Empty cup motor with self-locking structure for robot

Abstract

The invention provides an empty cup motor with a self-locking structure for a robot, and belongs to the technical field of intelligent robots. One end of the rotor shaft extends into the brake cavity of the rear end cover, the multiple self-locking parts arranged in the radial direction of the rotor shaft are arranged in the brake cavity, each self-locking part comprises the piezoelectric ceramic column and the friction plate, the friction plate is arranged between the piezoelectric ceramic column and the rotor shaft, and the piezoelectric ceramic columns are powered on and off, so that the self-locking effect is improved. The piezoelectric ceramic column is stretched or retracted, so that the friction plate can be close to or far away from the rotor shaft, the friction plate is locked or loosened, and self-locking or unlocking of the empty cup motor is realized; moreover, the self-locking parts are arranged in the brake cavity of the rear end cover, thereby avoiding the occupation of the side space of the rear end cover, meeting the miniaturization design requirements of the empty cup motor, achieving the direct action on the rotor shaft, guaranteeing the output direction of the rotor shaft, simplifying the structure, reducing the use limitation, and facilitating the popularization and application of the empty cup motor.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, in particular to an empty cup motor with a self-locking structure for a robot. Background Art

[0002] To achieve joint movement in existing robots, coreless motors are typically used as drive motors to meet the requirements of miniaturization and lightweight design. Currently, commercially available coreless motors, such as the coreless motor disclosed in patent application CN115333318A, connect a rotor frame to the motor shaft and one end of a coreless coil to the rotor frame. A support member is provided on at least one of the inner and outer sides of the coreless coil, and a housing is provided outside the coreless coil. A magnet is installed inside the coreless coil, and one end of the magnet is fixed to the housing. Furthermore, a commutator connected to the coreless coil is provided at one end of the rotor frame, and a rear cover with a brush holder is provided at one end of the housing. The brush holder and commutator are in contact via carbon brushes. When power is supplied to the coreless coil via the brush holder, carbon brushes, and commutator, the coreless coil interacts with the magnet to rotate, outputting power through the rotor frame. At the same time, in order to achieve the self-locking of the empty cup motor, a worm gear transmission structure is usually set on the rotor frame of the empty cup motor. Due to the structural characteristics of the worm gear transmission structure itself, the worm wheel is usually set beside the worm, and the worm is coaxially installed on one end of the rotor frame, so that the worm wheel needs to occupy the lateral space of the output shaft. Moreover, since the size of the worm wheel is larger in its radial direction, the lateral space occupied by the output shaft will exceed the original casing of the empty cup motor by a lot. In addition, it will also cause its transmission direction to change. If it is to be restored to the same transmission direction as the rotor frame, it is necessary to set up a bevel gear or other adapter structure to achieve it, which further causes its side space to be occupied too much, which obviously affects the miniaturization of the empty cup motor, resulting in limited use scenarios of the empty cup motor, which is not conducive to the promotion and application of the empty cup motor. Summary of the Invention

[0003] In response to the above-mentioned problems existing in the prior art, the present invention aims to provide an empty cup motor with a self-locking structure for a robot, so that a plurality of piezoelectric ceramic columns are arranged in the rear end cover of the empty cup motor, and the piezoelectric ceramic columns are arranged along the radial direction of the rotor shaft. At the same time, a friction plate is provided on the side of the rotor shaft close to each piezoelectric ceramic column. The deformation of the piezoelectric ceramic column when it is energized pushes the friction plate to move, and the friction plate is used to tighten or loosen one end of the rotor shaft, thereby realizing the self-locking of the empty cup motor. Moreover, it does not occupy lateral space, meets the miniaturization design requirements of the empty cup motor, and can ensure the original output direction, so that the use restrictions of the empty cup motor are smaller, which is conducive to the promotion and application of the empty cup motor.

[0004] The specific technical solutions are as follows: A robot-use empty-cup motor with a self-locking structure comprises a rotor shaft and a rear end cover. The rotor shaft serves as an output shaft, one end of which is rotatably mounted on and passes through the rear end cover. The motor further comprises several self-locking parts and a controller. A brake chamber is defined at one end of the rear end cover facing away from the housing, and the rotor shaft extends through one end of the rear end cover into the brake chamber. Among them, a plurality of self-locking parts are distributed in the brake cavity in an annular array with the axis of the rotor shaft as the axis center. Each self-locking part includes a piezoelectric ceramic column and a friction plate. The piezoelectric ceramic column is arranged along the radial direction of the rotor shaft. One end of the piezoelectric ceramic column abuts the inner wall of the brake cavity and the other end extends toward the rotor shaft. In addition, the friction plate is provided at the end of the piezoelectric ceramic column extending toward the rotor shaft. The controller, whose control circuit board includes a drive circuit, a self-locking circuit, and an unlocking circuit, is electrically connected to both the coreless coil and the piezoelectric ceramic column. The drive circuit supplies power to the coreless coil of the coreless motor, while the self-locking and unlocking circuits both supply power to the piezoelectric ceramic column in opposite directions. The drive circuit and unlocking circuit are simultaneously powered on and off. When the drive circuit and unlocking circuit are powered on, the self-locking circuit is de-energized, and when the drive circuit and unlocking circuit are de-energized, the self-locking circuit is powered on.

[0005] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein each self-locking part also includes a replacement gasket, which is arranged in the brake cavity and located at the end of the piezoelectric ceramic column away from the friction plate, and the two ends of the replacement gasket respectively abut against the inner wall of the brake cavity and the end face of the piezoelectric ceramic column.

[0006] The above-mentioned empty cup motor with a self-locking structure for a robot is provided with a slide groove in the brake cavity and at each self-locking portion. The slide groove is arranged along the radial direction of the rotor shaft. At the same time, the piezoelectric ceramic column and the friction plate are both installed in the corresponding slide groove.

[0007] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein the outer wall of the piezoelectric ceramic column is in contact with the bottom of the slide groove, an air gap is provided between the outer wall of the piezoelectric ceramic column and the two side walls of the slide groove, and both sides of the friction plate are in contact with the two side walls of the slide groove.

[0008] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein the two conductive electrode sheets of the piezoelectric ceramic column are respectively arranged on the two end surfaces, and the end surface of the friction plate and the replacement gasket close to the end of the piezoelectric ceramic column are both provided with a receiving groove, and the two conductive electrode sheets are respectively embedded in the receiving grooves of the friction plate and the replacement gasket.

[0009] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein each self-locking part also includes a tensioning spring, and a mounting groove is also opened at the bottom of each slide groove along the radial direction of the rotor shaft, and the groove width of the mounting groove is smaller than the groove width of the slide groove. At the same time, a connecting block extending to the mounting groove is provided on one side of the friction plate, and the tensioning spring is arranged in the mounting groove and its two ends are respectively connected to the connecting block and the side wall of the mounting groove at one end facing away from the rotor shaft.

[0010] The above-mentioned robot uses an empty cup motor with a self-locking structure, wherein the end of the brake cavity of the rear end cover facing away from the housing is a cavity opening, and the rear end cover is equipped with a tail cover covering the cavity opening, and the tail cover is provided with a fixed limit block extending into the brake cavity, and one end of the fixed limit block is attached to the side of the friction plate facing away from the connecting block.

[0011] The above-mentioned robot uses an empty cup motor with a self-locking structure, wherein a floating limit part is also provided on the tail cover, one self-locking part corresponds to a floating limit part, the floating limit part includes a telescopic sleeve, a pressure spring and a tightening block, the telescopic sleeve is arranged along the axial direction of the rotor shaft and one end is fixed to the tail cover, the tightening block is arranged in a "T" shape, the small head end of the tightening block is slidably set in the telescopic sleeve, the pressure spring is set in the telescopic sleeve and one end abuts on the small head end of the tightening block, and the large head end of the tightening block presses on the corresponding piezoelectric ceramic column.

[0012] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein one end of each slide groove on the rear end cover is connected to the hole through which the rotor shaft passes.

[0013] The above-mentioned empty cup motor with a self-locking structure for a robot, wherein the fixed limit block is threadedly connected to the tail cover, and the fixed limit block is made of alumina ceramic.

[0014] The positive effects of the above technical solution are: The above-mentioned robot uses an empty cup motor with a self-locking structure, which is achieved by setting a brake chamber in the rear end cover of the empty cup motor, and one end of the rotor shaft extends into the brake chamber. At the same time, a plurality of self-locking parts are arranged radially along the rotor shaft in the brake chamber, and each self-locking part includes a piezoelectric ceramic column and a friction plate. The friction plate is set at one end of the piezoelectric ceramic column close to the rotor shaft, so that when the piezoelectric ceramic column is energized, the piezoelectric ceramic column can achieve axial expansion and contraction, thereby allowing the friction plate to move closer to or away from the rotor shaft. The rotor shaft is locked and released by the movement of the friction plate, thereby achieving self-locking and unlocking, meeting the self-locking requirements of the empty cup motor, and the self-locking structure is located in the rear end cover, avoiding side space occupation, which is conducive to the miniaturized design of the empty cup motor, and the self-locking part acts directly on the rotor shaft without changing the output direction of the rotor shaft, reducing the use restrictions of the empty cup motor, and is conducive to the promotion and application of the empty cup motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of an embodiment of an empty cup motor with a self-locking structure for a robot according to the present invention; Figure 2 for Figure 1 Enlarged view of part A; Figure 3 This is a structural diagram of a preferred embodiment of the present invention in which a self-locking portion is installed in the rear end cover; Figure 4 FIG. 1 is a structural diagram of a tail cover according to a preferred embodiment of the present invention.

[0016] In the accompanying drawings: 1. Rotor shaft; 2. Rear end cover; 21. Brake chamber; 22. Slide groove; 23. Mounting groove; 3. Hollow cup coil; 4. Magnet; 5. Commutator; 6. Brush holder; 7. Self-locking part; 71. Piezoelectric ceramic column; 72. Friction plate; 73. Replacement gasket; 74. Tensioning spring; 711. Conductive electrode; 721. Accommodating groove; 722. Connecting block; 8. Tail cover; 81. Fixed limit block; 82. Floating limit part; 821. Telescopic sleeve; 822. Top pressure spring; 823. Tightening block. DETAILED DESCRIPTION

[0017] In order to make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments are combined with the attached Figure 1 To the attached Figure 4 The technical solution provided by the present invention is described in detail, but the following content is not intended to limit the present invention.

[0018] Figure 1 This is a structural diagram of an embodiment of an empty cup motor with a self-locking structure for a robot according to the present invention; Figure 2 for Figure 1 Enlarged view of part A; Figure 3 This is a structural diagram of a preferred embodiment of the present invention in which a self-locking portion is installed in the rear end cover. Figure 1 、 Figure 2 as well as Figure 3As shown, the hollow cup motor with a self-locking structure for a robot provided in this embodiment includes: a rotor shaft 1, a rear end cover 2, a housing, a hollow cup coil 3, a magnet 4, a commutator 5, a brush holder 6 and other structures. At this time, the hollow cup coil 3 is fixed to the outside of the rotor shaft 1 in a group, and the housing is sleeved outside the hollow coil. At the same time, the rear end cover 2 is set at one end of the housing, the magnet 4 is coaxially arranged inside the hollow cup coil 3 and one end is connected to the housing, the commutator 5 is installed on the rear of the rotor shaft 1 and is electrically connected to the hollow cup coil 3, and the rear end cover 2 is provided with a brush holder 6 that contacts the commutator 5 through carbon brushes. It is worth noting that the hollow cup coil 3, magnet 4, commutator 5, brush holder 6 and other structures of the hollow cup motor are the same or similar to the relevant structures in the prior art involved in the background technology. Therefore, their specific structure and matching relationship will not be repeated here. In addition, the empty cup motor with a self-locking structure for a robot provided in this embodiment also includes several self-locking parts 7 and a controller. At this time, the rotor shaft 1 is the output shaft, one end of the rotor shaft 1 is rotatably installed on the rear end cover 2 and passes through the rear end cover 2, and a brake chamber 21 is opened at the end of the rear end cover 2 facing away from the housing. The brake chamber 21 provides installation and action space for several self-locking parts 7. The rotor shaft 1 passes through one end of the rear end cover 2 and extends into the brake chamber 21, which provides conditions for subsequent braking or unlocking by directly tightening or loosening the rotor shaft 1 through several self-locking parts 7.

[0019] Specifically, a plurality of self-locking parts 7 are distributed in the brake cavity 21 in an annular array with the axis of the rotor shaft 1 as the axis center, realizing the hidden installation of the self-locking part 7 and ensuring that when the rotor shaft 1 is pressed by the plurality of self-locking parts 7, the rotor shaft 1 is subjected to uniform force in its circumferential direction and contacts the self-locking part 7 at multiple locations, thereby improving the self-locking reliability. In addition, each self-locking part 7 includes a piezoelectric ceramic column 71 and a friction plate 72. The piezoelectric ceramic column 71 is arranged along the radial direction of the rotor shaft 1, and one end of the piezoelectric ceramic column 71 abuts against the inner wall of the brake cavity 21, and the other end abuts against the inner wall of the brake cavity 21. One end extends toward the rotor shaft 1, and a friction plate 72 is disposed at the end of the piezoelectric ceramic column 71 extending toward the rotor shaft 1. This allows the piezoelectric ceramic column 71 to deform accordingly when power is applied to the piezoelectric ceramic column 71. This deformation of the piezoelectric ceramic column 71 pushes the friction plate 72 into contact with and presses against the rotor shaft 1, satisfying the need for self-locking braking. When the piezoelectric ceramic column 71 loses power or reverses power, the friction plate 72 can move away from the rotor shaft 1, loosening the rotating shaft and unlocking the rotor shaft 1, thereby enabling the normal operation of the empty-cup motor. Furthermore, since the self-locking portion 7 is installed within the brake cavity 21 of the rear end cover 2, it does not require additional lateral space and does not exceed the original housing in its external dimensions, thus satisfying the miniaturized design requirements of the empty-cup motor. Furthermore, since the self-locking portion 7 acts directly on the rotor shaft 1, maintaining the original output direction, the use of the empty-cup motor is less restricted, facilitating its widespread application. Specifically, the controller's control circuit board includes a drive circuit, a self-locking circuit, and an unlocking circuit. The drive circuit supplies power to the coreless coil 3 of the hollow-cup motor, providing the energy necessary for the motor's normal operation. Furthermore, both the self-locking and unlocking circuits supply power to the piezoelectric ceramic pillar 71, with the self-locking and unlocking circuits supplying power in opposite directions. This means that when the self-locking and unlocking circuits are energized, the piezoelectric ceramic pillar 71 can extend or contract, respectively, allowing the friction plate 72 to move toward or away from the rotor shaft 1. At the same time, the drive circuit and the unlocking circuit are simultaneously powered on and off to ensure that the self-locking part 7 will not be affected when the empty cup motor is operating normally. When the drive circuit and the unlocking circuit are powered on, the self-locking circuit is powered off. When the empty cup motor needs to operate normally, the unlocking circuit is powered on and the self-locking circuit is powered off, so that the piezoelectric ceramic column 71 can be shortened and the friction plate 72 can be away from the rotor shaft 1. When the drive circuit and the unlocking circuit are powered off, the self-locking circuit is powered on. When the empty cup motor stops, the piezoelectric ceramic column 71 extends when the self-locking circuit is powered on, so that the friction plate 72 can abut against the rotor shaft 1, thereby limiting the rotation of the rotor shaft 1 and achieving self-locking of the empty cup motor. It is worth noting that when the friction plate 72 is excessively worn and the braking force decreases, the deformation of the piezoelectric ceramic column 71 can be increased by appropriately increasing the current of the self-locking circuit, thereby achieving stepless adjustment, avoiding the problem of frequent disassembly and replacement of the friction plate 72, and better maintenance-free performance.

[0020] More specifically, each self-locking portion 7 also includes a replacement gasket 73, which is arranged in the brake chamber 21 and is located at the end of the piezoelectric ceramic column 71 away from the friction plate 72, and the two ends of the replacement gasket 73 are respectively against the inner wall of the brake chamber 21 and the end face of the piezoelectric ceramic column 71. A replacement gasket 73 of appropriate thickness can be selected according to actual use requirements, so that when it is used in occasions where the braking force requirement is not high and a shorter piezoelectric ceramic column 71 is selected, a thicker replacement gasket 73 can be selected, and vice versa. A thinner replacement gasket 73 is selected, thereby adapting to the installation requirements of piezoelectric ceramic columns 71 of different lengths, and having higher structural flexibility and better adaptability.

[0021] More specifically, a chute 22 is defined within the brake chamber 21 of the rear end cover 2 and located at each self-locking portion 7. The chute 22 is arranged radially along the rotor shaft 1, with the sliding direction of the chute 22 aligned with the arrangement direction of the self-locking portion 7. The piezoelectric ceramic pillars 71 and friction plates 72 are both mounted within their corresponding chute 22. The chute 22 provides space for the deformation of the piezoelectric ceramic pillars 71 and the installation and movement of the friction plates 72, ensuring that each self-locking portion 7 is stably mounted within the rear end cover 2.

[0022] When the cam 72 is in the unlocking state, the cam 72 is in the unlocking state, so that the cam 72 can be locked.

[0023] More specifically, the two conductive electrode sheets 711 of the piezoelectric ceramic column 71 of the self-locking portion 7 are respectively disposed on both end surfaces, ensuring that the piezoelectric ceramic column 71 deforms axially when energized, allowing the friction plate 72 to move closer to or further from the rotor shaft 1. Furthermore, a receiving groove 721 is defined on the end surface of the friction plate 72 and the replacement washer 73 near the end of the piezoelectric ceramic column 71. The two conductive electrode sheets 711 are respectively embedded in the receiving grooves 721 of the friction plate 72 and the replacement washer 73. The receiving grooves 721 not only facilitate the installation of the two conductive electrode sheets 711 on the end surface of the piezoelectric ceramic column 71, preventing direct compression of the two conductive electrode sheets 711 and structural damage, but also ensure that the friction plate 72 and the replacement washer 73 directly abut against the end of the piezoelectric ceramic column 71, resulting in more immediate braking and unlocking responses.

[0024] More specifically, each self-locking portion 7 includes, in addition to the aforementioned piezoelectric ceramic column 71 and friction plate 72 , a tension spring 74 . When the cam 72 is in the unlocking state, the spring 74 is pressed against the locking cam 722 to lock the cam 72. When the cam 72 is unlocked, the spring 74 is pressed against the locking cam 722 to lock the cam 72.

[0025] Figure 4FIG. 1 is a structural diagram of a tail cover of a preferred embodiment of the present invention. Figure 1 、 Figure 2 as well as Figure 4 The rear end cover 2 is provided with a cavity opening for the brake cavity 21 to communicate with the outside world and is located at the end of the brake cavity 21 facing away from the casing. In addition, the rear end cover 2 is provided with a tail cover 8 covering the cavity opening, and the cavity opening of the brake cavity 21 can be opened or closed by disassembling and assembling the tail cover 8, thereby facilitating the installation of the self-locking part 7 and the later maintenance and replacement. The tail cover 8 is provided with a fixed limit block 81 extending into the brake cavity 21, and one end of the fixed limit block 81 is affixed to the side of the friction plate 72 facing away from the connecting block 722, so that when the friction plate 72 is pulled by the tensioning spring 74 through the connecting block 722, the two sides of the friction plate 72 are respectively restricted by the connecting block 722 and the fixed limit block 81, preventing the friction plate 72 from tilting in the slide groove 22, thereby ensuring the balance of the friction plate 72 during installation and use, and improving the self-locking effect.

[0026] More specifically, a floating stopper 82 is provided on the tail cover 8, and each self-locking portion 7 corresponds to a floating stopper 82. The floating stopper 82 laterally presses the piezoelectric ceramic pillar 71, ensuring that the piezoelectric ceramic pillar 71 remains stably positioned within the corresponding chute 22 and prevents it from falling out. Furthermore, each floating stopper 82 includes a telescopic sleeve 821, a pressure spring 822, and a pressing block 823. At this time, the telescopic sleeve 821 is arranged along the axial direction of the rotor shaft 1 and one end is fixed on the tail cover 8, so that the arrangement direction of the telescopic sleeve 821 is lateral to the piezoelectric ceramic column 71, and the clamping block 823 is arranged in a "T" shape, and the small head end of the clamping block 823 is slidably arranged in the telescopic sleeve 821, and the pressing spring 822 is arranged in the telescopic sleeve 821 and one end is abutted on the small head end of the clamping block 823, and the large head end of the clamping block 823 is pressed on the corresponding piezoelectric ceramic column 71, so that even if the piezoelectric ceramic column 71 undergoes lateral deformation during contraction, it may be adapted to the deformation of the pressing spring 822. At the same time, it also ensures that the piezoelectric ceramic column 71 can always be located in the slide groove 22 and maintain its outer wall close to the bottom of the slide groove 22, further ensuring the stability of the self-locking part 7 after installation.

[0027] More specifically, one end of each chute 22 is connected to the hole through which the rotor shaft 1 passes through the rear end cover 2, ensuring that the friction plate 72 is not interfered with when braking the rotor shaft 1, thereby improving the structural design. Preferably, four self-locking portions 7 are provided, with each pair of self-locking portions 7 facing each other. Furthermore, the chute 22 corresponding to each of the two facing self-locking portions 7 is connected, facilitating the processing of the chute 22.

[0028] More specifically, the fixed limit block 81 is installed on the tail cover 8 by means of a threaded connection, which facilitates the replacement of the fixed limit block 81 after wear. At the same time, the fixed limit block 81 is preferably made of alumina ceramic, which has better wear resistance and high hardness, reduces the replacement cycle of the fixed limit block 81, and extends its service life. It is worth noting that a socket is provided at one end of the fixed limit block 81 connected to the tail cover 8, one end of a screw is inserted into the socket, and the other end of the screw is threadedly connected to the tail cover 8. The screw is used as a structure for threading the fixed limit block 81 on the tail cover 8. Compared with processing threads on alumina ceramics, metal screws can be purchased and used directly, which is more convenient to manufacture.

[0029] The present embodiment provides an empty cup motor with a self-locking structure for a robot, comprising a rotor shaft 1, a rear end cover 2, a plurality of self-locking parts 7, and a controller. One end of the rotor shaft 1 is extended into the brake cavity 21 of the rear end cover 2, and a plurality of self-locking parts 7 are provided in the brake cavity 21 along the radial direction of the rotor shaft 1. Each self-locking part 7 comprises a piezoelectric ceramic column 71 and a friction plate 72, and the friction plate 72 is provided between the piezoelectric ceramic column 71 and the rotor shaft 1. By turning the piezoelectric ceramic column 71 on and off, the piezoelectric ceramic column 71 is turned on and off. The extension or retraction of the ceramic column 71 allows the friction plate 72 to approach or move away from the rotor shaft 1, thereby locking or loosening the friction plate 72, thereby realizing self-locking or unlocking of the empty cup motor; and the self-locking part 7 is arranged in the brake cavity 21 of the rear end cover 2, avoiding occupying the side space thereof, meeting the miniaturization design requirements of the empty cup motor, and at the same time, it can also realize direct action on the rotor shaft 1, ensuring the output direction of the rotor shaft 1, thereby simplifying the structure, reducing usage restrictions, and facilitating the promotion and application of the empty cup motor.

[0030] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot-use empty cup motor with a self-locking structure, comprising a rotor shaft and a rear end cover, wherein the rotor shaft is an output shaft, and one end of the rotor shaft is rotatably mounted on and passes through the rear end cover; characterized in that: The invention also includes a plurality of self-locking parts and a controller. A brake cavity is formed at one end of the rear end cover away from the housing. The rotor shaft extends through one end of the rear end cover into the brake cavity. The self-locking portions are arranged in a circular array in the brake cavity with the axis of the rotor shaft as the axis center. Each self-locking portion includes a piezoelectric ceramic column and a friction plate. The piezoelectric ceramic column is arranged along the radial direction of the rotor shaft. One end of the piezoelectric ceramic column abuts against the inner wall of the brake cavity, and the other end extends toward the rotor shaft. In addition, the friction plate is provided at the end of the piezoelectric ceramic column extending toward the rotor shaft. A controller, wherein a control circuit board of the controller is electrically connected to the hollow cup coil and the piezoelectric ceramic column.

2. The robot-use empty cup motor with a self-locking structure according to claim 1, characterized in that: Each of the self-locking parts also includes a replacement gasket, which is arranged in the brake cavity and located at the end of the piezoelectric ceramic column away from the friction plate, and the two ends of the replacement gasket respectively abut against the inner wall of the brake cavity and the end face of the piezoelectric ceramic column.

3. The robot-use empty cup motor with a self-locking structure according to claim 1, characterized in that: A sliding groove is further provided in the brake cavity and at each of the self-locking portions. The sliding groove is arranged along the radial direction of the rotor shaft. Meanwhile, the piezoelectric ceramic column and the friction plate are both installed in the corresponding sliding groove.

4. The robot-use empty cup motor with a self-locking structure according to claim 3, characterized in that: The outer side wall of the piezoelectric ceramic column is in contact with the bottom of the chute, an air gap is provided between the outer side wall of the piezoelectric ceramic column and the two side walls of the chute, and both sides of the friction plate are in contact with the two side walls of the chute.

5. The robot-use empty cup motor with a self-locking structure according to claim 2, characterized in that: The two conductive electrode sheets of the piezoelectric ceramic column are respectively arranged on the two end surfaces, and the end surfaces of the friction plate and the replacement gasket close to the end of the piezoelectric ceramic column are both provided with accommodating grooves, and the two conductive electrode sheets are respectively embedded in the accommodating grooves of the friction plate and the replacement gasket.

6. The robot-use empty cup motor with a self-locking structure according to claim 3 or 4, characterized in that: Each of the self-locking portions further includes a tensioning spring, and a mounting groove is further provided at the bottom of each slide groove along the radial direction of the rotor shaft, wherein the groove width of the mounting groove is smaller than the groove width of the slide groove. At the same time, a connecting block extending to the mounting groove is provided on one side of the friction plate, and the tensioning spring is provided in the mounting groove, and its two ends are respectively connected to the connecting block and the side wall of the mounting groove at one end facing away from the rotor shaft.

7. The robot-use empty cup motor with a self-locking structure according to claim 6, characterized in that: The end of the brake cavity of the rear end cover facing away from the housing is a cavity opening, and the rear end cover is equipped with a tail cover covering the cavity opening, and the tail cover is provided with a fixed limit block extending into the brake cavity, and one end of the fixed limit block is attached to the side of the friction plate facing away from the connecting block.

8. The robot-use empty cup motor with a self-locking structure according to claim 7, characterized in that: A floating limit part is also provided on the tail cover, and one self-locking part corresponds to the floating limit part. The floating limit part includes a telescopic sleeve, a pressure spring and a tightening block. The telescopic sleeve is arranged along the axial direction of the rotor shaft and one end is fixed to the tail cover. The tightening block is arranged in a "T" shape. The small head end of the tightening block is slidably set in the telescopic sleeve. The pressure spring is set in the telescopic sleeve and one end abuts on the small head end of the tightening block. The large head end of the tightening block presses on the corresponding piezoelectric ceramic column.

9. The robot-use empty cup motor with a self-locking structure according to claim 3, characterized in that: On the rear end cover, one end of each of the slide slots is communicated with the hole through which the rotor shaft passes.

10. The robot-use empty cup motor with a self-locking structure according to claim 7, characterized in that: The fixed limiting block is threadedly connected to the tail cover, and the fixed limiting block is made of alumina ceramics.

Images