brake

Abstract

This invention relates to a brake, including a drive device. The drive device comprises a lead screw mechanism, a thrust assembly, and a force sensor, which are sequentially abutted along a first axial direction. The lead screw mechanism includes a transmission rod, a lead screw thread, and a lead screw nut. The transmission rod is arranged along the first axial direction, and the lead screw thread is coaxially fixed to the transmission rod. The lead screw nut is threadedly engaged with the lead screw thread. The rear end of the lead screw thread has a first receiving groove, which is arranged circumferentially along the transmission rod. The thrust assembly abuts against the interior of the first receiving groove, and a portion of the thrust assembly is accommodated within the first receiving groove. The lead screw nut has a threaded hole larger than the circumferential contour of the force sensor. The force sensor is positioned within the range of the lead screw nut's rearward translation. When the lead screw nut is translated to the position of the force sensor, the rear end of the lead screw nut passes through the threaded hole into the force sensor. The brake of this invention has the advantage of a compact and reasonable structure.

Description

Technical Field

[0001] This invention relates to brakes. Background Technology

[0002] One braking method involves controlling a friction pad mechanism to press against the brake disc on the wheel. Electronically controlled brakes typically include a force sensor. For example, patent document CN220581562U discloses a brake drive mechanism structure, which includes a lead screw nut, a thrust platform, a thrust bearing, an anti-rotation washer, and a force sensor arranged sequentially within a housing. In this disclosed technology, a separate section of the housing is allocated for mounting the force sensor; obviously, this increases the axial length of the brake. Since the axial distance between the inner surface of the wheel hub and the brake is not ample, this increase in axial length may limit the application of this brake in some vehicles with small wheel hubs. Summary of the Invention

[0003] The main objective of this invention is to provide a compact brake.

[0004] To achieve the above objectives, the present invention provides a brake, including a driving device, wherein the driving device comprises a lead screw mechanism, a thrust assembly, and a force sensor that are sequentially abutted from front to back along a first axial direction, and the lead screw mechanism includes a lead screw screw and a lead screw nut, characterized in that:

[0005] The lead screw has a threaded tube, a contact surface, and a shaft for transmission. The threaded tube is coaxially arranged outside the shaft along a first axial direction. The rear end of the threaded tube is radially spaced from the shaft. The contact surface is disposed within the space. The shaft can drive the threaded tube and the contact surface to rotate together around the first axial direction.

[0006] The lead screw mechanism abuts against the thrust assembly via the abutment surface. The abutment surface, the external threaded tube, and the shaft form a first receiving groove. A portion of the thrust assembly's length in the first axial direction is accommodated by the first receiving groove.

[0007] The lead screw is rotatably coupled to the lead screw nut via the external threaded tube. The external threaded tube rotates around the first axis, causing the lead screw nut to translate along the first axis. When the lead screw nut translates backward, it can pass through the force sensor through its own threaded hole.

[0008] In some embodiments of the present invention, a transmission cavity is further included, having a cavity opening, a cavity inner wall, and a cavity bottom. The cavity inner wall extends along the first axial direction. The cavity opening is provided at the front end of the cavity and the cavity bottom is provided at the rear end. The lead screw mechanism, the thrust assembly, and the force sensor are disposed in the transmission cavity.

[0009] In some embodiments of the present invention, the inner wall of the cavity and the outer surface of the lead screw nut can be slidably fitted together.

[0010] In some embodiments of the present invention, the front end of the lead screw nut has a limiting protrusion in the circumferential direction, and after the lead screw nut is translated backward, the limiting protrusion can abut against the cavity opening.

[0011] In some embodiments of the present invention, the bottom of the cavity has a shaft hole and a mounting base, the mounting base being arranged around the shaft hole, and the mounting base being radially spaced from the inner wall of the cavity.

[0012] The force sensor is fixed to the mounting base, and the shaft passes through the thrust assembly, the force sensor, and the shaft hole from its rear end.

[0013] When the lead screw nut moves backward, it can also move through its own screw hole to the gap between the mounting base and the inner wall of the cavity.

[0014] In some embodiments of the present invention, a support frame, a first friction plate mechanism, and a second friction plate mechanism are further included. The first friction plate mechanism and the second friction plate mechanism are arranged opposite each other at a distance. The support frame is used to fix the second friction plate mechanism and the transmission cavity. The front end of the lead screw nut is connected to the first friction plate mechanism.

[0015] The translation of the lead screw nut causes the first friction plate mechanism to translate relative to the second friction plate mechanism.

[0016] In some embodiments of the present invention, a motor and a transmission assembly are also included, wherein the motor and the transmission assembly are connected to the shaft drive, and the motor drives the shaft to rotate about a first axis through the transmission assembly.

[0017] In some embodiments of the present invention, a control system is included, which is communicatively connected to both the force sensor and the motor, and is configured to receive mechanical data from the force sensor and control the motor to operate.

[0018] In some embodiments of the present invention, the thrust assembly includes a thrust bearing and a thrust washer, and the abutment surface, the thrust bearing, the thrust washer and the force sensor abut in sequence.

[0019] In some embodiments of the present invention, ball bearings are provided between the threads of the lead screw and the lead screw nut.

[0020] In some embodiments of the present invention, the inner wall of the cavity is sealed to fit the lead screw nut.

[0021] In some embodiments of the present invention, the inner wall of the cavity has a sealing ring groove, a sealing ring is disposed in the sealing ring groove, and the sealing ring is disposed in a sealing fit with the outer periphery of the lead screw nut.

[0022] In some embodiments of the present invention, the externally threaded pipe has an assembly portion, which is circumferentially connected to the inner wall of the externally threaded pipe. The front end of the assembly portion has a first mating surface, and the rear end of the assembly portion has a second mating surface. The assembly portion has a limiting mating hole along the first axial direction, penetrating the first and second mating surfaces.

[0023] The shaft, from front to back, comprises a screw section, a limiting fitting section, a tray section, and a rotating rod section in sequence.

[0024] The externally threaded tube is assembled onto the limiting fitting part of the shaft through the limiting fitting hole. The limiting fitting hole engages with the limiting fitting part to restrict the rotation of the externally threaded tube relative to the shaft.

[0025] The threaded fastening assembly is threaded onto the screw portion. The threaded fastening assembly and the tray portion are respectively clamped and fixed to the assembly portion by one side of a first mating surface and one side of a second mating surface. The tray portion and the second mating surface overlap and abut against each other in a first axial direction. The rear end of the tray portion has the abutment surface.

[0026] The rotating rod is inserted into the thrust assembly and the force sensor.

[0027] The brake of the present invention does not require the force sensor to increase the first axial length of the brake, thus having the advantage of a compact and reasonable structure. Attached Figure Description

[0028] Figure 1 and Figure 2 This is a cross-sectional schematic diagram of the brake in the embodiment.

[0029] Figure 3 This is a schematic diagram of the shaft structure in the embodiment.

[0030] In the picture:

[0031] 1-First friction plate mechanism;

[0032] 11-First friction plate, 12-First friction plate mechanism base, 13-First friction plate connector;

[0033] 2-Second friction plate mechanism, 3-Support frame;

[0034] 4-Transmission cavity;

[0035] 41-Cavity opening, 42-Cavity wall, 421-Sealing ring groove, 422-Sealing ring, 43-Cavity bottom, 44-Mounting base, 441-Snap-fit ​​groove, 45-Gap, 46-Shaft hole;

[0036] 5-Lead screw;

[0037] 52-External threaded pipe, 510-Assembly part, 511-First mating surface, 512-Second mating surface, 513-Limiting mating hole, 520-Pipe wall, 521-External thread raceway;

[0038] 53-Shaft, 531-Screw section, 532-Limiting mating section, 533-Pattern section, 5331-Abutting surface, 534-Rotating rod section, 535-Spline structure;

[0039] 54 - Threaded fastener assembly;

[0040] 6-Screw nut;

[0041] 61 - Limiting flange; 62 - Internal thread raceway;

[0042] 7-Thrust assembly; 8-Force sensor;

[0043] The dotted line in the diagram is used to represent the first axial direction. Detailed Implementation

[0044] In view of the problems that the inclusion of a force sensor in the prior art leads to an increased first axial length of the brake and a larger space occupation, the present invention provides a brake with a more compact structure. Specifically, the present invention mainly relates to structural improvements of the drive device therein:

[0045] The drive device includes a lead screw mechanism, a thrust assembly, and a force sensor that are sequentially connected from front to back along a first axial direction. The lead screw mechanism includes a lead screw and a lead screw nut.

[0046] The lead screw has a threaded tube, a contact surface, and a shaft for transmission. The threaded tube is coaxially arranged outside the shaft along a first axial direction. The rear end of the threaded tube is radially spaced from the shaft. The contact surface is disposed within the space. The shaft can drive the threaded tube and the contact surface to rotate together around the first axial direction.

[0047] The lead screw mechanism abuts against the thrust assembly via the abutment surface. The abutment surface, the external threaded tube, and the shaft form a first receiving groove. A portion of the thrust assembly's length in the first axial direction is accommodated by the first receiving groove.

[0048] The lead screw is rotatably coupled to the lead screw nut via the external threaded tube. The external threaded tube rotates around the first axis, causing the lead screw nut to translate along the first axis. When the lead screw nut translates backward, it can pass through the force sensor through its own threaded hole.

[0049] The main reason why the above-mentioned brake structure of the present invention can be made more compact is that:

[0050] First, the structure of the lead screw mechanism was redesigned to provide a foundation in terms of area and depth for the lead screw mechanism to achieve the following compact fit with the thrust assembly and force sensor.

[0051] Secondly, a portion of the thrust assembly's length is accommodated within the first receiving slot of the lead screw, thereby shortening the overall axial length. Furthermore, the screw hole of the lead screw nut can pass through the force sensor during translation, allowing a portion of the translation path to be positioned around the force sensor, further reducing the necessary axial length for the stroke distance. These two factors work together to ensure that the first axial distance between the force sensor and the lead screw is effectively shortened.

[0052] Based on the above two points, a compact structure for the drive unit was finally achieved.

[0053] The principle of force sensing in the brake of this invention is known and will only be briefly described here. When the brake is applied, the lead screw in the lead screw mechanism is driven to rotate around its axis. The threaded screw converts this rotational motion into the translational motion of the lead screw nut. The lead screw nut drives the friction plate mechanism to apply a first axial pressure to the brake disc, thereby achieving frictional braking. Simultaneously, the brake disc generates a reaction force on the friction plate mechanism in the opposite direction to the pressure. This force is transmitted through the lead screw nut, lead screw, and thrust assembly to the surface of the force sensor. The mechanical data sensed by the force sensor is transmitted to the main board of the brake, which then controls the braking based on this mechanical data.

[0054] The brake may further include a transmission cavity. The transmission cavity has an opening, an inner wall, and a bottom, the inner wall extending along the first axial direction. The opening is located at the front end of the cavity, and the bottom is located at the rear end. The lead screw mechanism, thrust assembly, and force sensor are disposed within the transmission cavity. The transmission cavity primarily ensures that the drive mechanism can operate relatively independently in space and stably.

[0055] The inner wall of the cavity may optionally slide against the outer surface of the lead screw nut, thereby providing circumferential support and guidance for the lead screw nut during translation. The lead screw nut may also optionally have a limiting flange on its front end in the circumferential direction, which abuts against the cavity opening after the lead screw nut has translated backward. The limiting flange restricts the extreme position of the lead screw nut's backward movement.

[0056] The cavity bottom has a shaft hole and a mounting base. The mounting base is arranged around the shaft hole and is radially spaced from the cavity inner wall. The force sensor is fixed to the mounting base. The shaft passes through the thrust assembly, the force sensor, and the shaft hole from its rear end. When the lead screw nut moves backward, it can also move through its own screw hole into the gap between the mounting base and the cavity inner wall. Based on the cavity bottom design, part of the path of the lead screw nut's backward translation can be set in the gap between the mounting base and the cavity inner wall, thereby reducing the length of the cavity along the first axial direction.

[0057] The present invention preferably uses a lead screw and nut to drive the friction plate mechanism. In the drive structure, the piston cylinder part in the prior art can be omitted. The sliding contact between the lead screw and nut and the inner wall of the cavity retains the advantage of smooth piston cylinder movement, making the structure more compact.

[0058] The brake also includes a support frame, a first friction plate mechanism, and a second friction plate mechanism. The first friction plate mechanism and the second friction plate mechanism are arranged opposite each other at an interval. The support frame is used to fix the second friction plate mechanism and the transmission cavity. The front end of the lead screw nut is connected to the first friction plate mechanism, and the translation of the lead screw nut drives the first friction plate mechanism to translate relative to the second friction plate mechanism.

[0059] The externally threaded pipe has an assembly part inside, which is connected to the inner wall of the externally threaded pipe in the circumferential direction. The front end of the assembly part has a first mating surface, and the rear end of the assembly part has a second mating surface. The assembly part has a limiting mating hole along the first axial direction that penetrates the first mating surface and the second mating surface.

[0060] The shaft, from front to back, comprises a screw section, a limiting fitting section, a tray section, and a rotating rod section in sequence.

[0061] The externally threaded tube is assembled onto the limiting fitting part of the shaft through the limiting fitting hole. The limiting fitting hole engages with the limiting fitting part to restrict the rotation of the externally threaded tube relative to the shaft.

[0062] The threaded fastening assembly is threaded onto the screw portion. The threaded fastening assembly and the tray portion are respectively clamped and fixed to the assembly portion by one side of a first mating surface and one side of a second mating surface. The tray portion and the second mating surface overlap and abut against each other in a first axial direction. The rear end of the tray portion has the abutment surface.

[0063] The rotating rod is inserted into the thrust assembly and the force sensor.

[0064] When the assembly is clamped, the threaded fastening assembly and the front end of the shaft are located inside the front end face of the external threaded tube.

[0065] The following is a specific embodiment of the present invention.

[0066] Figure 1 The figure illustrates a specific structure of the drive device in a brake. In the figure, a transmission cavity 4 is provided on the right side of the first friction plate mechanism 1. Inside the transmission cavity 4, a lead screw mechanism, a thrust assembly 7, and a force sensor 8 are arranged in sequence from front to back along the first axial direction (the direction of the dotted line in the figure is from left to right). The bottom of the force sensor is in contact with the transmission cavity 4.

[0067] The lead screw mechanism includes a lead screw 5 and a lead screw nut 6. The lead screw 5 is composed of an externally threaded tube 52 and a shaft 53 that are coaxially and fixedly connected.

[0068] The externally threaded pipe 52 has a cylindrical pipe wall 520 surrounding the first axial direction. An externally threaded raceway 521 is provided on the outer periphery of the pipe wall. The externally threaded pipe also has an assembly part 510 located inside the pipe wall 52. The assembly part 510 is a monolithic shape and is integrally connected to the pipe wall along its circumferential edge. The front end of the assembly part (i.e., the left side of the attached figure) has a first mating surface 511, and the rear end has a second mating surface 512. The first mating surface is used to mate with a threaded fastening assembly, and the second mating surface mates with the structure of the shaft 53. The specific mating method will be described later. In the figure, the first mating surface is a plane perpendicular to the first axial direction, and the second mating surface is a stepped surface arranged around the first axial direction. A limiting mating hole 513 is provided at the center of the assembly part 51 along the first axial direction. The limiting mating hole penetrates both the first mating surface 511 and the second mating surface 512, and the cross-sectional shape of the hole is a square shape with chamfers.

[0069] The shaft 53 is a round rod extending along the first axial direction, and from the front end to the rear end it has a screw part 531, a limiting mating part 532, a tray part 533, a rotating rod part 534 and a spline 535 (see also) Figure 3The threaded tube 52 passes through its own limiting fitting hole 513 from the screw part 531 at the front end of the shaft 53, is assembled onto the limiting fitting part 532, and abuts against the front end face of the tray part 533. The screw part 531 is provided with a threaded fastening assembly 54, which sequentially includes a fastening screw nut, a fastening washer, and a rubber ring. The rubber ring is fitted onto the front end of the limiting fitting part, the fastening washer is fitted onto the screw part 531, and the fastening screw nut is finally screwed onto the screw part to fasten the assembly part 51 between the fastening screw nut and the tray. The limiting fitting hole 513 and the limiting fitting part 532 cooperate to ensure the synchronous rotation of the threaded tube 52 and the shaft 53, preventing relative slippage between them. This is mainly achieved through shape limiting; as mentioned earlier, the cross-section of the limiting fitting part and the limiting fitting hole is a square with chamfers. This structure facilitates installation and avoids relative slippage. The front end face of the tray portion 533 is a mating surface that mates with the aforementioned stepped second mating surface, allowing the tray portion 533 and the assembly portion 510 to fit and overlap in the first axial direction. This enables the force on the externally threaded tube 52 in the first axial direction to be transmitted to the shaft tray portion 533. The rear end face of the tray portion is a plane perpendicular to the first axial direction, serving as the abutment surface 5331 for contacting the thrust assembly. The rotating rod portion is a smooth elongated cylindrical rod. The right end of the elongated cylindrical rod in the figure has a spline structure 535, which is used to connect with the existing motor drive structure in the brake; details are omitted here. Figure 1 and Figure 2 The shaft is inserted through the shaft portion 534 at the center of the thrust assembly and the force sensor. When driven by a motor at its end, it can rotate relative to the thrust assembly and the force sensor.

[0070] It should also be noted that, due to the above structure, two groove structures are formed inside the externally threaded tube 52. The first groove structure is located at the front of the externally threaded tube and is formed by the first mating surface 511 and the front wall of the externally threaded tube. This groove can be used to accommodate the screw part 531 at the front end of the shaft, the limiting mating part 532, and the threaded fastening assembly 54 located thereon. The second groove structure is located at the rear of the externally threaded tube and is formed by the second mating surface 512, the tray part 533 and its abutment surface 5331, and the rear wall of the externally threaded tube 520. The second groove formed together with the rotating rod part 534 passing through it forms the first receiving groove of the present invention. Thus, when the thrust assembly abuts against the abutment surface 5331, part of its length in the first axial direction is accommodated by the first receiving groove, and the distance between the thrust assembly and the externally threaded tube (compared to without the first receiving groove) is closer.

[0071] The lead screw nut 6 is a cylindrical structure surrounding a first axial direction. The outer circumference of the lead screw nut has a smooth surface, while the inner circumference has an internal thread raceway 62. The internal thread raceway engages with the external thread raceway of the external threaded tube via balls. This engagement means that when the lead screw rotates around the first axial direction, the rotational motion is converted into a translational motion of the lead screw nut along the first axial direction via the thread. The forward and reverse rotation of the lead screw around the first axial direction drives the lead screw nut to translate forward and backward along the first circumferential direction. The lead screw nut 6 has a limiting flange 61 on its front circumferential side. This limiting flange, when the lead screw nut translates backward, abuts against the opening 41 of the transmission cavity, limiting the maximum backward translational distance of the lead screw nut.

[0072] Back Figure 2 The transmission cavity 4 is a hollow cylindrical cavity extending along a first axial direction. It has a cavity opening 41 at the front end, a cavity bottom 43 at the rear end, and an inner wall 42 surrounding the first axial direction. A shaft hole 46 and a mounting base 44 are located at the center of the cavity bottom 43. As shown in the figure, the mounting base 44 is also cylindrical, positioned around the shaft hole at the cavity bottom. The mounting base 44 has a locking groove 441 for engaging a force sensor, and forms a radial gap 45 with the inner wall 42. The inner hole of the lead screw nut 6 is larger than the radius of the mounting base 44 and the force sensor 8, allowing it to pass through both and enter the gap 45. The rear end of the transmission cavity is also connected to existing mechanisms such as the motor housing in the brake, which will not be described in detail here. A sealing ring groove 421 is located on the inner wall 42, and a sealing ring 422 is embedded within the groove. The lead screw can slide relative to the inner wall and the sealing ring, and is sealed by the sealing ring.

[0073] The force sensor 8 is installed in the mounting base 44. The thrust assembly 7 is superimposed on the front surface of the force sensor. The assembled lead screw mechanism (i.e., the shaft 53 is fastened to the external threaded tube 52, and the external threaded tube 52 is threadedly fitted to the lead screw nut 6) passes through the thrust assembly 7, the force sensor 8, and the shaft hole 46 in sequence via the rotating rod part 534. The spline structure 535 at the end of the shaft 53 is exposed outside the bottom of the transmission cavity. The thrust assembly 7 includes a thrust bearing and a thrust washer. At this time, the lead screw nut 6 is nested in the transmission cavity. The outer wall of the lead screw nut 6 is slidably fitted against the inner wall 42 of the transmission cavity 4. The front end of the lead screw nut, together with the limiting flange 61, is exposed outside the cavity opening 41 and connected to the first friction plate mechanism. During braking, the shaft 53 is driven to rotate, thereby causing the external threaded tube 52 to rotate as well. The rotational motion of the external threaded tube 52 is converted into the translational motion of the lead screw nut 6 through the thread. The lead screw nut 6 thus slides relative to the inner wall 42 of the cavity, pushing the first friction plate mechanism 1 towards the second friction plate mechanism 2 along the first axial direction. The two press against the friction disc to perform braking. During braking, due to the reaction force of the clamping force, it is transmitted along the first axial direction sequentially by the lead screw nut 6 and the lead screw 5 to the thrust assembly 7, and then to the force sensor 8 for detection. When releasing the brake, the shaft 53 is driven to rotate in the opposite direction, thereby causing the external threaded tube 52 to rotate in the opposite direction. The lead screw nut moves backward and then drives the first friction plate mechanism 1 away from the second friction plate mechanism 2 along the first axial direction, releasing the friction disc. During the backward translational movement of the lead screw nut 6, the rear end of the lead screw nut passes through the force sensor 8 and the outer peripheral surface of the mounting base 44, and enters the gap 45 between the mounting base and the inner wall 42 of the cavity. When the limiting protrusion 61 at the front end of the lead screw nut abuts against the cavity opening 41, the lead screw nut no longer translates backward, thus achieving the limiting.

[0074] As can be seen, during the aforementioned braking and de-braking processes, the length of part of the thrust assembly is housed within the lead screw, the axial distance between the force sensor 8 and the lead screw 5 is shortened, and the translational formation of part of the lead screw nut 6 is arranged outside the mounting base, resulting in a more compact overall design and a reduced overall distance in the first axial direction. This type of brake with a force sensor is expected to be used in some vehicles with small wheel hubs.

[0075] The embodiments described in this invention are for illustrative purposes only and do not constitute a limitation on the scope of the claims. Other substantially equivalent substitutions that can be conceived by those skilled in the art are all within the scope of protection of this invention.

Claims

1. A brake, comprising a drive mechanism, said drive mechanism including a lead screw mechanism, a thrust assembly, and a force sensor sequentially abutting each other along a first axial direction from front to back, said lead screw mechanism including a lead screw screw and a lead screw nut, characterized in that: The lead screw has a threaded tube, a contact surface, and a shaft for transmission. The threaded tube is coaxially arranged outside the shaft along a first axial direction. The rear end of the threaded tube is radially spaced from the shaft. The contact surface is disposed within the space. The shaft can drive the threaded tube and the contact surface to rotate together around the first axial direction. The lead screw mechanism abuts against the thrust assembly via the abutment surface. The abutment surface, the external threaded tube, and the shaft form a first receiving groove. A portion of the thrust assembly's length in the first axial direction is accommodated by the first receiving groove. The lead screw is rotatably coupled to the lead screw nut via the external threaded tube. The external threaded tube rotates around the first axis, causing the lead screw nut to translate along the first axis. When the lead screw nut translates backward, it can pass through the force sensor through its own threaded hole.

2. The brake as described in claim 1, characterized in that... It also includes a transmission cavity, which has a cavity opening, a cavity inner wall and a cavity bottom. The cavity inner wall extends along the first axis. The cavity opening is provided at the front end of the cavity and the cavity bottom is provided at the rear end. The lead screw mechanism, the thrust assembly and the force sensor are disposed in the transmission cavity.

3. The brake as described in claim 2, characterized in that... The inner wall of the cavity can slide relative to the outer surface of the lead screw nut.

4. The brake as described in claim 3, characterized in that... The lead screw nut has a limiting protrusion on its front end in the circumferential direction. After the lead screw nut moves backward, the limiting protrusion can abut against the cavity opening.

5. The brake as described in claim 2, characterized in that... The cavity bottom has a shaft hole and a mounting base, the mounting base being arranged around the shaft hole, and the mounting base being radially spaced from the cavity inner wall. The force sensor is fixed to the mounting base, and the shaft passes through the thrust assembly, the force sensor, and the shaft hole from its rear end. When the lead screw nut moves backward, it can also move through its own screw hole to the gap between the mounting base and the inner wall of the cavity.

6. The brake as described in claim 2, characterized in that... It also includes a support frame, a first friction plate mechanism and a second friction plate mechanism, wherein the first friction plate mechanism and the second friction plate mechanism are arranged opposite each other at intervals, the support frame is used to fix the second friction plate mechanism and the transmission cavity, and the front end of the lead screw nut is connected to the first friction plate mechanism. The translation of the lead screw nut causes the first friction plate mechanism to translate relative to the second friction plate mechanism.

7. The brake as claimed in claim 1, characterized in that... The thrust assembly includes a thrust bearing and a thrust washer, and the contact surface, thrust bearing, thrust washer and force sensor are in sequence abutting each other.

8. The brake as claimed in claim 1, characterized in that... Ball bearings are provided between the lead screw and the lead screw nut.

9. The brake as claimed in claim 1, characterized in that... The externally threaded pipe has an assembly part inside, which is connected to the inner wall of the externally threaded pipe in the circumferential direction. The front end of the assembly part has a first mating surface, and the rear end of the assembly part has a second mating surface. The assembly part has a limiting mating hole along the first axial direction that penetrates the first mating surface and the second mating surface. The shaft, from front to back, comprises a screw section, a limiting fitting section, a tray section, and a rotating rod section in sequence. The externally threaded tube is assembled onto the limiting fitting part of the shaft through the limiting fitting hole. The limiting fitting hole engages with the limiting fitting part to restrict the rotation of the externally threaded tube relative to the shaft. The threaded fastening assembly is threaded onto the screw portion. The threaded fastening assembly and the tray portion are respectively clamped and fixed to the assembly portion by one side of a first mating surface and one side of a second mating surface. The tray portion and the second mating surface overlap and abut against each other in a first axial direction. The rear end of the tray portion has the abutment surface. The rotating rod is inserted into the thrust assembly and the force sensor.

10. The brake as claimed in claim 9, characterized in that... When the assembly is clamped, the threaded fastening assembly and the front end of the shaft are located inside the front end face of the external threaded tube.

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