Brake protected servo motor structure

Abstract

The utility model discloses a kind of servo motor structures of braking protection, comprising: motor assembly includes the stator module and rotor module of coaxial rotation connection;Winding assembly includes winding wheel, locking disc and brake positioning mechanism, winding wheel is connected in rotor module, winding wheel is used to wind rope, locking disc is coaxially connected in winding wheel, brake positioning mechanism and winding wheel are located at the same side of locking disc, radial interval is formed between brake positioning mechanism and winding wheel, brake positioning mechanism is equipped with lock tongue in the side close to locking disc, brake positioning mechanism is used to drive lock tongue reciprocating motion, the reciprocating path of lock tongue is parallel with the wheel axle center of winding wheel, locking disc is equipped with a plurality of locking positioning hole around circumferential trajectory, the circumferential trajectory of locking positioning hole and the reciprocating path of lock tongue are perpendicularly intersected. The utility model can be quickly rigidly locked winding wheel and its rotor module, safe performance is reliable, compact and reliable, small and light.

Description

Technical Field

[0001] This utility model relates to the field of servo motors, and in particular to a servo motor structure with braking protection. Background Technology

[0002] A servo motor is a device that can convert electrical energy into mechanical energy and precisely control the output. It can convert voltage signals into torque and speed to drive the controlled object. It has been widely used in many fields such as industrial automation, logistics and transportation, and fitness equipment. For example, fitness equipment that uses servo motors to replace traditional dumbbell plates.

[0003] For fitness equipment that uses servo motors instead of traditional dumbbell plates, counterweights, and other mechanical loads, the output of the servo motor is connected to the load target and outputs a force to counteract strength training for the user. During the equipment's idle periods, the servo motor is de-energized, and its rotor is typically in a freely rotating state. If a user accidentally pulls on the servo motor's output, the rotor will be pulled and rotated, potentially damaging the equipment. Furthermore, this unexpected movement can easily cause impacts, pinching injuries, and other injuries to the user, posing a significant safety hazard. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a servo motor structure with braking protection, which can effectively brake and lock the servo motor in an idle state, offering good safety performance and a compact and reliable structure.

[0005] A servo motor structure for braking protection according to an embodiment of the present invention includes: The motor assembly includes a stator module and a rotor module that are rotatably connected coaxially, the stator module being used to drive the rotor module to rotate; The winding assembly includes a winding wheel, a locking disc, and a braking and positioning mechanism. The winding wheel is connected to the rotor module and is used to wind the rope. The locking disc is coaxially connected to the winding wheel. The braking and positioning mechanism and the winding wheel are both located on the same side of the locking disc. The braking and positioning mechanism and the winding wheel are radially distributed along the locking disc, and a radial gap is formed between them. The braking and positioning mechanism has a locking tongue on the side near the locking disc. The braking and positioning mechanism is used to drive the locking tongue to reciprocate. The reciprocating path of the locking tongue is parallel to the wheel axis of the winding wheel. The locking disc has several locking and positioning holes that are arranged in a circular trajectory around the winding wheel. The circular trajectory of the locking and positioning holes intersects perpendicularly with the reciprocating path of the locking tongue. The projected area of ​​the locking tongue on the locking disc is smaller than the opening area of ​​the locking and positioning holes.

[0006] In this embodiment, the braking positioning mechanism is an electromagnetic switch, which is used to drive the locking tongue to insert into the locking positioning hole when the power is off.

[0007] In this embodiment, the locking positioning hole is a long slot extending circumferentially along the locking disc, with an extension length of L. All the long slots are evenly distributed, and the interval between each two adjacent long slots is D, where L>D.

[0008] In this embodiment, the stator module includes a fixed shaft and a stator core for winding an electromagnetic coil, the stator core being fixed outside the fixed shaft; the rotor module includes a rotor core and a cover plate, the rotor core being annular and surrounding the stator core, the rotor core containing several magnets, the cover plate being annular and rotatably connected to the fixed shaft, the cover plate being connected to the side of the rotor core near the locking disc, and the winding wheel being connected to the side of the cover plate away from the stator core.

[0009] In this embodiment, the radius of the winding wheel is smaller than the radius of the rotor core, and the braking and positioning mechanism is located between the locking disc and the cover plate.

[0010] In this embodiment, the rotor module also includes an annular back plate, which is rotatably connected to the fixed shaft and connected to the rotor core. The back plate is located on the side of the stator core away from the locking disc. An encoder is provided on the back plate to monitor the rotational position of the rotor core.

[0011] In this embodiment, the cover plate is provided with a plurality of first heat dissipation holes, and the back plate is provided with a plurality of second heat dissipation holes.

[0012] In this embodiment, the circumferential surface of the winding wheel is provided with a winding positioning groove.

[0013] In this embodiment, the motor assembly also includes a frame, and the stator module and braking positioning mechanism are all connected to the frame.

[0014] The embodiments of this utility model have at least the following beneficial effects: The mechanical braking of the locking disc is achieved by driving the locking tongue through the braking positioning mechanism. This quickly and rigidly locks the winding wheel and its connected rotor module, effectively preventing the servo motor from spinning idly due to accidental rope pulling by the user. This provides braking protection for the servo motor, effectively reducing the risk of impacts and pinching injuries that may occur during idle periods, ensuring reliable safety. By placing the winding wheel and braking positioning mechanism on the same side of the locking disc and using a radially distributed integrated design, the braking function is effectively embedded within the space occupied by the servo motor. This effectively controls the space occupied by the servo motor, resulting in a compact, reliable, and lightweight structure. Its integration into various modern fitness equipment is simple and convenient, simplifying the servo motor's appearance. Multiple locking positioning holes distributed circumferentially on the locking disc create multiple locking points. When the motor assembly stops running, the locking disc, under inertia, quickly aligns one of the locking positioning holes with the locking tongue to achieve braking and locking. This effectively improves the timeliness of braking and locking, resulting in fast braking response and stable and reliable braking action. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a three-dimensional structural diagram of the servo motor structure for braking protection according to an embodiment of the present utility model. Figure 2 This is a three-dimensional structural diagram of the servo motor structure for braking protection according to an embodiment of the present utility model, viewed from another perspective. Figure 3 This is a partial cross-sectional view of the servo motor structure for braking protection according to an embodiment of the present utility model. Figure 4 This is a front view schematic diagram of the servo motor structure for braking protection according to an embodiment of this utility model. Figure 5 For along Figure 4 A schematic diagram of the cross-sectional structure of line A-A'; Figure 6 for Figure 5 A structural diagram in another implementation application state.

[0016] Figure label: Motor assembly 100, stator module 110, fixed shaft 111, stator core 112, rotor module 120, rotor core 121, cover plate 122, back plate 123, magnet 124, encoder 125, first heat dissipation hole 126, second heat dissipation hole 127, frame 130; The winding assembly 200, winding wheel 210, winding positioning groove 211, locking disc 220, locking positioning hole 221, braking positioning mechanism 230, and locking tongue 231 are included. Detailed Implementation

[0017] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0018] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, left, right, front, and back, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] In the description of this utility model, if the wire sleeve or frame is mentioned, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0020] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0021] A servo motor is a device that converts electrical energy into mechanical energy and precisely controls the output. It can convert voltage signals into torque and speed to drive the controlled object. It is widely used in many fields such as industrial automation, logistics, and fitness equipment, for example, in fitness equipment that uses servo motors instead of traditional dumbbell plates. In fitness equipment that uses servo motors to replace traditional dumbbell plates and weights, the output of the servo motor is connected to the load target and outputs a force to counteract the force used in strength training. By controlling the output torque of the servo motor, the feeling of lifting dumbbells of different weights can be simulated, thus achieving digital and intelligent strength training.

[0022] During the idle periods of fitness equipment, the servo motor is in a power-off state, and the rotor of the servo motor is usually in a state of free rotation. When the user accidentally pulls the output end of the servo motor, the rotor of the servo motor will be pulled and rotated. This unexpected sudden movement may not only damage the equipment, but also cause injury such as impact or pinching to the user due to the rapid retraction or sudden movement of the parts. In other words, the servo motor cannot provide exercise function when it is powered off, but its mechanical structure may be dangerously "idled" due to external force, which poses a significant safety hazard.

[0023] To address the safety locking issue during power outages, an independent electromagnetic brake could be added to the servo motor. However, this external braking structure has significant drawbacks: First, it connects the drive and braking systems in series axially, significantly increasing the overall axial dimensions and volume of the equipment, resulting in a bulky structure that hinders compact and aesthetically pleasing industrial design. Second, electromagnetic brakes are expensive, and their response time is somewhat delayed. For intelligent fitness equipment that prioritizes high safety and space utilization, current technology lacks a dedicated braking protection solution that can be seamlessly integrated into the servo motor drive system, is compact, and offers rapid response.

[0024] The following is for reference only. Figure 1 To be continued Figure 6 This invention describes the servo motor structure for braking protection in an embodiment of the present invention, which can effectively brake and lock the servo motor in the idle state, has good safety performance, and is compact and reliable in structure.

[0025] Reference Figures 1 to 6 A servo motor structure for braking protection according to an embodiment of this utility model includes: The motor assembly 100 includes a stator module 110 and a rotor module 120 rotatably connected coaxially, wherein the stator module 110 is used to drive the rotor module 120 to rotate about its rotor axis; The winding assembly 200 includes a winding wheel 210, a locking disc 220, and a braking and positioning mechanism 230. The winding wheel 210 is fixedly connected to the rotor module 120 and is used to wind the rope and connect to the load target. The locking disc 220 is coaxially fixedly connected to the winding wheel 210 and can rotate synchronously with the winding wheel 210. The braking and positioning mechanism 230 and the winding wheel 210 are both located on the same side of the locking disc 220. The braking and positioning mechanism 230 and the winding wheel 210 are radially distributed along the locking disc 220, and a radial gap is formed between the braking and positioning mechanism 230 and the winding wheel 210, which can effectively improve the utilization rate of the space occupied by the device, thereby reducing the installation volume required by the overall structure. The overall structure is compact and reliable. The braking and positioning mechanism 230 has a locking tongue 231 on the side near the locking disc 220. The braking and positioning mechanism 230 is used to drive the locking tongue 231 relative to the locking disc 220 to achieve [the desired effect]. The reciprocating motion of the locking tongue 231, with its path parallel to the axis of the winding wheel 210, further improves the rationality of space utilization and effectively increases space efficiency. The locking disc 220 is provided with several locking positioning holes 221 arranged in a circular trajectory around the winding wheel 210. The reciprocating path of the locking disc 220 is perpendicular to that of the locking tongue 231, and the circular trajectory of the locking positioning holes 221 intersects the reciprocating path of the locking tongue 231 perpendicularly. Projected along the axis of the winding wheel 210, the projected area of ​​the locking tongue 231 on the locking disc 220 is smaller than the opening area of ​​the locking positioning holes 221, ensuring that the locking tongue 231 can be inserted into the locking positioning holes 221 to lock and brake the locking disc 220. By setting multiple locking positioning holes 221, after the motor assembly 100 stops operating, the inertia of the locking disc 220 effectively increases the probability that the locking tongue 231 will be inserted into one of the locking positioning holes 221 during braking.

[0026] The braking positioning mechanism 230 drives the locking tongue 231 to mechanically brake the locking disc 220, quickly and rigidly locking the winding wheel 210 and its connected rotor module 120. This effectively prevents the servo motor from spinning idly due to accidental rope pulling by the user, providing braking protection for the servo motor and effectively reducing the risk of impacts and pinching injuries that may occur when idle. This provides crucial safety protection for the user, especially suitable for home and other fitness environments without professional supervision, offering reliable safety performance. By placing the winding wheel 210 and the braking positioning mechanism 230 on the same side of the locking disc 220 and integrating them radially, the braking function is effectively embedded within the space occupied by the servo motor. This avoids the axial dimension increase problem caused by traditional external electromagnetic brakes, effectively controlling the space occupied by the servo motor. This servo motor has a compact, reliable, small, and lightweight structure, making it suitable for integration into various modern fitness equipment. The equipment is simple and convenient to operate, enabling a simplified servo motor design and efficient use of internal space within a regular outline. Multiple locking positioning holes 221 distributed circumferentially on the locking disc 220 form multiple locking points. When the motor assembly 100 stops running, the locking disc 220, under inertia, can quickly align one of the locking positioning holes 221 with the locking tongue 231 to achieve braking and locking, effectively improving the timeliness of braking and locking, resulting in fast braking response and stable and reliable braking action. The reciprocating motion path of the locking tongue 231 is parallel to the axis of the winding wheel 210 and perpendicular to the locking disc 220, ensuring that the braking assembly and the rope winding area do not interfere with each other radially. Furthermore, a radial gap is formed between the braking positioning mechanism 230 and the winding wheel 210. This design ensures both the independence of the braking function and prevents the rope from colliding or rubbing against the locking tongue 231 mechanism during winding, guaranteeing smoothness of the fitness movements and the long service life of the equipment.

[0027] It is understandable that the braking positioning mechanism 230 is an electromagnetic switch. The electromagnetic switch is used to drive the locking tongue 231 to insert into the locking positioning hole 221 to brake the locking disc 220 when power is off. Furthermore, the electromagnetic switch is used to drive the locking tongue 231 out of the locking positioning hole 221 to release the locking disc 220 when power is on. It offers good safety performance, preventing accidental movement during power outages and providing strong security. An electromagnetic switch is a switch controlled by an electromagnet, essentially a combination of an electromagnet and a switch. When the electromagnet coil is energized, it generates electromagnetic attraction, causing the moving iron core to push or pull the switch contacts to close.

[0028] It is understood that the electromagnet switch includes a housing, an electromagnetic coil, a movable iron core, and a return spring. The electromagnetic coil is located inside the housing, and the two ends of the return spring are connected to the housing and the movable iron core, respectively, so that the movable iron core tends to move away from the electromagnet. The movable iron core is located outside the end of the electromagnetic coil near the locking disc 220, and is connected to the locking tongue 231. When the electromagnet switch is de-energized, the electromagnetic attraction formed by the electromagnet coil on the movable iron core disappears. Under the preload of the return spring inside the electromagnet switch, the movable iron core moves away from the electromagnet coil, thereby driving the locking tongue 231 to insert into the locking positioning hole 221, so as to realize the locking and braking of the locking disc 220. This can effectively reduce the energy consumption of the servo motor in the idle state and can effectively cope with special scenarios such as power outages, with reliable safety performance.

[0029] Specifically, the servo motor structure for braking protection also includes a power supply module and a control module. The power supply module is connected to the power input terminal of the control module, and the output control terminal of the control module is connected to the electromagnetic switch and the electromagnetic coil. When the machine stops, the control module controls the electromagnetic coil to de-energize so that the stator module 110 stops driving the rotor module 120 to rotate, and the control module controls the electromagnetic switch to de-energize so that the locking tongue 231 is inserted into the locking positioning hole 221. When the machine starts, the control module controls the electromagnetic coil to de-energize so that the stator module 110 drives the rotor module 120 to rotate, and the control module controls the electromagnetic switch to energize so that the locking tongue 231 disengages from the locking positioning hole 221 and releases the locking disc 220, thereby ensuring that the winding wheel 210 can rotate with the rotor module 120.

[0030] It should be further explained that, in addition to being configured as an electromagnetic switch, the braking positioning mechanism 230 can also be configured as a small cylinder or other power mechanism that can drive the locking tongue 231 to achieve linear movement.

[0031] It is understandable that the locking positioning hole 221 is a long slot extending circumferentially along the locking disc 220, with an extension length of L. All the long slots are evenly distributed along the circumferential trajectory, and the interval between each two adjacent long slots is D, where L>D. This effectively increases the probability that the locking tongue 231 will insert into one of the locking positioning holes 221 during braking. By designing the locking positioning hole 221 as a circumferentially extending long slot and making its effective length L greater than the hole spacing D, the effective locking area in the circumferential direction of the locking disc 220 is substantially extended.

[0032] Correspondingly, when the motor assembly 100 stops, the locking disc 220 rotates relative to the locking tongue 231 under inertia, and the locking tongue 231 has a very high probability of successfully inserting. This design significantly reduces the requirements of the braking system on the stopping position accuracy of the locking disc 220, effectively improves the response speed of successful braking, and greatly enhances the timeliness and fault tolerance of braking protection. Alternatively, the locking positioning hole 221 can be understood as a long slot extending circumferentially along the locking disc 220, with a duty cycle greater than 50% on the circumferential trajectory, i.e., L / (L+D)>0.5, forming a geometric basis for high-probability, rapid locking.

[0033] The latch 231 can be a cylindrical or prismatic part. When the latch 231 is cylindrical, its diameter is less than or equal to the width of the elongated slot to ensure that the latch 231 can be smoothly inserted into the locking positioning hole 221. When the latch 231 is prismatic, its width is less than or equal to the width of the elongated slot. This design provides manufacturing and assembly flexibility, allowing the selection of the most suitable latch 231 shape according to different stress requirements and processing techniques.

[0034] It is understood that the stator module 110 includes a fixed shaft 111 and a stator core 112 for winding an electromagnetic coil. The stator core 112 is fixed outside the fixed shaft 111, and the winding wheel 210 is rotatably connected to the fixed shaft 111. The rotor module 120 includes a rotor core 121 and a cover plate 122. The rotor core 121 is annular and surrounds the stator core 112. The rotor core 121 is provided with a plurality of magnets 124 arranged in a circular trajectory to achieve interaction with the stator core 112 on which the electromagnetic coil is wound. The cover plate 122 is annular and rotatably connected to the fixed shaft 111. The cover plate 122 is fixedly connected to the side of the rotor core 121 near the locking disc 220, and the cover plate 122 is located on the side of the stator core 112 near the locking disc 220. The winding wheel 210 is fixedly connected to the side of the cover plate 122 away from the stator core 112.

[0035] The stator module 110 provides static support and an electromagnetic field via a fixed shaft 111; the rotor module 120, as the outer rotor, rotates under the drive of the magnetic field; the cover plate 122 acts as a power transmission bridge and structural support between the rotor module 120 and the winding wheel 210. Both the winding wheel 210 and the cover plate 122 are rotatably connected to the fixed shaft 111 via bearings, ensuring the concentricity and smooth operation of the rotating components.

[0036] Understandably, the radius of the winding wheel 210 is smaller than the rotor radius of the rotor core 121. Both the winding wheel 210 and the braking positioning mechanism 230 are located between the locking disc 220 and the cover plate 122. By utilizing the inherent internal space of the servo motor's regular shape, the winding wheel 210 and the braking positioning mechanism 230 are simultaneously embedded between the locking disc 220 and the cover plate 122, effectively reducing the axial dimension of the overall structure. By setting the radius of the winding wheel 210 to be smaller than the rotor radius of the rotor core 121, the radial dimension of the overall structure can be effectively controlled, making the entire motor structure more compact and further improving the effective utilization rate of the space occupied by the motor, making it convenient to use and install. Moreover, driving the small-radius winding wheel 210 to rotate with the large-radius rotor core 121 can effectively amplify the torque output from the motor assembly 100 to the winding wheel 210, significantly improving the load output capacity of the servo motor and effectively adapting to the mechanical loads used in fitness equipment.

[0037] Understandably, to improve the integrity and functionality of the overall structure, the rotor module 120 also includes a ring-shaped back plate 123. The back plate 123 is rotatably connected to the fixed shaft 111 via bearings. The back plate 123 is connected to the rotor core 121. The back plate 123 is located on the side of the stator core 112 away from the locking disc 220. An encoder 125 is provided on the back plate 123. The encoder 125 has a moving part, such as a magnetic ring, which cooperates with a stationary part, such as a reading head, fixed on the fixed shaft 111. It is used to monitor the rotation angle, speed, and position of the rotor core 121 in real time. The encoder 125 is used to monitor the rotation position of the rotor core 121.

[0038] The encoder 125 is positioned on the backplate 123 side of the servo motor, completely separated from the working area of ​​the winding reel 210. This layout effectively avoids interference and contamination of the precision encoder 125 by ropes, dust, etc. When the encoder 125 needs to be inspected or replaced, there is no need to disassemble the winding reel 210 and the braking system, making maintenance operations more convenient and safer. The detection function unit and the power output unit are axially offset, avoiding structural interference that may be caused by complex coaxial installation, simplifying the assembly process, and improving reliability. The backplate 123 and the cover plate 122 form symmetrical support, which helps improve the dynamic balance performance of the rotor module 120, making the motor run more smoothly.

[0039] It is understandable that the cover plate 122 is provided with a number of first heat dissipation holes 126, and the back plate 123 is provided with a number of second heat dissipation holes 127. The first heat dissipation holes 126 and the second heat dissipation holes 127 form an axial ventilation channel. When the rotor module 120 rotates, it can effectively drive the internal airflow, thereby dissipating the heat generated by the stator module in a timely manner, thereby effectively reducing the temperature of the servo motor, effectively ensuring the operating performance of the servo motor, and effectively improving the continuous working capability and service life of the servo motor.

[0040] Understandably, the circumferential surface of the winding reel 210 is provided with a winding positioning groove 211. The winding positioning groove 211 is a groove structure that extends continuously in a spiral shape around the axis of the winding reel 210. The spiral winding positioning groove 211 can effectively guide the rope to be arranged layer by layer and neatly during the winding and release process, thereby effectively reducing the probability of the rope overlapping, squeezing and tangling on the winding reel 210. The orderly rope arrangement can effectively reduce the mutual friction between the wrapped ropes, significantly reduce the wear of the rope, and effectively extend the service life of the rope. Moreover, the neatly wound rope can make the mass distribution of the winding reel 210 more uniform, which can effectively reduce the vibration during rotation, thereby making the load output action more stable.

[0041] Understandably, reference Figure 6 As shown, in practical applications, the motor assembly 100 also includes a frame 130, a stator module 110, and a braking positioning mechanism 230, all of which are connected to the frame 130, which is connected to the mounting base of the fitness equipment. When the stator module 110 is configured to include a fixed shaft 111 and a stator core 112 for winding an electromagnetic coil, the fixed shaft 111 in the stator module 110 is fixedly connected to the frame 130.

[0042] During operation, the torque of the rotor module 120 is transmitted to the rope through the winding wheel 210; while the reaction force is ultimately transmitted to the robust frame 130 through the fixed shaft 111 of the stator module 110 and the braking positioning mechanism 230, which can effectively ensure that the entire system has a stable mechanical foundation, thereby improving the stability and reliability of long-term operation.

[0043] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A servo motor structure for braking protection, characterized in that, include: The motor assembly (100) includes a stator module (110) and a rotor module (120) rotatably connected coaxially, wherein the stator module (110) is used to drive the rotor module (120) to rotate; The winding assembly (200) includes a winding wheel (210), a locking disc (220), and a braking positioning mechanism (230). The winding wheel (210) is connected to the rotor module (120) and is used to wind the rope. The locking disc (220) is coaxially connected to the winding wheel (210). The braking positioning mechanism (230) and the winding wheel (210) are both located on the same side of the locking disc (220). The braking positioning mechanism (230) and the winding wheel (210) are radially distributed along the locking disc (220), and a radial gap is formed between the braking positioning mechanism (230) and the winding wheel (210). The braking positioning mechanism (230) has a locking tongue (231) on the side near the locking disc (220). The braking positioning mechanism (230) is used to drive the locking tongue (231) to reciprocate. The reciprocating path of the locking tongue (231) is parallel to the wheel axis of the winding wheel (210). The locking disc (220) has a plurality of locking positioning holes (221) that are arranged in a circular trajectory around the winding wheel (210). The circular trajectory of the locking positioning holes (221) intersects perpendicularly with the reciprocating path of the locking tongue (231). The projected area of ​​the locking tongue (231) on the locking disc (220) is smaller than the opening area of ​​the locking positioning holes (221).

2. The servo motor structure for braking protection according to claim 1, characterized in that, The braking positioning mechanism (230) is an electromagnetic switch, which is used to drive the locking tongue (231) to insert into the locking positioning hole (221) when the power is off.

3. The servo motor structure for braking protection according to claim 1, characterized in that, The locking positioning hole (221) is a long slot extending circumferentially along the locking disc (220). The extension length of the long slot is L. All the long slots are evenly distributed, and the interval between each two adjacent long slots is D, where L>D.

4. The servo motor structure for braking protection according to claim 1, characterized in that, The stator module (110) includes a fixed shaft (111) and a stator core (112) for winding an electromagnetic coil. The stator core (112) is fixed outside the fixed shaft (111). The rotor module (120) includes a rotor core (121) and a cover plate (122). The rotor core (121) is annular and surrounds the stator core (112). The rotor core (121) is provided with a plurality of magnets (124). The cover plate (122) is annular and rotatably connected to the fixed shaft (111). The cover plate (122) is connected to the side of the rotor core (121) near the locking disc (220). The winding wheel (210) is connected to the side of the cover plate (122) away from the stator core (112).

5. The servo motor structure for braking protection according to claim 4, characterized in that, The radius of the winding wheel (210) is smaller than the radius of the rotor core (121), and the braking positioning mechanism (230) is located between the locking disc (220) and the cover plate (122).

6. The servo motor structure for braking protection according to claim 4, characterized in that, The rotor module (120) also includes an annular back plate (123), which is rotatably connected to a fixed shaft (111) and connected to the rotor core (121). The back plate (123) is located on the side of the stator core (112) away from the locking disc (220). An encoder (125) is provided on the back plate (123) for monitoring the rotational position of the rotor core (121).

7. The servo motor structure for braking protection according to claim 6, characterized in that, The cover plate (122) is provided with a plurality of first heat dissipation holes (126), and the back plate (123) is provided with a plurality of second heat dissipation holes (127).

8. The servo motor structure for braking protection according to claim 1, characterized in that, The circumferential surface of the winding wheel (210) is provided with a winding positioning groove (211) that is spirally wound.

9. The servo motor structure for braking protection according to claim 1, characterized in that, The motor assembly (100) also includes a frame (130), to which the stator module (110) and the braking positioning mechanism (230) are both connected.

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