CN116691619A

CN116691619A - Braking method and braking device

Info

Publication number: CN116691619A
Application number: CN202210190715.2A
Authority: CN
Inventors: 余敏; 李大为; 廖银生; 黄泰硕
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2023-09-05

Abstract

The invention discloses a braking method and a braking device, wherein the braking method comprises the following steps: acquiring depth information of a brake pedal; judging and determining a braking state of the vehicle according to the depth information of the brake pedal, and controlling the vehicle to brake the vehicle by adopting a corresponding braking strategy according to the braking state, wherein the depth information of the brake pedal comprises a brake pedal stroke and a brake pedal change rate; the braking state includes a light braking state, a medium braking state, and an emergency braking state. According to the braking device provided by the embodiment of the invention, the driving intention of the driver can be judged according to the depth information of the brake pedal and the like, and the braking state of the vehicle can be adjusted according to the driving intention so as to optimize the braking strategy.

Description

Braking method and braking device

Technical Field

The invention relates to the technical field of vehicles, in particular to a braking method and a braking device suitable for applying the braking method.

Background

Conventional friction brakes on cars are classified into disc brakes and drum brakes, and use the friction between a brake pad and a brake disc or drum to reduce the speed of the car and eventually stop. The friction brake commonly used at present is mainly a disc brake, a piston in a brake caliper body is pushed to move by hydraulic oil, and the piston presses a brake block to a brake disc, so that friction force is generated between the brake block and the brake disc to realize braking.

Under the working condition that the vehicle runs at a high speed, the friction brake not only has great abrasion on the brake shoe of the friction brake, but also can generate a lot of harmful dust. Meanwhile, friction between the brake pad and the brake disc also generates a lot of noise.

Disclosure of Invention

An object of the present invention is to propose a braking method that can determine the driving intention of a driver based on brake pedal depth information or the like, and adjust the braking state of a vehicle based on the driving intention to optimize a braking strategy.

Another object of the present invention is to propose a braking device.

According to the braking method provided by the embodiment of the invention, the braking method comprises the following steps: acquiring depth information of a brake pedal; judging and determining a braking state of the vehicle according to the depth information of the brake pedal, and controlling the vehicle to brake the vehicle by adopting a corresponding braking strategy according to the braking state, wherein the depth information of the brake pedal comprises a brake pedal stroke and a brake pedal change rate; the braking state includes a light braking state, a medium braking state, and an emergency braking state.

According to the braking device provided by the embodiment of the invention, the driving intention of the driver can be judged according to the depth information of the brake pedal and the like, and the braking state of the vehicle can be adjusted according to the driving intention so as to optimize the braking strategy.

In addition, the brake device according to the above embodiment of the present invention may further have the following additional technical features:

optionally, the "determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state" includes: acquiring vehicle speed information; when the vehicle is in a light braking state and the vehicle speed is greater than a first threshold value, controlling the electromagnetic braking mechanism to work so as to perform electromagnetic braking on the vehicle; and when the brake pedal stroke is smaller than or equal to a first distance and the brake pedal change rate is smaller than or equal to a first acceleration value, determining that the vehicle is in a light braking state.

Optionally, when the vehicle speed is less than or equal to the first threshold value, the friction braking mechanism is controlled to work so as to perform friction braking on the vehicle.

Optionally, the "determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state" further includes: acquiring vehicle speed information, and controlling the electromagnetic braking mechanism and the motor to work when the vehicle is in a moderate braking state and the vehicle speed is greater than a first threshold value so as to perform electromagnetic braking and motor feedback braking on the vehicle; and when the brake pedal stroke is larger than the first distance and smaller than the second distance, the brake pedal change rate is larger than the first acceleration value and smaller than the second acceleration value, and the vehicle is determined to be in a moderate braking state.

Optionally, when the vehicle speed is less than or equal to the first threshold, the friction braking mechanism is controlled to operate.

Optionally, the "determining the braking state of the vehicle according to the brake pedal depth information, and controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state" further includes: when the vehicle is in an emergency braking state, controlling the electromagnetic braking mechanism, the motor and the friction braking mechanism to work so as to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle; and when the brake pedal is formed to be larger than or equal to a second distance and the change rate of the brake pedal is larger than or equal to a second acceleration value, determining that the vehicle is in an emergency braking state.

Optionally, the method further comprises the step of obtaining gear information, and controlling the electromagnetic braking mechanism to be in a forward braking state or a backward braking state according to the gear information, wherein the gear information comprises a forward gear and a backward gear.

According to an embodiment of the present invention, a brake device adapted to apply the aforementioned braking method includes: a brake disc, a plurality of brake coils and an electromagnet, wherein the plurality of brake coils are relatively fixedly connected with the brake disc, and are distributed along the circumferential direction of the brake disc, and each brake coil is configured as a closed loop coil; the electromagnet cooperates with the brake coil to form an electromagnetic brake mechanism, wherein the electromagnet is configured to selectively enable the brake coil following the brake disc to generate induced current, and the brake coil cooperates with the electromagnet to apply acting force opposite to the rotation direction of the brake disc.

Optionally, a via hole is formed in the brake disc, and the brake coil is a closed loop coil penetrating through the via hole.

Optionally, the brake coil surrounds a circumferential edge of the brake disc.

Optionally, the via hole is non-circular, the brake coil has an engagement portion, and the engagement portion is disposed corresponding to the via hole.

Optionally, the scarf joint is adapted to the shape of the via.

Optionally, the brake coil is interference fit with the via.

Optionally, the electromagnet is radially or axially opposite to the brake coil from the brake disc.

Optionally, the braking device further comprises a brake caliper, and the brake caliper and the brake disc cooperate to form a friction braking mechanism.

Optionally, the brake disc comprises a friction disc and a coil disc, the friction disc is fixedly connected with the coil disc, the brake caliper is matched with the friction disc, and the brake coil is arranged on the coil disc.

Optionally, the brake caliper is integrated with the electromagnet.

Optionally, the brake caliper comprises a caliper body, wherein a mounting seat is arranged on the caliper body, the electromagnet is mounted on the mounting seat, and at least a part of the brake coil is opposite to the electromagnet along the magnetic field direction of the electromagnet.

Optionally, the electromagnet comprises a plurality of electromagnets.

Drawings

Fig. 1 is a schematic illustration of a braking method according to some embodiments of the invention.

Fig. 2 is a schematic illustration of a braking method according to some embodiments of the invention.

Fig. 3 is a schematic illustration of a braking method according to some embodiments of the invention.

Fig. 4 is a schematic illustration of a braking system according to some embodiments of the invention.

Fig. 5 is a schematic diagram of a braking method according to some embodiments of the present invention, in which the arrow shows the signal or power supply direction for non-emergency braking in the forward gear, when the vehicle speed is higher than the first threshold value.

Fig. 6 is a schematic diagram of a braking method according to some embodiments of the present invention, in which the arrow shows the signal or power supply direction and the motor is switched into feedback braking for emergency braking in forward gear, the control of which is when the vehicle speed is above a first threshold value.

Fig. 7 is a schematic diagram of a braking method according to some embodiments of the present invention, in which the arrow shows the signal or power supply direction for non-emergency braking in reverse gear, and the control when the vehicle speed is higher than the first threshold value.

Fig. 8 is a schematic diagram of a braking method according to some embodiments of the present invention, in which, for emergency braking in reverse gear, the control is schematic when the vehicle speed is higher than a first threshold, the arrow shows the signal or power supply direction, and the motor is switched in for feedback braking.

Fig. 9 is a schematic view of a braking device according to some embodiments of the present invention.

Fig. 10 is an exploded schematic view of a braking device according to some embodiments of the present invention.

Fig. 11 is a schematic illustration of a coil disk of a brake device in accordance with some embodiments of the invention mated with a brake coil.

Fig. 12 is an enlarged partial schematic view of the area of circle a in fig. 11.

Fig. 13 is a schematic view of a brake coil of a brake device according to some embodiments of the present invention.

Fig. 14 is a cross-sectional view of section B-B of fig. 13.

Fig. 15 is a schematic illustration of an electromagnetic braking principle of a braking device according to some embodiments of the present invention.

Fig. 16 is a schematic diagram of the principle of electromagnetic induction.

Reference numerals:

brake system 100, brake device 10, brake disc 11, friction disc 111, disc body 1111, annular plate 1112, flange 1113, coil disc 112, recess 101, via 102, brake coil 12, scarf joint 121, brake caliper 13, caliper body 131, mount 132, end cap 133, baffle 134, mount cavity 103, electromagnet 14, power supply 20, control device 30, ecu31, control switch 32, motor 40, brake pedal assembly 51, and foot feel simulator assembly 52.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

The invention provides a braking method. As shown in fig. 1, a braking method according to an embodiment of the present invention includes: acquiring depth information of a brake pedal; judging and determining a braking state of the vehicle according to the depth information of the brake pedal, and controlling the vehicle to brake the vehicle by adopting a corresponding braking strategy according to the braking state, wherein the depth information of the brake pedal comprises a brake pedal stroke and a brake pedal change rate; the braking state includes a light braking state, a medium braking state, and an emergency braking state.

According to the braking method provided by the embodiment of the invention, the braking state of the vehicle is determined through the depth information of the brake pedal, the driving intention of the driver can be timely obtained, the braking state required by the driver is judged, and the vehicle can be controlled to timely adopt the braking strategy corresponding to the driving intention, so that the vehicle can be timely and rapidly braked according to the driving intention of the driver, the braking method is simplified, rapid feedback is realized, and the driving experience and safety are optimized.

As shown in fig. 4, the vehicle may include a brake pedal assembly 51, a feel simulator assembly 52, etc., the brake pedal assembly 51 being used for a driver to step on, the feel simulator assembly may generate brake pedal depth information according to a stepping depth, a speed, etc. of the brake pedal, and the feel simulator assembly is connected to the control device 30 to transmit the brake pedal depth information to the control device 30. The braking state can feed back the driving intention of a driver, for example, the vehicle speed can be adjusted through the light braking state in the normal running process; in the deceleration process, the rapid and automatic speed control can be realized through a moderate braking state; in emergency situations, a faster braking can be achieved by the emergency braking state.

The vehicle may utilize electromagnetic braking to perform non-contact braking, as shown in fig. 2, in some embodiments of the present invention, the "determining a braking state of the vehicle according to the brake pedal depth information determination" includes controlling the vehicle to perform braking on the vehicle according to the braking state by adopting a corresponding braking strategy:

acquiring vehicle speed information, namely a vehicle speed signal, and feeding back the current running speed of the vehicle;

when the vehicle is in a light braking state and the vehicle speed is greater than a first threshold value, controlling the electromagnetic braking mechanism to work so as to perform electromagnetic braking on the vehicle; when the vehicle is in a light braking state, the vehicle can be braked by using the electromagnetic braking mechanism, and the electromagnetic braking mechanism is in non-contact braking, so that the abrasion of a brake disc or the generation of harmful dust under high vehicle speed can be avoided, and the generation of large and good noise in the braking process can be avoided. And the magnetic flux in the electromagnetic braking process is changed greatly at high speed, so that a better braking effect can be provided.

And when the brake pedal stroke is smaller than or equal to a first distance and the brake pedal change rate is smaller than or equal to a first acceleration value, determining that the vehicle is in a light braking state. At the moment, the stroke of the brake pedal is smaller, the change rate of the brake pedal is smaller, the vehicle can be judged to be in a conventional running state for decelerating, the driving intention of a driver can be well realized through electromagnetic braking, and the running stability and the running comfort of the vehicle can be considered.

In addition, the invention can also be provided with a contact type braking mechanism (friction braking mechanism), and the stable braking of the vehicle can be realized through friction braking, so that the running safety of the vehicle is improved. Therefore, when the vehicle speed is less than or equal to the first threshold value, the friction braking mechanism is controlled to operate to perform friction braking on the vehicle. The electromagnetic brake may or may not be engaged at this time due to engagement of the friction brake. That is, when the vehicle with a small vehicle speed performs friction braking, the electromagnetic braking mechanism can be still in a braking state so as to optimize the braking effect; the electromagnetic braking mechanism can be closed according to actual needs so as to save energy and the like.

As shown in fig. 2, in some embodiments of the present invention, the "determining a braking state of the vehicle according to the brake pedal depth information determination" controlling the vehicle to adopt a corresponding braking strategy according to the braking state to brake the vehicle further includes:

when the vehicle is in a moderate braking state and the vehicle speed is greater than a first threshold value, controlling the electromagnetic braking mechanism and the motor to work so as to perform electromagnetic braking and motor feedback braking on the vehicle; when the vehicle is in a moderate braking state, the electromagnetic braking mechanism can be used for braking the vehicle, and the electromagnetic braking mechanism is in non-contact braking, so that the abrasion of a brake disc or the generation of harmful dust under high vehicle speed can be avoided, and the generation of large noise in the braking process can be avoided. In addition, the magnetic flux in the electromagnetic braking process is changed greatly under the high vehicle speed, a better braking effect can be provided, in addition, in a moderate braking state, the requirement of a driver on braking is higher than that in a light braking state, at the moment, braking torque is provided through motor feedback braking, the braking effect is optimized through the combination of motor feedback braking and electromagnetic braking, meanwhile, the motor feedback braking can realize energy recovery in the braking process, the effect of increasing the range of the vehicle is achieved while the braking effect is improved, and the energy utilization rate is improved.

And when the brake pedal stroke is larger than the first distance and smaller than the second distance, the brake pedal change rate is larger than the first acceleration value and smaller than the second acceleration value, and the vehicle is determined to be in a moderate braking state. At the moment, the stroke of the brake pedal is larger relative to a light braking state, the change rate of the brake pedal is larger relative to the light braking state, at the moment, the driving intention of a driver can be better realized through the combination of electromagnetic braking and motor feedback braking, the running stability and the comfort of the vehicle can be considered, and the energy recovery is facilitated.

In addition, when the vehicle speed is less than or equal to a first threshold value, the friction braking mechanism is controlled to operate. The electromagnetic brake may or may not be engaged at this time due to engagement of the friction brake. That is, when the vehicle with a small vehicle speed performs friction braking, the electromagnetic braking mechanism can be still in a braking state so as to optimize the braking effect; the electromagnetic braking mechanism can be closed according to actual needs so as to save energy and the like.

As shown in fig. 2, in some embodiments of the present invention, the "determining a braking state of the vehicle according to the brake pedal depth information determination" further includes:

When the vehicle is in an emergency braking state, the electromagnetic braking mechanism, the motor and the friction braking mechanism are controlled to work so as to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle. When the vehicle is in an emergency braking state, the vehicle is in an emergency state, such as emergency braking of a front vehicle, and the like, the vehicle needs to be braked rapidly to improve the safety of the vehicle, and a larger braking effect is provided for the vehicle through the combination of a plurality of braking modes to improve the running safety of the vehicle.

And when the brake pedal is formed to be larger than or equal to a second distance and the change rate of the brake pedal is larger than or equal to a second acceleration value, determining that the vehicle is in an emergency braking state. At the moment, the travel of the brake pedal is larger, the change rate of the brake pedal is larger, the situation that the vehicle needs to be braked urgently can be judged, the rapid braking of the vehicle can be realized through the combination of electromagnetic braking, motor feedback braking and friction braking, the driving intention of a driver can be well realized, and the running safety of the vehicle is improved.

In some embodiments of the present invention, as shown in fig. 2 and 3, the method further includes obtaining gear information, and controlling the electromagnetic brake mechanism to be in a forward braking state or a reverse braking state according to the gear information, where the gear information includes a forward gear and a reverse gear. When the vehicle advances and retreats, the requirements for braking are different, and the safety and stability of running in the advancing and retreating processes of the vehicle can be considered by controlling the braking of the vehicle according to the gear information of the vehicle.

Referring to fig. 4 to 8, wherein the forward braking state refers to the vehicle being in a forward state, the electromagnetic braking mechanism applies a braking force to the vehicle rearward (in a direction opposite to the forward direction of the vehicle) to effect braking of the vehicle; the reverse braking state refers to a state in which the vehicle is in a reverse state, and the electromagnetic braking mechanism applies a braking force to the vehicle in a reverse direction (a direction opposite to the vehicle reverse direction) to thereby effect braking of the vehicle. Specifically, in some embodiments of the present invention, when the vehicle is in different gear, different electromagnets 14 are employed for electromagnetic braking, for example, the electromagnets 14 include a first electromagnet 14a and a second electromagnet 14b, and the first electromagnet 14a and the second electromagnet 14b are arranged at intervals along the circumferential direction of the brake disc 11. Alternatively, if the gear information is the forward gear, the first electromagnet 14a is controlled to operate the electromagnetic brake; if the gear information is the reverse gear, the second electromagnet 14b is controlled to operate electromagnetic braking. When the first electromagnet 14a and the second electromagnet 14b are electrified, the first electromagnet and the second electromagnet can have different braking directions, and different braking requirements can be met, so that stable braking is realized, the running stability of the vehicle is improved, and the driving experience is optimized.

In connection with the foregoing, the present invention mainly relates to a braking device 10 and a braking method, wherein the braking device 10 has various braking modes such as friction braking and electromagnetic braking, and can also utilize the motor 40 to perform feedback braking, that is, the braking system 100 of the present invention belongs to a composite braking system 100, and controls a vehicle according to braking requirements such as electromagnetic braking mechanism, friction braking, driving the motor 40 to perform coordinated braking, and the like. The non-contact electromagnetic brake mechanism generates an electric current by a change in magnetic flux, and the electric current generates an ampere force in a magnetic field to thereby provide a braking force. The electromagnetic braking mechanism adopts a non-contact mode, and compared with a traditional brake, the device can effectively improve the NVH problem (such as high-frequency noise and low-frequency noise and the like) of the traditional brake.

In connection with fig. 4, the present invention provides some braking methods of the braking system 100. The control device 30 may include an ECU31 (whole vehicle electronic control unit) and a control switch 32, where the control switch 32 may be a normally open electromagnetic switch: when the power is on, electromagnetic force is generated, and the switch is pulled to be closed, so that the controlled circuit is switched on.

As shown in fig. 4 to 8, when the ECU31 detects the brake pedal depth signal, the gear information, and the vehicle speed through the CAN network and the vehicle speed is equal to or greater than a first threshold value a, it is determined that the electromagnetic brake mechanism is in an activatable state; the electromagnetic braking system 100 is activated at this time; the ECU31 gives an instruction to the control switch 32, the control switch 32 is turned on, the electromagnet 14 (for example, electromagnet) in the electromagnetic braking mechanism generates an electromagnetic field, the change in the magnetic flux of the braking coil 12 generates an electric current, and the electric current generates an ampere force in the magnetic field to thereby provide a braking force; the control switch 32 can adjust the current value in the loop according to the depth signal of the brake pedal, so that the electromagnetic brake mechanism generates braking force corresponding to the requirement; when the gear information is the forward gear, the electromagnetic device is connected with the I loop (as shown in fig. 5/6); when the gear information is the reverse gear, the electromagnetic device is connected with a II loop (as shown in fig. 7/8), and the working state of the electromagnetic braking mechanism is controlled according to the state of the vehicle. In addition, the vehicle may be decelerated and stopped by combining friction braking with the wheel of the driving motor 40 for a regenerative braking action according to braking requirements. The system adopts a compound braking strategy to realize energy diversion control; the electromagnetic braking mechanism adopts a non-contact mode, and compared with a traditional brake, the device can effectively improve the NVH problem (such as high-frequency noise and low-frequency noise and the like) of the traditional brake.

As shown in fig. 5, when the ECU31 detects a brake pedal depth signal, gear information-forward gear, and vehicle speed through the CAN network, and when the vehicle speed is greater than or equal to a first threshold value a, it is determined that the electromagnetic brake mechanism CAN be started, at this time, the brake control system is started, the ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device turns on the I-loop, the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field, the change of the magnetic flux of the brake coil 12 generates current, and the current generates ampere force in the magnetic field to provide braking force; when the vehicle speed < the first threshold value a is detected, the electromagnetic brake mechanism is turned off, and at this time, in order to ensure smooth stopping of the vehicle, a braking force is provided by the brake caliper 13. If the battery of the vehicle is in a non-full state, the motor 40 is driven to enter a feedback braking mode, and at the moment, the electromagnetic braking moment and the feedback moment of the motor 40 act on the wheels to brake and slow down the vehicle, so that the braking requirement of the vehicle is met.

As shown in fig. 6, when the ECU31 detects a brake pedal depth signal, gear information-forward gear and vehicle speed through the CAN network, and determines that emergency braking is required for the vehicle, when the vehicle speed is greater than or equal to a first threshold value a, it is determined that the electromagnetic brake mechanism CAN be started, at this time, the brake control system is started, the ECU31 gives an instruction to the control switch 32, the control switch 32 is turned on, the electromagnetic device is turned on the I loop, the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field, the change of the magnetic flux of the brake coil 12 generates current, the current generates ampere force in the magnetic field to provide braking force, and the moment generated by the electromagnetic brake device 10, the moment generated by the brake caliper 13 and the feedback moment act on the wheels to brake and slow down the vehicle, thereby achieving the emergency braking requirement for the vehicle.

As shown in fig. 7, when the ECU31 detects a brake pedal depth signal, gear information-reverse gear, vehicle speed, and the vehicle speed is greater than or equal to a first threshold value a through the CAN network, it is determined that the brake control system is started at this time, the ECU31 issues a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device turns on the II loop, the electromagnet 14 in the non-contact electromagnetic brake mechanism is started to generate an electromagnetic field, a change in magnetic flux of the brake coil 12 generates a current, and the current generates an ampere force in the magnetic field to provide a braking force; when the detected vehicle speed is less than the first threshold value a, the electromagnetic braking mechanism is closed, and the braking force is provided by the brake caliper 13 at the moment, so that the vehicle is ensured to stop stably. If the battery of the vehicle is in a non-full state, the motor 40 is driven to enter a feedback braking mode, and at the moment, the electromagnetic braking moment and the feedback moment of the motor 40 act on the wheels to brake and slow down the vehicle, so that the braking requirement of the vehicle is met.

As shown in fig. 8, when the ECU31 detects a brake pedal depth signal, gear information, reverse gear and vehicle speed through the CAN network and determines that the vehicle is in emergency braking, and the vehicle speed is greater than or equal to a first threshold value a, it is determined that the electromagnetic braking mechanism CAN be started, at this time, the brake control system is started, the ECU31 sends a command to the control switch 32, the control switch 32 is turned on, the electromagnetic device is turned on the loop II, the electromagnet 14 in the non-contact electromagnetic braking mechanism is started to generate an electromagnetic field, the change of the magnetic flux of the brake coil 12 generates current, the current generates ampere force in the magnetic field to provide braking force, the brake caliper 13 works, the driving motor 40 enters a feedback mode to generate braking torque, at this time, the electromagnetic braking torque, the torque generated by the brake caliper 13 and the feedback torque act on the wheels, and brake and decelerate the vehicle, thereby achieving the emergency braking requirement of the vehicle.

In addition, the invention also provides a braking device 10 suitable for the braking method, and the braking method can be well realized through the braking device 10. Referring to fig. 9 to 10, a brake apparatus 10 according to an embodiment of the present invention includes: a brake disc 11, a brake coil 12 and an electromagnet 14.

The brake coil 12 is relatively fixedly connected with the brake disc 11, when the brake coil 12 is stressed, the force applied by the brake coil 12 is transferred to the brake disc 11, and the rotation of the brake disc 11 drives the brake coil 12 to rotate. The electromagnet 14 cooperates with the brake coil 12 to form an electromagnetic brake mechanism, wherein the electromagnet 14 is configured to selectively induce an induced current in the brake coil 12 following the movement of the brake disc 11, and the brake coil 12 cooperates with the electromagnet 14 to apply a force to the brake disc 11 in a direction opposite to the rotation direction thereof.

Specifically, when the electromagnet 14 is energized to generate a magnetic field, and the brake coil 12 follows the brake disc 11, the relative position between the brake coil 12 and the electromagnet 14 changes, the coil cuts the magnetic induction line generated by the electromagnet 14, so that the brake coil 12 generates an induced current, and the charged coil receives a force in the magnetic field due to the magnetic induction line generated by the coil cutting the electromagnet 14, and the force received by the brake coil 12 is opposite to the rotation direction of the brake disc 11, so that a braking effect is generated. Because the electromagnet 14 applies force to the brake coil 12 through the action of the induction magnetic field and the induction electric field, and meanwhile, the brake coil 12 is relatively fixed with the brake disc 11, the force applied by the electromagnet 14 to the brake coil 12 is transmitted to the brake disc 11, so that the electromagnet 14 can realize the braking of the brake disc 11 without contacting the brake coil 12 or the brake disc 11, thereby forming a non-contact braking effect.

According to the braking device 10 of the embodiment of the invention, non-contact braking can be realized through the electromagnetic braking mechanism, and by utilizing the non-contact braking, the abrasion to the brake disc 11 can be reduced, and the heat generated by friction in the braking process can be reduced, so that the service life and the stability of the brake disc 11 are improved, a stable braking effect can be provided, the stable braking to a vehicle is facilitated, and the noise in the braking process can be reduced.

The electromagnet 14 of the present invention may be configured to generate a constant magnetic field after being energized, or may be configured to generate a gradient magnetic field after being energized.

Alternatively, the brake coil 12 includes a plurality, and the plurality of brake coils 12 are arranged in the circumferential direction of the brake disc 11, the brake coil 12 being configured as a closed loop coil. Wherein a combination of a plurality of brake coils 12 may be configured as a closed loop coil, or each brake coil 12 may be configured as a closed loop coil. In this way, when the brake disc 11 rotates, the plurality of brake coils 12 can generate electromagnetic induction with the electromagnets 14, respectively, to thereby provide a sustained and stable electromagnetic braking force to the brake disc 11, wherein the plurality of brake coils 12 can be arranged at uniform intervals in the circumferential direction of the brake disc 11, that is, every two adjacent brake coils 12 are spaced at the same distance.

Referring to fig. 11 to 12, the brake disc 11 is provided with a via 102, and the brake coil 12 is a closed loop coil passing through the via 102. Thereby mounting the brake coil 12 on the brake disc 11. In which the brake coil 12 may be provided as a rigid member or an elastic member, that is, the brake coil 12 may be easily deformed by force (elastic member) or may be provided as less easily deformed by force (rigid member), preferably, the brake coil 12 may be provided as a rigid member. In addition, the brake coil 12 and the brake disc 11 can be fixedly connected, and the brake coil 12 is a rigid piece, so that the acting force applied by the electromagnet 14 to the brake coil 12 can be ensured to be stable. Of course, the brake coil 12 may be configured to be deformable or rotatable within a predetermined angular range, yet still achieve the electromagnetic braking effect.

As shown in fig. 11 to 14, the via hole 102 is non-circular, and the brake coil 12 has an engagement portion 121, and the engagement portion 121 is disposed corresponding to the via hole 102. The mounting of the brake coil 12 is thus achieved via the through-holes, whereby the stability of the connection of the brake coil 12 to the brake disc 11 can be ensured, and the brake coil 12 is prevented from deflecting on the brake disc 11. Wherein the vias 102 may be provided in elliptical shapes, oblong shapes, quadrilateral shapes, trilateral shapes, and the like.

Wherein the scarf joint 121 may be adapted to the shape of the via 102. Optionally, the brake coil 12 is interference fit with the via 102. Thereby further improving the stability of the connection between the brake coil 12 and the brake disc 11, so that the force applied by the electromagnet 14 to the brake coil 12 is stabilized.

Optionally, there is a gap between the brake coil 12 and the brake disc 11. That is, the brake coil 12 is spaced apart from the brake disc 11, so that the magnetic induction wire of the electromagnet 14 can be facilitated to pass through the inside of the coil to enhance the urging effect of the coil, and preferably, the other portions of the brake coil 12 except the caulking portion 121 are spaced apart from the brake disc 11.

Optionally, the brake coil 12 surrounds the periphery of the brake disc 11. So that more magnetic induction wires can pass through the coils as the brake coil 12 approaches and moves away from the electromagnet 14 to enhance the force application effect on the brake coil 12.

Alternatively, the electromagnet 14 is opposed to the electromagnetic coil 12 in the radial direction of the brake disc 11. To enhance the electromagnetic induction effect between the electromagnet 14 and the brake disc 11. Of course, the electromagnet 14 may be provided in a form opposed to the brake disc 11 in the axial direction of the brake disc 11. Alternatively, the electromagnet 14 extends in the circumferential direction of the brake disc 11.

In some embodiments of the present invention, the braking device further includes a brake caliper 13, where the brake caliper 13 cooperates with the brake disc 11 to form a friction braking mechanism, and when the brake disc 11 needs to be braked by using the brake caliper 13, the kinetic energy of the brake disc 11 can be consumed by using the friction force between the brake caliper 13 and the brake disc 11, so as to realize friction braking on the brake disc 11.

In addition, friction braking or electromagnetic braking may be selectively used according to the rotational speed of the brake disc 11, the vehicle speed, or the like. In the present invention, since the braking mode can be selected according to the vehicle speed (or the rotational speed of the brake disc 11) when the vehicle speed (or the rotational speed of the brake disc 11) is high, if the brake caliper 13 is used for braking, the abrasion between the brake caliper 13 and the brake disc 11 is larger (compared with the case of a smaller vehicle speed), grinding, noise and the like are easy to generate, and when the vehicle speed is high, electromagnetic braking is utilized, and at this time, the magnetic induction lines generated by the electromagnet 14 are cut by the coil at a higher speed due to the high rotational speed of the brake disc 11, so that the braking force generated at this time is more stable, the braking effect can be effectively improved, and the abrasion to the brake caliper 13 or the brake disc 11 and the like can be reduced; when the vehicle speed is small, braking by the caliper 13 can ensure braking stability and can improve braking effect. Therefore, the braking system is selected according to the vehicle speed, and braking can be performed more favorably. Of course, the braking effect is selected according to the vehicle speed, and is merely an embodiment of the present invention, and not a limitation of the protection scope of the present invention, and the braking of the brake disc 11 at any speed may be implemented by friction braking or electromagnetic braking. And when friction braking and electromagnetic braking are simultaneously utilized, the emergency braking effect of the vehicle can be effectively improved, and the braking distance of the vehicle is reduced.

In the invention, the electromagnetic braking adopts a non-contact braking mode, while the brake caliper 13 adopts a contact braking mode, so that the electromagnetic braking and the friction braking can be realized on the same disc. Of course, friction braking and electromagnetic braking may be applied to the same disc.

In some embodiments of the invention, as shown in fig. 10, the brake disc 11 comprises a friction disc 111 and a coil disc 112, the friction disc 111 is fixedly connected with the coil disc 112, the brake caliper 13 is matched with the friction disc 111, and the brake coil 12 is arranged on the coil disc 112. Wherein the friction disc 111 cooperates with the brake caliper 13 to form a friction braking mechanism, and the coil disc 112, the brake coil 12 and the electromagnet 14 cooperate to form an electromagnetic braking mechanism, so that the two braking mechanisms respectively act on the friction disc 111 and the coil disc 112, thereby facilitating the assembly of the braking device 10 and improving the braking stability.

The friction disc 111 and the coil disc 112 may be assembled after being separated, so that the brake disc 11 may be manufactured conveniently, and when any one of the friction disc 111 or the coil disc 112 is damaged, the whole brake disc 11 may not be replaced, thereby reducing maintenance cost and improving stability of the brake system 100.

As shown in fig. 10, the friction disk 111 may include a disk main body 1111, the disk main body 1111 may be in a circular ring shape, an inner peripheral edge of the disk main body 1111 is provided with an annular plate 1112, one end peripheral edge of the annular plate 1112 is connected with an inner peripheral edge of the disk main body 1111, and the annular plate 1112 extends in a direction perpendicular to the disk main body 1111, the other end peripheral edge of the annular plate 1112 may be provided with a flange 1113, the flange 1113 extends toward an inner side of the annular plate 1112, the coil disk 112 is provided at the other end of the annular plate 1112 and may be fixedly connected with the flange 1113, a recess 101 may be provided on the coil disk 112, and the other end of the annular plate 1112 is embedded in the recess 101, wherein an outer peripheral edge of the disk main body 1111 may be engaged with a caliper 13, for example, the peripheral edge of the disk main body 1111 may be embedded in the caliper 13. In addition, the structures of the friction plate 111 and the coil plate 112 may be interchanged.

Alternatively, the friction plate 111 and the coil plate 112 are arranged side by side. Thereby improving the stability of the brake system 100, in particular, the friction disc 111 and the coil disc 112 may be arranged in parallel to each other.

In connection with fig. 9 and 10, the brake caliper 13 may be integrated with the electromagnet 14. To simplify assembly and production of the brake device 10, to improve efficiency of production, assembly and maintenance of the brake device 10, and to reduce costs.

As shown in fig. 10, the brake caliper 13 includes a caliper body 131, and a mounting seat 132 is provided on the caliper body 131, and an electromagnet is mounted on the mounting seat 132, so that the electromagnet and the brake caliper are integrated together through the mounting seat 132, simplifying the structure of the brake device, and facilitating assembly and maintenance.

Preferably, at least a portion of the partial braking coil 12 is directly opposite the electromagnet 14 in the direction of the magnetic field of the electromagnet 14. Specifically, a part of the plurality of brake coils 12 may be directly opposite to the electromagnet 14 in the magnetic field direction of the electromagnet 14, and the whole brake coil 12 may be directly opposite to the electromagnet 14 in the magnetic field direction of the electromagnet 14 or a part of the brake coils 12 may be directly opposite to the electromagnet 14 in the magnetic field direction of the electromagnet 14. Wherein the magnetic field direction of the electromagnet 14 may be a magnetic field direction determined according to the right-hand screw rule, and the magnetic field direction of the electromagnet 14 along the electromagnet 14 is opposite to include, but is not limited to: the direction of the magnetic field of the electromagnet 14 is directed from the electromagnet 14 to the brake coil 12; or the direction of the magnetic field of the electromagnet 14 is directed from the brake coil 12 to the electromagnet 14. With this arrangement, the corresponding brake coil 12 can be positioned with a greater magnetic flux and a greater rate of change of magnetic flux during rotation of the brake disc to enhance the braking effect. Wherein, during the course of the brake coil 12 following the rotation of the brake disc, different brake coils will be opposite to the electromagnet 14 in sequence as the brake disc rotates.

In addition, the electromagnet 14 may include a first electromagnet 14a and a second electromagnet 14b, wherein the first electromagnet 14a and the second electromagnet 14b are disposed opposite to each other, and at least a portion of a partial braking coil is disposed between the first electromagnet 14a and the second electromagnet 14b to enhance a braking effect. Alternatively, during forward braking or reverse braking, the brake coil located between the first electromagnet 14a and the second electromagnet 14b rotates toward one of the first electromagnet 14a and the second electromagnet 14b, by which a braking force can be provided to the brake disc in cooperation with the brake coil. Of course, the other of the first electromagnet 14a and the second electromagnet 14b may be used to provide braking force to the brake disc in cooperation with the brake coil; or both the first electromagnet 14a and the second electromagnet 14b cooperate with a brake coil to provide braking force to the brake disc.

An end cover 133 may be disposed on the mounting seat 132, a mounting cavity 103 with an opening is configured in the mounting seat 132, and the electromagnet 14 is embedded in the mounting cavity 103; an end cap 133 is fixedly connected to the mount 132, and the end cap 133 covers the opening to position the electromagnet 14. The electromagnet 14 can thus be assembled in one piece with the brake caliper 13, enabling integration of the electromagnet 14 with the brake caliper 13.

Wherein the mounting block 132 may be disposed to open on a side remote from the clamp body 131 to facilitate insertion of the electromagnet 14 into the mounting cavity 103 and to facilitate sealing of the mounting block 132 by the end cap 133 to position the electromagnet 14. In addition, the side wall of the mounting base 132 may be provided in an open form, so as to avoid the stability of the electromagnet 14 which cannot be mounted due to manufacturing errors, thereby facilitating the mounting of the electromagnet 14, and the end cover 133 may be provided with a baffle 134, and the baffle 134 covers the opening in the side wall of the mounting base 132 when the end cover 133 covers the side of the mounting base 132 away from the clamp body 131.

Referring to fig. 9 to 10, the brake apparatus 10 includes two electromagnets 14, and two spaced apart mounting seats 132 are provided on a caliper body 131. The two electromagnets 14 are mounted in two mounting blocks 132, respectively.

In addition, the two mounting seats 132 may be opposite side walls open, and end portions far away from the clamp body 131 are open, two baffles 134 are provided on the end plate, the end plate is fixedly connected to one side of the mounting seat 132 far away from the clamp body 131, and the two baffles 134 respectively shield the side wall openings of the corresponding mounting seats 132.

Alternatively, the electromagnet 14 may include a plurality of electromagnets 14, and the plurality of electromagnets 14 may be disposed at intervals along the circumferential direction of the brake disc 11. The plurality of electromagnets 14 may be made redundant to improve the stability of the brake device 10, and in the present invention, when the vehicle having the brake device 10 is in the forward gear and the reverse gear, the same electromagnet 14 may be used for electromagnetic braking, or when the vehicle is in the forward gear and the reverse gear, different electromagnets 14 may be used for electromagnetic braking, respectively.

As shown in fig. 9 to 16, the brake device 10 mainly includes a caliper 13, an electromagnet 14, a friction disk 111, a brake coil 12, a coil disk 112, and the like, wherein a mount 132 and a cover plate are provided on the caliper 13, a mount chamber 103 is configured in the mount 132 and the cover plate, and the electromagnet 14 is mounted in the mount chamber 103. The brake coil 12 is fixedly connected with the coil disc 112 in an interference fit manner, and the brake coil 12 is ensured to be connected end to form a closed annular structure. To prevent deflection of the brake coil 12 itself when subjected to an ampere force, the cross-section of the brake coil 12 is designed to be of an oval configuration (as shown in fig. 14) or other derivative configuration that prevents deflection of the brake coil 12 itself when subjected to an ampere force.

As shown in fig. 15 and 16, the principle of the electromagnetic brake mechanism is simplified; the method comprises the following steps: it is assumed that when the magnet moves to the right (in the direction shown in fig. 16) near the closed coil (e.g., arranged as a circular metal ring), the magnetic flux passing through the coil changes, and the coil generates an induced current i, and the current of the coil generates an ampere force f under the action of the magnetic field, so that the coil moves to the right (lenz's law: the magnetic field of the induced current always obstructs the change of the magnetic flux that causes the induced current). The electromagnetic braking mechanism in the invention adopts the same principle, when the electromagnet 14 in the electromagnetic braking mechanism is electrified to generate an electromagnetic field, the magnetic flux of the braking coil 12 changes in the process of the position from 12a to 12b of the braking coil 12, the braking coil 12 generates induced current, the induced current generates ampere force f in the magnetic field, as shown in fig. 15, the ampere force f prevents the braking coil 12 from approaching the electromagnet 14, the braking coil 12 is fixedly connected with the coil disc 112, the induced current generates ampere force f in the magnetic field finally acts on the tangential direction of the coil disc 112, so that the coil disc 112 forms a moment for preventing the disc from rotating, and finally the coil disc 112 is decelerated and stopped.

In addition, the present invention also provides a braking system 100 of some embodiments.

As shown in fig. 4, a brake system 100 according to an embodiment of the present invention includes: a power source 20, a braking device 10 and a control device 30, wherein the power source 20 may provide power to the braking device 10. The brake device 10 is the aforementioned brake device 10, and the control device 30 is connected to the power supply 20 and the brake device 10, respectively, and the control device 30 can brake the brake disc 11 by using an electromagnetic brake mechanism and/or a friction brake mechanism based on brake pedal depth information. Wherein, and the control device 30 can switch on the electromagnet 14 and the power supply 20 to operate electromagnetic braking and/or switch on the brake caliper 13 and the power supply 20 to operate friction braking according to the brake pedal depth information and the vehicle speed signal. So that at least one of the friction brake mechanism and the electromagnetic brake mechanism can be selected to operate according to different vehicle speeds, brake pedal depth information, and the like, to provide a stable braking force for the brake disc 11.

According to the braking system 100 of the embodiment of the present invention, the foregoing braking device 10 is adopted, and the non-contact braking can be achieved through an electromagnetic braking mechanism, and also the contact braking can be achieved through the cooperation of the brake caliper 13 and the brake disc 11, so that the wear on the brake disc 11 can be reduced by using the non-contact braking, and the heat generated by friction in the braking process can be reduced, so that the service life and stability of the brake disc 11 can be improved, and the stable braking effect can be provided by using the contact braking (or friction braking) between the brake caliper 13 and the brake disc 11, so as to facilitate the stable braking of the vehicle. Meanwhile, the invention can select how to use friction braking and electromagnetic braking according to the depth information of the brake pedal, the vehicle speed signal and the like, thereby further improving the braking effect and the running stability of the vehicle in the braking process.

Wherein the power source 20 may be a battery or the like, and further, in some embodiments of the present invention, the brake pedal depth information includes at least one of a brake pedal depth signal, an intelligent control signal. The brake pedal depth signal is a depth signal of the brake pedal assembly 51, which includes a monitor signal of the brake depression rate, and can be used to detect the brake intention of the driver, and determine whether braking is required, conventional braking is currently performed, or emergency braking is performed. The intelligent control signal can be derived from a vehicle or other signal sources, and can automatically judge or manually determine whether the vehicle needs braking, how much braking force or what type of braking force is needed according to the current running state of the vehicle, so as to provide braking control for automatic driving, auxiliary driving and the like of the vehicle.

Referring to fig. 4, the power supply 20 of the present invention includes a plurality of power supplies that are disposed independently of each other. The multiple power sources 20 can ensure that the braking device 10 has enough power in the braking process, and through redundant design, the problem that the power sources 20 cannot be braked after being damaged is avoided, and the braking stability of the vehicle is ensured, so that the safety of the vehicle is improved. Wherein multiple power sources 20 may simultaneously power the brake device 10 or may selectively power the brake device 10, for example, when one power source 20 fails to power the brake device 10, it is quickly switched to another power source 20 to power the brake device 10.

In addition, the invention provides a vehicle comprising the aforementioned brake system 100.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims

1. A braking method, characterized in that the braking method comprises:

acquiring depth information of a brake pedal;

determining the braking state of the vehicle according to the depth information of the brake pedal, controlling the vehicle to adopt a corresponding braking strategy to brake the vehicle according to the braking state,

wherein the brake pedal depth information includes brake pedal travel and brake pedal rate of change; the braking state includes a light braking state, a medium braking state, and an emergency braking state.

2. The braking method according to claim 1, wherein the "determining a braking state of the vehicle based on the brake pedal depth information judgment, and controlling the vehicle to take a corresponding braking strategy based on the braking state" includes:

acquiring vehicle speed information;

when the vehicle is in a light braking state and the vehicle speed is greater than a first threshold value, controlling the electromagnetic braking mechanism to work so as to perform electromagnetic braking on the vehicle;

And when the brake pedal stroke is smaller than or equal to a first distance and the brake pedal change rate is smaller than or equal to a first acceleration value, determining that the vehicle is in a light braking state.

3. The braking method according to claim 2, characterized in that when the vehicle speed is less than or equal to the first threshold value, the friction braking mechanism is controlled to operate to friction brake the vehicle.

4. The braking method according to claim 1, wherein the "determining a braking state of the vehicle based on the brake pedal depth information determination" controlling the vehicle to take a corresponding braking strategy based on the braking state further comprises:

the vehicle speed information is acquired,

when the vehicle is in a moderate braking state and the vehicle speed is greater than a first threshold value, controlling the electromagnetic braking mechanism and the motor to work so as to perform electromagnetic braking and motor feedback braking on the vehicle;

and when the brake pedal stroke is larger than the first distance and smaller than the second distance, the brake pedal change rate is larger than the first acceleration value and smaller than the second acceleration value, and the vehicle is determined to be in a moderate braking state.

5. The braking method according to claim 4, wherein the friction braking mechanism is controlled to operate when the vehicle speed is less than or equal to a first threshold value.

6. The braking method according to claim 1, wherein the "determining a braking state of the vehicle based on the brake pedal depth information determination" controlling the vehicle to take a corresponding braking strategy based on the braking state further comprises:

when the vehicle is in an emergency braking state, controlling the electromagnetic braking mechanism, the motor and the friction braking mechanism to work so as to perform electromagnetic braking, motor feedback braking and friction braking on the vehicle;

and when the brake pedal is formed to be larger than or equal to a second distance and the change rate of the brake pedal is larger than or equal to a second acceleration value, determining that the vehicle is in an emergency braking state.

7. The braking method according to any one of claims 1 to 6, further comprising acquiring gear information, controlling the electromagnetic braking mechanism to be in a forward braking state or a reverse braking state according to the gear information,

the gear information comprises a forward gear and a backward gear.

8. A braking device adapted to apply the braking method according to any one of claims 1-7, comprising:

a brake disc (11);

a plurality of brake coils (12), a plurality of the brake coils (12) being relatively fixedly connected to the brake disc (11), and a plurality of the brake coils (12) being arranged along a circumferential direction of the brake disc (11), the brake coils (12) being configured as closed-loop coils;

An electromagnet (14), wherein the electromagnet (14) cooperates with the brake coil (12) to form an electromagnetic brake mechanism,

wherein the electromagnet (14) is configured to selectively induce an induced current in a brake coil following the movement of the brake disc (11), whereby the brake coil cooperates with the electromagnet to apply a force to the brake disc in a direction opposite to its rotational direction.

9. Brake device according to claim 8, characterized in that the brake disc (11) is provided with a via (102), the brake coil (12) being a closed loop coil passing through the via (102).

10. Brake device according to claim 9, characterized in that the brake coil (12) surrounds the periphery of the brake disc (11).

11. A brake apparatus according to claim 9, wherein,

the via hole (102) is non-circular, the brake coil (12) is provided with an embedding part (121), and the embedding part (121) is arranged corresponding to the via hole (102);

wherein the scarf joint (121) is adapted to the shape of the via hole (102); and/or

The brake coil (12) is in interference fit with the via (102).

12. Braking device according to any one of claims 8-11, characterized in that the electromagnet (14) is diametrically or axially opposite to the braking coil (12) along the braking disc (11).

13. The brake device according to any one of claims 8 to 11, characterized in that the brake device further comprises:

and a brake caliper (13), wherein the brake caliper (13) cooperates with the brake disc (11) to form a friction braking mechanism.

14. Brake device according to claim 13, characterized in that the brake disc (11) comprises a friction disc (111) and a coil disc (112), the friction disc (111) being fixedly connected to the coil disc (112), the brake caliper (13) being fitted to the friction disc (111), the brake coil (12) being provided on the coil disc (112).

15. Braking device according to claim 13, characterized in that the brake caliper (13) is integrated with the electromagnet (14).

16. Brake device according to claim 15, characterized in that the brake caliper (13) comprises:

a clamp main body (131), wherein the clamp main body (131) is provided with a mounting seat (132),

the electromagnet is mounted on the mounting seat (132), and at least a part of the braking coil is opposite to the electromagnet along the magnetic field direction of the electromagnet.

17. A braking apparatus according to any one of claims 8 to 11, wherein the electromagnet comprises a plurality of electromagnets.