Directly connected motor quick change structure

Abstract

The application relates to the motor technical field and discloses a direct-connection-installed motor quick-change structure for a motor end, which comprises a first magnetic coupling, a first fixing piece and a first clamping piece. The first magnetic coupling can be connected with an output shaft of the motor; the first fixing piece is arranged at the output end of the motor and is sleeved outside the first magnetic coupling; and a first positioning structure is arranged at the connecting end of the first fixing piece; and the first clamping piece is arranged on the first positioning structure. The motor quick-change structure of the embodiment of the application is applied to the motor end and is used in cooperation with the motor quick-change structure applied to a driven end, the magnetic coupling and the clamping structure are used to realize the functions of quick docking, locking and quick removal. The non-contact torque transmission and the super-torque slip function are combined, the connection is more reliable, the modular design is simple in structure, high in efficiency and strong in universality.

Description

Technical Field

[0001] This application relates to the field of motor technology, for example to a direct-drive motor quick-change structure. Background Technology

[0002] Existing motor mounting structures require couplings and flanges, along with numerous locking screws, to connect and secure the motor and driven components at the input end. The installation of these coupling screws, in particular, is complex. In glove boxes or other environments where complex operations are inconvenient, existing motor installations become exceptionally difficult or even impossible. Since motors are core components in general automated equipment most prone to problems and damage, enabling rapid motor installation and replacement in environments like glove boxes is of great significance.

[0003] In the process of implementing the embodiments of this disclosure, it was found that at least the following problems exist in the related technology: the existing motor mounting structure is complex and cannot achieve quick installation or replacement. Summary of the Invention

[0004] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0005] This disclosure provides a direct-connect motor quick-change structure to solve the problem that existing motor installation structures are complex and cannot achieve quick installation or replacement.

[0006] In some embodiments, the direct-connect motor quick-change structure, used at the motor end, includes a first magnetic coupling, a first fixing member, a first snap-fit ​​member, and a locking pin; the first magnetic coupling can be connected to the output shaft of the motor; the first fixing member is disposed at the output end of the motor and sleeved outside the first magnetic coupling; and its connecting end is provided with a first positioning structure; the first snap-fit ​​member is disposed on the first positioning structure; the locking pin is disposed at the connecting end of the first fixing member, and its locking end protrudes from the end face of the connecting end of the first fixing member; the locking pin includes a spring locking pin; the spring locking pin includes a pin shaft, a spindle, a locking structure, and The damping structure includes a shaft hole along the axial direction on the pin and a locking port on the side wall of the pin; a spindle is movably disposed within the shaft hole of the pin and has a receiving groove on its side wall; a locking structure is disposed within the locking port, allowing the spindle to move axially and switch between an unlocked and locked state; a damping structure is disposed between the pin and the spindle, limiting the relative displacement between them; when the receiving groove of the spindle coincides with the locking port of the pin, the locking structure is in the unlocked state; when the side wall of the spindle is opposite to the locking port of the pin, the locking structure is in the locked state and partially protrudes from the outer side wall of the pin.

[0007] In some embodiments, the directly-mounted motor quick-change structure, used for the driven end, includes a second magnetic coupling, an output shaft assembly, a second fixing member, and a second snap-fit ​​member. The second magnetic coupling is magnetically connected to the first magnetic coupling of the aforementioned motor quick-change structure at the motor end. The output shaft assembly is coaxially connected to the second magnetic coupling. The second fixing member is sleeved outside the second magnetic coupling and the output shaft assembly. The connecting end of the second fixing member is provided with a second positioning structure, which can cooperate with the first positioning structure of the aforementioned motor quick-change structure. The second snap-fit ​​member is provided on the second positioning structure of the second fixing kit, and can cooperate with the first snap-fit ​​member of the aforementioned motor quick-change structure at the motor end. The end face of the connecting end of the second fixing member is provided with a locking positioning hole, which can cooperate with the locking end of the locking pin of the aforementioned motor quick-change structure.

[0008] The direct-connect motor quick-change structure provided in this disclosure can achieve the following technical effects:

[0009] The quick-change structure for motors in this embodiment is applied to the motor end and used in conjunction with a quick-change structure for the driven end. Both utilize a magnetic coupling and a snap-fit ​​structure to achieve quick docking, locking, and quick disassembly. It transmits torque non-contactly while also featuring ultra-torque slippage, resulting in a more reliable connection. It is suitable for high-speed output conditions, conditions requiring torque limiting protection, or high-speed conditions requiring torque limiting protection. The modular design is simple in structure, highly efficient, and versatile.

[0010] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0011] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are shown as similar elements. The drawings are not to be scaled. And wherein:

[0012] Figure 1 This is a partially exploded cross-sectional view of an embodiment of a motor quick-change structure provided in this disclosure;

[0013] Figure 2 This is a partially exploded cross-sectional view of an embodiment of a motor quick-change structure provided in this disclosure;

[0014] Figure 3 This is a schematic diagram of a motor quick-change structure provided in an embodiment of this disclosure;

[0015] Figure 4This is a schematic diagram of another quick-change motor structure provided in this embodiment;

[0016] Figure 5 This is a schematic diagram of another quick-change motor structure provided in this embodiment;

[0017] Figure 6 This is a schematic diagram of the annular port of another quick-change motor structure provided in this embodiment;

[0018] Figure 7 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0019] Figure 8 This is a cross-sectional structural diagram of a spring locking pin in use, provided in an embodiment of this disclosure;

[0020] Figure 9 This is a cross-sectional structural diagram of a spring locking pin in use, provided in an embodiment of this disclosure;

[0021] Figure 10 This is a schematic diagram of another spring locking pin provided in an embodiment of this disclosure;

[0022] Figure 11 This is a schematic diagram of another spring locking pin provided in an embodiment of this disclosure;

[0023] Figure 12 This is a schematic diagram of another spring locking pin provided in an embodiment of this disclosure;

[0024] Figure 13 This is a schematic diagram of the structure of a mandrel provided in an embodiment of this disclosure;

[0025] Figure 14 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0026] Figure 15 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0027] Figure 16 This is a cross-sectional structural diagram of a spring locking pin in use, provided in an embodiment of this disclosure.

[0028] Figure label:

[0029] 10. Motor; 11. First magnetic coupling; 12. First fixing member; 121. First positioning structure; 122. Pulling hole; 13. First snap-fit ​​member; 131. First bayonet groove; 14. Locking pin; 140. Locking pin body; 141. Locking end; 142. Paddle; 21. Second magnetic coupling; 22. Second fixing member; 220. Annular port; 221. Second positioning structure; 222. Third positioning structure; 223. Locking positioning hole; 224. Clamping platform structure; 23. Second snap-fit ​​member; 231. Second bayonet groove; 232. Receiving groove; 233. Limiting boss; 24. Second clamping elastic member; 25. Bearing; 26. Output shaft; 27. Locking nut; 28. Butt mark; 31. Pin; 311. Shaft hole; 312. Locking port; 313. First shaft end; 314. Second shaft end; 315. Second retaining ring structure; 32. Mandrel; 320. Inclined surface; 321. Receiving groove; 3210. Ejection inclined surface; 3211. Stepped surface; 3212. Second side wall; 322. Operating end; 323. End; 324. First retaining ring structure; 325. Operating structure component; 326. Spring pin; 33. Locking structure; 34. Handle; 341. Connecting part; 342. Through hole; 343. Holding part; 344. Hollow area; 345. Stop platform; 35. Outer shell; 36. Damping structure. Detailed Implementation

[0030] To provide a more detailed understanding of the features and technical content of the embodiments of this disclosure, the implementation of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this disclosure. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0031] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0032] In this disclosure, the terms "upper," "lower," "inner," "middle," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for better description of the embodiments of this disclosure and their implementations, and are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to require them to be constructed and operated in a specific orientation. Furthermore, some of the aforementioned terms may be used to indicate other meanings besides orientation or positional relationship; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in the embodiments of this disclosure according to the specific circumstances.

[0033] Furthermore, the terms "set up," "connect," and "fix" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0034] Unless otherwise stated, the term "multiple" means two or more.

[0035] It should be noted that, unless otherwise specified, the embodiments and features described in the present disclosure can be combined with each other.

[0036] Combination Figure 1-16 As shown, this embodiment of the present disclosure provides a direct-connection quick-change structure for a motor 10, comprising a first magnetic coupling 11, a first fixing member 12, and a first snap-fit ​​member 13. The first magnetic coupling 11 can be connected to the output shaft 26 of the motor; the first fixing member 12 is disposed at the output end of the motor and sleeved on the outside of the first magnetic coupling 11; and its connecting end is provided with a first positioning structure 121; the first snap-fit ​​member 13 is disposed on the first positioning structure 121.

[0037] The quick-change structure for motors in this embodiment is applied to the motor 10 end and used in conjunction with the quick-change structure applied to the driven end. It utilizes a magnetic coupling to achieve non-contact power transmission and a snap-fit ​​structure to achieve quick docking, locking, and disassembly. It transmits torque non-contactly while also featuring a high-torque slippage function, resulting in a more reliable connection. It is suitable for high-speed output conditions, conditions requiring torque limiting protection, or high-speed conditions requiring torque limiting protection. Furthermore, through modular design, it enables rapid disassembly and replacement of the entire motor in special environments, such as glove boxes. Moreover, the quick-change structure of this embodiment is simple in structure, highly efficient, and versatile, without affecting other operations within glove boxes or other special environments.

[0038] The motor end here can be the motor itself, or it can be an integrated unit of the motor and the reducer.

[0039] In this embodiment, the first fixing member 12 not only provides protection for the first magnetic coupling 11, but also serves as a docking and positioning structure for the quick-change structure of the driven motor. Therefore, the connecting end of the first fixing member 12 is the end that docks with the quick-change structure of the driven motor.

[0040] In this embodiment, the first magnetic coupling 11 and the second magnetic coupling 21 are non-contact magnetically connected. Therefore, by adjusting the position of the first magnetic coupling 11 or the second magnetic coupling 21, a non-contact magnetic connection can be formed between them. Optionally, the end face of the connecting end of the first magnetic coupling 11 is lower than the end face of the connecting end of the first fixing member 12. After ensuring that the end face of the connecting end of the first fixing member 12 is abutted against the end face of the connecting end of the second fixing member 22 of the driven end motor quick-change structure, the first magnetic coupling 11 and the second magnetic coupling 21 do not contact each other.

[0041] In this embodiment, the structure of the first fixing member 12 is not limited. Optionally, the first fixing member 12 includes a first cylindrical body, which is coaxially arranged with the first magnetic coupling 11 and fixed to the output end of the motor.

[0042] Optionally, the first fastener 12 adopts a flange structure. That is, it has both a cylindrical structure and a fixed connection structure.

[0043] In some embodiments, a first positioning structure 121 is provided on the first fixing member 12, and the first positioning structure 121 includes a first positioning ring. The first positioning ring is arranged coaxially with the first magnetic coupling 11 on the connecting end of the first fixing member 12.

[0044] Optionally, such as Figure 1As shown, the first positioning ring protrudes from the end face of the connecting end of the first fixing member 12. When the end face of the connecting end of the first fixing member 12 is in contact with the end face of the connecting end of the second fixing member 22 of the driven end motor quick-change structure, the first positioning ring is inserted into the second positioning structure 221 of the connecting end of the second fixing member 22, and the end face of the connecting end of the first fixing member 12 acts as a stop structure to limit the insertion length of the second positioning ring.

[0045] Optionally, the first positioning ring is a first positioning annular groove, which is disposed on the end face of the connecting end of the first fixing member 12 (not shown in the figure, but can be referenced). Figure 2 The second positioning mechanism shown in the diagram has a structural form. The second positioning structure 221 of the motor quick-change structure at the driven end can be inserted into the first positioning annular groove.

[0046] Optionally, the first positioning ring can be attached to the first cylindrical body of the first positioning structure 121, that is, the cylindrical body portion of the first fixing member 12 can serve as the first positioning structure 121.

[0047] In some embodiments, the first latching member 13 includes a first protrusion disposed on the circumferential surface of the first positioning structure 121. The number of first protrusions is one or more, and is not limited. Optionally, the number of first protrusions is multiple, disposed on the circumferential surface of one circumference of the first positioning structure 121. The multiple first protrusions are distributed, and can be evenly or non-evenly distributed, as long as their positions correspond to the positions of the second protrusions on the second positioning structure 221 of the driven end motor quick-change structure.

[0048] Optionally, such as Figure 2 As shown, there are multiple first bosses, and a first locking groove 131 is formed between adjacent first bosses. The size of the first locking groove 131 is greater than or equal to the size of the second boss.

[0049] Optionally, the first boss is disposed on the outer peripheral surface of the first positioning structure 121; or, the first boss is disposed on the inner peripheral surface of the first positioning structure 121. This can be determined based on the cooperation method between the second positioning structure 221 of the driven end motor quick-change structure and the first positioning structure 121.

[0050] Optionally, the first boss is elongated and is arranged along the circumference of the first positioning structure 121.

[0051] like Figure 1 As shown, the first snap-fit ​​member 13 includes three first protrusions, which are elongated and evenly arranged on the circumferential surface of the first positioning structure 121 on the connecting end of the first fixing member 12.

[0052] In some embodiments, the motor quick-change structure further includes a locking pin 14, which is axially disposed at the connecting end of the first fixing member 12, and its locking end 141 protrudes from the end face of the connecting end of the first fixing member 12. The quick-change structure extends into the driven end for locking connection. This limits the circumferential displacement of the quick-change structure at the motor end after it is connected to the quick-change structure at the driven end.

[0053] Optionally, the locking pin 14 includes a locking pin body 140 and a lever 142, with the lever 142 disposed on the locking pin body 140. A pin hole is axially provided on the end face of the connecting end of the first fixing member 12, and a lever hole 122 is provided on the side wall of the first fixing member 12. The locking pin body 140 is movably disposed within the pin hole, and the lever 142 protrudes from the lever hole 122 onto the side wall of the first fixing member 12. By moving the lever 142, the locking end 141 of the locking pin 14 can be locked in a locked state (e.g., the end face of the locking pin 141 protruding from the end face of the connecting end of the first fixing member 12). Figure 5 (as shown) and the unlocked state within the end face of the connection end of the first fixing member 12 (as shown) Figure 4 Switch between (as shown).

[0054] Optionally, the locking pin body 140 is movably connected to the inner wall of the pin hole via an elastic element (not shown), and when the elastic element is not deformed, the locking end 141 of the locking pin body 140 protrudes from the end face of the connecting end of the first fixing member 12. When the motor end and the driven end of the motor quick-change structure are docked, the pressure between the docking surfaces is used to press the locking end 141 of the locking pin 14 back into the pin hole. After rotation to the correct position, under the restoring force of the elastic element, the locking end 141 of the locking pin 14 is ejected and extends into the locking positioning hole 223, completing the docking and locking. When unlocking, the locking pin body 140 is pushed back into the pin hole using the lever 142, and simultaneously rotated in the opposite direction to unlock and disengage the two.

[0055] Of course, in this embodiment, a paddle 142 and a corresponding paddle hole 122 on the side wall of the first fixing member 12 can be added to ensure that the locking is in place and improve stability.

[0056] Optionally, the elastic element is a compression spring, which is sleeved on the outer periphery of the locking pin body 140, with one end connected to the outer wall of the locking pin body 140 and the other end connected to the inner wall of the pin hole.

[0057] In this embodiment, the locking pin 14 is axially movably disposed on the first fixing member 12. When the motor end and the driven end of the motor quick-change structure are connected, the locking end 141 of the locking pin 14 can be inserted into the locking positioning hole 223 of the driven end of the motor quick-change structure and locked. When unlocking is required, the spring locking pin 14 can be pulled out.

[0058] Optionally, the locking pin 14 includes a spring locking pin. The outer wall of the spring locking pin is axially fixed to the first fixing member 12. When the motor end and the driven end of the motor quick-change structure are connected, the locking end of the spring locking pin can be inserted into the locking positioning hole 223 of the driven end of the motor quick-change structure and locked. The locking pin 14 is unlocked from the locking positioning hole 223 by pressing / pulling the mandrel, thereby unlocking the connection between the motor end and the driven end of the motor quick-change structure.

[0059] Optionally, the spring locking pin includes a push-type locking pin or a pull-type locking pin.

[0060] Combination Figure 1-16 As shown, this embodiment of the present disclosure provides a direct-connect motor quick-change structure for the driven end, including a second magnetic coupling 21, an output shaft 26 assembly, a second fixing member 22, and a second snap-fit ​​member 23. The second magnetic coupling 21 can be magnetically connected to the first magnetic coupling 11 of the aforementioned motor quick-change structure for the motor end; the output shaft 26 assembly is coaxially connected to the second magnetic coupling 21 and is used to connect to the input end of the driven assembly; the second fixing member 22 is sleeved on the second magnetic coupling 21 and the output shaft 26 assembly; the connecting end of the second fixing member 22 is provided with a second positioning structure 221, which can cooperate with the first positioning structure 121 of the aforementioned motor quick-change structure for the motor end; the second snap-fit ​​member 23 is disposed on the second positioning structure 221 of the second fixing assembly and can cooperate with the first snap-fit ​​member 13 of the aforementioned motor quick-change structure for snap-fit ​​engagement.

[0061] In this embodiment, the first magnetic coupling 11 and the second magnetic coupling 21 are connected by a non-contact magnetic connection. Therefore, by adjusting the position of the first magnetic coupling 11 or the second magnetic coupling 21, a non-contact magnetic connection can be formed between them. Optionally, the end face of the connecting end of the second magnetic coupling 21 is lower than the end face of the connecting end of the second fixing member 22. This ensures that after the connecting end of the first fixing member 12 and the connecting end of the second fixing member 22 are connected, the first magnetic coupling 11 and the second magnetic coupling 21 do not come into contact.

[0062] In this embodiment, the structure of the second fixing member 22 is not limited. Optionally, the second fixing member 22 includes a second cylindrical body, which is coaxially arranged with the second magnetic coupling 21 and the output component. One end of the second fixing member 22 is a connecting end, on which a second positioning structure 221 is provided. The other end is provided with a third positioning structure 222 for positioning connection with the driven component.

[0063] Optionally, the second fastener 22 adopts a flange structure. That is, it has both a cylindrical structure and a fixed connection structure.

[0064] Optionally, the second positioning structure 221 includes a second positioning ring, which is coaxially disposed on the connecting end of the second fixing member 22 with the second magnetic coupling 21. Optionally, the second positioning ring can be coupled to the second cylinder of the second positioning structure 221, that is, the end of the second cylinder on the connecting end side of the second fixing member 22 can serve as the second positioning structure 221.

[0065] In this embodiment, the positioning connection method of the first positioning ring and the second positioning ring is not limited. The first positioning ring can be inserted into the second positioning ring, or the second positioning ring can be inserted into the first positioning ring; as long as a limiting structure is provided to limit the length of the insertion between the two, it is acceptable.

[0066] Optionally, the first positioning ring is inserted into the second positioning ring, and a limit stop ring is provided on the inner wall of the second positioning ring to limit the insertion displacement of the first positioning ring.

[0067] Optionally, the first positioning ring is inserted into the second positioning ring, and the first positioning ring protrudes from the end face of the connecting end of the first fixing member 12; the axial length of the first positioning ring is the same as the length from the ring opening of the second positioning ring to the limiting retaining ring. This ensures a close fit between the end face of the connecting end of the first fixing member 12 and the end face of the connecting end of the second fixing member 22, and also allows for axial limiting.

[0068] In some embodiments, the second latching member 23 includes a second protrusion disposed on the circumferential surface of the second positioning structure 221, capable of engaging with the first protrusion of the aforementioned motor quick-change structure; and a second latching groove 231 is formed between adjacent second protrusions, the size of the second latching groove 231 being greater than or equal to the size of the first protrusion. The number of second protrusions is one or more, not limited. Optionally, the number of second protrusions is multiple, disposed on the circumferential surface of one circumference of the second positioning structure 221. The multiple second protrusions are distributed, either evenly or non-evenly, as long as their positions correspond to those of the first protrusions on the first positioning structure 121 of the motor quick-change structure at the motor end.

[0069] Optionally, the second boss is disposed on the inner peripheral surface of the second positioning structure 221; or, the second boss is disposed on the outer peripheral surface of the second positioning structure 221. This can be determined based on the cooperation method between the first positioning structure 121 and the second positioning structure 221 of the motor quick-change structure at the motor end.

[0070] Optionally, the first boss is disposed on the outer peripheral surface of the first positioning structure 121, and the second boss is disposed on the inner peripheral surface of the second positioning structure 221. With the first boss aligned with the second locking groove 231 between adjacent second bosses, the first positioning structure 121 is inserted into the inner ring of the second positioning structure 221. After insertion, it is rotated to lock the first boss against the inner side of the second boss, thereby limiting axial displacement. Here, the inner side of the second boss refers to the side facing away from the connecting end of the second fixing member 22.

[0071] In some embodiments, combined with Figure 2 and Figure 6 As shown, the second snap-fit ​​member 23 also includes a second clamping elastic member 24, which is disposed on the inner side of the second boss. It provides clamping force in the axial direction to limit axial displacement.

[0072] Optionally, the second clamping elastic member 24 includes a clamping spring sheet disposed circumferentially on the inner side of the second boss; and the first end of the clamping spring sheet is connected to the inner side of the second boss, while the second end is away from the inner side of the second boss.

[0073] Optionally, a receiving groove 232 is provided on the inner side of the second boss, and the first end of the clamping spring sheet is disposed in the receiving groove 232 and does not extend beyond the inner side of the second boss. This ensures that the first boss can be smoothly screwed into the inner side of the second boss. When the inner side of the first boss is engaged with the inner side of the second boss, the clamping spring sheet can be pressed into the receiving groove 232, and the clamping spring sheet can press the first boss in the opposite direction, limiting the axial displacement.

[0074] Optionally, the first end of the compression spring sheet is flush with the inner side of the second boss.

[0075] In some embodiments, combined with Figure 2 and Figure 6 As shown, a limiting boss 233 is also provided on the inner side of the second boss to limit the rotation of the first boss, avoid excessive rotation, and ensure that the first boss and the second boss completely overlap and lock.

[0076] In this embodiment of the disclosure, a second snap-fit ​​member 23 and a second clamping elastic member 24 are provided on the connecting end of the second fixing member 22. To facilitate the molding and installation of these structures, in some embodiments, such as... Figure 6 As shown, the second fixing member 22 also includes an annular port 220, on which a second snap-fit ​​member 23 is provided, or the second snap-fit ​​member 23 and the second pressing elastic member 24.

[0077] In some embodiments, a locking positioning hole 223 is provided on the end face of the connecting end of the second fixing member 22, which can cooperate with the locking end 141 of the locking pin 14 of the motor quick-change structure at the motor end.

[0078] In some embodiments, the motor quick-change structure further includes a mating mark 28 disposed on the second fixing member 22. The mating mark 28 is the position where the second locking groove 231 between the first locking member 13 and the second locking member 23 is aligned when the motor quick-change structure at the motor end is mated with the motor quick-change structure at the driven end.

[0079] Optionally, the quick-change structure at the motor end is provided with corresponding docking marks to achieve alignment.

[0080] Optionally, a locking pin is used as a mating mark on the motor quick-change structure at the motor end. That is, when the locking pin of the motor quick-change structure at the motor end is aligned with the mating mark 28, the second locking groove 231 between the first locking member 13 and the second locking member 23 is aligned.

[0081] In some embodiments, the output shaft 26 assembly includes a bearing 25 and an output shaft 26; one end of the output shaft 26 is connected to the output end of the second magnetic coupling 21; the outer ring of the bearing 25 is disposed on the inner wall of the second fixing member 22, and the inner ring is sleeved on the output shaft 26. The bearing 25 provides support and fixation, thus relatively fixing the second magnetic coupling 21 and the output shaft 26 within the second fixing member 22. The second magnetic coupling 21 transmits rotational power to the output shaft 26, which then transmits the power to the input end of the driven component connected to it.

[0082] Optionally, the output shaft 26 is mounted on the inner ring of the bearing 25 via a locking nut 27. The connection is reliable.

[0083] Optionally, bearing 25 includes a double-row angular contact ball bearing 25.

[0084] In this embodiment of the disclosure, combined with Figures 7 to 16The diagram illustrates a specific spring-locking pin structure that can be used in the quick-change motor structure of this disclosure embodiment. The spring-locking pin includes a pin 31, a spindle 32, a locking structure 33, and a damping structure 36. The pin 31 has an axial hole 311 and a locking opening 312 on its sidewall. The spindle 32 is movably disposed within the pin hole 311 and has a receiving groove 321 on its sidewall. The locking structure 33 is disposed within the locking opening 312, and the spindle 32 can move axially, allowing the locking structure 33 to switch between an unlocked and locked state. The damping structure 36 is disposed between the pin 31 and the spindle 32, limiting the relative displacement between them. When the receiving groove 321 of the mandrel 32 coincides with the locking port 312 of the pin 31, the locking structure 33 is in the unlocked state; when the side wall of the mandrel 32 is opposite to the locking port 312 of the pin 31, the locking structure 33 is in the locked state and partially protrudes from the outer side wall of the pin 31. Furthermore, when the locking structure 33 is in the locked state, the side wall portion of the locking structure 33 that contacts the mandrel 32 is inclined, serving as an ejection inclined surface 320. The pin 31 is fixedly installed within the assembly hole 123 of the first fixing member 12.

[0085] The spring locking pin of this embodiment splits the locking pin structure into two parts: a spindle 32 and a pin 31 with a shaft hole 311. This allows the spindle 32 and the pin 31 to move relative to each other axially. Furthermore, a receiving groove 321 is designed on the spindle 32 to release the locking structure 33 from its locked state, allowing the locking structure 33 to retract into the receiving groove 321 and thus unlock. This facilitates the insertion or withdrawal of the locking pin into the locking positioning hole 223 of the driven end motor quick-change structure. A damping force is formed between the pin 31 and the spindle 32, limiting their relative displacement and improving the stability of the locking pin to prevent failure. Simultaneously, the ejector ramp on the spindle 32 makes the locking structure 33 more stable and less prone to failure.

[0086] When using locking pins to lock the quick-change motor structure at the motor end and driven end, align the first magnetic coupling 11 at the motor end with the second magnetic coupling 21 at the driven end. Simultaneously align the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the locking pin 14 (spring locking pin), and the mating mark 28. After engaging, rotate to the final position, then control the spindle 32 to move axially upwards, causing the locking structure 33 of the spring locking pin to be in the unlocked state, allowing the locking end 141 of the locking pin to extend into the locking positioning hole 223 (which can utilize...). The mechanism can be implemented using a paddle 142 (or by utilizing the elastic element between the locking pin body 140 and the inner wall of the pin hole). Then, the spindle 32 is released, and the restoring force of the damping structure 36 resets the spindle 32, causing the locking structure 33 to move out of the receiving groove 321 and be pushed into the locking port 312, switching to the locked state. The locking structure 33 is locked and partially protrudes from the outer wall of the pin 31. The protruding part of the locking structure 33 is engaged with the locking platform structure in the locking positioning hole 223 of the locking sleeve, thus achieving the docking and locking of the quick-change structure between the motor end and the driven end. When unlocking is required, the spindle 32 is moved axially upwards to unlock the locking structure 33 of the spring locking pin. The locking end of the locking pin is withdrawn from the locking positioning hole 223, and simultaneously rotated in the opposite direction until the locking pin aligns with the docking mark 28, completing the disengagement of the quick-change structure between the motor end and the driven end, thus completing the rapid removal of the motor 10. Therefore, the spring locking pin structure of this disclosure is simple, easy to operate, highly efficient, highly stable, does not fail, and has strong versatility. It can be used inside glove boxes without affecting other work activities inside the glove box.

[0087] In the spring locking pin of this embodiment, when the locking structure 33 is in the locked state, a portion of it protrudes from the outer wall of the pin 31. The locking action of this protruding portion secures the two locked components. Therefore, optionally, a locking platform structure 224 is provided on the inner wall of the locking positioning hole 223, which cooperates with the locking structure 33 of the spring locking pin to achieve locking.

[0088] In the spring locking pin of this embodiment, optionally, when the damping structure 36 is not deformed, the locking structure 33 is in a locked state; when the operating spindle 32 moves axially and causes the damping structure 36 to deform to a certain extent, the locking structure 33 can be switched to an unlocked state. That is, when the locking pin locks the motor end and the driven end, the damping structure 36 is not deformed, avoiding the instability of the spindle 32 caused by the elastic restoring force of the damping structure 36, ensuring the stability of the locking, and improving the connection effectiveness.

[0089] In this embodiment, when switching the locking structure 33 from the locked state to the unlocked state, the spindle 32 can be pressed inward to move the receiving groove 321 axially inward until it coincides with the locking port 312, thus unlocking the locking structure 33. This type of spring locking pin is defined as a press-type locking pin (see...). Figures 7-9 (As shown). Alternatively, the mandrel 32 can be pulled outwards, causing the receiving groove 321 to move axially outwards until it coincides with the locking port 312, thus unlocking the locking structure 33. This type of spring locking pin is defined as a pull-out locking pin (see...). Figures 10-15 (As shown). The device can be pulled out or pushed in depending on the position of the receiving groove 321. Furthermore, depending on the arrangement of the damping structure 36 between the pin 31 and the spindle 32, the deformation of the damping structure 36 when pulling out or pressing the spindle 32 may be either compression or stretching, and is not limited to this.

[0090] In some embodiments, combined with Figure 11 As shown, the damping structure 36 is connected to the spindle 32 at its end 323, and to the pin 31 at its first shaft end 313. Here, the end 323 of the spindle 32 is the opposite end to the operating end 322 of the spindle 32, which is the end used to operate (pull or press) the spindle 32 along its axial direction. The first shaft end 313 of the pin 31 is the end of the pin 31 on the same side as the operating end 322 of the spindle 32. When the spindle 32 is pulled, the damping structure 36 deforms into compression; when the spindle 32 is pressed, the damping structure 36 deforms into tension.

[0091] In some embodiments, combined with Figure 7 As shown, the damping structure 36 is connected to the spindle 32 at the operating end 322 of the spindle 32, and to the pin 31 at the second end 314 of the pin 31. Here, the second end 314 of the pin 31 refers to one end of the pin 31 on the same side as the end 323 of the spindle 32. When the spindle 32 is pulled, the damping structure 36 deforms in a stretching manner; when the spindle 32 is pressed, the damping structure 36 deforms in a compressive manner.

[0092] Whether the spring locking pin is unlocked by stretching the spindle 32 or by pressing the spindle 32 depends on the relative position of the receiving groove 321 on the spindle 32 and the locking port 312 on the pin 31, as well as the way the damping structure 36 is set between the pin 31 and the spindle 32.

[0093] like Figures 7 to 9As shown, the damping structure 36 is connected to the spindle 32 at the operating end 322 of the spindle 32, and connected to the pin 31 at the second shaft end 314 of the pin 31. When the spring locking pin is in the locked state, the receiving groove 321 is located on the side of the locking port 312 near the first shaft end 313. When the spindle 32 is pressed, the damping structure 36 is compressed, and the receiving groove 321 moves towards the second shaft end 314, approaching the locking port 312. When it coincides with the locking port 312, it is unlocked. In this embodiment, the spring locking pin is defined as a push-button type locking pin (e.g., a button-type locking pin).

[0094] like Figures 10 to 15 As shown, the damping structure 36 is connected to the spindle 32 at the end 323 of the spindle 32, and to the pin 31 at the first shaft end 313 of the pin 31. When the spring locking pin is in the locked state, the receiving groove 321 is located at the second shaft end 314 of the locking port 312. When the spindle 32 is pulled out, the damping structure 36 is compressed, and the receiving groove 321 moves towards the first shaft end 313, approaching the locking port 312. When it coincides with the locking port 312, it is unlocked. In this embodiment, the spring locking pin is defined as a pull-out locking pin.

[0095] In some embodiments, the damping structure 36 includes a spring; one end of the spring is connected to a pin 31, and the other end is connected to a spindle 32. A damping force is formed between the pin 31 and the spindle 32, limiting the relative displacement between them.

[0096] Optionally, such as Figure 7 and Figure 13 As shown, the spring is a compression spring, sleeved on the spindle 32; one end is connected to the pin 31, and the other end is connected to the spindle 32. It has a simple structure, uniform damping force, and good damping effect.

[0097] Optionally, a first retaining ring structure 324 is provided on the peripheral wall of the spindle 32, and one end of the damping structure 36 (spring) is disposed on the first retaining ring structure 324, thereby limiting the displacement of one end of the damping structure 36 (spring). Figure 7 As shown, the first retaining ring structure 324 is attached to the end face of the operating structure 325 of the operating end 322 of the spindle 32, which is connected to the spindle 32. Figure 13 and Figure 14 As shown, the first retaining ring structure 324 is disposed on the outer wall of the end 323 side of the mandrel 32 to form a stop platform.

[0098] Optionally, a second retaining ring structure 315 is provided on the inner wall of the shaft hole 311 of the pin 31, and the other end of the damping structure 36 (spring) is provided on the second retaining ring structure 315. This limits the displacement of the other end of the damping structure 36 (spring). Optionally, as... Figure 7As shown, a shoulder is formed on the inner wall of the shaft hole 311 of the pin 31, and the shoulder serves as the second retaining ring structure 315. Optionally, as... Figure 14 and Figure 15 As shown, the second retaining ring structure 315 can be attached to the end face of the connecting portion 341 of the handle 34 described below. The connecting portion 341 extends into the shaft hole 311 of the pin 31, and the outer wall of the connecting portion 341 is threadedly connected to the inner wall of the shaft hole 311. At this time, the end face of the connecting portion 341 can serve as the second retaining ring structure 315.

[0099] In some embodiments, the spring locking pin further includes a handle 34 disposed on the pin 31. The handle 34 is disposed on the first shaft end 313 of the pin 31 to facilitate operation and realize the relative movement between the pin 31 and the spindle 32, and can be adapted to mechanical control operation, using a robot to complete the connection and locking action.

[0100] In some embodiments, the spring locking pin further includes an operating structure 325, which is disposed at the operating end 322 of the spindle 32. When the locking structure 33 switches from the locked state to the unlocked state, the operating structure 325 moves closer to the handle 34. Adding the operating structure 325 facilitates control of the relative movement between the spindle 32 and the pin 31. By clamping the operating structure 325 and the handle 34 and bringing them closer together, the movement of the spindle 32 can be controlled, completing the unlocking process. The clamping action is simple and easy to implement, suitable for mechanical control, for example, for robotic arms. In particular, when applied to confined spaces such as glove boxes, it facilitates the locking operation of the locking pin by a robotic arm.

[0101] Optionally, the distance between the operating structure 325 and the handle 34 is consistent with the movement displacement of the spindle 32 when the locking structure 33 switches from the locked state to the unlocked state. This allows for precise control of the extension / pressing length of the spindle 32, making operation more convenient. During operation, the operator does not need to judge the displacement of the spindle 32, making it suitable for robotic arm operation. The handle 34 can be integrally formed or separately, without limitation.

[0102] Optionally, the operating structure 325 protrudes from the first shaft end 313 of the pin 31, facilitating operation of the spindle 32.

[0103] Optionally, such as Figure 7 As shown, the operating mechanism 325 is cylindrical. It is a button type, for example, suitable for a push-button locking pin.

[0104] Optionally, such as Figure 10As shown, the operating structure 325 is ring-shaped. This facilitates operation and is suitable for gripping operations by robotic arms. When used in special environments such as glove boxes, the ring-shaped operating structure 325 easily cooperates with the handle 34 to perform pull-out or press-out operations on the spindle 32. For example, it can be used with pull-out locking pins.

[0105] Optionally, the operating structure 325 may also be provided with a lever 142, or the operating structure 325 may be configured as a lever 142. That is, the structure of the operating structure 325 for locking the pin can simultaneously function as a lever 142.

[0106] In some embodiments, the operating structure 325 and the operating end 322 of the spindle 32 are connected by a spring pin 326. This ensures a stable connection while also allowing for disassembly.

[0107] In some embodiments, a handle 34 is disposed at the first shaft end 313 of the pin 31. This facilitates the insertion and locking of the locking pin, as well as its removal and release, and also facilitates operation in conjunction with the operating structure 325. The structure of the handle 34 is not limited, as long as it has a structure capable of being gripped / clamped / held. It can be directly disposed on the outer wall of the pin 31.

[0108] Optionally, the handle 34 includes a connecting portion 341 and a gripping portion 343. The connecting portion 341 has a through hole 342, which is coaxial with the shaft hole 311 to connect the connecting portion 341 to the first shaft end 313 of the pin 31. The gripping portion 343 is disposed on the connecting portion 341. The spindle 32 passes through the through hole 342 and is movably disposed within the shaft hole 311 of the pin 31. While ensuring connection strength, it also allows for the detachment of the handle 34 and the pin 31, facilitating disassembly and maintenance, and is suitable for some special environments. By positioning the handle 34 axially on the pin 31, the movement direction of the operating spindle 32 is ensured to be axially on the pin 31, ensuring smooth operation. In this embodiment, the shape of the gripping portion 343 is not limited, and the design is based on ease of clamping.

[0109] Optionally, the holding part 343 is symmetrically arranged on the connecting part 341.

[0110] Optionally, such as Figure 11 and Figure 12As shown, the gripping part 343 includes an annular gripping part. That is, the handle 34 includes an annular gripping part and a connecting part 341. The connecting part 341 is disposed on the annular gripping part and has a through hole 342. The connecting part 341 is connected to the first shaft end 313 of the pin 31 in a manner coaxial with the shaft hole 311. The through hole 342 connects the shaft hole 311 of the pin 31 with the hollow area 344 of the annular gripping part. The spindle 32 passes through the through hole 342 and is movably disposed in the shaft hole 311 of the pin 31. This facilitates gripping the handle, controlling the operating structure 325 on the spindle 32, and effectively controlling the axial movement of the spindle 32. Moreover, it facilitates unlocking by using clamping.

[0111] In this embodiment, the relative position of the operating structure 325 on the operating end 322 of the spindle 32 and the holding part 343 (annular holding part) is not limited. It can be determined by whether the locking pin pulls the spindle 32 to complete the unlocking or presses the spindle 32 to complete the unlocking.

[0112] Optionally, the operating structure 325 is housed in the hollow area of ​​the annular grip. During clamping, the operating structure 325 moves outward along the axial direction and approaches one side wall of the annular grip, stretching the spindle 32 and unlocking. In this embodiment, by designing the size of the hollow area 344, the distance between the operating structure 325 and the inner wall of the hollow area on the direction of movement (i.e., the aforementioned distance between the operating structure 325 and the handle 34) can be controlled, making it consistent with the movement displacement of the spindle 32 during unlocking, thereby improving unlocking efficiency.

[0113] Optionally, the operating structure 325 is located on the outer side of the annular grip in the axial direction. During clamping, the operating structure 325 moves inward along the axial direction and approaches one side wall of the annular grip, pressing the spindle 32 to unlock. In this embodiment, by setting the distance between the operating structure 325 and the opposite side wall of the annular grip (i.e., the aforementioned distance between the operating structure 325 and the handle 34), it is made consistent with the movement displacement of the spindle during unlocking, thereby improving unlocking efficiency.

[0114] The operating end 322 of the spindle 32 is located in the hollow area 344 of the annular gripping part, which can limit the axial displacement of the spindle 32. By designing the size of the hollow area 344, the axial displacement of the spindle 32 can be limited to match the displacement of the unlocking and locking structure 33, thereby improving unlocking efficiency. Furthermore, during operation, the operator does not need to judge the displacement of the spindle 32, making it suitable for robotic arm operation. The handle 34 can be integrally formed or separately provided; there is no limitation.

[0115] Optionally, the outer wall of the connecting part 341 is threaded to the inner wall of the shaft hole 311 of the pin 31 (e.g., Figure 12 (as shown), or the inner wall of the connecting part 341 is threadedly connected to the outer wall of the pin 31, which is not limited.

[0116] Optionally, the shape of the hollow region 344 of the annular grip portion matches the shape of the operating structure 325.

[0117] Optionally, the hollow area 344 of the annular grip is square, and the operating structure 325 is square-ringed.

[0118] Optionally, the square annular operating structure 325 is adapted to the hollow area 344 of the annular gripping part, and a displacement space for the square annular operating structure 325 is reserved in the axial direction.

[0119] Optionally, an operating structure 325 is provided on the operating end 322 of the spindle 32, and the operating structure 325 is located in the hollow area 344 of the annular gripping part.

[0120] Optionally, the hollow area 344 of the annular grip is square, and the operating structure 325 is square-ringed.

[0121] Optionally, the square annular operating structure 325 is adapted to the hollow area 344 of the annular gripping part, and a displacement space for the square annular operating structure 325 is reserved in the axial direction.

[0122] Optionally, a stop 345 is provided on the edge of the handle 34, and the stop 345 protrudes from the side where it is located. This facilitates the operation of the robot arm, such as facilitating the gripping and positioning of the robot arm.

[0123] In some embodiments, combined with Figure 10 , Figure 12 and Figure 13 As shown, the spring locking pin also includes a housing 35, which is fitted onto the handle 34 to protect the handle.

[0124] Optionally, the stop 345 is disposed on the housing 35. It can be integrally formed with the housing 35.

[0125] In this embodiment, the number of locking holes 312 on the pin 31 is not limited; it can be one or more, determined according to actual needs. Optionally, as... Figure 7 and Figure 10 As shown, there are multiple locking ports 312. Optionally, the multiple locking ports 312 are evenly distributed on the side wall of the pin 31. Optionally, there are three locking ports 312, evenly distributed on the side wall of the pin 31. The number of locking structures 33 is the same as the number of locking ports 312, and the number of receiving grooves 321 is also the same as the number of locking ports 312.

[0126] In this embodiment, the shape of the receiving groove 321 on the mandrel 32 is not limited, as long as it can accommodate the locking structure 33 so that the locking structure 33 does not extend beyond the outer wall of the pin 31 after it is retracted. At the same time, during the process of the mandrel 32 moving axially to push out the locking structure 33, the shape of the receiving groove 321 does not restrict the movement of the mandrel 32.

[0127] In some embodiments, combined with Figure 7 and Figure 8 , Figure 14 and Figure 15 As shown, when the locking structure 33 is in the locked state, the side wall portion of the spindle 32 that abuts against the locking structure 33 is inclined, serving as the ejection inclined surface 3210. The ejection inclined surface 3210 facilitates the ejection of the locking structure 33, does not impede the movement of the spindle 32, and can buffer the radial external force on the locking pin to a certain extent, reducing the probability of damage. In this embodiment, the shape of the second side wall of the receiving groove 321 away from the locking structure 33 is not limited, as long as the locking structure 33 is accommodated in the groove and does not fall out of the receiving groove 321.

[0128] Optionally, the second sidewall 3212 of the receiving groove 321 on the side away from the locking structure 33 is also inclined, and the angle between the second sidewall 3212 and the axial direction is greater than the angle between the ejection inclined surface 3210 and the axial direction.

[0129] Optionally, the ejector ramp 3210 is stepped, and the stepped surface 3211 is inclined. This can limit the displacement of the locking structure 33, facilitate the ejection of the locking structure 33, and not impede the movement of the mandrel 32. It can also limit the magnitude of the displacement of the mandrel 32 to a certain extent and buffer radial external forces. This stepped ejector ramp can assist in locking the locking structure 33, and even if a large pressure is applied to the second shaft end 314 of the pin 31, it will buffer the pressure and reduce the probability of damage to the mandrel 20.

[0130] In some embodiments, combined with Figures 7 to 9 ,as well as Figure 13 and Figure 14 As shown, the receiving groove 321 is a receiving annular groove provided along the peripheral wall of the mandrel 32. It is simple to form and has an effective structure. The receiving annular groove ensures that the end of the mandrel 32 includes a funnel-shaped receiving portion.

[0131] Optionally, one side wall of the receiving annular groove is inclined; when the locking structure 33 is in the locked state, the inclined surface of the receiving annular groove abuts against the locking structure 33, that is, the inclined surface serves as the ejection inclined surface.

[0132] Optionally, the ejector ramp 3210 of the receiving annular groove is stepped, and the stepped surface 3211 is inclined. This stepped ramp can help to lock the locking structure 33, and even if a large pressure is applied to the second shaft end 314 of the pin 31, the pressure will be buffered and the probability of damage to the spindle 20 will be reduced.

[0133] In some embodiments, the angle between the stepped surfaces of the ejector inclined surface 3210 and the axial direction is reduced along the direction from the bottom to the edge of the receiving groove 321 (receiving annular groove). This results in better locking and buffering effects.

[0134] Combination Figure 13 As shown, the ejector ramp 3210 includes two steps, and the angle between the stepped surface near the groove edge (i.e., the outer wall of the mandrel) and the axial direction is smaller than the angle between the stepped surface near the bottom of the groove and the axial direction.

[0135] In some embodiments, the locking structure 33 includes a locking portion and a protrusion, the shape of the connection between the protrusion and the locking portion being consistent with the shape of the locking opening 312; and the size of the protrusion is smaller than the size of the locking portion. That is, when the locking structure 33 is in the unlocked state, the protrusion can retract into the receiving groove of the spindle 32, and when the locking structure 33 is pushed out, the locking structure 33 can be locked between the pin 31 and the spindle 32, with the protrusion protruding from the outer side wall of the pin 31 to achieve the locking function.

[0136] Optionally, the end face of the locking part that contacts the spindle 32 is curved, facilitating the movement of the spindle 32.

[0137] Optionally, the locking structure 33 includes a spherical locking structure or an umbrella-shaped locking structure. In the umbrella-shaped locking structure 33, the umbrella portion serves as a locking portion, and the handle portion serves as a protruding portion.

[0138] Below, in conjunction with Figures 7 to 9 The diagram illustrates the process of locking and disassembling the quick-change motor structure at the motor end and driven end using a press-type spring pin. Align the first magnetic coupling 11 at the motor end with the second magnetic coupling 21 at the driven end. Simultaneously align the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the locking pin 14 (spring locking pin), and the docking mark 28. After engaging, rotate to the final position and press the mandrel 32 to unlock the locking structure 33, allowing the locking end 141 of the locking pin to extend into the locking positioning hole 223. Then release the mandrel 32, resetting it. The locking structure 33 is pushed out into the locking port 312, switching to the locked state, thus achieving the docking and locking of the quick-change motor structure at the motor end and driven end (e.g., ...). Figure 8 (As shown). To unlock, press spindle 32 (as shown). Figure 9(As shown by the "downward arrow"), the locking structure 33 is in the unlocked state, and the locking end 141 of the locking pin is controlled to exit the locking positioning hole 223. At the same time, it is rotated in the opposite direction until the locking pin is aligned with the docking mark 28, thus completing the disengagement of the motor quick-change structure between the motor end and the driven end. (As shown by the "downward arrow") Figure 9 (As shown by the "upward arrow"), this completes the quick removal of motor 10.

[0139] Below, in conjunction with Figures 14 to 16 The diagram illustrates the locking and disassembly process of the pull-out spring pin in achieving the docking, locking, and disassembly of the quick-change motor structure between the motor end and the driven end. Align the first magnetic coupling 11 at the motor end with the second magnetic coupling 21 at the driven end. Simultaneously align the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the locking pin 14 (spring locking pin), and the docking mark 28. After engaging, rotate to the final position and pull out the spindle 32 to unlock the locking structure 33 (e.g., ...). Figure 16 Pull the spindle 32 in the direction indicated by the middle arrow (as shown by the arrow) so that the locking end 141 of the locking pin extends into the locking positioning hole 223; then release the spindle 32, the spindle 32 resets, and the locking structure 33 is pushed out into the locking port 312, switching to the locked state, thus realizing the docking and locking of the quick-change structure of the motor end and the driven end. When unlocking is required, pull the spindle 32 (as shown by the arrow) to make the locking end 141 of the locking pin extend into the locking positioning hole 223; then release the spindle 32, the spindle 32 resets, the locking structure 33 is pushed out into the locking port 312, and the locking structure is switched to the locked state, thus realizing the docking and locking of the quick-change structure of the motor end and the driven end. Figure 16 Pulling in the direction indicated by the middle arrow puts the locking structure 33 in the unlocked state and controls the locking end 141 of the locking pin to exit the locking positioning hole 223. At the same time, rotate in the opposite direction until the locking pin is aligned with the docking mark 28, and disengage the motor quick-change structure of the motor end from the driven end, thus completing the quick removal of the motor 10.

[0140] The foregoing description and accompanying drawings fully illustrate embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included or substituted for parts and features of other embodiments. Embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A motor quick change structure capable of being applied to a direct connection installation of a robot operation, for a motor end, characterized by, The motor quick-change structure comprises: a first magnetic coupling capable of being connected with an output shaft of a motor; a first fixing member for fixing an output end of the motor, the first fixing member comprising a first cylinder coaxially sleeved outside the first magnetic coupling, and a first positioning structure provided on a connecting end of the first cylinder; an end surface of the connecting end of the first magnetic coupling is lower than an end surface of the connecting end of the first fixing member; a first clamping member provided on the first positioning structure; and a locking pin provided on the connecting end of the first fixing member, and a locking end of the locking pin protruding from the end surface of the connecting end of the first fixing member; the locking pin comprises a spring locking pin, the spring locking pin comprising a pin shaft, a core shaft, a locking structure and a damping structure, an axial hole being provided on the pin shaft, and a locking opening being provided on a side wall of the pin shaft; the core shaft is movably arranged in the axial hole of the pin shaft, and a receiving groove is provided on a side wall of the core shaft; the locking structure is arranged in the locking opening, and the core shaft can move in the axial direction to switch the locking structure between an unlocked state and a locked state; the damping structure is arranged between the pin shaft and the core shaft to limit the relative displacement between the pin shaft and the core shaft; when the receiving groove of the core shaft coincides with the locking opening of the pin shaft, the locking structure is in the unlocked state; when the side wall of the core shaft is opposite to the locking opening of the pin shaft, the locking structure is in the locked state and partially protrudes from the outer side wall of the pin shaft; when the damping structure is not deformed, the locking structure is in the locked state; when the core shaft is moved in the axial direction to deform the damping structure, the locking structure can be switched to the unlocked state; the spring locking pin further comprises a handle and an operating structure, the handle is arranged on the pin shaft, the operating structure is arranged on an operating end of the core shaft, and the operating structure is close to the handle when the locking structure is switched from the locked state to the unlocked state; the distance between the operating structure and the handle is consistent with the movement displacement of the core shaft when the locking structure is switched from the locked state to the unlocked state; the operating structure is annular; the handle comprises a connecting part and a holding part, the connecting part has a through hole, the connecting part is connected with the first shaft end of the pin shaft in a coaxial manner of the through hole and the axial hole, the holding part is arranged on the connecting part, and the core shaft is movably arranged in the axial hole of the pin shaft after being arranged in the through hole.

2. The motor quick change structure of claim 1, wherein, the first clamping member comprises: a first boss arranged on a peripheral surface of the first positioning structure.

3. A direct mount motor quick change structure for a driven assembly end, characterized by, The motor quick-change structure comprises: a second magnetic coupling capable of being connected with the first magnetic coupling of the motor quick-change structure according to claim 1 or 2; an output shaft assembly coaxially connected with the second magnetic coupling; a second fixing member sleeved outside the second magnetic coupling and the output shaft assembly, a second positioning structure being provided on a connecting end of the second fixing member and capable of being connected with the first positioning structure of the motor quick-change structure according to claim 1 or 2; a second clamping member arranged on the second positioning structure of the second fixing member and capable of being clamped with the first clamping member of the motor quick-change structure according to claim 1 or 2; a locking positioning hole being provided on an end surface of the connecting end of the second fixing member and capable of being connected with the locking end of the locking pin of the motor quick-change structure according to claim 1 or 2.

4. The motor quick change structure of claim 3, wherein, the second clamping member comprises: A second boss is arranged on the circumferential surface of the second positioning structure and can be matched with the first boss of the motor quick-change structure according to claim 2; and a second clamping slot is formed between adjacent second bosses, and the size of the second clamping slot is greater than or equal to the size of the first boss.

5. The motor quick change structure of claim 4, wherein, The second clamping member further comprises: A second compression elastic member is arranged on the inner side surface of the second boss.

6. The motor quick change structure of claim 5, wherein, The second compression elastic member comprises a compression spring sheet which is arranged on the inner side surface of the second boss in the circumferential direction; and one end of the compression spring sheet is connected with the inner side surface of the second boss, and the other end is away from the inner side surface of the second boss.

7. The motor quick change structure according to any one of claims 3 to 6, characterized in that, Further comprising: A docking mark is arranged on the second fixing member.

8. The motor quick change structure according to any one of claims 3 to 6, characterized in that, The output shaft assembly comprises: A bearing whose outer ring is arranged on the inner wall of the second fixing member; An output shaft is arranged in the shaft hole of the bearing.

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