring 316 via the telescopic block also releases. When fixed, the tension spring 327 inside the ring frame 315 can pull the upper block 325. The upper block 325 drives the adjusting ring 308 to rotate on the end face of the ring frame 315. Meanwhile, the fixing block 311, spring rod 312, and insert block 313 on the end face of the adjusting ring 308 move synchronously. The insert block 313 is blocked by the blocking block 309, allowing the insert block 313 to gradually enter between the push ring 307 and the brake block 304, thus lifting the brake block 304 and causing it to move forward and press against the limiting plate 305. This forces the limiting plate 305 back into the outer groove 321, at which point the limiting plate 305 resets with the toothed block, and the toothed block re-engages with the toothed ring 316, stopping the rotation of the toothed ring 316. This allows for control. The adjusting ring 308 stops rotating. Whenever the brake block 304 needs replenishment, this step is performed to achieve automatic compensation, so that the brake block 304 can contact the brake disc 301 in time when the motor needs to be stopped. Moreover, when the push ring 307 moves, the push ring 307 will drive the ring frame 315 and the adjusting ring 308 to move synchronously. The telescopic plate 310 on the adjusting ring 308 can extend and retract. The end face of the embedded block 313 and the end face of the blocking block 309 are slidably set. The blocking block 309 is set inside the notch 324 of the adjusting ring 308, so that the adjusting ring 308 has sufficient rotation space. When the adjusting ring 308 is reset, the embedded block 313 will be reset by the spring rod 312, so that the embedded block 313 returns to its initial state.

[0057] The steps of using this invention are as follows: When it is necessary to brake the motor, the braking structure in the compensation mechanism 3 is activated first, and then the braking structure inside the auxiliary mechanism 2 is activated. The second electromagnetic block 319 is de-energized, so that the push ring 307 loses its attraction. The second strong spring 317 pushes the push plate 318, which in turn pushes the push ring 307. The push ring 307 moves synchronously with the ring frame 315, and pushes the brake block 304 through the embedded block 313. When the brake block 304 presses against the brake disc 301, the first electromagnetic block 202 is de-energized, and the first strong spring 205 pushes the locking block 204, causing it to engage with the groove 302 in the brake disc 301, thus stopping the motor. When the motor restarts, the first electromagnetic block 202 is energized, attracting the center column 206, which in turn pulls the locking block 204, causing it to disengage from the groove 302. When the second electromagnetic block 319 is energized, it attracts the push ring 307, causing the push ring 307 to drive the brake block 304 back into the ring groove 306. At this time, because the brake block 304 is worn, it can no longer block the limiting plate 305. The toothed plate 329, driven by the push spring 328, moves synchronously to the front end of the brake block 304. The toothed block loosens its fixation on the toothed ring 316. The pull spring can pull the adjusting ring 308 through the upper block 325, causing the adjusting ring 308 to drive the embedded block 313 to move. The embedded block 313 is restricted by the blocking block 309 and pushed between the push ring 307 and the brake block 304, thereby causing the brake block 304 to move forward and squeeze the limiting plate 305, causing the limiting plate 305 to re-enter the outer groove 321. The toothed block then re-locks the toothed ring 316, and the adjusting ring 308 is fixed again, thus compensating for the force on the brake block 304 and preventing brake failure.

[0058] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-compensating braking mechanism based on a direct-drive motor, characterized in that, Including the motor body (1), and; The auxiliary mechanism (2) includes an outer frame (201), a first electromagnetic block (202), and a locking block (204). The locking block (204) has two first high-strength springs (205) on its end face. The compensation mechanism (3) includes a brake disc (301), a front plate (323), a housing (303), four limiting plates (305), a gear ring (316), and four push plates (318). The housing (303) has an annular groove (306) on its end face. A push ring (307) is disposed inside the annular groove (306). A brake block (304) is disposed inside the annular groove (306). A ring frame (315) is disposed at the outer end of the push ring (307). Four tension springs (327) are disposed inside the ring frame (315). The end of the ring frame (315)... An adjusting ring (308) is provided on the surface, and four fixing blocks (311) are provided on the end face of the adjusting ring (308). Each of the four fixing blocks (311) is connected to a spring rod (312), and each of the four spring rods (312) is connected to an embedded block (313). Four blocking blocks (309) are provided inside the ring groove (306). Each of the four limiting plates (305) is connected to a toothed plate (329), and each of the four toothed plates (329) is connected to a pushing spring (328). Each of the four push plates (318) is connected to a second strong spring (317).

2. The self-compensating braking mechanism based on a direct-drive motor according to claim 1, characterized in that: The outer frame (201) has a first placement groove (203) on its end face, the first electromagnetic block (202) is disposed inside the first placement groove (203), and the card block (204) has a central column (206) on its end face, the central column (206) being disposed inside the first placement groove (203).

3. The self-compensating braking mechanism based on a direct-drive motor according to claim 2, characterized in that: The brake disc (301) end face is provided with multiple slots (302), the card block (204) is connected to the slots (302), and the four embedded blocks (313) are all arranged between the push ring (307) and the brake block (304).

4. The self-compensating braking mechanism based on a direct-drive motor according to claim 3, characterized in that: The end face of the adjusting ring (308) is provided with four telescopic plates (310), and the four telescopic plates (310) are respectively connected to four toothed plates (329).

5. A self-compensating braking mechanism based on a direct-drive motor according to claim 4, characterized in that: The annular groove (306) has four inner grooves (314) inside, and four second strong springs (317) are respectively disposed inside the four inner grooves (314), and four push plates (318) are respectively disposed inside the four inner grooves (314).

6. A self-compensating braking mechanism based on a direct-drive motor according to claim 5, characterized in that: The annular groove (306) has four second placement slots (322) inside, and each of the four second placement slots (322) is provided with a second electromagnetic block (319).

7. A self-compensating braking mechanism based on a direct-drive motor according to claim 6, characterized in that: The outer shell (303) has four outer grooves (321) on its end face, and the four limiting plates (305) are respectively disposed inside the four outer grooves (321).

8. A self-compensating braking mechanism based on a direct-drive motor according to claim 7, characterized in that: Each of the four outer grooves (321) has a moving groove (320) inside, and the four toothed plates (329) are respectively disposed inside the four moving grooves (320). The four toothed plates (329) are engaged with the toothed ring (316).

9. A self-compensating braking mechanism based on a direct-drive motor according to claim 8, characterized in that: The outer end of the adjusting ring (308) has four notches (324), and the four blocking blocks (309) are respectively arranged inside the four notches (324).

10. A self-compensating braking mechanism based on a direct-drive motor according to claim 9, characterized in that: The adjusting ring (308) has four upper blocks (325) on its end face, and the ring frame (315) has four lower blocks (326) inside. The four pulling springs (327) are respectively arranged between the four upper blocks (325) and the four lower blocks (326).

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