Inertia adjustment mechanism and motor

Abstract

This invention provides an inertia adjustment mechanism and a motor. The inertia adjustment mechanism includes: multiple inertia disks, each rotatably mounted on an inertia disk mounting part around the axis of a rotating shaft, the multiple inertia disks being sequentially sleeved along the axis away from the rotating shaft, with any two adjacent inertia disks spaced apart; and a multi-jaw chuck, the multi-jaw chuck including a chuck and multiple jaws, the chuck being sleeved on and fixedly connected to the rotating shaft, the multiple jaws being spaced apart around the axis of the rotating shaft, each jaw being movably mounted on the chuck along the direction close to or away from the rotating shaft, for gripping one of the multiple inertia disks and driving the corresponding inertia disk to rotate with the rotating shaft, thereby adjusting the rotational inertia of the rotating shaft, thus solving the problem that the rotational inertia of servo motors in the prior art cannot be adjusted.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more specifically, to an inertia adjustment mechanism and a motor. Background Technology

[0002] With the rapid development of industrial automation and intelligence, servo motors are widely used in industrial production equipment due to their advantages such as high control precision and fast response speed. When the shaft of a servo motor drives the load to rotate, the ratio of the inertia of the motor itself to that of the load has a significant impact on the stability and response speed of the servo system.

[0003] Currently, the moment of inertia of most servo motors is determined at the factory and cannot be adjusted. When the moment of inertia of the load changes, a mismatch may occur between the moment of inertia of the load and the moment of inertia of the servo motor, leading to problems such as decreased servo motor performance or large short-term positional deviations. Summary of the Invention

[0004] The main objective of this invention is to provide an inertia adjustment mechanism and a motor to solve the problem that the rotational inertia of servo motors in the prior art cannot be adjusted.

[0005] To achieve the above objectives, according to one aspect of the present invention, an inertia adjustment mechanism is provided, comprising: a plurality of inertia disks, each inertia disk being rotatably disposed on an inertia disk mounting portion about the axis of a rotating shaft, the plurality of inertia disks being sequentially sleeved along the axis away from the rotating shaft, and any two adjacent inertia disks being spaced apart; a multi-jaw chuck, the multi-jaw chuck comprising a chuck body and a plurality of jaws, the chuck body being sleeved on and fixedly connected to the rotating shaft, the plurality of jaws being spaced apart around the axis of the rotating shaft, each jaw being movably disposed on the chuck body along the direction approaching or away from the rotating shaft, for gripping one of the plurality of inertia disks and driving the corresponding inertia disk to rotate with the rotating shaft, thereby adjusting the rotational inertia of the rotating shaft.

[0006] Furthermore, the chuck body is provided with: a central hole through which the chuck body is fitted onto the rotating shaft; multiple sliding grooves, which are spaced apart around the outer circumference of the central hole, with each sliding groove extending perpendicular to the center line of the central hole; each sliding groove is correspondingly provided with multiple jaws, and each jaw is installed in the corresponding sliding groove to move along the corresponding sliding groove; and multiple adjusting holes, which are correspondingly provided with multiple sliding grooves, with each adjusting hole located on the side of the corresponding sliding groove away from the corresponding jaw; each adjusting hole communicates with the corresponding sliding groove and extends to the outer circumference of the chuck body; and a portion of each jaw is located within the corresponding adjusting hole, so that an adjusting wrench can be inserted into the adjusting hole to drive the corresponding jaw to move, thereby adjusting the position of the corresponding jaw within the corresponding sliding groove.

[0007] Furthermore, each gripper includes: a movable part for mounting in a corresponding groove; a gripping part disposed on the movable part and located on the side of the movable part away from the chuck body for contacting or separating from the inertia disk; and a connecting part disposed on the movable part and located on the side of the movable part closer to the chuck body for insertion into a corresponding adjustment hole.

[0008] Furthermore, each inertia disk includes a main disk body and multiple gripping parts disposed on the side of the main disk body near the multi-jaw chuck. The multiple gripping parts are arranged at intervals around the axis of the rotating shaft to form multiple clearance grooves. The multiple gripping parts and the multiple clearance grooves are all provided in one-to-one correspondence with multiple grippers. Each clearance groove is used to avoid the corresponding gripper. The gripping part of each gripper moves between the inner and outer sides of the corresponding inertia disk through the corresponding clearance groove. The gripping part of each gripper is used to grip or release the corresponding gripped part.

[0009] Furthermore, the shortest distance 'a' between two adjacent gripped parts is greater than the maximum width 'b' of the gripping part; and / or the shortest distance between two adjacent inertia disks is greater than the maximum thickness 'c' of the gripping part; and / or the number of grippers and gripped parts is N; the included angle between two first sides of the gripping part arranged circumferentially along the axis of rotation is α, and the first plane containing each first side passes through the axis of rotation; the included angle between two second sides of the gripped part arranged circumferentially along the axis of rotation is β, and the second plane containing each second side passes through the axis of rotation; wherein, α+β<360° / N, and β>180° / N.

[0010] Furthermore, the inertia disk mounting section is provided with multiple annular mounting slots, each corresponding to a different inertia disk. Each annular mounting slot is used to mount the corresponding inertia disk, and there is a clearance fit between each inertia disk and the corresponding annular mounting slot so that each inertia disk can be rotatably mounted within the corresponding annular mounting slot.

[0011] Furthermore, a lubricating oil film is coated between the outer surface of the inertia disk and the groove wall of the annular mounting groove.

[0012] According to another aspect of the present invention, an electric motor is provided, including the inertia adjustment mechanism described above. The motor further includes: a front cover and a rear cover, which are disposed opposite to each other to form the housing of the motor, and the rear cover serves as an inertia disk mounting part; an encoder disposed on the side of the rear cover away from the front cover; a rotating shaft, one end of which passes through the front cover and the rear cover and is connected to the encoder, and the other end of which is located on the side of the front cover away from the rear cover; the inertia adjustment mechanism is located on the side of the rear cover closer to the front cover, and a plurality of inertia disks in the inertia adjustment mechanism are mounted on the rear cover, and a multi-jaw chuck in the inertia adjustment mechanism is mounted on the rotating shaft.

[0013] Furthermore, the rear end cover is provided with an insertion hole. One end of the insertion hole is connected to the internal space of the rear end cover, and the other end of the insertion hole is connected to the external space of the rear end cover. The insertion hole is used for the adjustment wrench of the multi-jaw chuck to pass through. One end of the adjustment wrench passes through the insertion hole and is inserted into one of the adjustment holes of the multi-jaw chuck to drive the corresponding jaw to move.

[0014] Furthermore, the insertion hole is a threaded hole for installing a sealing screw to seal the insertion hole when no adjusting wrench is used; and / or the number of insertion holes is two, with the two insertion holes located on opposite sides of the rear end cover.

[0015] Applying the technical solution of this invention, the inertia adjustment mechanism of this invention includes: multiple inertia disks, each inertia disk being rotatably mounted on an inertia disk mounting part around the axis of a rotating shaft, the multiple inertia disks being sequentially sleeved along the axis away from the rotating shaft, and any two adjacent inertia disks being spaced apart; a multi-jaw chuck, the multi-jaw chuck including a chuck body and multiple jaws, the chuck body being sleeved on and fixedly connected to the rotating shaft, the multiple jaws being spaced apart around the axis of the rotating shaft, each jaw being movably mounted on the chuck body along the direction close to or away from the rotating shaft, for gripping one of the multiple inertia disks and driving the corresponding inertia disk to rotate with the rotating shaft, thereby adjusting the rotational inertia of the rotating shaft. In this way, the inertia adjustment mechanism of the present invention can connect the multi-jaw chuck with inertia disks of different inertia sizes by moving the individual jaws on the multi-jaw chuck, so that the multi-jaw chuck and the corresponding inertia disk can form a whole and rotate together with the shaft, thereby changing the rotational inertia of the motor. This solves the problem that the rotational inertia of the servo motor cannot be adjusted in the prior art, so as to maintain good working performance when the external load of the motor changes, and improve the control accuracy and response speed of the motor. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 A cross-sectional view of an embodiment of the motor according to the invention is shown, with the multi-jaw chuck not connected to the inertia disk, taken by a first plane passing through the axis of rotation.

[0018] Figure 2 A cross-sectional view of an embodiment of the motor according to the invention is shown, with the multi-jaw chuck connected to one of the inertia disks, taken by a first plane passing through the axis of the shaft.

[0019] Figure 3 It shows Figure 1 and Figure 2A schematic diagram of the inertia disk of the inertia adjustment mechanism of the motor shown.

[0020] Figure 4 It shows Figure 1 and Figure 2 A schematic diagram of the multi-jaw chuck of the inertia adjustment mechanism of the motor shown.

[0021] Figure 5 It shows Figure 1 and Figure 2 The diagram shows a cross-sectional view of the motor's inertia adjustment mechanism taken by a second plane perpendicular to the axis of rotation when the first inertia disk is in its initial position.

[0022] Figure 6 It shows Figure 1 and Figure 2 The diagram shows a cross-sectional view of the motor's inertia adjustment mechanism taken by a second plane perpendicular to the axis of rotation when the first inertia disk is in a non-initial position.

[0023] Figure 7 It shows Figure 1 and Figure 2 The diagram shows the structure of the motor.

[0024] The above figures include the following reference numerals:

[0025] 1. Inertia disk; 101. First inertia disk; 102. Second inertia disk; 11. Main disk body; 12. Grasped part; 13. Avoidance groove;

[0026] 2. Multi-jaw chuck; 21. Chuck body; 211. Center hole; 212. Slide groove; 213. Adjustment hole; 22. Grippers; 2201. First gripper; 2202. Second gripper; 2203. Third gripper; 221. Moving part; 222. Gripping part;

[0027] 3. Shaft; 4. Front cover; 5. Rear cover; 6. Encoder; 7. Waterproof cover; 8. Insertion hole; 9. Encoder end cover. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] like Figures 1 to 7As shown, the present invention provides an inertia adjustment mechanism, comprising: a plurality of inertia disks 1, each inertia disk 1 being rotatably mounted on an inertia disk mounting part about the axis of a rotating shaft 3, the plurality of inertia disks 1 being sequentially sleeved along the axis away from the rotating shaft 3, with any two adjacent inertia disks 1 spaced apart; a multi-jaw chuck 2, the multi-jaw chuck 2 comprising a chuck body 21 and a plurality of jaws 22, the chuck body 21 being sleeved on and fixedly connected to the rotating shaft 3, the plurality of jaws 22 being spaced apart around the axis of the rotating shaft 3, each jaw 22 being movably mounted on the chuck body 21 about or away from the rotating shaft 3, for gripping one of the plurality of inertia disks 1 and driving the corresponding inertia disk 1 to rotate with the rotating shaft 3, thereby adjusting the rotational inertia of the rotating shaft 3.

[0030] The inertia adjustment mechanism of the present invention can connect the multi-jaw chuck 2 with inertia disks 1 of different inertia sizes by moving the various jaws 22 on the multi-jaw chuck 2, so that the multi-jaw chuck 2 and the corresponding inertia disks 1 can form a whole and rotate together with the rotating shaft 3, thereby changing the rotational inertia of the motor. This solves the problem that the rotational inertia of the servo motor cannot be adjusted in the prior art, so as to maintain good working performance when the external load of the motor changes, and improve the control accuracy and response speed of the motor.

[0031] Specifically, the multiple inertia disks 1 include a first inertia disk 101 and a second inertia disk 102. The second inertia disk 102 is sleeved outside the first inertia disk 101 and spaced apart from the first inertia disk 101. The specific size of the first inertia disk 101 and the second inertia disk 102 can be designed according to different operating conditions.

[0032] Optionally, the number of jaws 22 in the multi-jaw chuck 2 can be two, three, four, or more.

[0033] like Figure 5 and Figure 6 As shown, the multi-jaw chuck 2 of the present invention has three jaws 22. The three jaws 22 include a first jaw 2201, a second jaw 2202, and a third jaw 2203 arranged sequentially at intervals. The angle between the line connecting the center of the first jaw 2201 and the axis of the rotating shaft 3 and the line connecting the center of the second jaw 2202 and the axis of the rotating shaft 3 is 90 degrees. The angle between the line connecting the center of the second jaw 2202 and the axis of the rotating shaft 3 and the line connecting the center of the third jaw 2203 and the axis of the rotating shaft 3 is also 90 degrees. The angle between the line connecting the center of the first jaw 2201 and the axis of the rotating shaft 3 and the line connecting the center of the third jaw 2203 and the axis of the rotating shaft 3 is 180 degrees.

[0034] Preferably, the multi-jaw chuck 2 has three jaws 22, and the included angle between two adjacent jaws 22 is 90°.

[0035] The chuck body 21 of the multi-jaw chuck 2 of the present invention is interference-fitted with the rotating shaft 3. The rotating shaft 3 is provided with a shoulder, which is located on the side of the chuck body 21 away from the inertia disk 1, so as to axially limit the chuck body 21 and ensure that the multi-jaw chuck 2 can rotate synchronously with the rotating shaft 3. In addition, when the motor is not working, each jaw 22 of the multi-jaw chuck 2 is clamped on the rotating shaft 3.

[0036] Since the inertia adjustment mechanism of the present invention causes the jaws 22 of the multi-jaw chuck 2 to move radially along the rotating shaft 3 when adjusting the inertia, according to the formula for calculating the rotational inertia I = mr 2 The change in the distance between each gripper 22 and the axis of the rotating shaft 3 will affect the overall rotational inertia. Therefore, the gripper 22 should be made of a material with low density to reduce the impact on the overall rotational inertia.

[0037] like Figure 4 As shown, the chuck body 21 is provided with: a center hole 211, through which the chuck body 21 is sleeved on the rotating shaft 3; multiple sliding grooves 212, which are spaced around the outer circumference of the center hole 211, and the extension direction of each sliding groove 212 is perpendicular to the center line of the center hole 211; the multiple sliding grooves 212 are correspondingly arranged with multiple grippers 22, and each gripper 22 is installed in the corresponding sliding groove 212 to move along the corresponding sliding groove 212; and multiple adjustment holes 213, for multiple adjustment... Holes 213 are provided in a one-to-one correspondence with multiple slide grooves 212. Each adjustment hole 213 is located on the side of the corresponding slide groove 212 away from the corresponding jaw 22. Each adjustment hole 213 is connected to the corresponding slide groove 212 and extends to the outer peripheral surface of the chuck body 21. A portion of each jaw 22 is located in the corresponding adjustment hole 213, so that the adjustment wrench can drive the corresponding jaw 22 to move by extending into each adjustment hole 213, thereby adjusting the position of the corresponding jaw 22 in the corresponding slide groove 212.

[0038] like Figure 4 As shown, each gripper 22 includes: a movable part 221 for mounting in a corresponding slide groove 212; a gripping part 222 disposed on the movable part 221 and located on the side of the movable part 221 away from the chuck body 21 for contacting or separating from the inertia disk 1; and a connecting part disposed on the movable part 221 and located on the side of the movable part 221 close to the chuck body 21 for insertion into a corresponding adjustment hole 213.

[0039] like Figure 3As shown, each inertia disk 1 includes a main disk body 11 and multiple gripping parts 12 disposed on one side of the main disk body 11 near the multi-jaw chuck 2. The multiple gripping parts 12 are arranged at intervals around the axis of the rotating shaft 3 to form multiple clearance grooves 13. The multiple gripping parts 12 and the multiple clearance grooves 13 are all provided in a one-to-one correspondence with multiple grippers 22. Each clearance groove 13 is used to avoid the corresponding gripper 22. The gripping part 222 of each gripper 22 moves between the inner and outer sides of the corresponding inertia disk 1 through the corresponding clearance groove 13. The gripping part 222 of each gripper 22 is used to grip or release the corresponding gripping part 12.

[0040] Optionally, the number of gripped parts 12 in the inertia disk 1 can be two, three, four, or more.

[0041] like Figure 5 and Figure 6 As shown, the inertia disk 1 of the present invention has three gripping parts 12. The three gripping parts 12 are evenly arranged around the axis of the rotating shaft 3 at 360 degrees. The line connecting the center of two adjacent gripping parts 12 to the axis of the rotating shaft 3 is 120 degrees.

[0042] like Figure 5 and Figure 6 As shown, the shortest distance a between two adjacent gripped parts 12 is greater than the maximum width b of the gripping part 222.

[0043] like Figure 5 and Figure 6 As shown, the shortest distance between two adjacent inertia disks 1 is greater than the maximum thickness c of the gripping part 222, where the thickness of the gripping part 222 is the dimension of the gripping part 222 in the radial direction of the rotating shaft 3.

[0044] like Figure 5 and Figure 6 As shown, there are N grippers 22 and N gripped parts 12. The included angle between the two first sides of the gripper 222 that are spaced apart circumferentially along the axis of rotation 3 is α, and the first plane containing each first side passes through the axis of rotation 3. The included angle between the two second sides of the gripped part 12 that are spaced apart circumferentially along the axis of rotation 3 is β, and the second plane containing each second side passes through the axis of rotation 3. Wherein, α+β<360° / N, and β>180° / N. In this way, by designing the angles of α and β, the selective connection or disconnection between the multi-jaw chuck 2 and the multiple inertia disks 1 is realized, making the structure of the inertia adjustment mechanism of the present invention simpler, the operation more convenient, and the versatility stronger.

[0045] To ensure the reliability and stability of the connection between each inertia disk 1 and the multi-jaw chuck 2, the included angle β of the gripping part 12 of each inertia disk 1 should be as large as possible. However, it is also necessary to reserve a clearance groove 13 with sufficient width to avoid the gripping part 222 of the corresponding jaw 22, so that the gripping part 222 of each jaw 22 can move between the inner and outer sides of the inertia disk 1 through the corresponding clearance groove 13. Under the premise that α and β satisfy α+β<360° / N and β>180° / N, the specific angle values ​​of α and β need to be calculated according to the specific structure and functional requirements of the inertia adjustment mechanism.

[0046] Specifically, the inertia disk mounting section is provided with multiple annular mounting slots, which are provided one-to-one with multiple inertia disks 1. Each annular mounting slot is used to install the corresponding inertia disk 1. Each inertia disk 1 and the corresponding annular mounting slot are fitted with a clearance so that each inertia disk 1 can be rotatably set in the corresponding annular mounting slot.

[0047] Preferably, a lubricating oil film is coated between the outer surface of the inertia disk 1 and the wall of the annular mounting groove, so that when the inertia disk 1 rotates under the action of external force, the friction between it and the annular mounting groove can be minimized.

[0048] like Figures 1 to 7 As shown, the present invention also provides a motor, including the aforementioned inertia adjustment mechanism. The motor further includes: a front cover 4 and a rear cover 5, which are arranged opposite to each other to form the motor housing, with the rear cover 5 serving as an inertia disk mounting part; an encoder 6, disposed on the side of the rear cover 5 away from the front cover 4; an encoder end cover, disposed on the side of the rear cover 5 away from the front cover 4, for covering the encoder 6; a rotating shaft 3, one end of which passes through the front cover 4 and the rear cover 5 and is connected to the encoder 6, and the other end of which is located on the side of the front cover 4 away from the rear cover 5; the inertia adjustment mechanism is located on the side of the rear cover 5 closer to the front cover 4, and multiple inertia disks 1 in the inertia adjustment mechanism are rotatably mounted on the rear cover 5, with a multi-jaw chuck 2 in the inertia adjustment mechanism mounted on the rotating shaft 3. Figure 7 As shown, the rear cover 5 is provided with an insertion hole 8. One end of the insertion hole 8 is connected to the internal space of the rear cover 5, and the other end of the insertion hole 8 is connected to the external space of the rear cover 5. The insertion hole 8 is used for the adjustment wrench of the multi-jaw chuck 2 to pass through. One end of the adjustment wrench passes through the insertion hole 8 and is inserted into one of the adjustment holes 213 of the multi-jaw chuck 2 to drive the corresponding jaw 22 to move, so as to adjust the rotational inertia of the motor without disassembling the motor.

[0049] Preferably, the insertion hole 8 is a threaded hole for installing a sealing screw, so that the insertion hole 8 can be sealed by the sealing screw when the adjusting wrench is not used, thereby ensuring the dustproof and waterproof performance of the motor.

[0050] Preferably, there are two insertion holes 8, which are located on opposite sides of the rear end cover 5; wherein, a waterproof cover 7 is provided on one side of the rear end cover 5, and the two insertion holes 8 are located on opposite sides of the waterproof cover 7.

[0051] The installation method of the motor of the present invention is as follows: first, install the multi-jaw chuck 2 and the rear bearing on the rotating shaft 3, and then install the first inertia disk 101 and the second inertia disk 102 on the rear end cover 5 in sequence. Then, install the rear end cover 5 on the rear bearing on the rotating shaft 3, and then install the encoder 6 and the encoder end cover 9, etc.

[0052] The method for adjusting the rotational inertia of the motor of the present invention is as follows (the initial positions of each inertia disk 1 in the inertia adjustment mechanism of the motor are as follows). Figure 7 As shown, each jaw 22 in the multi-jaw chuck 2 of the motor's inertia adjustment mechanism is clamped onto the rotating shaft 3.

[0053] (1) By inserting one end of the adjusting wrench through the insertion hole 8 above the rear end cover 5 into the corresponding adjusting hole 213 of the multi-jaw chuck 2, the corresponding jaw 22 is driven to move, so that the jaw 22 reaches between the first inertia disk 101 and the second inertia disk 102 through the clearance groove 13 directly above. Then, the multi-jaw chuck 2 is rotated 90° counterclockwise so that the jaw 22 reaches the left (or right) side of the rotating shaft 3.

[0054] (2) Repeat step (1) above so that each gripper 22 reaches between the first inertia disk 101 and the second inertia disk 102;

[0055] (3) By passing one end of the adjusting wrench through the insertion hole 8 on the left (or right) side of the rear end cover 5 and inserting it into the corresponding adjusting hole 213 of the multi-jaw chuck 2, the corresponding jaw 22 is driven to move so that the jaw 22 is in close contact with the first inertia disk 101. Then the multi-jaw chuck 2 is rotated 90° clockwise (or counterclockwise) so that the jaw 22 reaches above the rotating shaft 3.

[0056] (4) Repeat step (3) above so that each gripper 22 is in close contact with the first inertia disk 101 so as to clamp the first inertia disk 101 together;

[0057] (5) To grab the second inertia disk 102, first rotate the shaft 3 so that one of the jaws 22 is facing the insertion hole 8 on the left (or right) side of the rear end cover 5. Then insert the adjusting wrench to separate the jaw 22 from the first inertia disk 101. Then rotate the multi-jaw chuck 2 counterclockwise (or clockwise) 90° to operate the next jaw 22. Finally, release each jaw 22.

[0058] (6) When the inertia needs to be changed after any inertia disk 1 has been used, the inertia disk 1 must first be reset to the position shown in the image. Figure 7 The initial position is shown for easy adjustment later. If it is unknown whether the multi-jaw chuck 2 was clamped on the left or right side before clamping, after performing the reset procedure on the inertia disk 1, first release each jaw 22 from either the left or right side, and then rotate one of the adjustment holes 213 above the rotating shaft 3. If the jaw 22 corresponding to the adjustment hole 213 can move along the axis close to the rotating shaft 3, it indicates that the reset is correct and the inertia disk 1 is in the initial position. If the jaw 22 cannot move along the axis close to the rotating shaft 3, it indicates that the reset is incorrect and should be reset again.

[0059] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0060] The inertia adjustment mechanism of the present invention includes: a plurality of inertia disks 1, each inertia disk 1 being rotatably mounted on an inertia disk mounting part about the axis of a rotating shaft 3, the plurality of inertia disks 1 being sequentially mounted along the axis away from the rotating shaft 3, and any two adjacent inertia disks 1 being spaced apart; a multi-jaw chuck 2, the multi-jaw chuck 2 including a chuck body 21 and a plurality of jaws 22, the chuck body 21 being mounted on the rotating shaft 3 and fixedly connected to the rotating shaft 3, the plurality of jaws 22 being spaced apart around the axis of the rotating shaft 3, each jaw 22 being movably mounted on the chuck body 21 along the direction close to or away from the rotating shaft 3, for gripping one of the plurality of inertia disks 1 and driving the corresponding inertia disk 1 to rotate with the rotating shaft 3, so as to adjust the rotational inertia of the rotating shaft 3. In this way, the inertia adjustment mechanism of the present invention can realize the connection between the multi-jaw chuck 2 and the inertia disks 1 of different inertia sizes by moving the various jaws 22 on the multi-jaw chuck 2, so that the multi-jaw chuck 2 and the corresponding inertia disks 1 can form a whole and rotate together with the rotating shaft 3, thereby changing the rotational inertia of the motor. This solves the problem that the rotational inertia of the servo motor cannot be adjusted in the prior art, so as to maintain good working performance when the external load of the motor changes, and improve the control accuracy and response speed of the motor.

[0061] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0062] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0063] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0064] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0065] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An inertia adjustment mechanism, characterized in that, include: Multiple inertia disks (1) are rotatably mounted on an inertia disk mounting part around the axis of the rotating shaft (3). The multiple inertia disks (1) are sequentially mounted along the axis away from the rotating shaft (3), and any two adjacent inertia disks (1) are spaced apart. A multi-jaw chuck (2) includes a chuck body (21) and multiple jaws (22). The chuck body (21) is sleeved on the rotating shaft (3) and fixedly connected to the rotating shaft (3). The multiple jaws (22) are spaced apart around the axis of the rotating shaft (3). Each jaw (22) is movably disposed on the chuck body (21) in a direction close to or away from the rotating shaft (3) to grip one of the multiple inertia disks (1) and drive the corresponding inertia disk (1) to rotate with the rotating shaft (3) to adjust the rotational inertia of the rotating shaft (3).

2. The inertia adjustment mechanism according to claim 1, characterized in that, The chuck body (21) is provided with: The chuck body (21) is sleeved on the rotating shaft (3) through the center hole (211); Multiple sliding grooves (212) are spaced apart around the outer peripheral surface of the central hole (211). The extension direction of each sliding groove (212) is perpendicular to the center line of the central hole (211). The multiple sliding grooves (212) are arranged one-to-one with the multiple grippers (22). Each gripper (22) is installed on the corresponding sliding groove (212) to move along the corresponding sliding groove (212). Multiple adjustment holes (213) are provided one-to-one with multiple sliding grooves (212). Each adjustment hole (213) is located on the side of the corresponding sliding groove (212) away from the corresponding jaw (22). Each adjustment hole (213) communicates with the corresponding sliding groove (212) and extends to the outer peripheral surface of the chuck body (21). A portion of each jaw (22) is located in the corresponding adjustment hole (213) so that an adjustment wrench can be inserted into each adjustment hole (213) to drive the corresponding jaw (22) to move, thereby adjusting the position of the corresponding jaw (22) in the corresponding sliding groove (212).

3. The inertia adjustment mechanism according to claim 2, characterized in that, Each of the grippers (22) includes: A movable part (221) is used to be installed in the corresponding slide groove (212); A gripping part (222) is disposed on the moving part (221) and located on the side of the moving part (221) away from the chuck body (21) for contacting or separating from the inertia disk (1); A connecting part is provided on the moving part (221) and located on the side of the moving part (221) near the chuck body (21) for insertion into the corresponding adjustment hole (213).

4. The inertia adjustment mechanism according to claim 3, characterized in that, Each of the inertia disks (1) includes a main disk body (11) and a plurality of gripping parts (12) disposed on the side of the main disk body (11) near the multi-jaw chuck (2). The plurality of gripping parts (12) are arranged at intervals around the axis of the rotating shaft (3) to form a plurality of clearance grooves (13). The plurality of gripping parts (12) and the plurality of clearance grooves (13) are respectively provided in correspondence with the plurality of grippers (22). Each clearance groove (13) is used to avoid the corresponding gripper (22). The gripping part (222) of each gripper (22) moves between the inner and outer sides of the corresponding inertia disk (1) through the corresponding clearance groove (13). The gripping part (222) of each gripper (22) is used to grip or release the corresponding gripping part (12).

5. The inertia adjustment mechanism according to claim 4, characterized in that, The shortest distance a between two adjacent gripped parts (12) is greater than the maximum width b of the gripping part (222); and / or The shortest distance between two adjacent inertia disks (1) is greater than the maximum thickness c of the gripping part (222); and / or The number of grippers (22) and gripped parts (12) is N; the included angle between the two first sides of the gripping parts (222) arranged circumferentially along the rotating shaft (3) is α, and the first plane on which each first side is located passes through the axis of the rotating shaft (3); the included angle between the two second sides of the gripped parts (12) arranged circumferentially along the rotating shaft (3) is β, and the second plane on which each second side is located passes through the axis of the rotating shaft (3); wherein, α+β<360° / N, and β>180° / N.

6. The inertia adjustment mechanism according to claim 1, characterized in that, The inertia disk mounting part is provided with a plurality of annular mounting slots, and the plurality of annular mounting slots are provided one-to-one with the plurality of inertia disks (1). Each of the annular mounting slots is used to install the corresponding inertia disk (1). Each inertia disk (1) and the corresponding annular mounting slot are fitted with a clearance so that each inertia disk (1) is rotatably set in the corresponding annular mounting slot.

7. The inertia adjustment mechanism according to claim 6, characterized in that, A lubricating oil film is coated between the outer surface of the inertia disk (1) and the groove wall of the annular mounting groove.

8. An electric motor, characterized in that, The motor further includes the inertia adjustment mechanism according to any one of claims 1 to 7, and further includes: A front cover (4) and a rear cover (5) are arranged opposite to each other to form the housing of the motor. The rear cover (5) is the mounting part of the inertia disk. An encoder (6) is disposed on the side of the rear end cover (5) away from the front end cover (4); A rotating shaft (3) has one end passing through the front end cover (4) and the rear end cover (5) and connected to the encoder (6). The other end of the rotating shaft (3) is located on the side of the front end cover (4) away from the rear end cover (5). The inertia adjustment mechanism is located on the side of the rear end cover (5) near the front end cover (4). The plurality of inertia disks (1) in the inertia adjustment mechanism are rotatably mounted on the rear end cover (5). The multi-jaw chuck (2) in the inertia adjustment mechanism is mounted on the rotating shaft (3).

9. The motor according to claim 8, characterized in that, An insertion hole (8) is provided on the rear end cover (5). One end of the insertion hole (8) is connected to the internal space of the rear end cover (5), and the other end of the insertion hole (8) is connected to the external space of the rear end cover (5). The insertion hole (8) is used for the passage of the adjusting wrench of the multi-jaw chuck (2). One end of the adjusting wrench passes through the insertion hole (8) and is inserted into one of the adjusting holes (213) of the multi-jaw chuck (2) to drive the corresponding jaw (22) to move.

10. The motor according to claim 9, characterized in that, The insertion hole (8) is a threaded hole for mounting a sealing screw to seal the insertion hole (8) by means of the sealing screw when the adjusting wrench is not used; and / or There are two insertion holes (8), and the two insertion holes (8) are located on opposite sides of the rear end cover (5).

Images