Servo motor and industrial robot

Abstract

The utility model discloses a servo motor and industrial robot relates to robot technical field, and servo motor includes casing, end cover, pivot and sensing assembly, and the casing is equipped with installation cavity and is located the opening of installation cavity one end, and end cover is connected with casing and is used for closing the opening, and pivot is rotatably installed in the installation cavity, and sensing assembly is located in the installation cavity, and sensing assembly includes the rotation change stator and rotation change rotor, and the rotation change stator is fixedly connected with casing, and the rotation change rotor rotatably is equipped in the stator hole of rotation change stator and is fixedly connected with pivot, wherein, the one end of pivot towards end cover has first end face, and first end face is equipped with recess, and recess is used for with tool adaptation to make pivot driven rotation. The utility model discloses servo motor small, light in weight, effectively improve power density to improve the performance of servo motor.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a servo motor and an industrial robot. Background Technology

[0002] As one of the core components of a robot, the power density of the servo motor directly affects the robot's performance and structural design. In related technologies, to improve safety, when a robot malfunctions, the servo motor shaft is typically manually rotated using tools such as wrenches and sockets to adjust the robot's posture and perform maintenance. For this purpose, the servo motor shaft protrudes from the resolver rotor, and a structure for connecting to the tool is provided on the outer peripheral wall of the protrusion. To ensure a stable connection between the shaft and the tool, the height of the shaft protruding from the resolver rotor is relatively large, resulting in an increase in the size and weight of the servo motor, a decrease in power density, and an impact on the servo motor's performance. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a servo motor that is small in size, lightweight, and effectively improves power density, thereby improving the performance of the servo motor.

[0004] This utility model also provides an industrial robot equipped with the aforementioned servo motor.

[0005] A servo motor according to a first aspect of the present invention includes a housing with a mounting cavity and an opening at one end of the mounting cavity; an end cap connected to the housing and used to close the opening; a rotating shaft rotatably mounted in the mounting cavity; and a sensing assembly disposed in the mounting cavity, the sensing assembly including a resolver stator and a resolver rotor, the resolver stator being fixedly connected to the housing, the resolver rotor being rotatably disposed in a stator hole of the resolver stator and fixedly connected to the rotating shaft; wherein the end of the rotating shaft facing the end cap has a first end face, the first end face having a groove, the groove being adapted to a tool to drive the rotating shaft to rotate.

[0006] The servo motor according to the first aspect of this utility model has at least the following advantages: by providing a groove on the first end face of the rotating shaft, and the groove being able to connect with an external tool, the rotating shaft can be driven to rotate by an external tool, facilitating maintenance. Simultaneously, by providing the groove, the height of the rotating shaft protruding from the resolver rotor can be reduced or eliminated, thus shortening the axial length of the rotating shaft, thereby reducing the axial length of the servo motor, reducing the size and weight of the servo motor, and consequently increasing power density and improving the performance of the servo motor.

[0007] According to some embodiments of the present invention, the resolver rotor has a second end face on the side facing the end cover, and the first end face and the second end face are coplanar.

[0008] According to some embodiments of the present invention, the resolver rotor has a second end face on the side facing the end cover, and the first end face is located on the side of the second end face away from the end cover.

[0009] According to some embodiments of the present invention, the resolver rotor has a second end face on the side facing the end cover, and one end of the rotating shaft facing the end cover protrudes from the second end face. Along the axial direction of the rotating shaft, the maximum distance between the first end face and the second end face is less than or equal to 5 mm.

[0010] According to some embodiments of this utility model, the maximum depth of the groove along the axial direction of the rotating shaft is D, which satisfies: 2mm≤D≤10mm.

[0011] According to some embodiments of this utility model, the cross-sectional shape of the groove is hexagonal, straight, cross-shaped, or plum blossom-shaped.

[0012] According to some embodiments of the present invention, the resolver rotor has a second end face on the side facing the end cover, and the resolver stator has a third end face on the side facing the end cover. The third end face is coplanar with the second end face, or the third end face is located on the side of the second end face away from the end cover.

[0013] According to some embodiments of the present invention, the sensing component further includes a tolerance ring, the rotating shaft is provided with an annular groove, the tolerance ring is installed in the annular groove and located in the rotor hole of the resolver rotor, and the tolerance ring is fixedly connected to the rotating shaft and the resolver rotor respectively.

[0014] According to some embodiments of the present invention, the housing is further provided with a first bearing seat located in the mounting cavity, the rotating shaft is rotatably mounted on the first bearing seat, the sensing component further includes a pressure plate, the pressure plate is annular and sleeved on the outer periphery of the resolver stator, the outer peripheral wall of the resolver stator is provided with a mounting part, the mounting part abuts against the side end face of the first bearing seat facing the end cover, the pressure plate is fixedly connected to the first bearing seat and abuts against the side end face of the mounting part away from the first bearing seat.

[0015] The industrial robot according to a second aspect of the present invention includes the servo motor of the first aspect of the present invention.

[0016] The industrial robot according to the second aspect of this utility model has at least the following beneficial effects: Because the industrial robot uses the aforementioned servo motor, and a groove is provided on the first end face of the rotating shaft, which can be connected to an external tool, the rotating shaft can be driven to rotate by an external tool, facilitating maintenance. Simultaneously, by providing the groove, the height of the rotating shaft protruding from the resolver rotor can be reduced or eliminated, thus shortening the axial length of the rotating shaft, thereby reducing the axial length of the servo motor, reducing the size and weight of the servo motor, and further improving power density and performance.

[0017] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a cross-sectional view of the servo motor in an embodiment of this utility model; Figure 2 yes Figure 1 Enlarged view of point A in the image; Figure 3 This is a schematic diagram of the structure of the rotating shaft in some embodiments of this utility model; Figure 4 This is a schematic diagram of the structure of the rotating shaft in some other embodiments of this utility model; Figure 5 This is a schematic diagram of the structure of the rotating shaft in some embodiments of this utility model; Figure 6 This is a schematic diagram of the structure of the rotating shaft in some embodiments of the present invention; Figure 7 This is a cross-sectional view of the pressure plate in an embodiment of this utility model.

[0019] Figure label: Housing 100; mounting cavity 110; first bearing housing 120; second bearing housing 130; End cap 200; 300; first end face 310; groove 320; annular groove 330; Sensing component 400; resolver stator 410; third end face 411; mounting part 412; resolver rotor 420; second end face 421; tolerance ring 430; pressure plate 440; clearance part 441; Brake assembly 500; Brake rotor 510; Holding brake 520; Stator assembly 600; Rotor assembly 700. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this utility model, unless otherwise explicitly defined, terms such as setting, installing, connecting, assembling, and cooperating should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0024] As one of the core components of a robot, the power density of a servo motor directly affects the robot's performance and structural design. Therefore, high power density servo motors are a relentless pursuit for robot manufacturers.

[0025] In related technologies, when a robot malfunctions and its posture needs to be adjusted for maintenance, to ensure the safety of maintenance personnel, the servo motor shaft is typically rotated using tools such as wrenches and sockets to adjust the robot's posture. Therefore, the servo motor shaft usually protrudes from the end face of the resolver rotor, and the outer peripheral wall of the protruding part of the shaft has a structure for connecting with the tool, such as a hexagonal cross-section. At the same time, to ensure the stability of the shaft connection with the tool, the height of the shaft protruding from the end face of the resolver rotor is relatively large. This results in an excessively large axial length of the shaft, increasing the size and weight of the servo motor, thereby reducing the power density of the servo motor and affecting its performance.

[0026] Therefore, referring to Figures 1 to 7As shown, the first aspect of this utility model provides a servo motor for use in industrial robots. An industrial robot can be a mechanical device with humanoid arm, wrist, and hand functions, used to complete processes such as automatic welding, spraying, laser cutting, workpiece handling, and part assembly. Reference Figure 1 As shown, the servo motor includes a housing 100, an end cover 200, a rotating shaft 300, and a sensing assembly 400. It also includes a stator assembly 600, a rotor assembly 700, and a brake assembly 500. Specifically, the housing 100 is generally a cylindrical structure with one open end. The housing 100 has a mounting cavity 110 and an opening, with the opening located at one end of the mounting cavity 110. A portion of the rotating shaft 300, the sensing assembly 400, the stator assembly 600, the rotor assembly 700, and the brake assembly 500 are all mounted within the mounting cavity 110.

[0027] Reference Figure 1 As shown, the housing 100 is further provided with a first bearing seat 120 and a second bearing seat 130. Both the first bearing seat 120 and the second bearing seat 130 are located within the mounting cavity 110, and are spaced apart along the central axis of the housing 100. The second bearing seat 130 is located at the end of the mounting cavity 110 furthest from the opening, and the first bearing seat 120 is located at the end of the mounting cavity 110 closest to the opening. The two ends of the rotating shaft 300 are respectively mounted to the first bearing seat 120 and the second bearing seat 130 via bearings, and one end of the rotating shaft 300 extends through the second bearing seat 130 out of the housing 100. Generally, the direction of the rotation axis of the rotating shaft 300 is the direction of the central axis of the housing 100, i.e., the axial direction.

[0028] Reference Figure 1 As shown, the stator assembly 600 is fixedly mounted on the inner peripheral wall of the mounting cavity 110 and located between the first bearing seat 120 and the second bearing seat 130. For example, the stator assembly 600 is interference-fitted with the housing 100. The rotor assembly 700 is rotatably disposed in the third inner hole of the stator assembly 600 and sleeved on the rotating shaft 300, and the rotor assembly 700 is fixedly connected to the rotating shaft 300. Therefore, under energized conditions, the cooperation of the stator assembly 600 and the rotor assembly 700 drives the rotating shaft 300 to rotate, thereby enabling the industrial robot to complete related actions.

[0029] Reference Figure 1As shown, it can be understood that the brake assembly 500 is located between the first bearing housing 120 and the stator assembly 600 along the central axis of the housing 100. The brake assembly 500 includes a brake rotor 510 and a brake 520, wherein the brake rotor 510 is fixedly connected to the rotating shaft 300, the brake 520 is fixedly connected to the first bearing housing 120, and the brake 520 is located on the outer periphery of the brake rotor 510. When the brake 520 contacts the brake rotor 510, the friction between the brake 520 and the brake rotor 510 reduces the rotational speed of the rotating shaft 300 until the rotating shaft 300 stops rotating, thus completing the braking action, so as to quickly control the industrial robot to stop the relevant actions.

[0030] Reference Figure 1 As shown, it can be understood that, along the central axis of the housing 100, the sensing component 400 is located on the side of the first bearing housing 120 opposite to the brake assembly 500. The sensing component 400 is used to measure the angular displacement and angular velocity of the rotating shaft 300, so that the controller can obtain the signals of the angular displacement and angular velocity of the rotating shaft 300 transmitted by the sensing component 400, thereby accurately controlling the speed of the servo motor. Specifically, the sensing component 400 includes a resolver stator 410 and a resolver rotor 420. The resolver stator 410 is fixedly connected to the first bearing housing 120 and has a stator hole. The resolver rotor 420 is rotatably disposed in the stator hole of the resolver stator 410 and is fixedly connected to the rotating shaft 300. As the rotating shaft 300 rotates, the resolver rotor 420 rotates relative to the resolver stator 410. The combination of resolver rotor 420 and resolver stator 410 can be a resolver transformer, also known as an electromagnetic sensor. The magnitude of its output voltage changes with the angular displacement of resolver rotor 420, thereby realizing the detection of angular displacement and angular velocity of shaft 300.

[0031] Reference Figure 1 As shown, it can be understood that the end cap 200 is located at one end of the opening of the mounting cavity 110, and the end cap 200 is connected to the housing 100 to close the opening of the mounting cavity 110, thereby achieving the dustproof function and effectively protecting the components inside the housing 100, ensuring the operational stability and reliability of the servo motor.

[0032] Reference Figure 1 and Figure 2 As shown, it can be understood that the end of the rotating shaft 300 facing the end cover 200 is provided with a first end face 310. Generally speaking, the first end face 310 is a plane and perpendicular to the rotation axis of the rotating shaft 300. The first end face 310 is provided with a groove 320, the opening of the groove 320 facing the end cover 200. On the cross-section perpendicular to the rotation axis of the rotating shaft 300, the cross-sectional profile of the groove 320 can be polygonal, star-shaped, etc.

[0033] Reference Figure 1 and Figure 2 As shown, the groove 320 is used to connect with an external tool to drive the shaft 300 to rotate. Specifically, when the servo motor is stopped, by inserting an external tool into the groove 320, the external tool and the shaft 300 are fixed relative to each other in the circumferential direction of the shaft 300. Therefore, rotating the external tool will drive the shaft 300 to rotate. For example, if the cross-sectional profile of the groove 320 is a regular hexagon, an Allen wrench (i.e., an external tool) can be inserted into the groove 320, and rotating the Allen wrench will drive the shaft 300 to rotate. For industrial robots using this servo motor, when the industrial robot is stopped, after opening the end cover 200, maintenance personnel can insert an external tool (such as an Allen wrench) into the groove 320 to drive the shaft 300 to rotate, thus manually adjusting the posture of the industrial robot. The adjustment speed is controllable, avoiding accidental injury to maintenance personnel due to excessive robot speed, ensuring high safety. This allows the industrial robot to be adjusted to a suitable posture for maintenance.

[0034] Reference Figure 1 and Figure 2 As shown, it can be understood that since the rotating shaft 300 can be connected to an external tool by setting a groove 320, the height of the rotating shaft 300 protruding from the resolver rotor 420 can be reduced, or the rotating shaft 300 can not protrude from the resolver rotor 420. Therefore, the axial length of the rotating shaft 300 can be shortened and its weight reduced. At the same time, the axial height and weight of the end cover 200 can also be reduced, thereby reducing the overall axial length of the servo motor, reducing the volume and weight of the servo motor, and thus increasing the power density of the servo motor and effectively improving its performance.

[0035] Reference Figure 1 and Figure 2 As shown, it can be understood that the resolver rotor 420 has a second end face 421 on the side facing the end cover 200. Generally, the second end face 421 is planar and perpendicular to the central axis of the rotor shaft 300. The first end face 310 is coplanar with the second end face 421. That is, the rotor shaft 300 does not protrude from the resolver rotor 420, nor does it recess into the resolver rotor 420. Therefore, the axial length and weight of the rotor shaft 300 can be reduced, and the axial height and weight of the end cover 200 can be reduced to the greatest extent, thereby minimizing the volume and weight of the servo motor, increasing the power density of the servo motor, and effectively improving its performance. In addition, it ensures that the contact area between the rotor shaft 300 and the resolver rotor 420 is maximized, which is beneficial to improving the connection stability between the rotor shaft 300 and the resolver rotor 420.

[0036] It is understood that in some embodiments, along the axial direction of the shaft 300, the first end face 310 is located on the side of the second end face 421 away from the end cover 200. That is, the end of the shaft 300 facing the end cover 200 is recessed into the resolver rotor 420. Therefore, while ensuring the connection stability is guaranteed by the size of the contact area between the shaft 300 and the resolver rotor 420, the weight of the shaft 300 can be further reduced, thereby further reducing the weight of the servo motor, increasing the power density of the servo motor, and improving the performance of the servo motor.

[0037] It is understood that in some other embodiments, the end of the shaft 300 facing the end cover 200 protrudes from the second end face 421 of the resolver rotor 420, and the maximum distance between the first end face 310 and the second end face 421 along the axial direction of the shaft 300 is less than or equal to 5 mm. Since the first end face 310 and the second end face 421 are parallel, the maximum distance between them is the distance between any point on the first end face 310 and the second end face 421 along the axial direction of the shaft 300. In other words, the end of the shaft 300 facing the end cover 200 protrudes from the resolver rotor 420, and the maximum height of the shaft 300 protruding from the resolver rotor 420 does not exceed 5 mm. Therefore, the axial length and weight of the shaft 300 can be reduced to a certain extent, and the axial height and weight of the end cover 200 can also be reduced to a certain extent, thereby reducing the overall axial length of the servo motor, reducing its volume and weight, and thus increasing its power density and effectively improving its performance.

[0038] Reference Figure 2As shown, it can be understood that in any of the above embodiments, the maximum depth of the groove 320 along the axial direction of the rotating shaft 300 is defined as D, satisfying: 2mm ≤ D ≤ 10mm. The maximum depth D is the maximum distance between the bottom of the groove 320 and the first end face 310 in the circumferential direction of the rotating shaft 300, which can be measured directly using a vernier caliper. If D < 2mm, when an external tool is inserted into the groove 320, the contact area between the external tool and the rotating shaft 300 is too small, resulting in an unstable connection between the external tool and the rotating shaft 300, affecting the operation of maintenance personnel to drive the rotating shaft 300 to rotate using the external tool, thus affecting maintenance efficiency. If D > 10mm, the maximum depth of the groove 320 is too large, affecting the structural strength of the end of the rotating shaft 300, thereby affecting the connection stability between the rotating shaft 300 and the resolver rotor 420. Therefore, by ensuring that 2mm≤D≤10mm, while guaranteeing the structural strength of the rotating shaft 300 meets the requirements for ensuring the stable connection between the rotating shaft 300 and the resolver rotor 420, the contact area between the external tool and the rotating shaft 300 can be increased when the rotating shaft 300 is driven to rotate by an external tool during maintenance. This improves the stability of the connection between the external tool and the rotating shaft 300, making it easier for maintenance personnel to drive the rotating shaft 300 to rotate by an external tool, and effectively improving maintenance efficiency.

[0039] Reference Figures 3 to 6 As shown, it can be understood that the cross-sectional shape of the groove 320 is hexagonal, slotted, cross-shaped, or Torx-shaped. For example, on a cross-section perpendicular to the rotation axis of the shaft 300, the cross-sectional profile of the groove 320 can be hexagonal (usually a regular hexagon) or Torx-shaped, corresponding to an internal hex wrench or a Torx screwdriver. Alternatively, the groove 320 can be slotted or cross-shaped, corresponding to a slotted screwdriver or a Phillips screwdriver. All of these external tools are commonly used, facilitating maintenance and effectively reducing maintenance costs. The cross-section is the section perpendicular to the rotation axis of the shaft 300.

[0040] Reference Figure 3 As shown, it can be understood that in this embodiment, the cross-sectional shape of the groove 320 is a regular hexagon.

[0041] It is understood that in other embodiments, the cross-sectional shape of the groove 320 may also be pentagonal, star-shaped, etc.

[0042] Reference Figure 1 and Figure 2As shown, it can be understood that a third end face 411 is provided on the side of the resolver stator 410 facing the end cover 200. Generally speaking, the third end face 411 is planar and perpendicular to the rotation axis of the shaft 300. The third end face 411 is coplanar with the second end face 421, or along the axial direction of the shaft 300, the third end face 411 is located on the side of the second end face 421 away from the end cover 200. That is to say, the end of the resolver stator 410 facing the end cover 200 does not protrude from the resolver rotor 420. Therefore, while satisfying the function of the sensing component 400 in measuring the angular displacement and angular velocity of the shaft 300, the space occupied by the resolver stator 410 in the axial direction of the shaft 300 can be reduced, and the weight of the resolver stator 410 can be reduced, thereby reducing the size and weight of the servo motor, thereby increasing the power density of the servo motor and effectively improving the performance of the servo motor.

[0043] Reference Figure 1 As shown, it can be understood that, therefore, between the resolver stator 410 and the resolver rotor 420, the resolver rotor 420 must be closest to the end cover 200. Using the second end face 421 of the resolver rotor 420 as a reference to define the relative position of the shaft 300 toward the end cover 200 can more accurately reflect the axial length of the servo motor.

[0044] Reference Figure 2 As shown, it can be understood that the sensing component 400 also includes a tolerance ring 430. Correspondingly, the rotating shaft 300 is provided with an annular groove 330, and the tolerance ring 430 is sleeved on the rotating shaft 300 and installed in the annular groove 330. Therefore, the tolerance ring 430 can be restricted from moving axially along the rotating shaft 300, which is beneficial to improving the installation stability of the tolerance ring 430.

[0045] Reference Figure 2As shown, it can be understood that the resolver rotor 420 is provided with a rotor hole, and the resolver rotor 420 is sleeved on the shaft 300 through the rotor hole. The tolerance ring 430 is located inside the rotor hole of the resolver rotor 420, and the tolerance ring 430 is fixedly connected to both the shaft 300 and the resolver rotor 420. It is easy to understand that, generally speaking, the resolver rotor 420 and the shaft 300 are interference-fitted. The tolerance ring 430 has a certain deformation along the radial direction. After the resolver rotor 420 is fitted onto the shaft 300, the resolver rotor 420 and the shaft 300 clamp the tolerance ring 430, causing it to deform. Under the radial forces applied by the resolver rotor 420 and the shaft 300 to the tolerance ring 430, there are significant frictional forces between the resolver rotor 420 and the tolerance ring 430, and between the shaft 300 and the tolerance ring 430. This results in relative fixation between the resolver rotor 420 and the tolerance ring 430, and also between the shaft 300 and the tolerance ring 430, effectively improving the connection stability and reliability between the resolver rotor 420 and the shaft 300. Here, radial direction refers to the direction perpendicular to the rotation axis of the shaft 300.

[0046] Reference Figure 1 As shown, the sensing assembly 400 also includes a pressure plate 440. Specifically, the pressure plate 440 is annular and sleeved on the outer periphery of the resolver stator 410. A mounting portion 412 is provided on the outer peripheral wall of the resolver stator 410. The mounting portion 412 protrudes radially from the outer peripheral wall of the resolver stator 410. The mounting portion 412 can be an annular plate, or it can be composed of multiple block structures spaced apart circumferentially along the resolver stator 410. The mounting portion 412 abuts against the end face of the first bearing housing 120 facing the end cover 200.

[0047] Reference Figure 1 and Figure 7 As shown, it can be understood that, generally speaking, a clearance position 441 is provided on the inner side of the pressure plate 440, and the mounting part 412 is accommodated in the clearance position 441. The pressure plate 440 is fixedly connected to the first bearing housing 120 by fasteners such as screws, and the pressure plate 440 abuts against the side end face of the mounting part 412 opposite to the first bearing housing 120. Therefore, by connecting the pressure plate 440 to the first bearing housing 120, the resolver stator 410 is limited in the axial and radial directions of the rotating shaft 300, thereby fixing the resolver stator 410 to the first bearing housing 120. The connection structure is simple, easy to assemble, and the connection is stable and reliable.

[0048] The industrial robot of the second aspect of this utility model includes the servo motor of the first aspect of this utility model. The industrial robot can be a mechanical device with humanoid arm, wrist and hand functions, used to complete processes such as automatic welding, spraying, laser cutting, handling workpieces, and assembling parts. The servo motor serves as the drive source to realize the actions of the above processes.

[0049] Since the industrial robot adopts all the technical solutions of the servo motor in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments.

[0050] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A servo motor, characterized in that, include: The housing has a mounting cavity and an opening at one end of the mounting cavity; End cap, connected to the housing and used to close the opening; A rotating shaft is rotatably mounted within the mounting cavity. A sensing component is disposed in the mounting cavity. The sensing component includes a resolver stator and a resolver rotor. The resolver stator is fixedly connected to the housing. The resolver rotor is rotatably disposed in the stator hole of the resolver stator and fixedly connected to the rotating shaft. The rotating shaft has a first end face facing the end cap, and the first end face has a groove for fitting with a tool to drive the rotating shaft to rotate.

2. The servo motor according to claim 1, characterized in that: The resolver rotor has a second end face on the side facing the end cap, and the first end face and the second end face are coplanar.

3. The servo motor according to claim 1, characterized in that: The resolver rotor has a second end face on the side facing the end cap, and the first end face is located on the side of the second end face away from the end cap.

4. The servo motor according to claim 1, characterized in that: The resolver rotor has a second end face on the side facing the end cover, and one end of the shaft facing the end cover protrudes from the second end face. Along the axial direction of the shaft, the maximum distance between the first end face and the second end face is less than or equal to 5 mm.

5. The servo motor according to any one of claims 1 to 4, characterized in that: The maximum depth of the groove along the axial direction of the rotating shaft is D, which satisfies: 2mm≤D≤10mm.

6. The servo motor according to any one of claims 1 to 4, characterized in that: The cross-sectional shape of the groove is hexagonal, straight, cross-shaped, or plum blossom-shaped.

7. The servo motor according to claim 1, characterized in that: The resolver rotor has a second end face on the side facing the end cover, and the resolver stator has a third end face on the side facing the end cover. The third end face is coplanar with the second end face, or the third end face is located on the side of the second end face away from the end cover.

8. The servo motor according to claim 1, characterized in that: The sensing component also includes a tolerance ring. The rotating shaft is provided with an annular groove. The tolerance ring is installed in the annular groove and located in the rotor hole of the resolver rotor. The tolerance ring is fixedly connected to the rotating shaft and the resolver rotor respectively.

9. The servo motor according to claim 1, characterized in that: The housing is further provided with a first bearing seat located in the mounting cavity. The rotating shaft is rotatably mounted on the first bearing seat. The sensing component also includes a pressure plate. The pressure plate is annular and sleeved on the outer periphery of the resolver stator. The outer peripheral wall of the resolver stator is provided with a mounting part. The mounting part abuts against the side end face of the first bearing seat facing the end cover. The pressure plate is fixedly connected to the first bearing seat and abuts against the side end face of the mounting part away from the first bearing seat.

10. An industrial robot, characterized in that, Includes the servo motor described in any one of claims 1 to 9.

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