Electrically-driven planetary transmission with electromagnetic gear shifting function

Abstract

The utility model relates to an electrically-driven planetary transmission with an electromagnetic gear shifting function, which comprises a motor, a double-brake electromagnetic brake and a two-stage planetary reducer which are sequentially connected, a first sun gear of a first planetary reducer is connected with the motor, and a first planet carrier is meshed with a second sun gear; the spline gear sleeve movably sleeves a spline shaft of the first sun gear, is connected with a first dynamic friction plate of the first electromagnetic brake and is used for braking and releasing the first sun gear; and the spline gear disc is arranged on a first inner gear ring of the first planetary gear reducer, is connected with a second dynamic friction plate of the second electromagnetic brake and a first static friction plate of the first electromagnetic brake, and is used for braking and releasing the first inner gear ring. According to the transmission, three-gear working state switching is achieved through the double-brake electromagnetic brake and the two-stage planetary reducer, and the requirements of a low-speed large-torque load-bearing walking working condition in a load state, a high-speed small-torque rapid transition working condition in a no-load state and a neutral state working condition are met respectively.

Description

Technical Field

[0001] This utility model relates to a transmission, and more particularly to an electrically driven planetary transmission with electromagnetic shifting function. Background Technology

[0002] With breakthroughs and rapid development in new energy battery, motor, and motor controller technologies, the field of non-road new energy vehicles such as logistics handling vehicles, intelligent AGVs, and aerial work platforms has experienced rapid growth. These vehicles are characterized by frequent switching between loaded and unloaded states during operation. In the loaded state, the vehicle's curb weight is heavier, performing functions such as moving, transferring, and lifting heavy objects. In the unloaded state, the vehicle often requires off-road drive for rapid relocation of work areas, reducing ineffective work intervals and improving work efficiency. The vehicle's function dictates a significant difference in curb weight between the loaded and unloaded states. Therefore, the loaded state requires the vehicle's off-road drive to achieve low-speed, high-torque power output to meet load requirements, while the unloaded state requires high-speed, low-torque power output. Existing electric parallel shaft gear or planetary gear reducers for off-road drive functionality, to ensure power output requirements in the loaded state, employ fixed transmission ratios, which cannot simultaneously meet the load and travel speed requirements of both working conditions. Utility Model Content

[0003] To solve the above problems, this utility model provides an electrically driven planetary transmission with electromagnetic shifting function, the specific technical solution of which is as follows:

[0004] An electric drive planetary transmission with electromagnetic shifting function includes: a motor; a dual-braking electromagnetic brake mounted on the motor, comprising a first electromagnetic brake and a second electromagnetic brake; a two-stage planetary reducer mounted on the dual-braking electromagnetic brake, comprising a first planetary gear reducer and a second planetary gear reducer, wherein the first sun gear of the first planetary gear reducer is connected to the motor, and the first planet carrier of the first planetary gear reducer meshes with the second sun gear of the second planetary gear reducer; a splined gear sleeve movably mounted on the splined shaft of the first sun gear and connected to the first moving friction plate of the first electromagnetic brake, for braking and releasing the first sun gear; and a splined gear disc mounted on the first internal gear ring of the first planetary gear reducer and connected to the second moving friction plate of the second electromagnetic brake and the first stationary friction plate of the first electromagnetic brake, for braking and releasing the first internal gear ring.

[0005] Preferably, the first planetary gear reducer further includes: a first planetary gear, which is rotatably mounted on the first planet carrier and meshes with the first sun gear and the first internal gear ring.

[0006] Preferably, the second planetary gear reducer further includes: a second planetary gear meshing with the second sun gear; a second planetary carrier rotatably connected to the second planetary gear and the first internal gear ring, the second planetary carrier being used to connect the device; and a second internal gear ring meshing with the second planetary gear and rotatably mounted on the second planetary carrier, the second internal gear ring being used to connect the wheel.

[0007] Preferably, the two-stage planetary reducer further includes: a third oil seal, which is disposed on the second internal gear ring and movably abuts against the second planetary carrier; and a protective cover plate, which is disposed on the second internal gear ring and abuts against one end of the third oil seal.

[0008] Furthermore, the two-stage planetary reducer also includes a water seal, which is disposed on the second planetary carrier and movably abuts against the protective cover plate.

[0009] Preferably, the two-stage planetary reducer further includes a second oil seal, which is disposed on the second planetary carrier and movably abuts against the first internal gear ring.

[0010] Preferably, the first electromagnetic brake further includes: a brake housing, which is connected to the motor and the second planetary carrier of the second planetary gear reducer respectively; a first brake excitation coil, which is disposed within the first brake excitation coil; a first brake spring, which is disposed within the brake housing; a first armature disk, which is axially movably disposed within the brake housing and abuts against the first brake spring, and is also disposed opposite to the first brake excitation coil; a pressure plate, which is rotatably disposed on the first armature disk; and a first moving friction plate, which is axially movably disposed on one side of the pressure plate and slidably sleeved on the spline gear sleeve, and the first moving friction plate rotates synchronously with the spline gear sleeve; wherein, the first static friction plate is disposed between the first moving friction plates.

[0011] Preferably, the second electromagnetic brake further includes: a second braking excitation coil disposed within the brake housing; a second braking spring disposed within the brake housing; a second armature disc axially movably disposed within the brake housing and abutting against the second braking spring, the second armature disc also being disposed opposite to the second braking excitation coil; a second moving friction plate movably sleeved on the splined gear disc, the second moving friction plate rotating synchronously with the splined gear disc; a second stationary friction plate axially movably disposed between the second moving friction plates; and a friction disc disposed within the brake housing and disposed opposite to the second moving friction plate.

[0012] Furthermore, the second electromagnetic brake also includes: a leveling column, which is fixedly disposed inside the brake housing, and the second armature disk and the second static friction plate are slidably inserted on the leveling column.

[0013] Preferably, it further includes: a transition flange seat, which is connected to the motor and the dual-braking electromagnetic brake respectively.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] This utility model provides an electric drive planetary gearbox with electromagnetic shifting function, which realizes three-speed working state switching through dual-braking electromagnetic brakes and two-stage planetary reducers. The first gear meets the needs of low-speed, high-torque heavy-duty walking conditions when the machine is under load; the second gear meets the needs of high-speed, low-torque, and rapid transfer conditions when the machine is unloaded; and the neutral gear meets the needs of higher-speed towing or fault-based towing conditions when the machine is towing. Attached Figure Description

[0016] Figure 1 This is a perspective view of this application;

[0017] Figure 2 This is a cross-sectional view of this application;

[0018] Figure 3 This is an exploded view of this application;

[0019] Figure 4 This is an exploded view of a dual-braking electromagnetic brake.

[0020] Figure 5 This is a cross-sectional view of a dual-braking electromagnetic brake;

[0021] Figure 6 This is an exploded view of a two-stage planetary gear reducer;

[0022] Figure 7This is a cross-sectional view of a two-stage planetary gear reducer;

[0023] Figure 8 This is a schematic diagram of this application.

[0024] In the diagram: 1-Reluctance synchronous motor, 2-First O-ring, 3-Transition flange seat, 4-Dual-brake electromagnetic brake, 5-Two-stage planetary reducer, 6-Brake housing, 7-Second O-ring, 8-Third O-ring, 9-Excitation coil of second electromagnetic brake, 10-Second armature plate, 11-Equal height column, 12-Second moving friction plate, 13-Second stationary friction plate, 15-Friction disc, 16-First moving friction plate, 17-First stationary friction plate, 18-Splined gear sleeve, 20-Pressure plate, 21-Second bearing, 22-Second brake spring, 23-Positioning pin, 25-First armature plate, 26-First brake spring, 27-First retaining ring, 28-First bearing, 29-Excitation coil of first electromagnetic brake, 30-First sun gear, 31-Straight key, 32-Splined gear disc, 33-First planetary gear shaft, 3 4-First planetary gear, 35-First planetary gear bearing, 36-First planetary carrier, 37-First internal gear ring, 38-Second oil seal, 39-Fourth bearing, 40-Second internal gear ring, 41-Sixth bearing, 42-Fifth bearing, 43-Second planetary gear bearing, 44-Second planetary gear, 45-Seventh bearing, 46-Fourth O-ring, 47-Second retaining ring, 48-Third retaining ring, 49-Second planetary gear shaft, 50-End cover, 51-Fourth retaining ring, 52-Second sun gear, 53-Thrust washer, 54-Second planetary carrier, 55-Third oil seal, 56-Protective cover plate, 57-Water seal, 58-Fifth retaining ring, 59-Fifth O-ring, 60-Sixth O-ring, 61-Fixed, 62-Third bearing, 63-First oil seal, 401-First electromagnetic brake, 402-Second electromagnetic brake. Detailed Implementation

[0025] The present invention will now be further described with reference to the accompanying drawings.

[0026] like Figures 1 to 8As shown, an electric planetary transmission with electromagnetic shifting function includes a motor 1, a dual-braking electromagnetic brake 4, and a two-stage planetary reducer 5. The motor 1 is mounted on the dual-braking electromagnetic brake 4 via a transition flange 3 and is rotatably connected to the first sun gear 30 via a spline inside the motor shaft. The dual-braking electromagnetic brake housing 6 is rigidly mounted on the two-stage planetary reducer 5 via screws 19. A first bearing 28 is installed in the inner hole of the dual-braking electromagnetic brake housing 6, serving as the front support bearing for the motor 1. The first electromagnetic brake 401 of the dual-braking electromagnetic brake 4 achieves the braking and release functions of the first sun gear 30 through a first static friction plate 17, a first dynamic friction plate 16, and a splined gear sleeve 18. The second electromagnetic brake 402 of the dual-braking electromagnetic brake 4 achieves the braking and release functions of the first internal gear ring 37 through a second static friction plate 13, a second dynamic friction plate 12, and a splined gear disk 32 rigidly connected to the first internal gear ring 37. The first sun gear 30 is mounted on the shaft... The system includes a first oil seal 63 and a third bearing 62; a first planetary carrier 36 is rotatably connected to a first internal gear ring 37, on which a fourth bearing 39, a fifth bearing 42, and a second oil seal 38 are mounted; a first planetary gear 34 is rotatably connected to the first planetary carrier 36, and the first planetary carrier 36 is connected to a second sun gear 52 via an internal spline; the outer rings of the fourth bearing 39 and the fifth bearing 42, and the outer diameter of the second oil seal 38 are fixedly mounted on the second planetary carrier 54, which is a fixed component and is mounted on the machine via a flange; a second planetary gear 44 is rotatably connected to the second planetary carrier 54; a sixth bearing 41 and a seventh bearing 45 are mounted on the second planetary carrier 54, and the outer rings of the sixth bearing 41 and the seventh bearing 45 are mounted in the inner hole of a second internal gear ring 40; the second internal gear ring 40 is a rotating component and is rotatably connected to the machine wheel via a flange.

[0027] The dual-braking electromagnetic brake 4 is integrated between the motor 1 and the two-stage planetary reducer 5. The first O-ring 2, the second O-ring 7, the third O-ring 8, and the sixth O-ring 60 are installed between the mating surfaces of the motor 1, the transition flange seat 3, the brake housing 6, and the second planetary carrier 54.

[0028] The brake housing 6 is equipped with a first electromagnetic brake 401 and a second electromagnetic brake 402. The brake housing 6 is connected to the transition flange seat 3 and the second planetary carrier 54, respectively. The brake housing 6 is sealed with glue and insulation to install a first brake excitation coil 29 and a second brake excitation coil 9. The brake housing 6 is provided with spring mounting holes, and a first brake spring 26 and a second brake spring 22 are installed, respectively. The spring force of the first brake spring 26 acts on the first armature plate 25, and the spring force of the second brake spring 22 acts on the second armature plate 10. The first armature plate 25 can reciprocate axially under the alternating electromagnetic forces of the first brake spring 26 and the first brake excitation coil 29. The second armature plate 10 can reciprocate axially under the alternating electromagnetic forces of the second brake spring 22 and the second brake excitation coil 9.

[0029] A second bearing 21 is installed in the inner hole of the first armature disk 25. A pressure plate 20 is installed on the inner ring of the second bearing 21. A first retaining ring 27 is provided on the outer diameter of the pressure plate 20 to prevent the second bearing 21 from falling out. The first armature disk 25 and the pressure plate 20 can withstand axial compressive force. The pressure plate 20 can rotate freely concentrically relative to the first armature disk 25 and cannot be separated axially. A positioning pin 23 and a fixing screw 24 are installed in the pin hole of the first armature disk 25. The first armature disk 25 can move axially but cannot rotate. The inner hole of the first moving friction plate 16 is provided with an internal spline tooth groove that engages with the external spline teeth of the spline gear sleeve 18. The outer diameter of the first stationary friction plate 17 is provided with external spline teeth and is installed in the inner hole of the spline gear disk 32. In the splined gear groove, the inner hole of the splined gear sleeve 18 is fitted with the shaft diameter of the first sun gear 30 and connected by a flat key 31. The first brake spring 26 transmits the clamping force to the first static friction plate 17 and the first moving friction plate 16 through the first armature disk 25, the second bearing 21 and the pressure plate 20, locking the relative rotation between the first sun gear 30 and the splined gear disk 32, i.e. the first internal gear ring 37. When the first brake excitation coil 29 is energized, it generates an electromagnetic force to pull the first armature disk 25 to overcome the clamping force of the first brake spring 26 and complete the separation action of the first static friction plate 17 and the first moving friction plate 16. The first sun gear 30 can rotate freely relative to the splined gear disk 32, i.e. the first internal gear ring 37.

[0030] A leveling post 11 is installed in the pin hole of the second armature disk 10. One end face of the leveling post 11 is in contact with the brake housing 6, and the other end face is in contact with the friction disk 15. The friction disk 15 is rigidly connected to the brake housing 6 and the leveling post 11 by screws 14. The leveling post 11 is installed in the pin holes of the second static friction plate 13 and the second armature disk 10. The second static friction plate 13 and the second armature disk 10 can move axially but cannot rotate. The inner hole of the second moving friction plate 12 is provided with an internal spline tooth groove that engages with the external spline teeth of the spline gear disk 32. The second brake spring 22 transmits the clamping force to the second moving friction plate 12 and the second static friction plate 13 through the second armature disk 10 to lock the rotational freedom of the first internal gear ring 37. When the second brake excitation coil 9 is energized, it generates an electromagnetic force to pull the second armature disk 10 to overcome the clamping force of the second brake spring 22 and complete the separation action of the second moving friction plate 12 and the second static friction plate 13, so that the first internal gear ring 37 has rotational freedom.

[0031] The first sun gear 30 is rotatably mounted in the inner ring of the third bearing 62 and is equipped with a first oil seal 63. The third bearing 62 and the first oil seal 63 are installed in the inner hole of the splined gear disk 32. The first planetary gear shaft 33 is mounted on the first planetary carrier 36. The first planetary gear bearing 35 is installed in the inner hole of the first planetary gear 34 and is rotatably mounted on the first planetary gear shaft 33. The first planetary gear 34 meshes with the internal and external teeth of the first internal gear ring 37 for transmission. The fourth bearing 39, the fifth bearing 42 and the second oil seal 38 are mounted on the outer diameter of the first internal gear ring 37. The fourth bearing 39, the fifth bearing 42 and the second oil seal 38 are installed in the inner hole of the second planetary carrier 54. The fourth retaining ring 51 is mounted on the outer diameter of the first internal gear ring 37. The second sun gear 52 is connected to the inner spline groove of the first planetary carrier 36 through the external spline teeth and rotates coaxially and concentrically. A fifth retaining ring 58 is installed on the second planetary carrier 54. A second planetary gear shaft 49 is installed on the second planetary carrier 54. A second planetary gear bearing 43 is installed in the inner hole of the second planetary gear 44. The second planetary gear bearing 43 is rotatably mounted on the second planetary gear shaft 49. The second planetary gear 44 meshes with the internal and external teeth of the second internal gear ring 40 for transmission. A sixth bearing 41, a seventh bearing 45, and a third oil seal 55 are installed in the inner hole of the second internal gear ring 40. The sixth bearing 41 and the seventh bearing 45 are installed on the outer diameter of the second planetary carrier 54. A second retaining ring 47 is installed on the outer diameter of the second planetary carrier 54. The third oil seal 55 is fitted with a protective cover plate 56. The protective cover plate 56 is fitted with a water seal 57. An end cover 50 and a fourth O-coil 46 are installed in the inner hole of the second internal gear ring 40. A thrust washer 53 is installed in the inner hole of the end cover 50 to limit the axial displacement of the second sun gear 52.

[0032] The braking and release states of the first electromagnetic brake 401 and the second electromagnetic brake 402 are controlled by electrical signals. When the first electromagnetic brake 401 is in the released state and the second electromagnetic brake 402 is in the braking state, the first sun gear 30 can rotate freely relative to the first internal gear ring 37. The first internal gear ring 37 is a fixed component and cannot rotate. Both stages of planetary transmission participate in the reduction transmission, and the planetary transmission is set to the low speed first gear state.

[0033] The first electromagnetic brake 401 is in the braking state, the second electromagnetic brake 402 is in the releasing state, the rotational freedom of the first sun gear 30 relative to the first internal gear ring 37 is locked, and it can only rotate synchronously with the first internal gear ring 37. At the same time, the rotational freedom of the first planetary carrier 36 relative to the first sun gear 30 and the first internal gear ring 37 is also locked. The three can only rotate together as a whole component, and the two-stage planetary transmission is in the high-speed second gear state.

[0034] The first electromagnetic brake 401 is in the released state, the second electromagnetic brake 402 is in the released state, and the planetary transmission components: the first sun gear 30 and the first internal gear ring 37 both have rotational freedom. At this time, the first planet carrier 36 cannot output power, and the two-stage planetary transmission is in neutral.

[0035] When the planetary transmission is in low-speed first gear, the first electromagnetic brake 401 is de-energized and switched to braking mode, which can realize the emergency braking function of the planetary transmission.

[0036] An electric planetary transmission with electromagnetic shifting function uses a reluctance synchronous motor as the power input device.

[0037] The dual-braking electromagnetic brake adopts a normally closed multi-friction disc brake with spring-pressurized electromagnetic force release. The large and small braking torque brakes are compactly integrated and can be disassembled and replaced.

[0038] All mating surfaces and rotating components are designed with a sealed structure, and the electric drive planetary gearbox achieves an IP67 protection rating in the combined state.

[0039] The braking and release states of the first and second electromagnetic brakes are controlled by electrical signals. When the first electromagnetic brake is in the released state and the second electromagnetic brake is in the braking state, the first sun gear can rotate freely relative to the first internal gear ring. The first internal gear ring, as a fixed component, cannot rotate. Both stages of planetary transmission participate in the reduction transmission, and the planetary transmission is in low-speed first gear. When the first electromagnetic brake is in the braking state and the second electromagnetic brake is in the released state, the first sun gear's degree of freedom relative to the first internal gear ring is locked, and it can only rotate synchronously with the first internal gear ring. The rotational degree of freedom of the first planetary carrier relative to the first sun gear and the first internal gear ring is also locked. All three can only rotate together as a whole component, and the two-stage planetary transmission is in high-speed second gear. When the first electromagnetic brake is in the released state and the second electromagnetic brake is in the released state, the planetary transmission components—the first sun gear and the first internal gear ring—both have rotational degrees of freedom. At this time, the first planetary carrier cannot output power, and the two-stage planetary transmission is in neutral.

[0040] The braking and release states of the dual-braking electromagnetic brake are rapidly switched and controlled by electrical signals, enabling the switching of the three working states of the two-stage planetary gearbox.

[0041] The two-stage planetary gearbox has three working modes: the first mode meets the needs of low-speed, high-torque heavy-duty walking under load; the second mode meets the needs of high-speed, low-torque, and rapid site transfer under no-load conditions; and the neutral mode meets the needs of higher-speed towing or fault-based towing conditions.

[0042] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without inventive effort, and these embodiments will all fall within the protection scope of the claims of this utility model.

Claims

1. An electrically driven planetary transmission with electromagnetic shifting function, characterized in that, include: Motor (1); A dual-braking electromagnetic brake (4) is provided on the motor (1), including a first electromagnetic brake (401) and a second electromagnetic brake (402); A two-stage planetary reducer (5) is mounted on the dual-braking electromagnetic brake (4), including a first planetary gear reducer and a second planetary gear reducer. The first sun gear (30) of the first planetary gear reducer is connected to the motor (1), and the first planet carrier (36) of the first planetary gear reducer meshes with the second sun gear (52) of the second planetary gear reducer. The spline gear sleeve (18) is movably sleeved on the spline shaft of the first sun gear (30) and connected to the first moving friction plate (16) of the first electromagnetic brake (401) for braking and releasing the first sun gear (30). as well as A splined gear disc (32) is disposed on the first internal gear ring (37) of the first planetary gear reducer and is connected to the second dynamic friction plate (13) of the second electromagnetic brake and the first static friction plate (17) of the first electromagnetic brake (401) for braking and releasing the first internal gear ring (37).

2. The electrically driven planetary transmission with electromagnetic shifting function according to claim 1, characterized in that, The first planetary gear reducer further includes: a first planetary gear (34), which is rotatably mounted on the first planet carrier (36) and meshes with the first sun gear (30) and the first internal gear ring (37).

3. An electrically driven planetary transmission with electromagnetic shifting function according to claim 2, characterized in that, The second planetary gear reducer also includes: The second planetary gear (44) meshes with the second sun gear (52); A second planetary carrier (54), rotatably connected to the second planetary gear (44) and the first internal gear ring (37), the second planetary carrier (54) being used for connecting equipment; and The second internal gear ring (40) meshes with the second planetary gear (44) and is rotatably mounted on the second planetary carrier (54). The second internal gear ring (40) is used to connect the wheel.

4. An electrically driven planetary transmission with electromagnetic shifting function according to claim 3, characterized in that, The two-stage planetary reducer (5) also includes: A third oil seal (55) is disposed on the second internal gear ring (40) and movably abuts against the second planetary carrier (54); and A protective cover plate (56) is disposed on the second internal gear ring (40) and abuts against one end of the third oil seal (55).

5. An electrically driven planetary transmission with electromagnetic shifting function according to claim 4, characterized in that, The two-stage planetary reducer (5) further includes a water seal (57), which is disposed on the second planetary carrier (54) and movably abuts against the protective cover plate (56).

6. An electrically driven planetary transmission with electromagnetic shifting function according to claim 3, characterized in that, The two-stage planetary reducer (5) further includes a second oil seal (38), which is disposed on the second planetary carrier (54) and movably abuts against the first internal gear ring (37).

7. An electrically driven planetary transmission with electromagnetic shifting function according to claim 1, characterized in that, The first electromagnetic brake (401) further includes: Brake housing (6), the brake housing (6) is connected to the motor (1) and the second planetary carrier (54) of the second planetary gear reducer respectively; The first braking excitation coil (29) is disposed inside the first braking excitation coil (29); The first brake spring (26) is disposed inside the brake housing (6); The first armature disk (25) is axially movably disposed within the brake housing (6) and abuts against the first brake spring (26). The first armature disk (25) is also disposed opposite to the first brake excitation coil (29). A pressure plate (20), which is rotatably mounted on the first armature plate (25); and The first moving friction plate (16) is axially movably disposed on one side of the pressure plate (20) and slidably sleeved on the spline gear sleeve (18). The first moving friction plate (16) and the spline gear sleeve (18) rotate synchronously. The first static friction plate (17) is disposed between the first dynamic friction plates (16).

8. An electrically driven planetary transmission with electromagnetic shifting function according to claim 7, characterized in that, The second electromagnetic brake (402) further includes: The second braking excitation coil (9) is disposed inside the brake housing (6); The second brake spring (22) is disposed inside the brake housing (6); The second armature disk (10) is axially movably disposed within the brake housing (6) and abuts against the second brake spring (22). The second armature disk (10) is also disposed opposite to the second brake excitation coil (9). The second moving friction plate (12) is movably sleeved on the spline gear disk (32), and the second moving friction plate (12) rotates synchronously with the spline gear disk (32); The second static friction plate (13) and the second dynamic friction plate (12) are axially movably disposed between the second dynamic friction plates (12); and Friction disc (15) is disposed inside the brake housing (6) and is disposed opposite to the second moving friction plate (12).

9. An electrically driven planetary transmission with electromagnetic shifting function according to claim 8, characterized in that, The second electromagnetic brake (402) further includes: a leveling column (11), which is fixedly disposed inside the brake housing (6), and the second armature disc (10) and the second static friction plate (13) are slidably inserted on the leveling column (11).

10. An electrically driven planetary transmission with electromagnetic shifting function according to claim 1, characterized in that, Also includes: The transition flange seat (3) is connected to the motor (1) and the dual-braking electromagnetic brake (4) respectively.

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