WO2023246136A1

WO2023246136A1 - Electro-mechanical braking mechanism

Info

Publication number: WO2023246136A1
Application number: PCT/CN2023/077535
Authority: WO
Inventors: 李小龙; 王丽芳; 苟晋芳; 张志刚
Original assignee: 中国科学院电工研究所
Priority date: 2022-06-22
Filing date: 2023-02-22
Publication date: 2023-12-28
Also published as: CN114928208A

Abstract

Provided in the present invention is an electro-mechanical braking mechanism, relating to the technical field of braking structures, and comprising: an electric motor, a harmonic reducing mechanism and a push rod mechanism. The electric motor comprises an electric motor housing, and a rotor, a stator and a rotating shaft which are sequentially arranged in the electric motor housing from outside to inside, the rotor is fixedly connected to the rotating shaft, an end of the rotating shaft is rotatably connected to a rear end cover of the electric motor housing around the axis of the rotating shaft, the harmonic reducing mechanism is also arranged in the electric motor housing, the rotating shaft on a side of the rotor facing away from the rear end cover of the electric motor housing is inserted into a torque input end on a side of the harmonic reducing mechanism, to achieve transmission connection between the rotor and the harmonic reducing mechanism, the push rod mechanism is fixedly arranged on a torque output surface at the other side of the harmonic reducing mechanism, and the harmonic reducing mechanism is configured to drive the push rod mechanism to push a lever thrust arm of a brake caliper. The electro-mechanical braking mechanism disclosed in the present invention is oriented to the braking characteristics of commercial vehicles, and has the advantages of a large output rotating moment, a large axial bearing capacity, a high coupling degree between mechanisms, a compact overall layout and small space occupation.

Description

An electronic mechanical braking mechanism

Technical field

The present invention relates to the technical field of braking structures, and in particular to an electromechanical braking mechanism.

Background technique

At present, most commercial vehicles still use pneumatic braking, and the compressed air output by the engine-driven air compressor is used as the braking energy. The entire braking system has a complex structure, takes up a large space in the chassis, and has a relatively long braking response time.

The mechanism of the electromechanical brake (EMB) system is completely different from the pneumatic brake system of traditional commercial vehicles. The electronic control unit controls the DC motor in the EMB to drive the brake actuator to achieve braking. EMB has the characteristics of high control accuracy and short response time, and is in line with the development trend of automobile electrification and intelligence.

Due to the large braking force requirements of commercial vehicles, conventional DC motors do not have large axial load-bearing capacity. Existing public technologies mostly use parallel shafts to avoid the axial load-bearing of the motor. This results in a bulky braking system with a relatively complex structure, and is different from traditional commercial vehicles. The car brake calipers are poorly matched.

Contents of the invention

The purpose of the present invention is to provide an electromechanical braking mechanism to solve the problems existing in the above-mentioned prior art. The electromechanical braking mechanism in the present invention is oriented to the braking characteristics of commercial vehicles and has the characteristics of large output rotational torque and axial bearing capacity. It is large, has a high degree of coupling between institutions, compact overall layout, and small space occupation.

In order to achieve the above objects, the present invention provides the following solutions:

The invention provides an electronic mechanical braking mechanism, which includes: a motor, a harmonic reduction mechanism and a push rod mechanism;

The motor includes a motor housing and a rotor, a stator and a rotating shaft arranged in the motor housing from the outside to the inside. The rotor is fixedly connected to the rotating shaft, and one end of the rotating shaft is rotatably connected around its own axis. On the rear end cover of the motor housing, the harmonic reduction mechanism is also provided in the motor housing, and the rotating shaft on the side of the rotor away from the rear end cover of the motor housing is inserted into the motor housing. The torque input end on one side of the harmonic reduction mechanism realizes the transmission connection between the two. The push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism. The harmonic reduction mechanism used to drive the push rod mechanism Pushing the lever thrust arm of the brake caliper, when the push rod mechanism pushes the lever thrust arm, it can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface; the rotor and the rotor The connecting frame with the rotating shaft forms a rotor bracket;

Planes are provided between the harmonic reduction mechanism and the rotor bracket, between the rotor bracket and the rear end cover of the motor housing, and between the harmonic reduction mechanism and the front end cover of the motor housing. Thrust bearing; the outer wall surface of the front end cover of the motor housing is used for fixed connection with the brake caliper.

Preferably, the motor is a permanent magnet synchronous motor, and the stator is a coil winding; the rotating shaft, the rotor bracket and the coil winding are coaxially arranged, and the rotating shaft passes through the central axis hole of the rotor bracket and is Fixedly connected to the rotor bracket.

Preferably, the push rod mechanism includes a threaded rod, a threaded sleeve and a pressure rod. One end of the threaded rod extends into the motor housing and is fixedly connected to the torque output surface through a flange. The sleeve is threadedly connected to the threaded rod. When the threaded rod rotates, the threaded sleeve is driven to move along the axis of the rotating shaft. One end of the pressure rod is arranged on the threaded sleeve, and the other end is used to push The lever thrust arm.

Preferably, one end of the pressure rod used to push the lever thrust arm is a spherical head, the spherical head has floating characteristics, the spherical head can rotate along a first arc, and the center of the first arc The line is co-linear with the axis of the threaded rod.

Preferably, the pressure rod includes the spherical top and the pressure rod body, the end of the pressure rod body is provided with a limiting groove, the spherical top includes a head and a connecting rod, and the head is fixedly arranged on the One end of the connecting rod, the end surface of the head away from the connecting rod is a smooth convex surface, and the end of the connecting rod far away from the head extends into the limiting groove and is limited in the limiting groove Inside; the inner wall at the opening of the limiting groove is a first annular surface, the outer wall of the connecting rod located in the first annular surface is a second annular surface, the first annular surface and the second annular surface The surfaces are all surfaces of revolution, and the angle between the first annular surface and the second annular surface is α, 0°<α<3°.

Preferably, the pressure rod body includes a head base and a head cover. One end of the head base is detachably connected to the connecting rod, and the head base is in contact with the end of the threaded sleeve using a ball hinge. In the form, the plug cover plate is installed on the end of the threaded sleeve and limits the ball head of the plug base in the ball groove at the end of the threaded sleeve, and the connecting rod passes through the plug cover. board, and the middle of the top cover plate is The inner wall of the hole is the first annular surface.

Preferably, the motor housing includes a middle housing, a front end cover and a rear end cover; the middle housing is sleeve-shaped, and the front end cover and the rear end cover are fixedly mounted on the middle housing respectively. Seals are provided at both front and rear ends, and between the front end cover, the rear end cover and the middle housing.

Preferably, it also includes an encoder, the encoder is arranged on the rear end cover, and the encoder is used to monitor the rotation speed and number of revolutions of the rotating shaft.

Preferably, an electromagnetic power-off brake is installed on the outside of the rear end cover.

Preferably, a circumferential limiter is provided on the outer wall of the threaded sleeve, and the circumferential limiter includes a plurality of limiting protrusions arranged along the circumferential direction of the threaded sleeve, and the outer surface of each protrusion is is a flat surface, and the front end cover is provided with a guide hole. The inner wall surface of the guide hole includes a plurality of guide surfaces. The convex outer surface cooperates with the guide surface to realize the movement of the threaded sleeve along the rotating shaft. Movement in axis direction.

Compared with the prior art, the present invention achieves the following technical effects:

When the electromechanical braking mechanism provided by the invention is used for braking, the push rod mechanism pushes the lever thrust arm to realize that one side of the friction plate is close to the brake disc, and the reaction force generated passes through the harmonic reduction mechanism, the harmonic reduction mechanism and the rotor in sequence. The plane thrust bearing between the brackets, the rotor bracket, the plane thrust bearing between the rotor bracket and the rear end cover of the motor housing, the rear end cover of the motor housing, the middle housing and the front end cover are then transferred to the brake caliper to achieve The transmission of axial force and the purpose of the opposite side friction plate sticking to the brake disc, and the harmonic deceleration mechanism and the layout form of the outside of the rotor can achieve the purpose of amplifying the rotation torque. Therefore, the electromechanical braking mechanism in the present invention is oriented to Commercial vehicle braking features include large output rotational torque, large maximum axial bearing capacity, high degree of coupling between mechanisms, compact overall layout, and small space occupation.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the drawings of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a cross-sectional view of the electromechanical braking mechanism provided by the present invention;

Figure 2 is a rear side view of the front end cover in Figure 1;

Figure 3 is a front side view of the front end cover in Figure 1;

Figure 4 is a view of the push rod mechanism in Figure 1;

Figure 5 is a cross-sectional view of the contact between the spherical top and the spherical top cover in Figure 1;

Figure 6 is a view of the harmonic reduction mechanism in Figure 1;

Figure 7 is an end view of a commercial vehicle brake caliper;

Figure 8 is an assembly view of the electromechanical braking mechanism and the commercial vehicle brake caliper provided by the present invention;

Figure 9 is a schematic diagram of the axial force of the electromechanical braking mechanism provided by the present invention;

Figure 10 is a schematic diagram of the force on the brake caliper;

In the picture: 1. Spherical head; 2. Head base; 3. Threaded sleeve; 4. Head cover; 5. Threaded rod; 6. First plane thrust ball bearing; 7. Cam hub; 8. Flexspline; 9 , Flexible thin-wall bearing; 10. Front end cover; 11. Middle housing; 12. Stator core; 13. Coil winding; 14. Rotor bracket; 15. Rear end cover; 16. Second plane thrust ball bearing; 17. Deep groove ball bearing; 18. Rotating shaft; 19. Key; 20. Third plane thrust ball bearing; 21. Sealing groove; 22. Internal ring gear; 23. Motor front end cover fixed threaded hole; 24. Guide surface; 25. Circumference Toward limiter; 26. External ring gear; 27. Brake caliper fixing through hole; 28. Lever thrust arm; 29. Connector; 30. First friction plate; 31. Second friction plate; 32. Brake caliper ; 33. Brake disc.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The purpose of the present invention is to provide an electromechanical braking mechanism to solve the problems existing in the prior art. The electromechanical braking mechanism in the present invention is oriented to the braking characteristics of commercial vehicles, has a large output rotational torque, and can withstand the axial direction. It has the advantages of large maximum bearing capacity, high degree of coupling between mechanisms, compact overall layout, and small space occupation.

In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The present invention provides an electromechanical braking mechanism, which is suitable for vehicle bodies that require large braking force, such as Commercial vehicles, as shown in Figures 1 to 9, include: motor, harmonic reduction mechanism and push rod mechanism;

The motor includes a motor casing and a rotor, a stator and a rotating shaft 18 arranged in the motor casing in sequence from the outside to the inside. The rotor is fixedly connected to the rotating shaft 18, and one end of the rotating shaft 18 is rotatably connected to the rear end of the motor casing around its own axis. On the cover 15, the purpose of rotational connection is achieved through deep groove ball bearings 17. The harmonic reduction mechanism is also arranged in the motor housing. The rotating shaft 18 on the side of the rotor away from the rear end cover 15 of the motor housing is inserted into the harmonic reduction mechanism. The push rod mechanism is fixedly installed on the torque output surface on the other side of the harmonic reduction mechanism, and the harmonic reduction mechanism is used to drive the push rod mechanism to push the lever of the brake caliper. Thrust arm 28, when the push rod mechanism pushes the lever thrust arm 28, it can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface; the rotor and the connecting frame between the rotor and the rotating shaft 18 form the rotor bracket 14;

Planar thrust bearings are provided between the harmonic reduction mechanism and the rotor bracket 14, between the rotor bracket 14 and the rear end cover 15 of the motor housing, and between the harmonic reduction mechanism and the front end cover 10 of the motor housing; the motor housing The outer wall surface of the front end cover 10 is used for fixed connection with the brake caliper.

When the electromechanical braking mechanism provided by the present invention is used for braking, the push rod mechanism pushes the lever thrust arm 28 to realize that one side of the friction plate is close to the brake disc, and the generated reaction force passes through the harmonic deceleration mechanism, the harmonic deceleration mechanism and the The plane thrust bearing between the rotor bracket 14, the plane thrust bearing between the rotor bracket 14, the rotor bracket 14 and the rear end cover 15 of the motor housing, the rear end cover 15 of the motor housing, the intermediate housing 11 and the front end cover 10 It is transmitted to the brake caliper to achieve the opposite side friction plate close to the brake disc and the transmission of axial force, and the harmonic deceleration mechanism and the layout of the outside of the rotor can achieve the purpose of amplifying the rotational torque. Therefore, in the present invention The electromechanical braking mechanism is oriented to the braking characteristics of commercial vehicles. It has the advantages of large output rotational torque, large maximum bearing capacity in the axial direction, high degree of coupling between mechanisms, compact overall layout, and small space occupation.

The working principle of the brake caliper: the push rod mechanism pushes the lever thrust arm 28, and the lever thrust arm 28 drives the connecting piece 29 to move horizontally, so that the friction plate on one side, that is, the first friction plate 30 is close to the brake disc 33, and the reaction force generated is sequentially Through the harmonic reduction mechanism, the plane thrust bearing between the harmonic reduction mechanism and the rotor bracket 14, the rotor bracket 14, the plane thrust bearing between the rotor bracket 14 and the rear end cover 15 of the motor housing, the rear end cover of the motor housing 15. Middle housing 11 and front end cover 10. Since the front end cover 10 is fixed on the caliper 32, the transmission of axial force and the friction plate on the opposite side, that is, the second friction plate 31 is close to the brake disc. 33 purpose.

Further, the motor is a permanent magnet synchronous motor, preferably a high-torque permanent magnet synchronous motor, and the stator is a coil winding 13; the rotating shaft 18, the rotor bracket 14 and the coil winding 13 are coaxially arranged, and the coil winding 13 refers to multiple coil groups, and the rotating shaft 18 passes through the central axis hole of the rotor bracket 14 and is fixedly connected to the rotor bracket 14 through a plurality of bolts.

Further, the push rod mechanism includes a threaded rod 5, a threaded sleeve 3 and a pressure rod. One end of the threaded rod 5 extends into the motor housing and is fixedly connected to the torque output surface through a flange. The threaded sleeve 3 is threadedly connected to the threaded rod. 5, when the threaded rod 5 rotates, it drives the threaded sleeve 3 to move along the axis of the rotating shaft 18. One end of the pressure rod is set on the threaded sleeve 3, and the other end is used to push the lever thrust arm 28. The pushrod mechanism converts the rotational torque. For the purpose of linear motion, braking is achieved when the pressure rod is extended, and contact braking is achieved when the pressure rod is retracted.

Furthermore, one end of the pressure rod used to push the lever thrust arm 28 is a spherical top 1. When the lever thrust arm 28 swings back and forth, the motion trajectory of the contact part with the spherical top 1 is an arc line, so the spherical top 1 is set to I With floating characteristics, the spherical ejector 1 can rotate along the first arc, and the center line of the first arc is the same as the axis of the threaded rod 5, thereby realizing the arc swing trajectory requirement of the spherical ejector 1 when pushing the lever thrust arm 28.

Further, the pressure rod includes a spherical head 1 and a pressure rod body. The end of the pressure rod body is provided with a limiting groove. The spherical head 1 includes a head and a connecting rod. The head is fixedly arranged on one end of the connecting rod, and the head is away from the connection. One end surface of the rod is a smooth convex surface, and the end of the connecting rod far away from the head extends into the limit groove and is limited in the limit groove; the inner wall of the opening of the limit groove is the first annular surface, and the inner wall located in the first annular surface The outer wall of the connecting rod is a second annular surface. The first annular surface and the second annular surface are both surfaces of revolution. The angle between the first annular surface and the second annular surface is α, 0°<α<3°, to achieve Requirements for the arc swing trajectory of the spherical top 1 when pushing the lever thrust arm 28.

Further, the pressure rod body includes a top base 2 and a top cover 4. One end of the top base 2 is detachably connected to the connecting rod. The end of the top base 2 and the threaded sleeve 3 adopts a spherical hinge contact form. The top cover 4 4. The cover is provided at the end of the threaded sleeve 3 and the ball head of the head base 2 is limited to the ball groove at the end of the threaded sleeve 3. The connecting rod passes through the head cover 4 and the inner wall of the middle through hole of the head cover 4 That is, it is the first annular surface, and the second annular surface is the cylindrical surface.

Further, the motor housing includes a middle housing 11, a front end cover 10 and a rear end cover 15; the middle housing 11 is sleeve-shaped, and the front end cover 10 and the rear end cover 15 are respectively fixed on the front and rear ends of the middle housing 11. , and there are sealing rings between the front end cover 10 and the rear end cover 15 and the middle housing 11, and the sealing rings are arranged in the sealing groove 21, so that the entire mechanism has dustproof and waterproof functions.

Furthermore, each set of thrust bearings, push rod mechanisms, harmonic reduction mechanisms, motor housings, end covers and corresponding connecting bolts have passed strength checks to meet the load-bearing requirements for large axial forces.

Further, the harmonic deceleration mechanism includes: a cam hub 7, a flexspline 8 and a flexible thin-walled bearing 9. The rotating shaft 18 and the cam hub 7 are circumferentially constrained by a key 19. An internal ring gear 22 is provided on the inner wall of the front end cover 10 to cooperate with the flexure. The external ring gear 26 on the wheel 8 further increases the rotational torque. The cam hub 7 is circumferentially constrained by the flexible thin-wall bearing 9 and the flexspline 8. The flexspline 8 and the threaded rod 5 are fixedly connected through bolts on the flange surface. , the rotational torque is amplified and transmitted from the rotor bracket 14 to the threaded rod 5.

Furthermore, the electromechanical braking mechanism also includes an encoder, which is arranged on the rear end cover 15. The encoder is used to monitor the rotation speed and number of revolutions of the rotating shaft 18, and can realize servo control of the motor position and rotation speed.

Furthermore, an electromagnetic power-off brake is installed on the outside of the rear end cover 15 to realize the parking brake function. Encoders and electromagnetic power-off brakes are commonly used mechanisms and will not be introduced in detail in the present invention.

Furthermore, a circumferential limiter 25 is provided on the outer wall of the threaded sleeve 3. The circumferential limiter 25 includes a plurality of limiting protrusions arranged along the circumferential direction of the threaded sleeve 3. The outer side of each protrusion is a flat surface, and the front end thereof is flat. The cover 10 is provided with a guide hole. The inner wall surface of the guide hole includes a plurality of guide surfaces 24 . The convex outer surface cooperates with the guide surfaces 24 to enable the threaded sleeve 3 to move along the axis of the rotating shaft 18 .

The service braking function is implemented as follows:

The brake control unit (BCU) converts the electric energy stored in the power battery into the electric energy required by the permanent magnet synchronous motor in the EMB according to the braking command. At this time, the coil winding 13 is energized, causing the rotor bracket 14 to rotate forward and drive the rotating shaft 18 to rotate. The harmonic reduction mechanism amplifies the torque of the rotating shaft 18 and then transmits it to the threaded rod 5. When the threaded rod 5 rotates, the rotation of the thread is used to change the torque. Linear characteristics push the threaded sleeve to move 3-axis. Since the spherical head 1 and the spherical head base 2 are limited in the ball groove of the threaded sleeve 3 through the spherical head cover, the axial movement of the threaded sleeve 3 drives the synchronous axial movement of the spherical head 1, allowing the spherical head 1 to push the brake caliper. On the lever thrust arm 28, the mechanism of the present invention and the commercial vehicle brake caliper, The fixed threaded hole of the motor front end cover 10 is fixedly connected to the brake caliper fixing through hole 27 to finally complete the braking force loading.

When the BCU obtains the brake release command, it controls to change the terminal voltage polarity of the coil winding 13, the rotor bracket 14 rotates in the reverse direction, and the entire set of actuators completes the reverse movement when the braking force is loaded to realize the braking force release.

Specific examples are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, based on this The idea of the invention will be subject to change in the specific implementation and scope of application. In summary, the contents of this description should not be construed as limitations of the present invention.

Claims

An electronic mechanical braking mechanism, characterized by: including: a motor, a harmonic reduction mechanism and a push rod mechanism;

The motor includes a motor housing and a rotor, a stator and a rotating shaft arranged in the motor housing from the outside to the inside. The rotor is fixedly connected to the rotating shaft, and one end of the rotating shaft is rotatably connected around its own axis. On the rear end cover of the motor housing, the harmonic reduction mechanism is also provided in the motor housing, and the rotating shaft on the side of the rotor away from the rear end cover of the motor housing is inserted into the motor housing. The torque input end on one side of the harmonic reduction mechanism realizes the transmission connection between the two. The push rod mechanism is fixedly arranged on the torque output surface on the other side of the harmonic reduction mechanism. The harmonic reduction mechanism The push rod mechanism is used to drive the lever thrust arm of the brake caliper. When the push rod mechanism pushes the lever thrust arm, it can give the harmonic reduction mechanism a reaction force perpendicular to the torque output surface; The rotor and the connecting frame between the rotor and the rotating shaft form a rotor bracket;

Planes are provided between the harmonic reduction mechanism and the rotor bracket, between the rotor bracket and the rear end cover of the motor housing, and between the harmonic reduction mechanism and the front end cover of the motor housing. Thrust bearing; the outer wall surface of the front end cover of the motor housing is used for fixed connection with the brake caliper.
The electromechanical braking mechanism according to claim 1, characterized in that: the motor is a permanent magnet synchronous motor, the stator is a coil winding; the rotating shaft, the rotor bracket and the coil winding are coaxially arranged, The rotating shaft passes through the central axis hole of the rotor bracket and is fixedly connected with the rotor bracket.
The electronic mechanical braking mechanism according to claim 1, characterized in that: the push rod mechanism includes a threaded rod, a threaded sleeve and a pressure rod, one end of the threaded rod extends into the motor housing and is connected with the The torque output surface is fixedly connected through a flange, and the threaded sleeve is threadedly connected to the threaded rod. When the threaded rod rotates, the threaded sleeve is driven to move along the axis of the rotating shaft, and the pressure rod is One end is provided on the threaded sleeve, and the other end is used to push the lever thrust arm.
The electromechanical braking mechanism according to claim 3, characterized in that: one end of the pressure rod used to push the lever thrust arm is a spherical top, the spherical top has floating characteristics, and the spherical top can move along the The first arc rotates, and the center line of the first arc is co-linear with the axis of the threaded rod.
The electromechanical braking mechanism according to claim 4, characterized in that: the pressure rod includes the spherical top and the pressure rod body, the end of the pressure rod body is provided with a limiting groove, and the spherical top The head includes a head and a connecting rod. The head is fixedly mounted on one end of the connecting rod. The end surface of the head away from the connecting rod is a smooth convex surface. The end of the connecting rod extending away from the head extends into the limiting groove and is limited in the limiting groove; the inner wall at the opening of the limiting groove is the first annular surface, and the outer wall of the connecting rod located in the first annular surface is the third annular surface. Two annular surfaces, the first annular surface and the second annular surface are surfaces of revolution, the angle between the first annular surface and the second annular surface is α, 0°<α<3° .
The electromechanical braking mechanism according to claim 5, characterized in that: the pressure rod body includes a plug base and a plug cover, one end of the plug base is detachably connected to the connecting rod, and the plug The base and the end of the threaded sleeve are in contact with a ball joint. The top cover plate is installed on the end of the threaded sleeve and limits the ball head of the top base to the end of the threaded sleeve. In the ball groove, the connecting rod passes through the top cover plate, and the inner wall of the middle through hole of the top cover plate is the first annular surface.
The electromechanical braking mechanism according to claim 1, characterized in that: the motor housing includes a middle housing, a front end cover and a rear end cover; the middle housing is sleeve-shaped, and the front end cover and the rear end cover are in the shape of a sleeve. The rear end covers are respectively fixed on the front and rear ends of the intermediate housing, and sealing rings are provided between the front end cover, the rear end cover and the intermediate housing.
The electromechanical braking mechanism according to claim 1, further comprising: an encoder, the encoder is arranged on the rear end cover, and the encoder is used to measure the rotation speed and number of revolutions of the rotating shaft. monitor.
The electromechanical braking mechanism according to claim 1, characterized in that an electromagnetic power-off brake is installed on the outside of the rear end cover.
The electromechanical braking mechanism according to claim 3, characterized in that: a circumferential limiter is provided on the outer wall of the threaded sleeve, and the circumferential limiter includes a plurality of circumferentially arranged circumferential members of the threaded sleeve. Limiting protrusions, the outer side of each protrusion is flat, the front end cover is provided with a guide hole, the inner wall surface of the guide hole includes a plurality of guide surfaces, the outer side of the protrusion is in contact with the The guide surfaces cooperate to enable the threaded sleeve to move along the axis of the rotating shaft.