Directly connected motor quick change structure

Abstract

The application relates to the motor technical field and discloses a motor quick-change structure for direct connection and installation, which comprises a first shaft coupling, a first fixing piece and a first locking piece. The first shaft coupling can be connected with the output shaft of a motor; the first fixing piece is arranged at the output end of the motor and is sleeved outside the first shaft coupling; and the connecting end of the first fixing piece is provided with a first positioning structure; the first locking piece is arranged on the first fixing piece, and the locking end of the first locking piece protrudes from the end surface of the connecting end of the first fixing piece. The motor quick-change structure of the disclosed embodiment is applied to the motor end and is used in cooperation with the motor quick-change structure applied to the driven assembly end, and the two structures realize the functions of quick docking, locking and quick removal by combining the shaft coupling, the positioning structure and the locking piece. The motor quick-change structure is suitable for the working condition of medium and low speed output and can transmit a large torque under the working condition of medium and low speed. The motor quick-change structure is modularized, 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 screws, to connect and secure the motor and driven components at their input ends. The installation of these coupling screws, in particular, is complex. In glove boxes or other environments where complex operations are difficult, 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 coupling, a first fixing member, and a first locking member. The first 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 on the outside of the first coupling; and its connecting end is provided with a first positioning structure; the first locking member is disposed on the first fixing member, and its locking end protrudes from the end face of the connecting end of the first fixing member.

[0007] In some embodiments, the directly-mounted motor quick-change structure, used as the driven end, includes: a second coupling capable of engaging with the first coupling of the aforementioned motor quick-change structure; an output shaft assembly coaxially connected to the second coupling; a second fixing member sleeved on the second coupling and the output shaft assembly; the connecting end of the second fixing member is provided with a second positioning structure capable of engaging with the first positioning structure of the aforementioned motor quick-change structure; and a second locking hole provided on the second fixing member capable of engaging with the first locking member of the aforementioned motor quick-change structure for locking.

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

[0009] The quick-change motor structure of this disclosure is applied to the motor end and used in conjunction with the quick-change motor structure applied to the driven component end. The coupling realizes the power transmission function, and through locking elements and positioning structures, it achieves quick docking, locking and fixing, anti-torsion functions, and quick disassembly. It is suitable for low-to-medium speed output conditions and can transmit large torque under low-to-medium speed conditions. It is especially suitable for use in conditions where the motor and reducer are integrated, and can connect a large torque load to the output shaft of the quick-change motor structure used for the driven component end. Through modular design, it realizes the function of quick disassembly and quick replacement of the entire motor in special environments, such as glove boxes. Moreover, the quick-change motor structure of this disclosure is simple in structure, highly efficient, and highly versatile, and has no impact on other work activities in glove boxes or other special environments.

[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 an exploded structural diagram of a motor quick-change structure provided in an embodiment of this disclosure;

[0013] Figure 2 yes Figure 1 The diagram shown is a front view of the exploded structure.

[0014] Figure 3 This is a partial cross-sectional view of a motor quick-change structure provided in an embodiment of this disclosure;

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

[0016] Figure 5 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0017] Figure 6 This is a cross-sectional structural diagram of a spring locking pin in use, provided in an embodiment of this disclosure;

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

[0019] Figure 8This is a schematic diagram of another spring locking pin provided in an embodiment of this disclosure;

[0020] Figure 9 This is a schematic diagram of another spring locking pin 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 the structure of a mandrel provided in an embodiment of this disclosure;

[0023] Figure 12 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0024] Figure 13 This is a cross-sectional view of a spring locking pin provided in an embodiment of this disclosure;

[0025] Figure 14 This is a cross-sectional structural diagram of a spring locking pin in use, provided in an embodiment of this disclosure.

[0026] Figure label:

[0027] 10. Motor; 101. Motor output shaft; 11. First coupling; 110. Claw tooth portion; 111. Claw tooth tip; 112. First transmission surface; 12. First fixing member; 121. First positioning structure; 122. First shaft hole; 123. Assembly hole; 124. Fixing hole; 13. First locking member; 131. Locking end; 21. Second coupling; 210. Claw tooth groove; 211. Groove wall tip; 212. Second transmission surface; 213. Annular portion; 22. Second fixing member; 221. Second positioning structure; 222. Third positioning structure; 23. Second locking hole; 231. Clamping structure; 24. Bearing; 25. Output shaft 26. Locking nut; 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. Annular part; 344. Hollow area; 345. Stop platform; 35. Outer shell; 36. Damping structure. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Unless otherwise stated, the term "multiple" means two or more.

[0033] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0034] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[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 1-14 As shown, this embodiment of the present disclosure provides a direct-connection quick-change structure for a motor 10, comprising a first coupling 11, a first fixing member 12, and a first locking member 13. The first coupling 11 can be connected to the output shaft 25 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 coupling 11; and its connecting end is provided with a first positioning structure 121; the first locking member 13 is disposed on the first fixing member 12, and its locking end 131 protrudes from the end face of the connecting end of the first fixing member 12.

[0037] The quick-change motor structure of this disclosure is applied to the motor end and used in conjunction with the quick-change motor structure applied to the driven component end. The coupling realizes the power transmission function, and through locking elements and positioning structures, it achieves quick docking, locking and fixing, anti-torsion functions, and quick disassembly. It is suitable for low-to-medium speed output conditions and can transmit large torque under low-to-medium speed conditions. It is especially suitable for use in conditions where the motor and reducer are integrated, and can connect a large torque load to the output shaft of the quick-change motor structure used for the driven component end. Through modular design, it realizes the function of quick disassembly and quick replacement of the entire motor in special environments, such as glove boxes. Moreover, the quick-change motor structure of this disclosure is simple in structure, highly efficient, and highly versatile, and has no impact on other work activities in glove boxes or other special environments.

[0038] The 10th motor 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 coupling 11, but also serves as a docking and positioning structure for the quick-change structure of the motor at the driven component end. Therefore, the connecting end of the first fixing member 12 is the end that docks with the quick-change structure of the motor at the driven component end.

[0040] In this embodiment, the first coupling 11 and the second coupling 21 are in contact connection. Therefore, by adjusting the relative position of the first coupling 11 and the first fixing member 12, a suitable connection between the second coupling 21 and the second fixing member 22 of the driven end motor quick-change structure is ensured. Optionally, the end face of the connecting end of the first coupling 11 protrudes beyond the end face of the connecting end of the first fixing member 12. After ensuring that the connecting end of the first fixing member 12 is mated with the connecting end of the second fixing member 22 of the driven end motor quick-change structure, the first coupling 11 and the second coupling 21 are in contact assembly connection.

[0041] In some embodiments, combined with Figures 1 to 3 As shown, the first coupling 11 includes a U-shaped jaw that can be connected to the output shaft 25 of the motor; the tips 111 of the two jaw teeth 110 of the U-shaped jaw are tapered. The tapered ends form a guide cone surface, which can ensure that the jaw teeth can be smoothly engaged under any angle of engagement.

[0042] Optionally, the transmission surfaces (denoted as the first transmission surface 112) of the two claw teeth 110 of the U-shaped chuck are inclined inward from the root to the end. That is, the size of the claw teeth 110 decreases from the root to the end. Here, the transmission surface refers to the mating contact surface when engaging with the claw tooth groove 210 of the second coupling 21. This contact surface is used to transmit power and is therefore defined as the transmission surface. Optionally, the two sides of the claw teeth 110 in the thickness direction are the transmission surfaces. That is, the thickness of the end of the claw teeth 110 is less than the thickness of its root. Setting the transmission surface as an inclined surface can ensure that the couplings at both ends (motor end and driven end) do not jam when axially mated, while also ensuring a very small backlash (clearance) margin. That is, the coupling in this embodiment adopts an inclined tooth coupling, which has a simple structure and is suitable for both low and medium speed conditions and high speed conditions. It can transmit large torque at low to medium speeds, and is especially suitable for use in applications where the motor and reducer are integrated. It can connect loads with large torques to the output shaft 25 of the motor quick-change structure used for the driven component. When high-speed applications are required (motor directly connected to the coupling, without a reducer), the inclined surface of the inclined gear coupling can be machined with high precision to meet the requirements of high-speed applications.

[0043] Optionally, the inclination angle of the transmission surface (first transmission surface 112) of the two claw teeth 110 of the U-shaped chuck is 2° to 5°.

[0044] Optionally, the inclination angle of the transmission surface of the two claw teeth 110 of the U-shaped chuck is 2° to 4°.

[0045] Optionally, the inclination angle of the transmission surfaces of the two claw teeth 110 of the U-shaped chuck is 3°.

[0046] In this embodiment, the structure of the first fastener 12 is not limited. In some embodiments, combined with... Figure 1 and Figure 4 As shown, the first fixing member 12 includes a fixing plate, on which a first shaft hole 122 and an assembly hole 123 are provided. The fixing plate is set at the output end of the motor 10 by means of the motor output shaft 101 passing through the first shaft hole 122. The first locking member 13 is set in the assembly hole 123. The first positioning structure 121 is set on the end face of the connecting side of the fixing plate.

[0047] Optionally, the fixing plate is fixedly disposed on the output end of the motor, for example, by screw fixing connection. Optionally, fixing holes 124 are provided around the first shaft hole 122 for fixing to the output end face of the motor 10.

[0048] In this embodiment, a first positioning structure 121 is provided on the end face of the connecting side of the first fixing member 12. The structure of the first positioning structure 121 is not limited and can be a positioning protrusion or a positioning groove. Optionally, the first positioning structure 121 includes a positioning protrusion ring and / or a positioning ring groove. The positioning protrusion ring or positioning ring groove is coaxially disposed with the first coupling 11 on the connecting end of the first fixing member 12, that is, on the end face of the connecting side of the fixing plate.

[0049] In this embodiment of the present disclosure, the first locking member 13 is a structural member used to lock and connect the motor end and the driven end of the motor quick-change structure, limiting the displacement of the two in the circumferential direction.

[0050] In some embodiments, the first locking member 13 includes a locking pin. It is movably disposed within the mounting hole, and when the motor end and the driven end of the motor quick-change structure are mated and connected, the locking end 131 of the locking pin can be inserted into the second locking hole 23 of the driven end of the motor quick-change structure and locked in place. To unlock, the spring locking pin can be pulled out.

[0051] Optionally, the first locking member 13 includes a spring locking pin. The outer wall of the spring locking pin is fixedly disposed, for example, within a mounting hole 123 on the fixing plate of the first fixing member 12. When the motor end and the driven end of the motor quick-change structure are engaged and connected, the locking end 131 of the spring locking pin can be inserted into the second locking hole 23 of the driven end of the motor quick-change structure and locked in place. The locking pin is unlocked from the locking hole by pressing / pulling the mandrel, thereby unlocking the engagement between the motor end and the driven end of the motor quick-change structure.

[0052] Optionally, the spring locking pin includes a push-type locking pin or a pull-type locking pin.

[0053] Combination Figure 1-14As shown, this embodiment of the present disclosure provides a direct-connect motor quick-change structure for the driven end, including a second coupling 21, an output shaft assembly, a second fixing member 22, and a second locking hole 23. The second coupling 21 can be connected to the first coupling 11 of the aforementioned motor quick-change structure for the motor end; the output shaft assembly is coaxially connected to the second coupling 21 and is used to connect to the input end of the driven component; the second fixing member 22 is sleeved on the second coupling 21 and the output shaft 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; the second locking hole 23 is provided on the second positioning structure 221 of the second fixing member 22 and can cooperate with the first locking member 13 of the aforementioned motor quick-change structure for the motor end to lock.

[0054] In this embodiment, the first coupling 11 and the second coupling 21 are in contact connection. Therefore, by adjusting the relative position of the second coupling 21 and the second fixing member 22, a suitable connection between the first coupling 11 and the first fixing member 12 and the motor quick-change structure at the motor end is ensured. Optionally, the end face of the connecting end of the second coupling 21 protrudes beyond the end face of the connecting end of the second fixing member 22. After ensuring that the connecting end of the second fixing member 22 is mated with the connecting end of the first fixing member 12 of the motor quick-change structure at the motor end, the first coupling 11 and the second coupling 21 are in contact assembly connection.

[0055] In some embodiments of this disclosure, combined with Figures 1 to 3 As shown, the second coupling 21 includes a second jaw with toothed grooves 210 that mate with the U-shaped jaw (first coupling 11) of the aforementioned quick-change structure for the motor end. That is, the second jaw has at least two toothed grooves 210 for engaging with the two toothed portions 110 of the U-shaped jaw. The shape of the toothed grooves 210 is consistent with the shape of the toothed portions 110.

[0056] Optionally, the top 211 of the groove wall of the claw groove 210 is an open inclined surface. This facilitates the insertion of the U-shaped claws of the first coupling 11. When the ends of the two claw teeth 110 of the U-shaped claw are tapered, the two parts further ensure that the claw teeth can be smoothly engaged under any angle of engagement.

[0057] Optionally, when the transmission surfaces of the two claw teeth 110 of the U-shaped chuck are inclined inward from the root to the end, the transmission surface of the claw tooth groove 210 of the second chuck (defined as the second transmission surface 212) also has a matching inclined surface, that is, the transmission surfaces of the claw tooth groove 210 are inclined towards each other from the end to the root. The inclination angle of the transmission surface of the claw tooth groove 210 of the second chuck is consistent with the inclination angle of the transmission surface of the claw teeth 110 of the U-shaped chuck.

[0058] Optionally, the second jaw includes an annular portion 213, on which multiple pairs of jaw tooth grooves 210 are provided axially, each pair of jaw tooth grooves 210 being centrally symmetrical. This facilitates engagement and locking. The top of the groove wall between two adjacent jaw tooth grooves 210 forms a cone shape. The top of this cone shape forms a guide cone surface, ensuring smooth engagement of the jaw teeth even when engaging at any angle.

[0059] 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 coupling 21 and the output shaft assembly. 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.

[0060] Optionally, the second fastener 22 adopts a flange structure. That is, it has both a cylindrical structure and a fixed connection structure.

[0061] Optionally, the end of the second cylinder on the connecting end side of the second fixing member 22 is the second positioning structure 221, which can be adapted to the positioning protrusion or positioning ring groove of the motor quick-change structure at the motor end.

[0062] Optionally, the first positioning structure 121 includes a positioning protrusion ring, which is coaxially disposed on the end face of the connecting end side of the fixing plate with the first coupling 11. The second positioning structure 221 is the end of the second cylinder on the connecting end side of the second fixing member 22. The positioning protrusion ring is inserted into the end of the second cylinder on the connecting end side of the second fixing member 22. The outer diameter of the positioning protrusion ring is adapted to the inner diameter of the end of the second cylinder.

[0063] In some embodiments, a locking structure 231 is provided on the inner wall of the second locking hole 23, which cooperates with the locking structure of the locking end 131 of the first locking member 13 to achieve locking.

[0064] In some embodiments, the output shaft assembly includes a bearing 24 and an output shaft 25. One end of the output shaft 25 is connected to the output end of the second coupling 21, and the other end is used to connect to the input end of the driven component. The outer ring of the bearing 24 is disposed on the inner wall of the second fixing member 22, and the inner ring is sleeved on the output shaft 25. The bearing 24 provides support and fixation, thereby relatively fixing the second coupling 21 and the output shaft 25 within the second fixing member 22. The second coupling 21 directly transmits rotation to the output shaft 25, which then transmits it to the input end of the driven component connected to it.

[0065] Optionally, the output shaft 25 is mounted on the inner ring of the bearing 24 via a locking nut 26. The connection is reliable.

[0066] Optionally, bearing 24 includes a double-row angular contact ball bearing 24.

[0067] In this embodiment of the disclosure, combined with Figures 5 to 14 The diagram illustrates the specific structure of the spring locking pin (first locking member 13) that can be used in the quick-change motor structure of this 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 state and a 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 spindle 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 spindle 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.

[0068] When the locking structure 33 is in the locked state, the side wall portion of the locking structure 33 that contacts the spindle 32 is inclined, serving as the ejection inclined surface 320. The pin 31 is fixedly installed in the assembly hole 123 of the first fixing member 12.

[0069] 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 unlock. This facilitates the insertion or withdrawal of the locking pin into the second locking hole 23 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.

[0070] When using locking pins to lock the quick-change motor structure at the motor end and the driven end, the first coupling 11 at the motor end is aligned with the second coupling 21 at the driven end. At the same time, the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the first locking element 13 (spring locking pin), and the second locking hole 23 (locking sleeve) are aligned. The spindle 32 is controlled to move axially upward so that the locking structure 33 of the spring locking pin is in the unlocked state. After the two are engaged and in place, the spindle 32 is released. The restoring force of the damping structure 36 causes the spindle 32 to reset, so that the locking structure 33 moves out of the receiving groove 321 and is 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 locked onto the locking platform structure in the second locking hole 23 of the locking sleeve, thus realizing the docking and locking of the quick-change motor structure at the motor end and the driven end. When unlocking is required, the control spindle 32 moves axially upwards, causing the locking structure 33 of the spring locking pin to be in the unlocked state, thus disengaging the motor quick-change structure from the driven end, thereby completing the quick removal of the motor 10. Therefore, the spring locking pin structure of this embodiment is simple, easy to operate, highly efficient, highly stable, does not fail, and has strong versatility. It can be used inside a glove box without affecting other work activities inside the glove box.

[0071] 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.

[0072] 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 5-7 (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 8-13 (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.

[0073] In some embodiments, combined with Figure 9As 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.

[0074] In some embodiments, combined with Figure 5 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.

[0075] 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.

[0076] like Figures 5 to 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 shaft end 314 of the pin 31. When the spring locking pin is in the locked state, the receiving groove 321 is located near the first shaft end 313 of the locking port 312. 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).

[0077] like Figures 8 to 13 As shown, the damping structure 36 is connected to the spindle 32 at the end 323 of the spindle 32, and connected 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 type locking pin.

[0078] 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.

[0079] Optionally, such as Figure 5 and Figure 11 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.

[0080] 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, limiting the displacement of one end of the damping structure 36 (spring). Figure 5 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 11 and Figure 12 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.

[0081] 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 5 As 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 12 and Figure 13 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Optionally, the operating structure 325 protrudes from the first shaft end 313 of the pin 31, facilitating operation of the spindle 32.

[0086] Optionally, such as Figure 5 As shown, the operating mechanism 325 is cylindrical. It is a button type, for example, suitable for a push-button type locking pin.

[0087] Optionally, such as Figure 8 As 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] Optionally, the holding part 343 is symmetrically arranged on the connecting part 341.

[0092] Optionally, such as Figure 11 and Figure 12 As 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.

[0093] 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.

[0094] Optionally, the operating structure 325 is housed in the hollow region 344 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 region 344, the distance between the operating structure 325 and the inner wall of the hollow region 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] Optionally, the shape of the hollow region 344 of the annular grip portion matches the shape of the operating structure 325.

[0099] Optionally, the hollow area 344 of the annular grip is square, and the operating structure 325 is square-ringed.

[0100] 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.

[0101] 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 gripping part 343 (annular gripping part).

[0102] Optionally, the hollow area 344 of the gripping part 343 (annular gripping part) is square, and the operating structure 325 is square annular.

[0103] Optionally, the square annular operating structure 325 is adapted to the hollow area 344 of the gripping part 343 (annular gripping part), and a displacement space for the square annular operating structure 325 is reserved in the axial direction.

[0104] 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.

[0105] 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.

[0106] Optionally, the stop 345 is disposed on the housing 35. It can be integrally formed with the housing 35.

[0107] 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 5 and Figure 8 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.

[0108] 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.

[0109] In some embodiments, combined with Figure 5 and Figure 6 , Figure 12 and Figure 13 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.

[0110] 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.

[0111] 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 32.

[0112] In some embodiments, combined with Figures 5 to 7 ,as well as Figure 11 and Figure 12 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.

[0113] 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.

[0114] 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 32 will be reduced.

[0115] 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.

[0116] Combination Figure 11 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.

[0117] 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.

[0118] Optionally, the end face of the locking part that contacts the spindle 32 is curved, facilitating the movement of the spindle 32.

[0119] 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 protrusion.

[0120] Below, in conjunction with Figures 5 to 7 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 coupling 11 at the motor end with the second coupling 21 at the driven end. Simultaneously align the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the first locking element 13 (spring locking pin), and the second locking hole 23 (locking sleeve). Press the mandrel 32 to unlock the locking structure 33. After engaging and positioning both, release the mandrel 32. The mandrel 32 resets, and the locking structure 33 is pushed out into the locking port 312, switching to the locked state. This achieves the docking and locking of the quick-change motor structure at the motor end and driven end (e.g., ...). Figure 6 (As shown). To unlock, press spindle 32 (as shown). Figure 7 (As shown by the "downward arrow"), the locking structure 33 is in the unlocked state, disengaging the motor end from the driven end of the motor quick-change structure (as shown by the "downward arrow"). Figure 7 (As shown by the "upward arrow"), this completes the quick removal of motor 10.

[0121] Below, in conjunction with Figures 12 to 14 The diagram illustrates the process of locking and disassembling the quick-change motor structure at the motor end and driven end using a pull-out spring pin. The first coupling 11 at the motor end is aligned with the second coupling 21 at the driven end. Simultaneously, the first positioning structure 121 (positioning convex ring), the second positioning structure 221 (positioning hole), the first locking element 13 (spring locking pin), and the second locking hole 23 (locking sleeve) are aligned. Pulling out the spindle 32 unlocks the locking structure 33 (as shown). Figure 14 Following the direction of the pull-out arrow (as indicated by the middle arrow), after engaging and positioning the two parts, 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. This allows for the docking and locking of the quick-change motor structure between the motor end and the driven end. To unlock, pull out the spindle 32 (as indicated by the middle arrow). Figure 14 Pulling in the direction indicated by the middle arrow puts the locking structure 33 in the unlocked state, disengaging the motor end from the driven end of the motor quick-change structure, thus completing the quick removal of the motor 10.

[0122] 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 hand, characterized by, A motor end structure comprises: A first coupling capable of being connected with an output shaft of a motor; A first fixing member for fixing an output end of the motor and sleeved on the first coupling, and a connecting end of the first fixing member is provided with a first positioning structure; an end surface of a connecting end of the first coupling protrudes from an end surface of the connecting end of the first fixing member; A first locking member provided on the first fixing member and protruding from the end surface of the connecting end of the first fixing member; The first fixing member comprises a fixing plate provided with a first shaft hole and an assembly hole, and the fixing plate is arranged on the output end of the motor in a manner that the output shaft of the motor passes through the first shaft hole; the first locking member is arranged in the assembly hole; and the first positioning structure is arranged on an end surface of a connecting side of the fixing plate; The first locking member comprises a spring locking pin; the spring locking pin comprises a pin shaft, a core shaft, a locking structure and a damping structure; an axial shaft hole is arranged on the pin shaft; a locking opening is arranged on a side wall of the pin shaft; the core shaft is movably arranged in the shaft hole of the pin shaft; a containing groove is arranged on a side wall of the core shaft; the locking structure is arranged in the locking opening; the core shaft can move in the axial direction to switch the locking structure between an unlocking state and a locking 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 containing groove of the core shaft coincides with the locking opening of the pin shaft, the locking structure is in the unlocking 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 locking 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 locking state; when the core shaft is moved in the axial direction to deform the damping structure, the locking structure can be switched to the unlocking 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; when the locking structure is switched from the locking state to the unlocking state, the operating structure is close to the handle; 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 locking state to the unlocking 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 shaft hole; the holding part is arranged on the connecting part; and the core shaft is movably arranged in the shaft hole of the pin shaft after passing through the through hole.

2. The motor quick change structure of claim 1, wherein, The first coupling comprises: A U-shaped claw capable of being connected with the output shaft of the motor; end portions of two claw tooth portions of the U-shaped claw are tapered.

3. The motor quick change structure of claim 2, wherein, The transmission surfaces of the two claw tooth portions of the U-shaped claw are inwardly inclined from the root portions to the end portions.

4. The motor quick change structure of claim 3, wherein, The inclination angle of the transmission surfaces of the two claw tooth portions of the U-shaped claw is 2°-5°.

5. The motor quick change structure according to any one of claims 1 to 4, characterized in that, Further comprising: A motor quick change structure for a driven assembly end; The motor quick change structure for the driven assembly end comprises: A second coupling capable of being connected with the first coupling; An output shaft assembly coaxially connected with the second coupling; A second fixing member sleeved on the second coupling and the output shaft assembly; a connecting end of the second fixing member is provided with a second positioning structure capable of being connected with the first positioning structure; A second locking hole provided on the second fixing member and capable of being locked with the first locking member; The second coupling comprises: An inner wall of the second locking hole is provided with a clamping table structure matched with the locking structure of the locking end of the first locking member.

6. The motor quick-change structure according to claim 5, characterized in that, In the case where the first coupling comprises a U-shaped clamping jaw, the second coupling comprises: a second clamping jaw having a jaw tooth groove matched with the U-shaped clamping jaw.

7. The motor quick change structure of claim 6, wherein, The second clamping jaw comprises an annular portion, and a plurality of pairs of jaw tooth grooves are arranged on the annular portion in the axial direction, and each pair of jaw tooth grooves is centrally symmetrical.

8. The motor quick change structure of claim 5, wherein, The output shaft assembly comprises: an output shaft having one end connected with the output end of the second coupling; a bearing, the outer ring of which is arranged on the inner wall of the second fixing member, and the inner ring of which is sleeved on the output shaft.

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