Locking power-off structure of empty cup motor for robot

Abstract

The invention provides a locking power-off structure of an empty cup motor for a robot, and belongs to the technical field of intelligent robots. The locking frame is mounted on the rear cover of the empty cup motor, the triggering piece with the amplifying piece and the locking piece acting on the rotating shaft of the empty cup motor are arranged in the locking frame, and meanwhile, the power-off switch connected to the triggering piece through the synchronizing piece is arranged in the locking frame, so that when the high temperature problem occurs at the internal joints of the robot, the power-off switch is switched off, and the safety of the robot is ensured. According to the robot joint, the trigger part can sense and drive the locking part to act in time, rotation of the rotating shaft of the empty cup motor is limited through the locking part, the locking purpose is achieved, the state of the robot joint is maintained, and potential safety hazards are avoided; and meanwhile, the power-off switch is driven by the synchronous part to realize linkage power-off operation, so that the problem of heating caused by continuous power supply of the locked empty cup motor is avoided, the safety of the empty cup motor and related sensors and control circuits is effectively ensured, the service life of the robot is prolonged, and the development of the intelligent robot is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and specifically relates to a locking and power-off structure for a hollow cup motor used in a robot. Background Art

[0002] With the development of intelligent assembly, the development and application of intelligent robots have gradually entered people's production and life. Moreover, with the popularization of the application scenarios of intelligent robots, the demand for hollow cup motors, which are the core power components of their joint movements, is also increasing.

[0003] The existing hollow cup motors on the market are usually like the hollow cup motor disclosed in the patent application CN115333318A. It connects the rotor frame with the motor shaft, and connects one end of the hollow cup coil with the rotor frame. In addition, at least one of the inner and outer sides of the hollow cup coil is provided with a support member, and a housing is provided outside the hollow cup coil, and a permanent magnet is provided inside the hollow cup coil. One end of the permanent magnet is fixed on the housing, and air gaps are respectively provided between the inner and outer sides of the hollow cup coil and the permanent magnet and the housing. In addition, a commutator is provided at one end of the rotor frame, and the commutator contacts through a brush holder including carbon brushes on the rear cover, so that when the carbon brushes are energized, the hollow cup coil is powered through the commutator, and the hollow cup coil rotates under the action of the permanent magnet, thereby driving the motor shaft to rotate through the rotor frame to achieve power output. Although the above hollow cup motor can already meet the requirements of high-efficiency power output and has the characteristics of light weight and rapid response, for some intelligent robots such as manipulators, they need to maintain a continuously powered state during the working process, and when they are not working, the hollow cup motors at their joints are also constantly powered on. Moreover, when maintaining the state of the intelligent robot, it causes the hollow cup motors to continuously operate under load, resulting in an increase in the internal joint temperature of the intelligent robot, which affects sensors and control circuits, etc. Therefore, designing a hollow cup motor that can be locked and powered off when not working is the development direction of the industry. Summary of the Invention

[0004] Aiming at the above problems existing in the prior art, the present invention aims to provide a locking and power-off structure for a hollow cup motor used in a robot. A locking component is provided on the rear cover of the hollow cup motor where the carbon brushes are installed. At the same time, a power-off component is installed on the locking component. Moreover, one end of the rotating shaft of the hollow cup motor passes through the rear cover and cooperates with the locking component, so that when the temperature of the internal joint rises, it can be self-locked through the locking component, and when the locking component is self-locked, the power-off component automatically cuts off the power, avoiding the continuous rise of the temperature, thereby ensuring the safety of the hollow cup motor, sensors, and control circuits, extending the service life, and being beneficial to the development of intelligent robots.

[0005] The specific technical solutions are as follows: A locking and power-off structure for an empty cup motor of a robot, which is installed on the rear cover of the empty cup motor, and one end of the rotating shaft of the empty cup motor extends through the rear cover and continues to extend, having the following characteristics, including a locking component and a power-off component. The locking component further includes a locking bracket, a trigger member, and a locking member. The power-off component further includes a synchronization member and a power-off switch; Moreover, the locking bracket is installed on the rear cover. The locking bracket has a cavity, and one end of the rotating shaft of the empty cup motor that passes through the rear cover and extends into the cavity; The trigger member includes a thermal sensing member, an amplifying member, and a slider. The thermal sensing member is arranged on the locking bracket and deforms when the temperature changes. The amplifying member is arranged in the cavity, one end of which is in contact with the thermal sensing member, and the other end is arranged towards the rotating shaft. The slider is slidably arranged on the locking bracket along the axial direction of the rotating shaft, and one side of the slider is connected to the amplifying member; The locking member includes a locking disc and an abutting piece. The locking disc is fixedly sleeved on one end of the rotating shaft extending into the cavity, and the abutting piece is installed on the slider, and the abutting piece selectively contacts the locking disc; The synchronization member includes a push-pull rod and a connecting head. Connecting heads are arranged at both ends of the push-pull rod, and one connecting head is connected to the slider; The power-off switch includes a wiring part and a disconnecting part. The wiring part is arranged in the cavity and has two first contact terminals. The two first contact terminals respectively extend from both sides of the locking bracket to the outside of the locking bracket. The disconnecting part is connected to the other connecting head, and the disconnecting part has two second contact terminals that selectively contact the first contact terminals one by one, and the two second contact terminals are electrically connected.

[0006] In the above-mentioned locking and power-off structure for an empty cup motor of a robot, further includes a heat conducting member. One end of the heat conducting member is connected to the thermal sensing member, and the other end of the heat conducting member extends to a joint inside the robot where high temperature is likely to be generated.

[0007] In the above-mentioned locking and power-off structure for an empty cup motor of a robot, the locking bracket is arranged in a barrel shape, and the barrel mouth end of the locking bracket is sleeved on the rear cover.

[0008] In the above-mentioned locking and power-off structure for an empty cup motor of a robot, the amplifying member includes a deformation capsule, a fluid medium, a limiting shell, a large cross-section push block, and a small cross-section push block. The deformation capsule is made of soft capsule material, and the deformation capsule is filled with a fluid medium. The limiting shell has a variable cross-section cavity, and the variable cross-section cavity includes a large cross-section cavity and a small cross-section cavity that are connected to each other and arranged along the same straight line direction. The large cross-section push block and the small cross-section push block are respectively slidably arranged in the large cross-section cavity and the small cross-section cavity. The deformation capsule is arranged in the variable cross-section cavity and both ends respectively abut against the large cross-section push block and the small cross-section push block. The side of the large cross-section push block facing away from the deformation capsule abuts against the thermal sensing member, and the side of the small cross-section push block facing away from the deformation capsule abuts against the slider.

[0009] The above-mentioned locking and power-off structure of the empty cup motor for a robot also includes a reset spring, which is arranged on the side of the slider away from the small-section push block, and the two ends of the reset spring are respectively in contact with the locking frame and the slider.

[0010] The above-mentioned locking and power-off structure of an empty cup motor for a robot, wherein a limiting surface is set at one end of the rotating shaft extending into the locking frame, the limiting surface is arranged along the tangent direction of the rotating shaft, and the locking disk is sleeved on the portion of the rotating shaft with the limiting surface, and the locking disk is provided with an abutment surface that cooperates with the limiting surface. At the same time, a retaining ring is provided at the end of the rotating shaft, and the retaining ring abuts against the locking disk.

[0011] In the above-mentioned locking and power-off structure of an empty cup motor for a robot, the locking frame is made of plastic material, and a metal ring is embedded in one end of the locking frame close to the rear cover.

[0012] The above-mentioned locking and power-off structure of an empty cup motor for a robot, wherein a slide groove is opened on the inner wall of the cavity of the locking frame along the axial direction of the rotating shaft, the slider is slidably arranged in the slide groove, and one side of the slider extends out of the slide groove, and the part of the slider extending out of the slide groove is connected to the abutment plate, the connecting head and the small-section push block.

[0013] The above-mentioned locking power-off structure of the empty cup motor for a robot, wherein the opposite sides of the small-section push block and the large-section push block extend outside the variable-section cavity, and when the small-section push block and the large-section push block move in the variable-section cavity, one side of the small-section push block and the large-section push block is always located outside the variable-section cavity.

[0014] In the above-mentioned locking and power-off structure of an empty cup motor for a robot, the heat-sensing component is a thermal bimetallic strip.

[0015] The positive effects of the above technical solution are: The locking and power-off structure of the above-mentioned robot empty cup motor installs a locking assembly including a locking frame, a trigger part, and a locking part on the rear cover of the empty cup motor, and connects the locking assembly with a power-off assembly including a synchronization part and a power-off switch. When a high temperature problem occurs at the internal joints of the robot, the locking part can be driven to act in time by the trigger part, and the rotation of the rotating shaft of the empty cup motor can be restricted by locking, thereby maintaining the state of the robot joint and avoiding safety hazards. At the same time as locking the rotating shaft, the power-off assembly is linked to realize the power-off operation, avoiding the heating problem caused by the empty cup motor being continuously powered after locking, effectively ensuring the safety of the empty cup motor and the related sensors and control circuits, making the robot have a longer service life, and facilitating the development of intelligent robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A cross-sectional view of an embodiment of a locking and power-off structure of an empty cup motor for a robot according to the present invention; Figure 2 Structural diagram of a locking component according to a preferred embodiment of the present invention; Figure 3 Structural diagram of a power-off component according to a preferred embodiment of the present invention; Figure 4 Cross-sectional view of a magnifying member according to a preferred embodiment of the present invention.

[0017] In the drawings: 1, empty cup motor; 11, rear cover; 12, rotating shaft; 121, limiting surface; 122, snap ring; 2, locking component; 21, locking frame; 22, triggering member; 23, locking member; 211, cavity; 212, metal ring; 213, chute; 221, heat sensing member; 222, magnifying member; 223, slider; 231, locking disc; 232, abutting piece; 2221, deformation capsule; 2222, fluid medium; 2223, limiting shell; 2224, large cross-section push block; 2225, small cross-section push block; 3, power-off component; 31, synchronizing member; 32, power-off switch; 311, push-pull rod; 312, connecting head; 321, wiring part; 322, disconnection part; 3211, first contact; 3221, second contact; 4, return spring. Detailed implementation manners

[0018] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the following embodiments are combined with the attached Figure 1 to the attached Figure 4 to specifically elaborate on the technical solutions provided by the present invention, but the following content is not a limitation of the present invention.

[0019] Figure 1 Cross-sectional view of an embodiment of a locking and power-off structure of an empty cup motor for a robot according to the present invention. As Figure 1As shown in the figure, the locking and power-off structure of the empty cup motor for the robot provided in this embodiment is installed on the rear cover 11 of the empty cup motor 1. Moreover, one end of the rotating shaft 12 of the empty cup motor 1 passes through the rear cover 11 and continues to extend, providing the condition for restricting the rotating shaft 12 of the empty cup motor 1 through the locking and power-off structure subsequently. At this time, the locking and power-off structure of the empty cup motor 1 for the robot provided in this embodiment includes: a locking component 2 and a power-off component 3. Moreover, the locking component 2 further includes a locking frame 21, a triggering member 22, and a locking member 23, while the power-off component 3 further includes a synchronizing member 31 and a power-off switch 32. When a high-temperature problem occurs at the internal joint of the robot, the rotating shaft 12 of the empty cup motor 1 can be locked by the locking component 2, thereby maintaining the joint state of the robot, meeting the locking requirement, avoiding potential safety hazards. At the same time, when the rotating shaft 12 is locked, the power-off operation of the empty cup motor 1 is realized through the power-off switch 32, avoiding the heating problem caused by the continuous power supply of the empty cup motor 1, effectively ensuring the safety of the empty cup motor 1 and the related sensors and control circuits, extending the service life, and facilitating the development of intelligent robots.

[0020] Figure 2 It is a structural diagram of the locking component of a preferred embodiment of the present invention. As Figure 1 and Figure 2 shown in the figure, the locking frame 21 is installed on the rear cover 11 of the empty cup motor 1, realizing the connection between the locking frame 21 and the empty cup motor 1. Moreover, the locking frame 21 has a cavity 211. At this time, one end of the rotating shaft 12 of the empty cup motor 1 that passes through the rear cover 11 and extends into the cavity 211, providing the condition for the locking member 23 in the locking frame 21 to act on the rotating shaft 12 of the empty cup motor 1 to achieve locking.

[0021] Specifically, the trigger member 22 of the locking assembly 2 further includes a heat sensing member 221, an amplifying member 222, and a slider 223. At this time, the heat sensing member 221 is disposed on the locking bracket 21 and deforms when the temperature changes. When the heat sensing member 221 senses high temperature at the internal joint of the robot, it can deform itself, and then act on the locking member 23 through the amplifying member 222 and the slider 223, so as to lock the rotating shaft 12. In addition, after the temperature drops, the heat sensing member 221 can gradually return to its original state, so that the effect of the locking member 23 on the rotating shaft 12 is lost, and the empty cup motor 1 can continue to operate. In addition, the amplifying member 222 is disposed in the cavity 211, one end of which is in contact with the heat sensing member 221, and the other end is arranged toward the rotating shaft 12. The slider 223 is slidably disposed on the locking bracket 21 along the axial direction of the rotating shaft 12, and one side of the slider 223 is connected to the amplifying member 222. The deformation of the heat sensing member 221 can be amplified by the amplifying member 222, so that a small deformation of the heat sensing member 221 can be converted into a large displacement of the slider 223, enabling the slider 223 to push the locking member 23 later to lock the rotating shaft 12, and at the same time meeting the usage requirement of the small deformation amount of the heat sensing member 221.

[0022] Specifically, the locking member 23 of the locking assembly 2 further includes a locking disc 231 and an abutting piece 232. During installation, the locking disc 231 is fixedly sleeved on one end of the rotating shaft 12 extending into the cavity 211, and the locking disc 231 is circumferentially limited with the rotating shaft 12, so that the locking disc 231 can rotate synchronously with the rotating shaft 12. In addition, the abutting piece 232 is installed on the slider 223, and the abutting piece 232 selectively contacts the locking disc 231. That is, when the rotating shaft 12 needs to be locked, the slider 223 pushes the abutting piece 232 to contact the locking disc 231 to restrict the rotation of the rotating shaft 12. When the rotating shaft 12 needs to operate normally, the slider 223 drives the abutting piece 232 to separate from the locking disc 231, thereby releasing the restriction on the rotating shaft 12 and enabling the empty cup motor 1 to operate normally.

[0023] Figure 3 The structure diagram of the power-off assembly of a preferred embodiment of the present invention is shown in Figure 1 and Figure 3 As shown, the synchronizing member 31 of the power-off assembly 3 further includes a push-pull rod 311 and a connecting head 312. At this time, connecting heads 312 are provided at both ends of the push-pull rod 311, and one of the connecting heads 312 is connected to the slider 223, so that the slider 223 can drive the push-pull rod 311 to act through this connecting head 312, providing conditions for realizing the linkage between the locking assembly 2 and the power-off assembly 3.

[0024] Specifically, the power-off switch 32 of the power-off component 3 further includes a wiring part 321 and a disconnection part 322. At this time, the wiring part 321 is arranged in the cavity 211 and has two first contact terminals 3211. And, the two first contact terminals 3211 respectively extend from both sides of the locking bracket 21 to the outside of the locking bracket 21. One of the first contact terminals 3211 is electrically connected to an external circuit, and the other first contact terminal 3211 is electrically connected to an electrode of the empty cup motor 1. At the same time, the other electrode of the empty cup motor 1 is electrically connected to the external circuit. So that when the two first contact terminals 3211 are conducting, the operation of the empty cup motor 1 can be realized, and when the two first contact terminals 3211 are disconnected, the power-off of the empty cup motor 1 is realized. In addition, the disconnection part 322 is connected to the other connecting head 312 of the push rod 311, so that the disconnection part 322 can move along with the slider 223. And, the disconnection part 322 further has two second contact terminals 3221 that selectively contact the first contact terminals 3211 one by one, and the two second contact terminals 3221 are electrically connected between them. That is, when the disconnection part 322 moves along with the slider 223, the two first contact terminals 3211 and the two second contact terminals 3221 contact respectively. Through the two second contact terminals 3221, the electrical connection of the two first contact terminals 3211 is realized, and the rotation of the empty cup motor 1 is maintained. And when the slider 223 moves and drives the locking member to lock the rotating shaft 12, the slider 223 also synchronously drives the disconnection part 322 to separate from the wiring part 321, so that the two second contact terminals 3221 are separated from the two first contact terminals 3211, thereby realizing the disconnection of the power supply circuit of the empty cup motor 1 and meeting the power-off and locking requirements of the empty cup motor 1.

[0025] More specifically, the locking component 2 further includes a heat conducting member. At this time, one end of the heat conducting member is connected to the heat sensing member 221, and the other end of the heat conducting member extends to the joints inside the robot that are prone to generate high temperatures, so that when the joints inside the robot that are prone to generate high temperatures generate high temperatures, they can be efficiently transmitted to the heat sensing member 221 through the heat conducting member in the first time, and the response speed is faster. Preferably, the connection between the heat conducting member and the joints inside the robot that are prone to generate high temperatures is a fixed connection or a sliding contact connection, which is selected according to the structural characteristics of the joint. If the heat generating part is a fixed structure, a fixed connection is selected. If the heat generating part is a rotating or translating structure, a sliding contact connection is selected, which can not only meet the heat conduction requirements, but also avoid interfering with the joints inside the robot. In addition, the heat conducting member can be made of copper material, which has a high heat conduction efficiency and can timely conduct the high temperature to the heat sensing member 221, so that the heat sensing member 221 can respond in time.

[0026] More specifically, the locking frame 21 is arranged in a barrel shape. The locking frame 21 further includes a cylinder body and a cover plate. The cover plate is disposed at one end opening of the cylinder body and seals the opening, thus forming the bottom of the barrel of the locking frame 21. At the same time, the locking frame 21 is a split combined structure, which provides convenience for subsequent processing of structures such as the chute 213 in the locking frame 21 and the installation of the subsequent trigger member 22, locking member 23, synchronizing member 31, and power-off switch 32. In addition, the barrel opening end of the locking frame 21 is sleeved on the rear cover 11. Preferably, the locking frame 21 and the rear cover 11 are threadedly connected, that is, the locking frame 21 is screwed onto the rear cover 11, which is convenient for disassembly and assembly. At the same time, it can also maintain the axial stability between the two and prevent the occurrence of structural detachment problems, and the structural design is more reasonable.

[0027] Figure 4 A cross-sectional view of an enlarged part of a preferred embodiment of the present invention. As Figure 1 、 Figure 2 And Figure 4As shown, the enlarged part 222 of the locking assembly 2 further includes a deformation capsule 2221, a fluid medium 2222, a limiting shell 2223, a large-section push block 2224, and a small-section push block 2225. The deformation capsule 2221 is made of soft capsule material. At this time, the fluid medium 2222 is filled in the deformation capsule 2221. By wrapping the fluid medium 2222 with the deformation capsule 2221, the leakage of the fluid medium 2222 can be prevented, and at the same time, the use requirement that the fluid medium 2222 needs to flow can be met. In addition, the limiting shell 2223 has a variable-section cavity, and the variable-section cavity includes a large-section cavity and a small-section cavity that are connected to each other and arranged along the same straight-line direction. The large-section cavity and the small-section cavity are connected in an end-to-end form. At the same time, the large-section push block 2224 and the small-section push block 2225 are respectively slidably arranged in the large-section cavity and the small-section cavity, and the deformation capsule 2221 is arranged in the variable-section cavity and both ends respectively abut against the large-section push block 2224 and the small-section push block 2225. When the large-section push block 2224 or the small-section push block 2225 pushes against the deformation capsule 2221, the movement can be transmitted through the fluid medium 2222 in the deformation capsule 2221, so as to push the small-section push block 2225 or the large-section push block 2224 to move. And because the cross-sectional sizes of the large-section cavity and the small-section cavity are different, when the moving volume of the fluid medium 2222 is the same, the movement stroke of the large-section push block 2224 can be significantly smaller than that of the small-section push block 2225. During installation, the side of the large-section push block 2224 facing away from the deformation capsule 2221 abuts against the heat sensing member 221, and the side of the small-section push block 2225 facing away from the deformation capsule 2221 abuts against the slider 223. Thus, the small deformation of the heat sensing member 221 can be amplified into a large-stroke displacement of the slider 223, so as to better drive the locking member 23 and the power-off switch 32 to act. Preferably, the material of the deformation capsule 2221 may include, but is not limited to, the existing PA / PE composite film materials on the market. It can maintain a flow-fitting property similar to that of a liquid at a thickness of 0.05 mm, and at the same time has excellent puncture resistance. Therefore, using it to wrap the fluid medium 2222 to prevent leakage and act as a movement transmission medium between the large-section push block 2224 and the small-section push block 2225 can better meet the use requirements of this embodiment. In addition, the fluid medium 2222 can be preferably hydraulic oil. Using the traditional power medium as the fluid medium 2222 of the enlarged part 222 in this embodiment can also meet the use requirements. In addition, an annular retaining edge and a limiting snap ring are arranged in the barrel inner cavity of the locking frame 21. The annular retaining edge and the limiting snap ring respectively abut against both ends of the limiting shell 2223, thereby restricting the movement of the enlarged part 222 itself on the locking frame 21, enabling the enlarged part 222 to be stably installed on the locking frame 21, and also enabling the synchronizing member 31, the small-section push block 2225, and the large-section push block 2224 to avoid through the inner sides of the annular retaining edge and the limiting snap ring, preventing structural and movement interference problems.

[0028] More specifically, a return spring 4 is further provided on the locking bracket 21. At the same time, the return spring 4 is arranged on the side of the slider 223 away from the small-section push block 2225. Moreover, both ends of the return spring 4 are respectively abutted against the locking bracket 21 and the slider 223, so that the return spring 4 can exert a force on the slider 223, enabling the slider 223 to automatically reset under the action of the return spring 4 when the force exerted by the heat sensing member 221 on the slider 223 decreases or disappears after the rotation shaft 12 is locked by the heat sensing member 221 pushing the slider 223 to move through the magnifying member 222, thereby realizing the unlocking of the rotation shaft 12 and the closing of the power-off switch 32, and ensuring that the empty cup motor 1 can automatically return to the powered-on and rotatable state under low-temperature conditions.

[0029] More specifically, a limiting surface 121 is further provided on the outer side wall of the end of the rotation shaft 12 extending into the locking bracket 21. At this time, the limiting surface 121 is arranged tangentially to the rotation shaft 12. At the same time, the locking disc 231 is sleeved on the part of the rotation shaft 12 with the limiting surface 121, and an abutting surface matching the limiting surface 121 is provided on the locking disc 231. The axial movement of the locking disc 231 on the rotation shaft 12 is restricted by the step formed by the processing of the limiting surface 121 on the rotation shaft 12, and at the same time, the circumferential limitation between the locking disc 231 and the rotation shaft 12 is realized through the mutual fitting of the limiting surface 121 and the abutting surface. In addition, a snap ring 122 is provided at the end of the rotation shaft 12, and the snap ring 122 is abutted against the locking disc 231, so that the locking disc 231 is axially limited on the rotation shaft 12 by the step formed by the processing of the limiting surface 121 and the snap ring 122, and the circumferential limitation is realized through the abutting surface and the limiting surface 121, thereby ensuring that the locking disc 231 can be stably installed on the rotation shaft 12 and also enabling the locking disc 231 to rotate synchronously with the rotation shaft 12.

[0030] More specifically, the locking bracket 21 is made of plastic material and can be directly obtained by injection molding, which is more convenient for processing. Moreover, a metal ring 212 is embedded at one end of the locking bracket 21 close to the rear cover 11, and the structural strength of the end of the locking bracket 21 connected to the rear cover 11 is increased through the metal ring 212, improving the stability and reliability of the connection between the locking bracket 21 and the rear cover 11. In addition, the plastic locking bracket 21 can achieve electrical insulation, so that no additional insulation structure is required between the two first contacts 3211 of the wiring part 321 when they extend outside the locking bracket 21, and the structural design is more reasonable.

[0031] More specifically, a chute 213 is also axially formed in the inner wall of the cavity 211 of the locking bracket 21 along the axis of the rotating shaft 12, such that the arrangement direction of the chute 213 is towards or away from the rotating shaft 12. Additionally, the slider 223 is slidably disposed in the chute 213, and the chute 213 guides the movement of the slider 223, improving the reliability of the direction and the stability of the movement of the slider 223. Further, one side of the slider 223 extends outside the chute 213, and the portion of the slider 223 extending outside the chute 213 is connected to the abutting piece 232, the connecting head 312, and the small cross-section push block 2225. The portion of the slider 223 extending outside the chute 213 provides a connection basis for the abutting piece 232, the connecting head 312, and the small cross-section push block 2225, and also enables the subsequent slider 223 to drive the abutting piece 232 and the connecting head 312 to move simultaneously, realizing the linkage of the locking assembly 2 and the power-off assembly 3.

[0032] More specifically, the sides of the small cross-section push block 2225 and the large cross-section push block 2224 facing away from each other both extend outside the variable cross-section cavity, facilitating the connection of the small cross-section push block 2225 and the large cross-section push block 2224 to the slider 223 and the heat sensing member 221 respectively. Moreover, when the small cross-section push block 2225 and the large cross-section push block 2224 move in the variable cross-section cavity, one side of the small cross-section push block 2225 and the large cross-section push block 2224 is always located outside the variable cross-section cavity, thus preventing the actions of the slider 223 and the heat sensing member 221 from being interfered by the limiting shell 2223 after the small cross-section push block 2225 and the large cross-section push block 2224 are respectively connected to the slider 223 and the heat sensing member 221, and the structural design is more reasonable.

[0033] More specifically, the heat sensing member 221 for thermally deforming is a bimetallic strip. By using a commonly used thermally deforming metal part on the market to drive the magnifying member 222, the structure is stable and reliable, and the service life is longer.

[0034] The locking and power-off structure of the empty cup motor for a robot provided in this embodiment includes a locking component 2 and a power-off component 3. By installing a locking bracket 21 on the rear cover 11 of the empty cup motor 1, arranging a trigger member 22 with an amplifying member 222 inside the locking bracket 21 and a locking member 23 acting on the rotating shaft 12 of the empty cup motor 1, and at the same time, arranging a power-off switch 32 connected to the trigger member 22 through a synchronizing member 31 inside the locking bracket 21, when a high-temperature problem occurs at the internal joint of the robot, the trigger member 22 can timely sense and drive the locking member 23 to act. The rotation of the rotating shaft 12 of the empty cup motor 1 is restricted by the locking member 23 to achieve the purpose of locking, and the state of the robot joint is maintained to avoid potential safety hazards. At the same time, the power-off switch 32 is driven by the synchronizing member 31 to perform a linkage power-off operation, avoiding the heating problem caused by the continuous power supply of the locked empty cup motor 1, effectively ensuring the safety of the empty cup motor 1 and related sensors and control circuits, extending the service life of the robot, and facilitating the development of intelligent robots.

[0035] The above are only preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all equivalent replacements and obvious changes made by using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A locking and power-off structure for an empty cup motor of a robot, which is installed on the rear cover of the empty cup motor, and one end of the rotating shaft of the empty cup motor extends continuously after passing through the rear cover. It is characterized in that, It includes a locking component and a power-off component. The locking component further includes a locking frame, a triggering member, and a locking member. The power-off component further includes a synchronizing member and a power-off switch; Moreover, the locking frame is installed on the rear cover. The locking frame has a cavity, and one end of the rotating shaft of the empty cup motor that passes through the rear cover and extends out extends into the cavity; The triggering member includes a heat sensing member, an amplifying member, and a slider. The heat sensing member is arranged on the locking frame and deforms when the temperature changes. The amplifying member is arranged in the cavity, one end of which is in contact with the heat sensing member, and the other end is arranged towards the rotating shaft. The slider is slidably arranged on the locking frame along the axial direction of the rotating shaft. Moreover, one side of the slider is connected to the amplifying member; The locking member includes a locking disc and an abutting piece. The locking disc is fixedly sleeved on one end of the rotating shaft extending into the cavity. The abutting piece is installed on the slider. Moreover, the abutting piece selectively contacts the locking disc; The synchronizing member includes a push-pull rod and a connecting head. Connecting heads are arranged at both ends of the push-pull rod, and one of the connecting heads is connected to the slider; The power-off switch includes a wiring part and a disconnection part. The wiring part is arranged in the cavity and has two first contact heads. The two first contact heads respectively extend from both sides of the locking frame to the outside of the locking frame. The disconnection part is connected to the other connecting head. Moreover, the disconnection part has two second contact heads that selectively contact the first contact heads one by one, and the two second contact heads are electrically connected; 2. The locking and power-off structure of the empty cup motor for a robot according to claim 1, characterized in that, It further includes a heat conducting member. One end of the heat conducting member is connected to the heat sensing member, and the other end of the heat conducting member extends to a joint inside the robot where high temperature is likely to be generated; 3. The locking and power-off structure of the empty cup motor for a robot according to claim 1, characterized in that, The locking frame is arranged in a barrel shape, and the barrel mouth end of the locking frame is sleeved on the rear cover; 4. The locking and power-off structure of the empty cup motor for a robot according to claim 1, wherein The amplifying member includes a deformation capsule, a fluid medium, a limiting shell, a large cross-section push block, and a small cross-section push block. The deformation capsule is made of soft capsule material. The deformation capsule is filled with the fluid medium. The limiting shell has a variable cross-section cavity. The variable cross-section cavity includes a large cross-section cavity and a small cross-section cavity that are connected to each other and arranged along the same straight line direction. The large cross-section push block and the small cross-section push block are respectively slidably arranged in the large cross-section cavity and the small cross-section cavity. The deformation capsule is arranged in the variable cross-section cavity and both ends respectively abut against the large cross-section push block and the small cross-section push block. The side of the large cross-section push block facing away from the deformation capsule abuts against the heat sensing member, and the side of the small cross-section push block facing away from the deformation capsule abuts against the slider; 5. The locking and power-off structure of the empty cup motor for a robot according to claim 4, wherein It further includes a return spring. The return spring is arranged on the side of the slider facing away from the small cross-section push block. Moreover, both ends of the return spring respectively abut against the locking frame and the slider; 6. The locking and power-off structure of the empty cup motor for a robot according to claim 1, characterized in that, A limiting surface is arranged at one end of the rotating shaft extending into the locking frame. The limiting surface is arranged along the tangential direction of the rotating shaft. The locking disc is sleeved on the part of the rotating shaft with the limiting surface. An abutting surface that cooperates with the limiting surface is arranged on the locking disc. At the same time, a snap ring is arranged at the end of the rotating shaft, and the snap ring abuts against the locking disc; 7. The locking and power-off structure of the empty cup motor for a robot according to claim 1, characterized in that, The locking bracket is made of plastic, and a metal ring is embedded at one end of the locking bracket close to the rear cover.

8. The locking and power-off structure of the empty cup motor for a robot according to claim 4, characterized in that, A chute is axially formed in the inner wall of the cavity of the locking bracket along the axis of the rotating shaft, the sliding block is slidably disposed in the chute, and one side of the sliding block extends out of the chute, and the part of the sliding block extending out of the chute is connected to the abutting piece, the connecting head and the small-section pushing block.

9. The locking and power-off structure of the empty cup motor for a robot according to claim 4, characterized in that, One side of the small-section pushing block and the large-section pushing block extending away from each other extends out of the variable-section cavity, and when the small-section pushing block and the large-section pushing block move in the variable-section cavity, one side of the small-section pushing block and the large-section pushing block is always located outside the variable-section cavity.

10. The locking and power-off structure of the empty cup motor for a robot according to claim 9, characterized in that, The heat sensing element is a bimetallic strip.

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