Inertia disc, servo motor and industrial robot

Abstract

The utility model discloses an inertia disc, a servo motor and an industrial robot. Wherein the inertia disc comprises a connecting part and a main body part, and the connecting part is provided with a rotating center; the main body part is connected with the end, away from the rotating center, of the connecting part and arranged in the circumferential direction of the connecting part, and the weight of the main body part is larger than that of the connecting part. The weight of the main body part, far away from the rotation center, of the inertia disc is larger than that of the connecting part, close to the rotation center, of the inertia disc, so that the distance from the mass center point, perpendicular to the rotation center direction, of the inertia disc to the rotation center is increased by changing the mass distribution of the inertia disc in the direction perpendicular to the rotation center direction; in addition, the mass distribution of different positions of the inertia disc is changed, so that the rotational inertia of the servo motor is greatly improved, the overall weight of the inertia disc is not greatly increased, and the weight of the servo motor is not increased too much.

Description

Technical Field

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

[0002] With the development of automation and intelligence in industrial production, servo systems have been widely used in industrial production equipment due to their high control accuracy and fast response, and have gradually replaced the transmission control system of not only the driver but also the stepper motor. In the application of servo motors, the moment of inertia of the load and the moment of inertia of the servo motor often have different degrees of mismatch. If the difference between the moments of inertia of the two is too large, it will affect the accuracy and stability of the system, making it difficult for the servo system to efficiently control the rotation speed and position of the load. In the related art, in order to match the moment of inertia of the load with the moment of inertia of the servo motor, a common method is to add an inertia disk to the rotating shaft of the servo motor to increase the moment of inertia of the servo motor, which will also greatly increase the weight of the motor. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides an inertia disk, which can significantly increase the rotational inertia of the motor without significantly increasing the mass of the servo motor.

[0004] The utility model also provides a servo motor and an industrial robot adopting the inertia disk.

[0005] According to the inertia disk of the embodiment of the first aspect of the utility model, it includes a connecting part and a main body, the connecting part has a rotation center; the main body is connected to an end of the connecting part away from the rotation center and is arranged along the circumference of the connecting part, and the weight of the main body is greater than the weight of the connecting part.

[0006] The inertia disk according to the embodiment of the utility model has at least the following beneficial effects: the inertia disk of the utility model comprises a connecting portion and a main body portion, the weight of the main body portion away from the rotation center is greater than the weight of the connecting portion close to the rotation center, thereby changing the mass distribution of the inertia disk along a direction perpendicular to the rotation center, thereby increasing the distance from the mass center point of the inertia disk along the direction perpendicular to the rotation center to the rotation center, thereby significantly improving the rotational inertia of the servo motor using the inertia disk, and the utility model realizes a significant improvement in the rotational inertia of the servo motor by changing the mass distribution at different positions of the inertia disk, and the overall weight of the inertia disk will not increase too much, so the weight of the servo motor will not be increased too much.

[0007] According to some embodiments of the present invention, the main body portion extends along the axial direction of the rotation center, so that at least one end of the main body portion along the axial direction of the rotation center protrudes from the plane where the connecting portion is located.

[0008] According to some embodiments of the present invention, along a direction perpendicular to the rotation center, a cross-section of the main body is a circular ring structure.

[0009] According to some embodiments of the present invention, the connecting portion is a plate-shaped structure.

[0010] According to some embodiments of the present invention, a plurality of weight-reducing portions are provided on the connecting portion, and the plurality of weight-reducing portions are arranged at intervals around the rotation center.

[0011] According to some embodiments of the present invention, a avoidance cavity is formed between the connecting portion and the main body portion.

[0012] According to some embodiments of the present invention, the connecting portion includes a connecting body and a plurality of connecting members, the rotation center is arranged on the connecting body, the plurality of connecting members are arranged at intervals along the circumference of the connecting body, and the plurality of connecting members extend radially along the connecting body.

[0013] According to some embodiments of the present invention, the main body includes a plurality of main body monomers, the plurality of main body monomers are arranged in one-to-one correspondence with the plurality of connecting members, and the main body monomers are connected to one end of the corresponding connecting member away from the rotation center.

[0014] A servo motor according to an embodiment of the second aspect of the utility model comprises a rotor assembly and an inertia disk as described in any one of the above items, wherein the inertia disk is connected to the rotating shaft of the rotor assembly.

[0015] The servo motor according to the embodiment of the utility model has at least the following beneficial effects: the inertia disk used in the servo motor of the utility model can significantly improve the rotational inertia of the servo motor using the inertia disk by changing the mass distribution of the inertia disk along the direction perpendicular to the rotation center, thereby increasing the distance from the mass center point of the inertia disk along the direction perpendicular to the rotation center to the rotation center, and further, the utility model achieves a significant increase in the rotational inertia of the servo motor by changing the mass distribution of different positions of the inertia disk, and the overall weight of the inertia disk will not increase too much, so the weight of the servo motor will not be increased too much.

[0016] According to some embodiments of the present utility model, the connecting portion is provided with a mounting hole, the rotating shaft is passed through the mounting hole, and is fixedly connected to the connecting portion.

[0017] According to some embodiments of the present invention, the inertia disk and the rotating shaft are an integral structure.

[0018] According to some embodiments of the utility model, the rotor assembly also includes a rotor core, which is sleeved on the rotating shaft. A fastener is installed on the rotating shaft at one end of the rotor core, and the fastener is used to axially position the rotor core. The inertia disk is provided with an avoidance cavity, and the fastener is located in the avoidance cavity.

[0019] The industrial robot according to the second embodiment of the utility model comprises the servo motor described in any one of the above items.

[0020] The robot provided by the embodiment of the utility model includes the servo motor of any of the above technical solutions, and therefore has all the beneficial effects of the servo motor, which will not be described one by one here.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0023] Figure 1 It is a three-dimensional schematic diagram of an inertia disk of an embodiment of the utility model;

[0024] Figure 2 This is an assembly cross-sectional view of a rotor assembly and an inertia disk of a servo motor according to an embodiment of the utility model.

[0025] Figure Number:

[0026] Inertia disk 100, connecting portion 110, weight reduction portion 111, mounting hole 112, main body 120, avoidance cavity 130, rotation center 140;

[0027] The servo motor 200 , the rotor assembly 210 , the rotor core 220 , the rotating shaft 230 , and the bearing 240 . DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be understood that the descriptions involving orientation, such as left, right, etc., the orientation or positional relationship indicated are based on the orientation or positional relationship shown in the 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.

[0030] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. 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.

[0032] Inertia is the value of the inertia of an object's rotation and is also an important indicator of a servo motor. The servo motor's rotational inertia refers to the inertia of the rotor itself, which is very important for the acceleration and deceleration of the servo motor.

[0033] According to the formula of moment of inertia, the moment of inertia of an object, in addition to its own mass, is proportional to the square of the distance from the center of mass to the center of rotation.

[0034] With the development of automation and intelligence in industrial production, servo systems have been widely used in industrial production equipment due to their high control accuracy and fast response, and have gradually replaced the transmission control system of not only the driver but also the stepper motor. In the application of servo motors, the moment of inertia of the load and the moment of inertia of the servo motor often have different degrees of mismatch. If the difference between the moments of inertia of the two is too large, it will affect the accuracy and stability of the system, making it difficult for the servo system to efficiently control the rotation speed and position of the load. In the related art, in order to match the moment of inertia of the load with the moment of inertia of the servo motor, a common method is to add an inertia disk to the rotating shaft of the servo motor to increase the moment of inertia of the servo motor, which will also greatly increase the weight of the motor.

[0035] Based on this, the utility model proposes an inertia disk 100 applied to a servo motor 200 to solve the problem that when the rotor inertia of the servo motor 200 is increased, the mass of the servo motor 200 is increased accordingly.

[0036] Reference Figure 1The inertia disk 100 proposed in the first embodiment of the utility model can be made of a stainless steel material with a high density and a non-magnetic conductivity, or can be made of copper, iron, lead or a composite material with a high density. In this embodiment, the inertia disk 100 includes a connecting portion 110 and a main body 120. The connecting portion 110 is provided with a rotation center 140. The inertia disk 100 can rotate around the rotation center 140. The main body 120 is connected to an end of the connecting portion 110 away from the rotation center 140. The connecting portion 110 plays a role in supporting and fixing the main body 120. In addition, the main body 120 is arranged along the circumference of the connecting portion 110. The weight of the main body 120 is greater than the weight of the connecting portion 110. Therefore, the mass center of the inertia disk 100 proposed in this embodiment is located at or close to the main body 120 away from the rotation center 140, thereby increasing the distance from the mass center point of the inertia disk 100 to the rotation center 140 along the line perpendicular to the rotation center 140. When the inertia disk 100 rotates around the rotation center 140, it can generate a predetermined inertia, increase the rotational inertia of the servo motor 200, and match the rotational inertia of the servo motor 200 with the rotational inertia of the load. It can be seen that the inertia disk 100 of the embodiment of the utility model can significantly increase the rotational inertia of the servo motor 200 using the inertia disk 100 by changing the mass distribution of the inertia disk 100 along the line direction perpendicular to the rotation center 140, thereby increasing the distance from the mass center point of the inertia disk 100 along the line direction perpendicular to the rotation center 140 to the rotation center 140. In addition, the utility model achieves a significant increase in the rotational inertia of the servo motor 200 by changing the mass distribution at different positions of the inertia disk 100, and the overall weight of the inertia disk 100 will not increase too much, so the weight of the servo motor 200 will not be increased too much.

[0037] It is understandable that, depending on the different cross-sectional shapes of the inertia disc 100 along the axial direction perpendicular to the rotation center 140 , the inertia disc 100 can be set in different shapes, such as a disc shape, an arc shape, a trumpet shape, a funnel shape, etc.

[0038] It is understandable that there are many ways to achieve that the weight of the main body 120 is greater than the weight of the connecting part 110. When the main body 120 and the connecting part 110 are made of materials with the same density, this can be achieved by increasing the volume of the main body 120; when the main body 120 and the connecting part 110 are made of materials with different densities, the density of the material used in the main body 120 is greater than the density of the material used in the connecting part 110, so that the weight of the main body 120 is greater than the weight of the connecting part 110, and the volume of the inertia disk will not be increased too much.

[0039] It should be noted that when the inertia disk 100 is in the shape of a disk, the main body 120 is connected to the end of the connecting part 110 away from the rotation center 140 and is arranged along the circumference of the connecting part 110, which means that the main body 120 can be arranged in a circular ring shape at the end of the connecting part 110 away from the rotation center 140, or the main body 120 can be arranged into a multi-section arc-shaped structure, and then the main body 120 of the multi-section arc-shaped structure is arranged at intervals along the circumference of the connecting part 110 at the end of the connecting part 110 away from the rotation center 140, or the main body 120 can be arranged into a plurality of main body monomers, and the plurality of main body portions 120 are evenly spaced along the circumference of the inertia disk 100; when the inertia disk 100 is in the shape of an arc, a trumpet, or a funnel, the main body 120 can be By adopting corresponding arc-shaped or straight-line shapes to be arranged at the arc-shaped, trumpet-shaped, or funnel-shaped inertia disk 100 corresponding to the arc-shaped portion or the corresponding portion far away from the rotation center 140, the inertia disk 100 with the above structure increases the weight of the main body 120, so that the distance from the mass center point of the inertia disk 100 along the axial direction perpendicular to the rotation center 140 to the rotation center 140 is increased, thereby greatly improving the rotational inertia of the servo motor 200 using the inertia disk 100. In addition, since the significant improvement in the rotational inertia of the servo motor 200 is achieved by changing the mass distribution at different positions of the inertia disk 100, the overall weight of the inertia disk 100 will not increase too much, and therefore the weight of the servo motor 200 will not be increased too much.

[0040] Reference Figure 1 In some embodiments, the cross-sectional shape of the inertia disk 100 along the axial direction perpendicular to the rotation center 140 is in the shape of a disk, the main body 120 extends along the axis of the rotation center 140, and both ends of the main body 120 along the axial direction of the rotation center 140 protrude from the plane where the connecting portion 110 is located. Since the connecting portion 110 only plays the role of supporting and fixing the main body 120, the connecting portion 110 can be made as thin as possible under the condition of meeting the strength and rigidity requirements, thereby increasing the weight of the main body 120 and relatively reducing the weight of the connecting portion 110, so that when the overall weight of the inertia disk 100 is not large, there is a large weight difference between the main body 120 and the connecting portion 110, so as to increase the distance from the mass center point of the inertia disk 100 along the line perpendicular to the rotation center 140 to the rotation center 140, thereby greatly improving the rotational inertia of the servo motor 200 using the inertia disk 100, and will not increase the weight of the servo motor 200 too much.

[0041] And, refer to Figure 1 , Figure 2The connecting end of the connecting portion 110 and the main body 120 is located in the middle of the inner wall of the main body 120. Along the axial direction of the rotation center 140, the center of the cross section of the main body 120 along the axial direction perpendicular to the rotation center 140 is basically located at the end of the connecting portion 110 away from the rotation center 140, which improves the connection stability between the connecting portion 110 and the main body 120, and thus improves the stability of the inertia disk 100 during rotation.

[0042] It can be understood that the connecting end of the connecting portion 110 and the main body 120 can also be located at the end edge of the main body 120 along the axial direction of the rotation center 140, that is, only one end of the main body 120 along the axial direction of the rotation center 140 protrudes from the plane where the connecting portion 110 is located, and the other end is flush with the plane where the connecting portion 110 is located. The purpose of greatly increasing the rotational inertia of the servo motor 200 using the inertia disk 100 can also be achieved without increasing the weight of the servo motor 200 too much. This is not limited here.

[0043] Reference Figure 1 In some embodiments, the cross-section of the main body 120 along the direction perpendicular to the rotation center 140 is a circular ring structure. The main body 120 adopts a circular ring structure, which improves the uniformity of the weight distribution of the main body 120 around the rotation center 140, so as to reduce the vibration caused by the inertia disk 100 when the servo motor 200 rotates, thereby improving the stability of the servo motor 200.

[0044] Reference Figure 1 In the present embodiment, the connecting portion 110 is configured as a plate-like structure, and the main body 120 is configured as a circular ring structure, and the end edge of the connecting portion 110 away from the rotation center 140 is connected to the inner side wall of the circular ring-shaped main body 120, thereby increasing the position of the connecting portion 110 between the connecting portion 110 and the main body 120, and improving the connection stability between the main body 120 and the connecting portion 110, so that the inertia disk 100 is more stable when rotating, and the connecting portion 110 can be made as thin as possible under the condition of meeting the strength and rigidity, thereby increasing the weight of the main body 120 and relatively reducing the weight of the connecting portion 110, so that when the overall weight of the inertia disk 100 is not large, there is a large weight difference between the main body 120 and the connecting portion 110, so as to increase the distance from the mass center point of the inertia disk 100 to the rotation center 140 along the line perpendicular to the rotation center 140 to the rotation center 140.

[0045] It should be noted that the structure of the inertia disk 100 that makes the weight of the main body 120 greater than the weight of the connecting part 110 can have various forms. For example, the main body 120 and the connecting part 110 can be made of materials with different densities. The main body 120 is made of a material with a higher density, and the connecting part 110 is made of a material with a lower density than the material of the main body 120. The main body 120 and the connecting part 110 are then connected together by a fixed connection method such as welding or connection with fixing parts.

[0046] When the connecting portion 110 and the main body 120 are made of the same material, the connecting portion 110 and the main body 120 can adopt an integral structure. The inertia disk 100 formed by the connecting portion 110 and the main body 120 with an integral structure can be processed and formed by machining, mold making, etc., which is not limited here.

[0047] Reference Figure 1 In some embodiments, the connection part 110 is provided with a plurality of weight-reducing parts 111, and the plurality of weight-reducing parts 111 are arranged at intervals around the rotation center 140, and the weight-reducing parts 111 are located between the main body 120 and the rotation center 140. By providing the weight-reducing parts 111, the weight of the inertia disk 100 can be reduced, and since the distance between the connection part 110 and the rotation center 140 is relatively close, the rotational inertia increased by the connection part 110 is not obvious. Therefore, providing the weight-reducing parts 111 on the connection part 110 can not only reduce the weight of the inertia disk 100, and thus reduce the weight increased by the servo motor 200, but also have no effect on the increase of the rotational inertia of the servo motor 200. In addition, the plurality of weight-reducing parts 111 are arranged at intervals around the rotation center 140, which improves the uniformity of the weight distribution of the connection part 110 around the rotation center 140, and cooperates with the annular main body 120, thereby reducing the vibration caused by the inertia disk 100 when the servo motor 200 rotates, and improving the stability of the servo motor 200.

[0048] Reference Figure 1 In this embodiment, the weight-reducing portion 111 is configured as a through hole, which has a simple structure and is convenient for processing and forming the weight-reducing portion 111 .

[0049] It is understandable that the weight reduction portion 111 may also be provided in other structural forms, such as a groove form, a blind hole form, etc., which will not be described in detail herein.

[0050] Reference Figure 2 In some embodiments, an avoidance cavity 130 is formed between the connecting portion 110 and the main body portion 120. When the inertia disk 100 is installed on the rotating shaft 230 of the servo motor 200, a fixing member for axially positioning the rotor assembly 210 of the servo motor 200 can be accommodated in the avoidance cavity 130 to reduce the axial length of the servo motor 200, improve the integration of the servo motor 200, and thereby improve the power density of the servo motor 200.

[0051] It can be understood that, in some embodiments, the inertia disk 100 can be configured in the form of a hub. Specifically, the main body 120 is configured in the form of a circular ring, the connecting portion 110 includes a connecting body and a plurality of connecting members, the rotation center 140 is arranged on the connecting body, the plurality of connecting members are arranged at intervals along the circumference of the connecting body, and the plurality of connecting members extend radially along the connecting body, and the plurality of connecting members are respectively connected to the main body 120 to support and fix the connecting portion 110. Under the condition of ensuring the strength and rigidity of the connecting member, the axial size of the connecting member along the rotation center 140 can be reduced as much as possible to reduce the weight of the connecting member, thereby reducing the weight of the inertia disk 100, and further reducing the increased weight of the servo motor 200.

[0052] It is understandable that in some embodiments, when the connecting portion 110 adopts the structure of combining the above-mentioned connecting body and the connecting member, the main body portion can also be set as a split structure. Specifically, the main body portion 120 includes a plurality of main body portion monomers, and the plurality of main body portion monomers are arranged one by one with the plurality of connecting members, and the main body portion monomers are connected to the end of the corresponding connecting member away from the rotation center 140, thereby reducing the weight of the inertia disk 100, and further reducing the weight added by the servo motor 200.

[0053] Reference Figure 1 It is understood that, in some embodiments, the connection portion 110 is provided with a mounting hole 112, the axis of the mounting hole 112 coincides with the axis of the rotation center 140, and the mounting hole 112 is used for the rotation shaft 230 of the servo motor 200 to pass through. When the inertia disk 100 is assembled to the servo motor 200, the rotation shaft 230 passes through the mounting hole 112 and is fixedly connected to the connection portion 110.

[0054] The servo motor 200 proposed in the second embodiment of the utility model comprises a rotor assembly 210 and an inertia disc 100 as described in any one of the above items, wherein the inertia disc 100 is connected to the rotating shaft 230 of the rotor assembly 210. It can be understood that the servo motor 200 described in this embodiment can be a permanent magnet motor, an induction motor, or a reluctance motor. The inertia disc 100 used in the servo motor 200 of the utility model can significantly increase the rotational inertia of the servo motor 200 using the inertia disc 100 by changing the mass distribution of the inertia disc 100 along the line direction perpendicular to the rotation center 140, thereby increasing the distance from the mass center point of the inertia disc 100 along the line direction perpendicular to the rotation center 140 to the rotation center 140, and the utility model can significantly increase the rotational inertia of the servo motor 200 by changing the mass distribution of the inertia disc 100 at different positions, and the overall weight of the inertia disc 100 will not increase too much, so the weight of the servo motor 200 will not be increased too much.

[0055] Reference Figure 2It can be understood that, in some embodiments, the servo motor 200 includes a rotor assembly 210, the rotor assembly 210 includes a rotor core 220, a rotating shaft 230 and a permanent magnet, the rotor core 220 is sleeved on the rotating shaft 230, and a fastener is installed on the rotating shaft 230 at one end of the rotor core 220, the fastener is used to axially position the rotor core 220, the rotating shaft 230 is rotatably installed in the housing of the servo motor 200 through a bearing 240, an inertia disk 100 is provided on the rotating shaft 230, the inertia disk 100 is arranged at one end of the rotor assembly 210, and the inertia disk 100 is provided with an avoidance cavity 130, and the fastener is located in the avoidance cavity 130, so as to reduce the axial length of the servo motor 200, improve the integration of the servo motor 200, and thereby improve the power density of the servo motor 200.

[0056] Reference Figure 2In this embodiment, the inertia disk 100 includes a connecting portion 110 and a main body 120. The connecting portion 110 is provided with a rotation center 140. The inertia disk 100 can rotate around the rotation center 140. The main body 120 is connected to an end of the connecting portion 110 away from the rotation center 140. The connecting portion 110 plays a role in supporting and fixing the main body 120. The main body 120 is arranged along the circumference of the connecting portion 110, and the main body 120 extends along the axis of the rotation center 140. Both ends of the main body 120 along the axial direction of the rotation center 140 protrude from the plane where the connecting portion 110 is located. The weight of the main body 120 is greater than the weight of the connecting portion 110. The main body 120 is perpendicular to the rotation center 140. The cross section of the main body 120 is a circular ring structure. The main body 120 adopts a circular ring structure, which improves the uniformity of the weight distribution of the main body 120 around the rotation center 140, so as to reduce the vibration caused by the inertia disk 100 when the servo motor 200 rotates, and improve the stability of the servo motor 200. The connecting part 110 is set as a plate structure, and the end edge of the connecting part 110 away from the rotation center 140 is connected to the inner side wall of the circular ring-shaped main body 120, which increases the connection between the connecting part 110 and the main body 120, and improves the connection stability between the main body 120 and the connecting part 110, so that the inertia disk 100 is more stable when rotating. A plurality of weight-reducing parts 111 are arranged on the connecting part 110, and the plurality of weight-reducing parts 111 are arranged at intervals around the rotation center 140, and the weight-reducing parts 111 are located between the main body 120 and the rotation center 140. The weight-reducing portion 111 is provided in the form of a through hole, which has a simple structure and is convenient for processing and forming the weight-reducing portion 111. The weight-reducing portion 111 is provided on the connection portion 110 to reduce the weight of the inertia disk 100, thereby reducing the weight added to the servo motor 200, and does not affect the increase in the rotational inertia of the servo motor 200. In addition, the plurality of weight-reducing portions 111 are arranged at intervals around the rotation center 140, which improves the uniformity of the weight distribution of the connection portion 110 around the rotation center 140, and cooperates with the annular main body portion 120, thereby reducing the vibration of the servo motor 200 caused by the inertia disk 100 when the servo motor 200 rotates, thereby improving the stability of the servo motor 200.

[0057] It is understandable that the inertia disk 100 and the rotating shaft 230 can be a separate structure or an integrated structure.

[0058] When the inertia disk 100 and the rotating shaft 230 adopt a split structure, a mounting hole 112 is provided on the connecting portion 110 , and the axis of the mounting hole 112 coincides with the axis of the rotation center 140 . When the inertia disk 100 is assembled to the servo motor 200 , the rotating shaft 230 is passed through the mounting hole 112 and fixedly connected to the connecting portion 110 , so that the inertia disk 100 is sleeved on the rotating shaft 230 .

[0059] When the inertia disk 100 and the rotating shaft 230 adopt an integrated structure, the inertia disk 100 and the rotating shaft 230 can be integrally formed when the rotating shaft 230 is processed.

[0060] The industrial robot provided in the third embodiment of the utility model comprises a servo motor as described in any one of the above items.

[0061] The robot provided by the embodiment of the utility model includes the servo motor of any of the above technical solutions, and therefore has all the beneficial effects of the servo motor, which will not be described one by one here.

[0062] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] Of course, the present invention is not limited to the above-mentioned embodiments, and technicians familiar with the field may make equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. An inertia disk, characterized in that: include: A connecting portion, the connecting portion having a rotation center; The main body is connected to one end of the connecting part away from the rotation center and is arranged along the circumference of the connecting part. The weight of the main body is greater than the weight of the connecting part.

2. The inertia disk according to claim 1, characterized in that: The main body portion extends along the axial direction of the rotation center, so that at least one end of the main body portion along the axial direction of the rotation center protrudes from the plane where the connecting portion is located.

3. The inertia disk according to claim 2, characterized in that: Along a direction perpendicular to the rotation center, the cross section of the main body is a circular ring structure.

4. The inertia disk according to claim 1, characterized in that: The connecting portion is a plate-shaped structure.

5. The inertia disk according to claim 4, characterized in that: The connecting portion is provided with a plurality of weight-reducing portions, and the plurality of weight-reducing portions are arranged at intervals around the rotation center.

6. The inertia disk according to claim 2, characterized in that: An escape cavity is formed between the connecting portion and the main body portion.

7. The inertia disk according to claim 1, characterized in that: The connecting portion includes a connecting body and a plurality of connecting members, the rotation center is arranged on the connecting body, the plurality of connecting members are arranged at intervals along the circumference of the connecting body, and the plurality of connecting members extend along the radial direction of the connecting body.

8. The inertia disk according to claim 7, characterized in that: The main body includes a plurality of main body monomers, and the plurality of main body monomers are arranged in one-to-one correspondence with the plurality of connecting members. The main body monomers are connected to one end of the corresponding connecting member away from the rotation center.

9. A servo motor, characterized in that: It comprises a rotor assembly and an inertia disc as claimed in any one of claims 1 to 8, wherein the inertia disc is connected to a rotating shaft of the rotor assembly.

10. The servo motor according to claim 9, characterized in that: The connecting portion is provided with a mounting hole, the rotating shaft is passed through the mounting hole, and is fixedly connected to the connecting portion.

11. The servo motor according to claim 9, characterized in that: The inertia disk and the rotating shaft are an integrated structure.

12. The servo motor according to claim 9, 10 or 11, characterized in that: The rotor assembly also includes a rotor core, which is sleeved on the rotating shaft. A fastener is installed on the rotating shaft at one end of the rotor core, and the fastener is used to axially position the rotor core. The inertia disk is provided with an avoidance cavity, and the fastener is located in the avoidance cavity.

13. An industrial robot, characterized in that: Comprising the servo motor according to any one of claims 9 to 12.

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