Servo motors and industrial robots

Abstract

The present invention discloses a servo motor and an industrial robot, and relates to the technical field of motors, wherein the servo motor comprises an integrally formed flange portion and a casing, the flange portion is connected to one end of the casing; an end cover is connected to the other end of the casing, the end cover comprises a body portion and a rear cover portion, the body portion and the casing are matched and connected, a wire outlet is provided on the side wall of the body portion, and the outer diameter of the rear cover portion is smaller than the outer diameter of the body portion; wherein the length of the casing is C, and the length of the body portion is D, satisfying 2.0≤C / D≤2.6. The present invention is formed integrally with one end of the casing by arranging the flange portion, the end cover is arranged at the other end of the casing, the side wall of the body portion where the end cover and the casing cooperate is provided with a wire outlet, and the length C of the casing and the length D of the body portion satisfy 2.0≤C / D≤2.6, so that servo motors of different specifications are manufactured using the same mold, which reduces the mold cost, and the wiring is more convenient, thereby reducing the production cost.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a servo motor and an industrial robot. Background Art

[0002] In the prior art, a servo motor typically consists of a front flange, a housing, an end cover, and a rear cover, all connected in sequence. The motor's stator assembly, brake, and other components are mounted inside the housing, the encoder assembly is mounted inside the rear cover, and the bearings are mounted inside the end cover. The end covers are sealed to the housing and rear cover on both sides. In the prior art, the motor's wiring is mounted on the housing, resulting in a relatively long housing. To produce motors of different sizes, a mold must be created for each housing size, resulting in low production efficiency and high costs. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a servo motor that can achieve serialization of various specifications, reduce mold costs, and achieve versatility and economy.

[0004] The present invention also provides an industrial robot having the servo motor.

[0005] According to an embodiment of the first aspect of the present invention, a servo motor includes: a housing, including an integrally formed flange portion and a casing, the flange portion being connected to one end of the casing; an end cover, connected to the other end of the casing, the end cover including a main body portion and a rear cover portion, the main body portion and the casing being cooperatively connected, a wire outlet being provided on a side wall of the main body portion, and an outer diameter of the rear cover portion being smaller than an outer diameter of the main body portion; wherein the length of the casing is C, the length of the main body is D, and they satisfy 2.0≤C / D≤2.6.

[0006] The servo motor according to the embodiment of the present invention has at least the following beneficial effects:

[0007] By arranging the flange part and one end of the casing to be integrally formed, and the end cover being arranged at the other end of the casing, the length C of the casing and the length D of the main body of the end cover satisfy 2.0≤C / D≤2.6, so that the casing and flange parts of servo motors of different specifications can be manufactured using the same mold, and the size of the same end cover can be universal, thereby realizing the serialization of servo motors of various specifications, reducing the mold cost, and achieving versatility and economy; the side wall of the main body of the end cover is provided with a wire outlet, making wiring more convenient and reducing the assembly cost of the servo motor.

[0008] According to some embodiments of the present invention, the outer wall of the casing includes two first side walls and two second side walls arranged opposite to each other, and along the circumference of the casing, the side length of the second side wall is greater than the side length of the first side wall. A mounting portion is formed at one end of the casing facing the end cover, and the mounting portion is arranged at the end portions of the two second side walls.

[0009] According to some embodiments of the present invention, along the circumference of the housing, the side length of the first side wall is A, and the side length of the second side wall is B, satisfying: 0.6≤A / B≤0.85.

[0010] According to some embodiments of the present invention, the mounting portion includes a plurality of first mounting holes, and each end of the second side wall is provided with at least two of the first mounting holes at intervals; the outer wall of the end cover is provided with a plurality of ears, and the plurality of ears are provided with second mounting holes, and the plurality of second mounting holes are arranged in a one-to-one correspondence with the plurality of first mounting holes, and the second mounting holes and the corresponding first mounting holes are penetrated by fasteners.

[0011] According to some embodiments of the present invention, the first mounting hole is a threaded hole, and the second mounting hole is a through hole.

[0012] According to some embodiments of the present invention, the servo motor further includes a wire outlet seat, which is fixedly connected to the end cover and is disposed at the wire outlet.

[0013] According to some embodiments of the present invention, the servo motor further includes motor and brake lead wires, and encoder lead wires, the motor and brake lead wires extending from the interior of the housing to the wire outlet, and the encoder lead wires extending from the interior of the end cover to the wire outlet.

[0014] According to some embodiments of the present invention, a first stop is provided at one end of the end cover facing the housing, and the housing is provided with a second stop that cooperates with the first stop.

[0015] According to some embodiments of the present invention, the first stop is an annular rib, and the second stop is an annular groove.

[0016] The industrial robot according to the second embodiment of the present invention includes the servo motor described in the above embodiment.

[0017] The industrial robot according to the embodiment of the present invention has at least the following beneficial effects:

[0018] The servo motor of the first aspect embodiment is adopted. The servo motor is integrally formed with one end of the casing by providing a flange portion, and the end cover is provided at the other end of the casing. The length C of the casing and the length D of the main body of the end cover satisfy 2.0≤C / D≤2.6, so that the casing and flange portions of servo motors of different specifications can be manufactured using the same mold, and the size of the end cover can be universal, thereby realizing the serialization of servo motors of various specifications, reducing the mold cost, and achieving versatility and economy; the side wall of the main body of the end cover is provided with a wire outlet, which makes wiring more convenient and reduces the assembly cost of the servo motor.

[0019] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0021] Figure 1 A schematic structural diagram of a servo motor according to an embodiment of the present invention;

[0022] Figure 2 A partial exploded view of a servo motor according to an embodiment of the present invention;

[0023] Figure 3 for Figure 2 Schematic diagram of the rear view of the middle case;

[0024] Figure 4 for Figure 2 Schematic diagram of the rear view of the middle end cover;

[0025] Figure 5 for Figure 2 A three-dimensional schematic diagram of the middle end cover;

[0026] Figure 6 for Figure 1 A partial enlarged view of the servo motor is shown.

[0027] Figure Number:

[0028] Housing 100; mounting portion 110; first mounting hole 111; first side wall 120; second side wall 130; second stop 140;

[0029] Flange portion 200;

[0030] End cap 300; ear portion 310; second mounting hole 311; third side 320; fourth side 330; reinforcing rib 340; first stop 350; wire outlet 360; main body 370; rear end portion 380;

[0031] Outlet seat 400;

[0032] Motor and brake lead wires 500;

[0033] Encoder lead wire 600. DETAILED DESCRIPTION

[0034] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0035] In the description of the present invention, it should be understood that descriptions involving orientation, such as the orientation or positional relationship indicated by up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] In the description of the present invention, "a plurality" refers to more than two. The use of "first" or "second" is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of the indicated technical features, or implicitly indicating the order of the indicated technical features.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0038] Reference Figure 1 As shown, a servo motor according to an embodiment of the present invention can be applied to industrial robots, such as multi-joint robots. The servo motor according to the embodiment of the present invention includes a housing 100 and a flange 200, which are integrally manufactured. For example, the housing 100 and the flange 200 can be integrally cast, which makes the combined structure of the housing 100 and the flange 200 more compact, saves a mold, improves production efficiency, and eliminates the need to install the flange 200 and the housing 100, thereby improving the assembly efficiency of the servo motor.

[0039] Reference Figure 1 and Figure 2As shown, the servo motor of the embodiment of the present invention further includes an end cover 300. The front end of the housing 100 is provided with a flange portion 200, and the rear end of the housing 100 is provided with an end cover 300. An installation cavity (not shown in the figure) is formed inside the housing 100, and components such as the stator (not shown in the figure), rotor (not shown in the figure) and rotating shaft (not shown in the figure) of the servo motor can be installed in the installation cavity through the opening at the rear end of the housing 100. It can be understood that the rear end of the housing 100 is formed with a mounting portion 110, and the end cover 300 is fixedly connected to the mounting portion 110. The end cover 300 and the housing 100 can be fixedly connected by fasteners or the like.

[0040] Reference Figure 3 As shown, it can be understood that the outer contour line of the cross section of the housing 100 of the embodiment of the present invention is a hexagonal structure. Among them, the upper end and the lower end of the outer wall of the housing 100 respectively form oppositely arranged first side walls 120, and the left end and the right end of the outer wall of the housing 100 respectively form oppositely arranged second side walls 130. Along the circumference of the housing 100, the side lengths of the two second side walls 130 are equal, the side lengths of the two first side walls 120 are equal, and the side length of the second side wall 130 is greater than the side length of the first side wall 120. That is, the housing 100 has an asymmetric design, which makes the servo motor structure compact and reduces the overall external dimensions of the servo motor, making it suitable for occasions with small installation space.

[0041] It is understood that the mounting portion 110 is located at the rear end of the two second side walls 130, that is, the mounting portion 110 is located on the second side wall 130 with the longer side length in the housing 100, and the end cover 300 is fixedly connected to the housing 100 through the two second side walls 130, making assembly more convenient. Moreover, the housing 100 is assembled with the end cover 300 only through the second side wall 130 with the longer side length, which can maximize the reduction in the size of the corner of the first side wall 120 with the shorter side length, so that the mounting cavity of the housing 100 can be maximized, effectively reducing the material consumption of the housing 100, making the housing 100 more lightweight, reducing the production cost of the servo motor, improving the cost-effectiveness and market competitiveness of the servo motor, and further reducing the overall size of the servo motor, so that the servo motor of the embodiment of the present invention can meet applications with strict requirements on size and weight. In addition, the servo motor of this embodiment only requires two molds, and has a more compact structure, lighter weight, and fewer assembly process hours, which can effectively reduce production costs and improve production efficiency.

[0042] Reference Figure 3As shown, it can be understood that the side length of the first side wall 120 is A, the side length of the second side wall 130 is B, and the side length A of the first side wall 120 and the side length B of the second side wall 130 satisfy: 0.6≤A / B≤0.85. It can be understood that when the above parameter range is met, the space utilization rate of the casing 100 is maximized, which can ensure that the overall structure of the casing 100 is more compact and lightweight. If the parameter range is greater than the above parameter range, the side length of the first side wall 120 and the side length of the second side wall 130 are close, and the effect of maximizing the reduction of the side length of the first side wall 120 cannot be achieved. If the parameter range is less than the above parameter range, the side length of the first side wall 120 and the side length of the second side wall 130 differ greatly, and there is a lot of space waste in the second side wall 130.

[0043] Reference Figure 3 and Figure 4 As shown, it can be understood that the mounting portion 110 includes four first mounting holes 111, and each end of the second side wall 130 is provided with two first mounting holes 111 at intervals, which can maximize the use of the end space of the second side wall 130 and reduce the size of the servo motor. Correspondingly, the outer wall of the end cover 300 is provided with four ears 310, and the four ears 310 are integrally formed with the outer wall of the end cover 300. The four ears 310 are each provided with a second mounting hole 311, and the four second mounting holes 311 are arranged in a one-to-one correspondence with the four first mounting holes 111. The servo motor also includes four fasteners (not shown in the figure), which can be structures such as screws, rivets, or pins. The four fasteners are respectively inserted into the corresponding first mounting holes 111 and second mounting holes 311, thereby achieving stable installation of the end cover 300 and the housing 100.

[0044] Reference Figure 4 As shown, to further improve the space utilization of the end cap 300, the end surface of the end cap 300 facing one end of the housing 100 includes two opposing third sides 320 and two opposing fourth sides 330. The sidewalls on which the third sides 320 are located correspond to the first sidewall 120 of the housing 100, and the sidewalls on which the fourth sides 330 are located correspond to the second sidewall 130 of the housing 100. Furthermore, along the circumference of the end cap 300, the length of the third side 320 is E, and the length of the fourth side 330 is F. The lengths E and F of the third and fourth sides 320 and 330 satisfy the following relationship: 0.6 ≤ E / F ≤ 0.85. It can be understood that within this parameter range, the space utilization of the end cap 300 is maximized, ensuring a more compact and lightweight overall structure. Outside this parameter range, the lengths of the third and fourth sides 320 and 330 become similar, failing to achieve the desired effect of minimizing the sidewalls on which the third side 320 is located. If the length is smaller than the above parameter range, the length of the third side 320 differs greatly from the length of the fourth side 330 , and a lot of space is wasted on the side wall where the fourth side 330 is located.

[0045] It is understandable that, as another embodiment, the second mounting hole 311 may also be provided on the end surface of the outer wall of the end cover 300 , and may also cooperate with the mounting portion 110 to achieve a stable connection between the end cover 300 and the housing 100 .

[0046] Reference Figure 3 As shown, it can be understood that the first mounting hole 111 is a threaded hole, the second mounting hole 311 is a through hole, and the fastener is a screw or bolt, which passes through the second mounting hole 311 and is fixed to the first mounting hole 111, thereby achieving a stable connection between the end cover 300 and the casing 100, and facilitating the disassembly and maintenance of the end cover 300 and the casing 100.

[0047] It is understandable that, according to the installation requirements of the servo motor, the first mounting holes 111 and the second mounting holes 311 may be provided with six, eight or more holes, which are not specifically limited here.

[0048] In order to further improve the structural strength of the end cover 300 , a plurality of reinforcing ribs 340 are provided at intervals along the circumference of the inner wall of the end cover 300 . The reinforcing ribs 340 can be integrally formed with the inner wall of the end cover 300 and extend along the axial direction of the end cover 300 .

[0049] Reference Figure 2 As shown, it can be understood that the end cover 300 includes a main body portion 370 and a rear cover portion 380 connected to each other. The main body portion 370 is matingly connected to the housing 100, and the outer diameter of the rear cover portion 380 is smaller than the outer diameter of the main body portion 370. The length of the housing 100 along the axial direction of the housing 100 is C, and the length of the main body portion 370 along the axial direction of the housing 100 is D. The length C of the housing 100 and the length D of the main body portion 370 satisfy the following relationship: 2.0≤C / D≤2.6. Compared with the traditional servo motor C / D=17-21, the length of the casing 100 of the embodiment of the present invention is appropriately reduced, and the length of the end cover 300 is appropriately increased. When the length of the casing 100 and the length of the end cover 300 are designed within the above-mentioned range, the influence of the draft angle of the casing 100 and the flange part 200 can be reduced during manufacturing; and it is convenient for the casing 100 and the flange part 200 of the servo motor of the same frame number but different specifications to be manufactured through the same mold, that is, the casing 100 can be manufactured using a mold with a longer axial length, and different sizes can be achieved by cutting the end of the casing 100 according to the different specifications of the servo motor, and the size of the end cover 300 can be universal, thereby realizing the serialization of servo motors of various specifications, reducing the mold cost, achieving versatility and economy, making the wiring of the servo motor more convenient, and reducing the overall production cost of the servo motor.

[0050] Reference Figure 6As shown, it can be understood that in order to improve the installation accuracy of the housing 100 and the end cover 300, a first stop 350 is provided on the end of the end cover 300 facing the housing 100, and a second stop 140 is provided on the end of the housing 100 that mates with the end cover 300. The second stop 140 abuts against the first stop 350 to achieve the positioning and mating of the housing 100 and the end cover 300. In addition, the mating structure of the first stop 350 and the second stop 140 also helps to increase the sealing performance of the housing 100 and the end cover 300, thereby improving the protection performance of the servo motor.

[0051] Reference Figure 2 and Figure 5 As shown, it can be understood that the first stop 350 is an annular rib, and the second stop 140 is an annular groove, and the annular rib is inserted into the annular groove, thereby realizing the alignment installation of the end cover 300 and the housing 100, facilitating the rapid assembly of the end cover 300 and the housing 100.

[0052] Reference Figure 1 、 Figure 5 and Figure 6 As shown, the servo motor of this embodiment of the present invention further includes a wire outlet holder 400, which is used to connect the servo motor to external equipment. The wire outlet holder 400 is fixed to the end cover 300 and therefore does not occupy space in the housing 100. Conventional servo motors have a long housing 100 and a short end cover 300. The servo motor's wire outlet is typically located within the housing 100, resulting in the housing 100 occupying a majority of the space. It is understood that to address this issue, a wire outlet 360 is defined on the sidewall of the body 370 of the end cover 300, and the wire outlet holder 400 is located at the wire outlet 360.

[0053] Reference Figure 6 As shown, it is understandable that the servo motor also includes motor and brake lead wires 500. Conventional servo motors, because the leads exit from the housing 100, require secondary wiring and additional components such as terminal blocks, increasing assembly time. In contrast, in the servo motor of this embodiment of the present invention, the lead wire opening 360 is located on the sidewall of the main body 370 of the end cap 300. Furthermore, because the lengths of the housing 100 and the end cap 300 meet the aforementioned parameter ranges, with the housing 100 being shorter and the end cap 300 being longer, the motor and brake lead wires 500 can extend directly from the interior of the housing 100 to the lead wire opening 360. The servo motor also includes encoder lead wires 600, which extend from the interior of the end cap 300 to the lead wire opening 360. This facilitates wiring of the lead wires within the servo motor's internal structure, improving installation efficiency.

[0054] The industrial robot of the embodiment of the present invention includes the servo motor of the above embodiment. The industrial robot can be a multi-joint welding robot, a handling robot, or an assembly robot, etc. The industrial robot of the embodiment of the present invention adopts the servo motor of the above embodiment. The servo motor is integrally formed with one end of the housing 100 by providing a flange portion 200, and the end cover 300 is provided at the other end of the housing 100. The length C of the housing 100 and the length D of the main body 370 of the end cover 300 satisfy 2.0≤C / D≤2.6, so that the housing 100 and flange portion 200 of servo motors of different specifications can be manufactured using the same mold, and the size of the end cover 300 can be universal, thereby realizing the serialization of servo motors of various specifications, reducing mold costs, and achieving versatility and economy; the side wall of the main body 370 of the end cover 300 is provided with a wire outlet 360, making wiring more convenient and reducing the assembly cost of the servo motor.

[0055] Since the industrial robot adopts all the technical solutions of the servo motor of the above embodiment, it has at least all the beneficial effects brought by the technical solutions of the above embodiment, which will not be described in detail here.

[0056] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A servo motor, characterized in that: include: A housing, comprising an integrally formed flange portion and a casing, wherein the flange portion is connected to one end of the casing; an outer wall of the casing comprises two first side walls disposed opposite to each other and two second side walls disposed opposite to each other, wherein along the circumference of the casing, the side length of the second side wall is greater than the side length of the first side wall; An end cover is connected to the other end of the housing, the end cover includes a main body and a rear cover, the main body is cooperatively connected to the housing, a wire outlet is provided on the side wall of the main body, and the outer diameter of the rear cover is smaller than the outer diameter of the main body; the servo motor also includes a wire outlet seat, the wire outlet seat is fixedly connected to the end cover and is arranged at the wire outlet; the servo motor also includes motor and brake lead wires, as well as encoder lead wires and an encoder assembly, the encoder assembly is installed in the rear cover, the motor and brake lead wires extend from the interior of the housing to the wire outlet, and the encoder lead wires extend from the interior of the end cover to the wire outlet; Among them, the end cover is provided with a first stop at one end facing the casing, and the casing is provided with a second stop matching the first stop. The length of the casing is C, and the length of the main body is D, satisfying 2.0≤C / D≤2.6; the end surface of the end cover facing one end of the casing includes two third sides arranged opposite to each other and two fourth sides arranged opposite to each other, the side wall where the third side is located is arranged corresponding to the first side wall, and the side wall where the fourth side is located is arranged corresponding to the second side wall, and along the circumference of the end cover, the side length of the third side is E, and the side length of the fourth side is F, and the side length E of the third side and the side length F of the fourth side satisfy: 0.6≤E / F≤0.85, and the wire outlet is located on the side wall where the third side is located.

2. The servo motor according to claim 1, characterized in that: An installation portion is formed at one end of the housing facing the end cover, and the installation portion is arranged at the ends of the two second side walls.

3. The servo motor according to claim 2, characterized in that: Along the circumference of the housing, the side length of the first side wall is A, and the side length of the second side wall is B, satisfying: 0.6≤A / B≤0.

85.

4. The servo motor according to claim 2, characterized in that: The mounting portion includes a plurality of first mounting holes, and at least two of the first mounting holes are spaced apart at the end of each second side wall; the outer wall of the end cover is provided with a plurality of ears, and the plurality of ears are each provided with a second mounting hole, and the plurality of second mounting holes are arranged in one-to-one correspondence with the plurality of first mounting holes, and the second mounting holes and the corresponding first mounting holes are penetrated by fasteners.

5. The servo motor according to claim 4, characterized in that: The first mounting hole is a threaded hole, and the second mounting hole is a through hole.

6. The servo motor according to claim 1, characterized in that: The first stop is an annular convex rib, and the second stop is an annular groove.

7. An industrial robot, characterized in that: A servo motor comprising any one of claims 1 to 6.

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