Servo motor and industrial robot

Abstract

The utility model discloses a servo motor and an industrial robot. The servo motor comprises a brake assembly, a bearing, a rotating shaft and a clamp spring. The brake assembly includes an armature and a stator. The bearing is located on one side of the brake assembly in the axial direction. The inner ring of the axial bearing abuts against the armature, and the outer ring abuts against the stator. The rotating shaft penetrates through the inner ring and is provided with a clamping groove, and the clamping groove is located in the side, away from the brake assembly, of the bearing. The clamping groove is provided with a first side wall deviating from the bearing. The clamp spring is arranged around the rotating shaft. A first inclined face is arranged on the side, away from the bearing, of the clamp spring inner ring and provided with a first side edge close to the rotating shaft and a second side edge away from the rotating shaft, and the distance between the first side edge and the bearing is smaller than that between the second side edge and the bearing in the axial direction. The inner ring penetrates through the clamping groove in the radial direction, and the first inclined face abuts against the first side wall so that the clamping spring outer ring can abut against the bearing in the axial direction. According to the scheme, zero fit clearance among the armature, the stator, the clamp spring and the rotating shaft can be realized, and the stability of limiting the bearing by the clamp spring is guaranteed.

Description

Technical Field

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

[0002] Industrial robots are driven by motors (such as servo motors), which are equipped with brakes to achieve parking brakes. The armature and stator in the brake are independent and separated structures, and the armature must remain rotatable. When the motor is used, the armature and stator must maintain a fixed gap along the axial direction. Therefore, the stator and armature of the brake must maintain a fixed relative position.

[0003] In the prior art, a bearing is used to abut the armature and the stator along the axial direction to keep the stator and the armature in a fixed relative position. A flat retaining spring is used to limit the bearing, but due to the tolerance of the armature, the stator and the retaining spring, it is impossible to achieve zero gap fixation between the components. In the related art, the gap between the brake assembly and the bearing is adjusted by adding a gasket. However, adding a gasket will increase the assembly process of the servo motor, making the overall assembly operation complicated. Utility Model Content

[0004] The main purpose of the utility model is to provide a servo motor and an industrial robot, aiming to solve the technical problem of complex assembly procedures of the servo motor.

[0005] To achieve the above-mentioned purpose, the first embodiment of the utility model provides a servo motor, comprising:

[0006] A brake assembly, comprising an armature and a stator, wherein the stator is arranged around the armature and is spaced apart from the armature in the axial direction;

[0007] A bearing, located at one side of the brake assembly along the axial direction, the bearing comprising an inner ring and an outer ring that are rotatably connected, and along the axial direction, the inner ring abuts against the armature, and the outer ring abuts against the stator;

[0008] A rotating shaft is passed through the inner ring, the armature and the stator, the rotating shaft is provided with a slot around its circumference, the slot is located on a side of the bearing away from the brake assembly, and the slot has a first side wall away from the bearing;

[0009] a circlip, arranged around the rotating shaft, the circlip comprising an inner ring and an outer ring connected to each other, a first inclined surface being provided on a side of the inner ring away from the bearing, the first inclined surface having a first side edge adjacent to the rotating shaft and a second side edge away from the rotating shaft, and along the axial direction, a distance from the first side edge to the bearing is smaller than a distance from the second side edge to the bearing;

[0010] The inner ring is provided with the slot along its radial direction, and the first inclined surface abuts against the first side wall, so that the outer ring abuts against the bearing along the axial direction.

[0011] In some embodiments, the slot has a second side wall adjacent to the bearing, the second side wall is spaced apart from the first side wall along the axial direction, the inner ring has a first end close to the slot along its radial direction, and the first end is spaced apart from the second side wall, or the first end abuts against the second side wall.

[0012] In some embodiments, the inner ring has a second end facing away from the slot in its radial direction, the second end is arranged opposite to the first end, and the second end is spaced apart from the second side wall.

[0013] In some embodiments, the first side wall has a second inclined surface facing the first inclined surface, and the second inclined surface includes a third side edge adjacent to the axis of the rotating shaft and a fourth side edge away from the axis, and along the axial direction, the distance from the third side edge to the bearing is less than the distance from the fourth side edge to the bearing.

[0014] In some embodiments, the slot includes a slot bottom wall and a second side wall adjacent to the bearing. Along the axial direction, the two sides of the slot bottom wall are respectively connected to the first side wall and the second side wall, the third side extends to the slot bottom wall, and the fourth side extends to the outer peripheral wall of the rotating shaft.

[0015] In some embodiments, along the radial direction of the rotating shaft, the distance between the bottom wall of the groove and the outer peripheral wall of the rotating shaft is h1, and along the radial direction of the inner ring, the distance from the first side edge to the second side edge is h2, wherein h2>h1.

[0016] In some embodiments, the inner ring has an inner circumferential wall surrounding and close to the rotating shaft, and along the radial direction, the inner circumferential wall is spaced apart from the groove bottom wall.

[0017] In some embodiments, the inner ring is arranged integrally with the outer ring, and the outer ring has a first plane and a second plane spaced apart and arranged in parallel along its axial direction, the first plane is connected to the first inclined surface, and the second plane abuts against the bearing.

[0018] In some embodiments, the slot includes a slot bottom wall and a second side wall adjacent to the bearing, and along the axial direction, two sides of the slot bottom wall are respectively connected to the first side wall and the second side wall, the width of the slot bottom wall along the axial direction is m, and the distance from the first plane to the second plane is u, wherein 0.05mm≤mu≤0.2mm.

[0019] In some embodiments, the angle between the first inclined surface and the axis of the inner ring is α, 70°≤α≤80°.

[0020] In some embodiments, along the axial direction of the inner ring, the distance from the first side to the second side is k, wherein 0.2 mm≤k≤0.3 mm.

[0021] In some embodiments, the wrapping angle β of the retaining spring arranged around the rotating shaft satisfies: 180°<β<360°, the retaining spring has a head end and an end arranged at intervals along its wrapping direction, and the retaining spring is configured so that when the head end approaches the end, the inner ring is tightened in the slot.

[0022] In some embodiments, the head end has a first protrusion, and the first protrusion is provided with a first connecting hole; and / or the tail end has a second protrusion, and the second protrusion is provided with a second connecting hole.

[0023] In some embodiments, the retaining spring includes a connecting portion between the head end and the tail end, and a radial width d1 of the connecting portion is greater than a radial width d2 of the head end, and / or a radial width d1 of the connecting portion is greater than a radial width d3 of the tail end.

[0024] A second aspect of the present invention provides an industrial robot, comprising the servo motor as described in the above embodiment.

[0025] Compared with the prior art, the beneficial effects of the utility model include:

[0026] In the technical solution of the utility model, the servo motor includes a brake assembly, a bearing, a rotating shaft and a retaining spring. The brake assembly includes an armature and a stator, and the stator is arranged around the armature and spaced from the armature in the axial direction. The bearing is located on one side of the brake assembly in the axial direction. And the inner ring of the bearing abuts the armature in the axial direction, and the outer ring abuts the stator, that is, the bearing can keep the armature and the stator in a fixed relative position, ensuring that the servo motor can continue to operate normally. Further, the rotating shaft of the present solution is provided with a slot around its circumference, and the slot is located on the side of the bearing away from the brake assembly, and the slot has a first side wall away from the bearing. The retaining spring is arranged around the rotating shaft, and the inner ring of the retaining spring is provided with a first inclined surface on the side away from the bearing. The first inclined surface has a first side edge adjacent to the rotating shaft and a second side edge away from the rotating shaft. The distance from the first side edge to the bearing in the axial direction is smaller than the distance from the second side edge to the bearing. Compared with the solution of fixing the bearing with a flat retaining spring, in this solution, when the inner ring of the retaining spring passes through the slot of the rotating shaft along its radial direction, the first inclined surface of the retaining spring abuts against the first side wall of the rotating shaft, that is, the outer ring of the retaining spring can abut against the bearing along the axial direction. Therefore, this solution can effectively reduce the influence of the tolerance and dimensional deviation between the armature, stator, retaining spring and the rotating shaft along the axial direction, achieve zero matching clearance, and ensure the stability of the retaining spring limiting the bearing. Compared with the solution of adding a gasket, this solution can omit the assembly process of the gasket, improve the overall assembly efficiency of the motor, and reduce production costs. Compared with the solution of fixing the armature of the brake by using an interference fit between the bearing and the sleeve, the retaining spring of this solution passes through the slot of the rotating shaft to fix the bearing. The overall assembly process is convenient and easy to disassemble, which is convenient for rework or maintenance operations, and can avoid the problem of scrapping caused by installation and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0028] Figure 1 A side view of a servo motor along the axial direction in an embodiment of the utility model;

[0029] Figure 2 It is a partial exploded schematic diagram of a servo motor in one embodiment of the utility model;

[0030] Figure 3 It is a cross-sectional view of a servo motor in an embodiment of the utility model; wherein the inner ring of the retaining spring is provided with a retaining groove of the rotating shaft;

[0031] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0032] Figure 5 It is a cross-sectional view of a rotating shaft in an embodiment of the utility model, wherein a card slot is shown;

[0033] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0034] Figure 7 It is a structural schematic diagram of a clip spring in one embodiment of the utility model;

[0035] Figure 8 It is a side view of the clamping spring in one embodiment of the utility model along the axial direction;

[0036] Fig. 9 It is a cross-sectional view of a retaining spring in one embodiment of the utility model;

[0037] Fig.10 for Fig. 9 A partial enlarged view of point C in the middle.

[0038] Description of Figure Numbers:

[0039] Servo motor 10;

[0040] Brake assembly 100; armature 110; stator 120;

[0041] Bearing 200; inner ring 210; outer ring 220;

[0042] Rotating shaft 300;

[0043] The card slot 310; the first side wall 311; the second side wall 312; the slot bottom wall 313; the second inclined surface 314;

[0044] A third side 3141; a fourth side 3142;

[0045] Peripheral wall 320;

[0046] Circlip 400;

[0047] Inner ring 410; first inclined surface 411; first side edge 4111; second side edge 4112; first end 412;

[0048] Second end 413; inner peripheral wall 414;

[0049] Outer ring 420; first plane 421; second plane 422;

[0050] Head end 430; first protrusion 431; first connection hole 4311;

[0051] end 440; second protrusion 441; second connection hole 4411;

[0052] Connecting portion 450;

[0053] End cap 500;

[0054] Axial direction: X; radial direction: Y.

[0055] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0057] Industrial robots are driven by motors (such as servo motors), which are equipped with brakes to achieve parking brakes. The armature and stator in the brake are independent and separated structures, and the armature must remain rotatable. When the motor is used, the armature and stator must maintain a fixed gap along the axial direction. Therefore, the stator and armature of the brake must maintain a fixed relative position.

[0058] In the prior art, a bearing is used to abut the armature and the stator along the axial direction to keep the stator and the armature in a fixed relative position. A flat retaining spring is used to limit the bearing, but due to the tolerance of the armature, the stator and the retaining spring, it is impossible to achieve zero gap fixation between the components. In the related art, the gap between the brake assembly and the bearing is adjusted by adding a gasket. However, adding a gasket will increase the assembly process of the servo motor, making the overall assembly operation complicated.

[0059] Another method is to use an interference fit between the bearing and the sleeve to fix the armature of the brake so that the stator and the armature maintain a fixed relative position. However, in this solution, the sleeve needs to be installed by a hot-fitting or cold-pressing process, and the installation process is complicated and difficult to disassemble, which is not convenient for rework or maintenance.

[0060] In view of this, the first embodiment of the present invention proposes a servo motor 10, which is easy to assemble as a whole. It should be noted that the servo motor 10 can be used in industrial robots or other mechanical equipment, etc., and the specific application can be determined according to the actual situation. Figures 1 to 10 The servo motor 10 according to the embodiment of the present application is introduced. Specifically, the servo motor 10 includes a brake assembly 100 , a bearing 200 , a rotating shaft 300 and a retaining spring 400 .

[0061] Reference Figure 2 and Figure 3The brake assembly 100 can realize the stopping brake of the motor. Specifically, the brake assembly 100 includes an armature 110 and a stator 120. The stator 120 is arranged around the armature 110 and is spaced from the armature 110 along the axial direction X. Figure 3 The orientation in is used as a reference, that is, the stator 120 and the armature 110 are arranged at intervals along the left and right directions. It can be understood that the stator 120 of the brake assembly 100 has a permanent magnet and a coil (not shown in the drawings). The armature 110 is provided with a spring piece on the side facing the stator 120. During the operation of the servo motor 10, the coil is energized and generates a magnetic field. The magnetic field of the coil and the magnetic field of the permanent magnet cancel each other out, so that the permanent magnet loses its suction force on the armature 110, and a fixed axial X air gap is maintained between the armature 110 and the stator 120, and the armature 110 rotates with the rotating shaft 300. When the servo motor 10 stops, the coil is powered off and the permanent magnet applies suction force to the armature 110, driving the spring piece to stretch and deform so that the armature 110 contacts the stator 120 of the brake, and the friction force causes the armature 110 and the rotating shaft 300 to stop rotating to achieve rapid shutdown to meet the precise control requirements. The specific setting of the brake assembly 100 can refer to the relevant known technology.

[0062] The specific arrangement of the bearing 200 is described below. First, the arrangement position of the bearing 200 is described. The bearing 200 is located on one side of the brake assembly 100 along the axial direction X. Figure 3 , the brake assembly 100 can be arranged on the left side, and the bearing 200 can be arranged on the right side. Secondly, the specific structure of the bearing 200 is introduced. The bearing 200 includes an inner ring 210 and an outer ring 220, and the inner ring 210 is rotatably connected to the outer ring 220. Specifically, a rotating part, such as a ball, a roller, etc., can be arranged between the inner ring 210 and the outer ring 220 of the bearing 200 to realize the function of supporting rotation. The bearing 200 can limit the brake assembly 100 so that the armature 110 and the stator 120 maintain a fixed axial X air gap during operation. Specifically, along the axial X direction, the inner ring 210 can abut the side end of the armature 110, and the outer ring 220 can abut the side end of the stator 120, thereby realizing the axial X fixation of the brake assembly 100.

[0063] Reference Figure 3 , the rotating shaft 300 can be inserted through the inner ring 210 of the bearing 200, the armature 110 and the stator 120. The rotating shaft 300 is provided with a slot 310, and the slot 310 can be arranged around the circumference of the rotating shaft 300. Specifically, the slot 310 can surround the entire outer circumference of the rotating shaft 300. The slot 310 can be inserted by the retaining spring 400 to limit the axial direction X of the bearing 200. Specifically, the slot 310 is located on the side of the bearing 200 away from the brake assembly 100 along the axial direction X. The slot 310 has a first side wall 311 away from the bearing 200, referring to Figure 6The side wall on the right side of the slot 310 is the first side wall 311 , and the first side wall 311 can limit the clamping spring 400 .

[0064] Reference Figures 7 to 10 , the specific setting of the retaining spring 400 is introduced below. The retaining spring 400 can be arranged around the rotating shaft 300, and the specific surrounding angle can be determined according to the actual situation. Specifically, the retaining spring 400 includes an inner ring 410 and an outer ring 420, and the inner ring 410 and the outer ring 420 are connected to each other. The side of the inner ring 410 away from the bearing 200 has a first inclined surface 411, and the first inclined surface 411 is used to connect with the slot 310, so that the outer ring 420 can press against the bearing 200 along the axial direction X, thereby effectively reducing the influence of the tolerance and dimensional deviation between the armature 110, the stator 120, the retaining spring 400 and the rotating shaft 300 along the axial direction X, and achieving zero matching clearance.

[0065] Reference Figure 7 , the specific setting of the first inclined surface 411 is introduced below. The first inclined surface 411 includes a first side 4111 and a second side 4112 arranged opposite to each other. In order to facilitate the description and understanding of the inclination direction of the first inclined surface 411, the bearing 200 is used as a reference for definition. Among them, the distance from the first side 4111 to the bearing 200 along the axial direction X is less than the distance from the second side 4112 to the bearing 200. If the axis of the retaining spring 400 is used as a reference, along the radial direction Y of the retaining spring 400, the distance from the first side 4111 to the axis of the retaining spring 400 is less than the distance from the second side 4112 to the axis of the retaining spring 400.

[0066] It should be noted that when assembling and connecting the retaining spring 400 and the rotating shaft 300, the inner ring 410 of the retaining spring 400 can penetrate the slot 310 of the rotating shaft 300 along its radial direction Y, and the first inclined surface 411 of the inner ring 410 abuts against the first side wall 311 of the slot 310, so that the outer ring 420 of the retaining spring 400 can press against the bearing 200 along the axial direction X, so as to achieve stable positioning of the retaining spring 400 on the bearing 200. In addition, the armature 110 and the stator 120 can maintain a fixed relative position. The axial air gap between the armature 110 and the stator 120 of the brake assembly 100 is positioned by the inner ring 210 and the outer ring 220 of the bearing 200, so that the installation of the brake assembly 100 is convenient and quick, and there is no need to use additional structures or processes to adjust the axial air gap of the brake. The overall positioning is accurate and reliable, and the error can be guaranteed to be within the range of ±0.05mm.

[0067] Reference Figure 2 and Figure 3 It can be understood that the servo motor 10 can be provided with an end cover 500, and the specific structure of the end cover 500 can be determined according to actual conditions. An accommodating cavity can be provided inside the end cover 500, and the accommodating cavity can accommodate components such as the brake assembly 100, the bearing 200, the rotating shaft 300, and the retaining spring 400.

[0068] In the technical solution of the utility model, the servo motor 10 includes a brake assembly 100, a bearing 200, a rotating shaft 300 and a retaining spring 400. The brake assembly 100 includes an armature 110 and a stator 120, and the stator 120 is arranged around the armature 110 and is spaced from the armature 110 along the axial direction X. The bearing 200 is located on one side of the brake assembly 100 along the axial direction X. And along the axial direction X, the inner ring 210 of the bearing 200 abuts the armature 110, and the outer ring 220 abuts the stator 120, that is, the bearing 200 can keep the armature 110 and the stator 120 in a fixed relative position, ensuring that the servo motor 10 can continue to operate normally. Further, the rotating shaft 300 of the present solution is provided with a clamping groove 310 around its circumference, and the clamping groove 310 is located on the side of the bearing 200 away from the brake assembly 100, and the clamping groove 310 has a first side wall 311 away from the bearing 200. The circlip 400 is arranged around the rotating shaft 300, and a first inclined surface 411 is provided on a side of the inner ring 410 of the circlip 400 away from the bearing 200. The first inclined surface 411 has a first side edge 4111 adjacent to the rotating shaft 300 and a second side edge 4112 away from the rotating shaft 300. The distance from the first side edge 4111 to the bearing 200 along the axial direction X is smaller than the distance from the second side edge 4112 to the bearing 200. Compared with the solution of fixing the bearing with a flat retaining spring, in this solution, when the inner ring 410 of the retaining spring 400 passes through the retaining groove 310 of the rotating shaft 300 along its radial direction Y, the first inclined surface 411 of the retaining spring 400 abuts against the first side wall 311 of the rotating shaft 300, that is, the outer ring 420 of the retaining spring 400 abuts against the bearing 200 along the axial direction X. Therefore, this solution can effectively reduce the influence of the tolerance and dimensional deviation between the armature 110, the stator 120, the retaining spring 400 and the rotating shaft 300 along the axial direction X, achieve zero matching clearance, and ensure the stability of the retaining spring 400 limiting the bearing 200. Compared with the solution of adding a gasket, this solution can omit the assembly process of the gasket, improve the overall assembly efficiency of the motor, and reduce the production cost. Compared with the solution of using interference fit between the bearing and the sleeve to fix the armature of the brake, the retaining spring 400 of this solution can pass through the slot 310 of the rotating shaft 300 to fix the bearing 200. The overall assembly operation is convenient and easy to disassemble, which is convenient for rework or maintenance, and can avoid the problem of scrapping caused by installation and repair.

[0069] The specific arrangement of the inner ring 410 of the retaining spring 400 when penetrating the retaining slot 310 is described below. First, the specific structure of the retaining slot 310 is described. In some embodiments, the retaining slot 310 further includes a second side wall 312, and the structure of the second side wall 312 may be different from that of the first side wall 311. The second side wall 312 may be a plane wall. The second side wall 312 is located on a side of the first side wall 311 close to the bearing 200, and is spaced apart from the first side wall 311 along the axial direction X.

[0070] The inner ring 410 has a first end 412 adjacent to the slot 310 along its radial direction Y. Figure 4 The first end 412 is the lower end of the inner ring 410. Figure 4 When the pressure from right to left applied by the first side wall 311 on the retaining spring 400 is greater than the pressure from left to right applied by the bearing 200 on the retaining spring 400, the first end 412 of the retaining spring 400 may be spaced from the second side wall 312 of the slot 310. Figure 4 With the orientation in the figure as a reference, when the pressure from right to left exerted by the first side wall 311 on the retaining spring 400 is less than the pressure from left to right exerted by the bearing 200 on the retaining spring 400, the first end 412 of the retaining spring 400 can abut against the second side wall 312, that is, both sides of the inner ring 410 along the axial direction X are fixed by the retaining groove 310, which can ensure the stability of the retaining spring 400 limiting the bearing 200.

[0071] Reference Figure 4 In some embodiments, the inner ring 410 of the retaining spring 400 further includes a second end 413, and the second end 413 is arranged opposite to the first end 412. Specifically, the second end 413 is located on the side of the inner ring 410 away from the slot 310 along the radial direction Y, that is, the second end 413 can be the upper end of the inner ring 410. The second end 413 is spaced from the second side wall 312, that is, there is a redundant gap between the inner ring 410 and the second side wall 312 of the slot 310, so that the retaining spring 400 can fully eliminate the influence of the dimensional deviation of the brake assembly 100, the bearing 200 and the retaining spring 400 itself, and ensure its reliability in limiting the bearing 200. In other embodiments, the second end 413 of the inner ring 410 can also be spaced from the second side wall 312, and the specific setting can be determined according to the actual situation.

[0072] Reference Figure 4 and Figure 6In some embodiments, the first side wall 311 of the clamping groove 310 has a second inclined surface 314, and the second inclined surface 314 is arranged facing the first inclined surface 411 of the clamping spring 400. The second inclined surface 314 includes a third side edge 3141 and a fourth side edge 3142, the third side edge 3141 is located on the side of the second inclined surface 314 adjacent to the axis of the rotating shaft 300, and the fourth side edge 3142 is located on the side of the second inclined surface 314 away from the axis of the rotating shaft 300. For the convenience of describing and understanding the inclination direction of the second inclined surface 314, the bearing 200 is used as a reference for definition. Specifically, the distance from the third side edge 3141 to the bearing 200 along the axial direction X is less than the distance from the fourth side edge 3142 to the bearing 200. If the axis of the rotating shaft 300 is used as a reference, that is, the distance from the third side edge 3141 to the axis along the radial direction Y of the rotating shaft 300 is less than the distance from the fourth side edge 3142 to the axis. In this solution, the second inclined surface 314 of the slot 310 can be abutted and matched with the first inclined surface 411 of the retaining spring 400, thereby effectively improving the stability of the retaining spring 400 in limiting the bearing 200.

[0073] Reference Figure 4 , the penetration depth of the inner ring 410 in the slot 310 is described below. In some embodiments, the slot 310 includes a slot bottom wall 313 and a second side wall 312, and the second side wall 312 is located on the side of the first side wall 311 adjacent to the bearing 200. And along the axial direction, one side of the slot bottom wall 313 is connected to the first side wall 311, and the other side is connected to the second side wall 312. Figure 6 , the third side 3141 of the second inclined surface 314 extends to the groove bottom wall 313, and the fourth side 3142 of the second inclined surface 314 extends to the outer peripheral wall 320 of the rotating shaft 300. Compared with the solution in which the third side does not extend to the groove bottom wall and the fourth side does not extend to the outer peripheral wall, the extension distance of the second inclined surface 314 of this solution is longer, that is, the area of ​​the second inclined surface 314 is larger, so the contact area between the second inclined surface 314 and the first inclined surface 411 is larger, that is, the clamping groove 310 of this solution can more stably support the clamping spring 400, and ensure the stability of the clamping spring 400 limiting the bearing 200.

[0074] The relative arrangement between the depth of the card slot 310 and the height of the first inclined surface 411 is described below. Figure 6 , along the radial direction Y of the rotating shaft 300 , the distance between the bottom wall 313 of the slot 310 and the outer peripheral wall 320 of the rotating shaft 300 is h1, that is, the depth of the slot 310 is h1. Fig.10, along the radial direction Y of the inner ring 410, the distance from the first side 4111 to the second side 4112 of the first inclined surface 411 is h2, that is, the height of the first inclined surface 411 is h2. In this solution, h2>h1, that is, the height of the first inclined surface 411 is greater than the depth of the slot 310. Compared with the solution in which the height of the first inclined surface 411 is less than the depth of the slot 310, in the complete process of the inner ring 410 penetrating the slot 310 in this solution, the first inclined surface 411 can slide relative to the second inclined surface 314, which can effectively improve the adjustment effect of the clamping spring 400 on the size deviation and matching clearance of each component, and ensure the stability of the limit of the bearing 200.

[0075] The relative assembly position between the inner ring 410 of the retaining spring 400 and the retaining groove 310 is described below. Figure 7 and Fig.10 The inner ring 410 of the retaining ring 400 has an inner peripheral wall 414 surrounding and close to the rotating shaft 300. Figure 6 The slot 310 includes a slot bottom wall 313 and a second side wall 312, and the second side wall 312 is located on the side of the first side wall 311 adjacent to the bearing 200. One side of the slot bottom wall 313 is connected to the first side wall 311 along the axial direction, and the other side is connected to the second side wall 312. In some embodiments, refer to Figure 4 , the inner circumferential wall 414 of the Y-circlip 400 in the radial direction can be spaced from the bottom wall 313 of the slot 310, that is, the inner ring 410 can achieve the tightening effect on the bearing 200 without completely penetrating the slot 310, thereby ensuring the adjustment effect of the dimensional deviation of each component. In other embodiments, the inner circumferential wall 414 of the Y-circlip 400 in the radial direction can abut against the bottom wall 313 of the slot 310, and the specific assembly position between the inner ring 410 and the slot 310 can be determined according to actual conditions. Some embodiments of the present application are described by taking the spacing between the inner circumferential wall 414 and the bottom wall 313 as an example.

[0076] Reference Figure 7 , the specific arrangement of the outer ring 420 of the retaining spring 400 is described below. In some embodiments, the inner ring 410 can be arranged integrally with the outer ring 420. In other embodiments, the inner ring 410 can be arranged separately from the outer ring 420. Some embodiments of the present application are described by taking the inner ring 410 and the outer ring 420 as an example of being arranged integrally.

[0077] Reference Fig.10The outer ring 420 includes a first plane 421 and a second plane 422 that are arranged opposite to each other, and the first plane 421 and the second plane 422 are spaced apart and arranged in parallel along the axial direction X. It should be noted that the first plane 421 may be located on the side of the second plane 422 that is away from the bearing 200. Specifically, the first plane 421 may be connected to the first inclined surface 411, and the second plane 422 may abut the bearing 200. It is understood that the second plane 422 may extend to the inner peripheral wall 414 of the retaining ring 400.

[0078] The following describes the relative arrangement between the thickness of the retaining spring 400 and the width of the retaining slot 310. In some embodiments, the retaining slot 310 includes a slot bottom wall 313 and a second side wall 312, and the second side wall 312 is located on the side of the first side wall 311 adjacent to the bearing 200. And along the axial direction, one side of the slot bottom wall 313 is connected to the first side wall 311, and the other side is connected to the second side wall 312. Figure 6 , the width of the groove bottom wall 313 along the axial direction X is m, that is, the width of the slot 310 is m. Fig.10 , the distance between the first plane 421 and the second plane 422 is u, that is, the thickness of the retaining spring 400 is u. Among them, 0.05mm≤mu≤0.2mm. Exemplarily, mu can be 0.05mm, 0.1mm, 0.14mm, 0.17mm or 0.2mm, etc. In this solution, the retaining spring 400 and the slot 310 adopt the above-mentioned settings, which can ensure the stability of the assembly connection between the retaining spring 400 and the slot 310.

[0079] Reference Fig.10 In some embodiments, the angle between the first inclined surface 411 of the retaining spring 400 and the axis of the inner ring 410 is α, wherein 70°≤α≤80°. For example, α can be 70°, 72°, 75°, 79° or 80°, etc. Some embodiments of the present application are described by taking α as 75° as an example. The angle between the first inclined surface 411 and the inner ring 410 of this solution is set as above, which can ensure the stability of the assembly connection between the retaining spring 400 and the slot 310.

[0080] In some embodiments, along the axial direction X of the inner ring 410, Fig.10 The orientation in is used as a reference, that is, along the left and right directions, the distance from the first side 4111 of the first bevel 411 to the second side 4112 is k, that is, the height of the first bevel 411 along the axial direction X is k. Among them, 0.2mm≤k≤0.3mm. Exemplarily, k can be 0.2mm, 0.24mm, 0.25mm, 0.28mm or 0.3mm. In this solution, the height of the first bevel 411 along the axial direction X is set as above, which can not only ensure the structural strength of the retaining spring 400 itself, but also enable the retaining spring 400 to fully adjust the tolerances and dimensional deviations of each component along the axial direction X, thereby ensuring the limiting effect of the retaining spring 400 on the bearing 200.

[0081] Reference Figure 7 and Figure 8 , the structural shape setting of the retaining spring 400 is introduced below. In some embodiments, the wrapping angle β of the retaining spring 400 around the rotating shaft 300 satisfies: 180°<β<360°. Exemplarily, β can be 190°, 220°, 270°, 300°, 330° or 350°, etc. It should be noted that in some embodiments, the wrapping angle of the inner ring 410 of the retaining spring 400 around the rotating shaft 300 can be β. In other embodiments, the wrapping angle of the outer ring 420 of the retaining spring 400 around the rotating shaft 300 can be β. In other embodiments, the wrapping angles of the inner ring 410 and the outer ring 420 around the rotating shaft 300 can be both β. Some embodiments of the present application are described by taking the latter (the wrapping angles of the inner ring 410 and the outer ring 420 around the rotating shaft 300 can be both β) as an example. In this solution, the wrapping angle of the retaining spring 400 around the rotating shaft 300 satisfies the above-mentioned angle range, which can effectively increase the contact area between the first inclined surface 411 and the slot 310 and ensure the stability of the assembly connection between the retaining spring 400 and the slot 310 of the rotating shaft 300.

[0082] It can be understood that since the clamping spring 400 does not surround the entire outer circumference of the rotating shaft 300, the clamping spring 400 has a head end 430 and a tail end 440 arranged opposite to each other along its surrounding direction. Figure 8 The orientation in FIG. 3 is used as a reference, and the left end of the clip 400 is taken as the head end 430, and the right end is taken as the end end 440. When the head end 430 of the clip 400 is close to the end end 440, the inner ring 410 of the clip 400 is tightened in the slot 310, which can ensure the stability of the assembly connection between the clip 400 and the slot 310.

[0083] The specific structure of the clip 400 is described below. Figure 8 , the head end 430 of the retaining spring 400 has a first protrusion 431, and the first protrusion 431 can be arranged to protrude in the radial direction Y of the retaining spring 400 in the direction away from the axis of the retaining spring 400. The first protrusion 431 can be provided with a first connecting hole 4311, and the head end 430 can be brought close to the tail end through the first connecting hole 4311. The first connecting hole 4311 is provided on the first protrusion 431 in this solution to ensure the overall structural strength of the retaining spring 400. It should be noted that the first connecting hole 4311 can be a round hole, a square hole or a polygonal hole, etc., and the specific structure of the first connecting hole 4311 can be determined according to actual conditions.

[0084] In other embodiments, the end 440 of the clamping spring 400 has a second protrusion 441, and the structure of the second protrusion 441 can be the same as that of the first protrusion 431. Specifically, the second protrusion 441 can be arranged to protrude in the radial direction Y of the clamping spring 400 in the direction away from the axis of the clamping spring 400. The second protrusion 441 can be provided with a second connection hole 4411, and the end 440 can be brought close to the head end 430 through the second connection hole 4411. The second connection hole 4411 is provided on the second protrusion 441 to ensure the overall structural strength of the clamping spring 400. The second connection hole 4411 can be a round hole, a square hole or a polygonal hole, etc., and the structure of the second connection hole 4411 can be the same as that of the first connection hole 4311.

[0085] It should be noted that in some embodiments, the first protrusion 431 may be provided only at the head end 430. In other embodiments, the second protrusion 441 may be provided only at the tail end 440. In other embodiments, the first protrusion 431 may be provided at the head end 430 and the second protrusion 441 may be provided at the tail end 440 at the same time. Some embodiments of the present application are described by taking the case where the first protrusion 431 is provided at the head end 430 and the second protrusion 441 is provided at the tail end 440 at the same time. When assembling the connecting retaining ring 400 and the card slot 310, the first connecting hole 4311 and the second connecting hole 4411 may be pierced at the same time by retaining ring pliers to make the head end 430 close to the tail end, so as to ensure the stability of the connection between the retaining ring 400 and the card slot 310.

[0086] Reference Figure 8 The spring clip 400 includes a connecting portion 450 located between the head end 430 and the tail end 440, one end of the connecting portion 450 is connected to the head end 430, and the other end is connected to the tail end 440. In some embodiments, the width d1 of the connecting portion 450 along its radial direction Y is greater than the width d2 of the head end 430 along its radial direction Y. When the spring clip 400 needs to be wrapped around the rotating shaft 300 or the spring clip 400 needs to be separated from the rotating shaft 300, the head end 430 and the tail end 440 of the spring clip 400 need to be separated from each other first. In this solution, the width d1 of the connecting portion 450 of the spring clip 400 along its radial direction Y is greater than the width d2 of the head end 430 along its radial direction Y, which can ensure the structural strength of the spring clip 400 itself and improve the stability of the connection between the spring clip 400 and the rotating shaft 300.

[0087] Reference Figure 8 In other embodiments, the width d1 of the connecting portion 450 along the radial direction Y can be made larger than the width d3 of the terminal end 440 along the radial direction Y, which can also improve the structural strength of the clip 400. In other embodiments, the width d2 of the head end 430 along the radial direction Y and the width d3 of the terminal end 440 along the radial direction Y can both be made smaller than the width d1 of the connecting portion 450 along the radial direction Y.

[0088] In some embodiments, when assembling and connecting the retaining spring 400 and the rotating shaft 300, a retaining spring 400 pliers is used to bring the head end 430 and the tail end 440 of the retaining spring 400 closer to each other, so that the retaining spring 400 can tightly surround the rotating shaft 300, which can improve the stability of the assembly connection between the retaining spring 400 and the rotating shaft 300. Since the connecting portion 450 of the clip 400 between the head end 430 and the tail end 440 is pulled on both sides, the axis of the clip 400 cannot be coincident with the axis of the rotating shaft 300, that is, the depth of the connecting portion 450 on one radial side of the clip 400 penetrating the slot 310 is deeper, and the depth of the end portion on the other radial side of the clip 400 penetrating the slot 310 is shallower, and due to the limiting effect of the first inclined surface 411 of the slot 310, the second distance from the end portion (i.e., the head end 430 and the tail end 440) of the clip 400 along the axial direction to the bearing 200 is much greater than the first distance from the connecting portion 450 to the bearing 200, that is, after the overall assembly is completed, the clip 400 cannot be evenly pressed against the bearing 200 along its circumference, and the limiting effect of the clip 400 is poor. Some embodiments of the present application solve the above problems in the following way. The first inclined surface 411 at the ends (i.e., the head end 430 and the tail end 440) of the slot 310 in the rotating shaft 300 for assembling the connecting retaining spring 400 can be set to a first inclination angle, and the first inclined surface 411 at the connecting portion 450 of the slot 310 in the rotating shaft 300 for assembling the connecting retaining spring 400 can be set to a second inclination angle. By making the second inclination angle greater than the first inclination angle, the distance from the end of the axial retaining spring 400 to the bearing 200 can be compensated, so that the retaining spring 400 can be more evenly pressed against the bearing 200 at various locations along the circumferential direction, thereby effectively improving the stability of the retaining spring 400 limiting the bearing 200 and ensuring that the servo motor 10 can continue to operate normally.

[0089] The second embodiment of the utility model proposes an industrial robot, which includes the servo motor 10 of the above embodiment. It should be noted that the industrial robot can be a mechanical device that simulates the functions of human arms, wrists and hands, and can include more than three rotating shafts 300, which can move related objects according to the time-varying requirements of spatial position or posture, so as to complete the operation requirements of related industrial production. For example, by holding welding tongs or welding guns, spot welding or arc welding can be performed on the body of a car or motorcycle, carrying die-cast or stamped parts or components, laser cutting, spraying, and assembly of mechanical parts, etc.

[0090] This solution can effectively reduce the influence of the tolerance and dimensional deviation between the armature 110, the stator 120, the retaining spring 400 and the rotating shaft 300 along the axial direction, achieve zero matching clearance, ensure the stability of the retaining spring 400 limiting the bearing 200, and enable the industrial robot to continue to operate normally. Compared with the solution of adding a gasket, this solution can omit the gasket assembly process, improve the overall assembly efficiency of the motor, and reduce production costs.

[0091] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0092] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or", "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.

[0093] The above are only preferred embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A servo motor, characterized in that: include: A brake assembly, comprising an armature and a stator, wherein the stator is arranged around the armature and is spaced apart from the armature in the axial direction; A bearing, located at one side of the brake assembly along the axial direction, the bearing comprising an inner ring and an outer ring that are rotatably connected, and along the axial direction, the inner ring abuts against the armature, and the outer ring abuts against the stator; A rotating shaft is passed through the inner ring, the armature and the stator, the rotating shaft is provided with a slot around its circumference, the slot is located on a side of the bearing away from the brake assembly, and the slot has a first side wall away from the bearing; a circlip, arranged around the rotating shaft, the circlip comprising an inner ring and an outer ring connected to each other, a first inclined surface being provided on a side of the inner ring away from the bearing, the first inclined surface having a first side edge adjacent to the rotating shaft and a second side edge away from the rotating shaft, and along the axial direction, a distance from the first side edge to the bearing is smaller than a distance from the second side edge to the bearing; The inner ring is provided with the slot along its radial direction, and the first inclined surface abuts against the first side wall, so that the outer ring abuts against the bearing along the axial direction.

2. The servo motor according to claim 1, characterized in that: The slot has a second side wall adjacent to the bearing, the second side wall is spaced apart from the first side wall along the axial direction, the inner ring has a first end close to the slot along its radial direction, and the first end is spaced apart from the second side wall, or the first end abuts against the second side wall.

3. The servo motor according to claim 2, characterized in that: The inner ring has a second end away from the clamping groove along its radial direction, the second end is arranged opposite to the first end, and the second end is spaced apart from the second side wall.

4. The servo motor according to claim 1, characterized in that: The first side wall has a second inclined surface facing the first inclined surface, and the second inclined surface includes a third side edge adjacent to the axis of the rotating shaft and a fourth side edge away from the axis. Along the axial direction, the distance from the third side edge to the bearing is smaller than the distance from the fourth side edge to the bearing.

5. The servo motor according to claim 4, characterized in that: The slot includes a slot bottom wall and a second side wall adjacent to the bearing. Along the axial direction, two sides of the slot bottom wall are respectively connected to the first side wall and the second side wall. The third side extends to the slot bottom wall, and the fourth side extends to the outer peripheral wall of the rotating shaft.

6. The servo motor according to claim 5, characterized in that: Along the radial direction of the rotating shaft, the distance between the groove bottom wall and the outer peripheral wall of the rotating shaft is h1, and along the radial direction of the inner ring, the distance between the first side edge and the second side edge is h2, wherein h2>h1.

7. The servo motor according to claim 5, characterized in that: The inner ring has an inner circumferential wall surrounding and close to the rotating shaft, and along the radial direction, the inner circumferential wall is spaced apart from the groove bottom wall.

8. The servo motor according to claim 1, characterized in that: The inner ring is arranged integrally with the outer ring. The outer ring has a first plane and a second plane spaced apart and arranged in parallel along the axial direction thereof. The first plane is connected to the first inclined surface, and the second plane abuts against the bearing.

9. The servo motor according to claim 8, characterized in that: The slot includes a slot bottom wall and a second side wall adjacent to the bearing. Along the axial direction, two sides of the slot bottom wall are respectively connected to the first side wall and the second side wall. The width of the slot bottom wall along the axial direction is m, and the distance from the first plane to the second plane is u, wherein 0.05mm≤mu≤0.2mm.

10. The servo motor according to claim 1, characterized in that: The included angle between the first inclined surface and the axis of the inner ring is α, 70°≤α≤80°.

11. The servo motor according to claim 1, characterized in that: Along the axial direction of the inner ring, a distance from the first side to the second side is k, wherein 0.2 mm≤k≤0.3 mm.

12. The servo motor according to claim 1, characterized in that: The wrapping angle β of the retaining spring arranged around the rotating shaft satisfies: 180°<β<360°, and the retaining spring has a head end and a tail end arranged at intervals along its wrapping direction. The retaining spring is configured so that when the head end approaches the tail end, the inner ring is tightened in the slot.

13. The servo motor according to claim 12, characterized in that: The head end has a first convex portion, and the first convex portion is provided with a first connecting hole; and / or the tail end has a second convex portion, and the second convex portion is provided with a second connecting hole.

14. The servo motor according to claim 12, characterized in that: The retaining spring includes a connecting portion between the head end and the tail end, and a radial width d1 of the connecting portion is greater than a radial width d2 of the head end, and / or a radial width d1 of the connecting portion is greater than a radial width d3 of the tail end.

15. An industrial robot, characterized in that Comprising a servo motor as described in any one of claims 1-14.

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