Locking device for high-precision magnetoelectric encoder based on alternating current permanent magnet torque motor

Abstract

The invention belongs to the field of encoder mounting structures of torque motors, and particularly relates to a locking device for a high-precision magnetoelectric encoder based on an alternating-current permanent magnet torque motor, which is applied to the alternating-current permanent magnet torque motor, the alternating-current permanent magnet torque motor comprises a motor shaft and a motor shell, and an encoder is fixed on the motor shell. The locking device comprises a locking shaft sleeve and a rotary locking assembly, and the locking shaft sleeve is in threaded connection with the end of the motor shaft; the rotary locking assembly comprises a limiting bolt in sliding connection with the locking shaft sleeve through a limiting chute, an embedded pin with a trapezoidal cross section, and a chute which is arranged between the encoder rotor shaft sleeve and the motor shaft and is matched with the embedded pin in shape; on the premise that the aim of locking is achieved through inclined plane contact, sliding of the limiting bolt in the limiting sliding groove is achieved by rotating the locking shaft sleeve, the action that the embedded pin is obliquely inserted into the inclined groove is achieved through the radial displacement amount of the starting end and the tail end in the limiting sliding groove, and convenience of disassembly and assembly of the encoder and the motor shaft is achieved.

Description

Technical Field

[0001] The invention belongs to the field of encoder installation structures of torque motors, and in particular relates to a locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor. Background Art

[0002] AC permanent magnet torque motors are committed to pursuing high-precision control, and the high precision of the motor means that the motor can maintain a constant speed and accurate positioning during operation, and can respond quickly during operation. Therefore, this type of motor is used in precision instruments in high-end fields. The key equipment that provides accurate positioning, precise control and fast response for AC permanent magnet torque motors is generally a high-precision magnetoelectric encoder. The high-precision magnetoelectric encoder can accurately measure the rotation angle of the motor shaft in the motor because it can achieve an accuracy of arc seconds.

[0003] However, the factors affecting the final detection accuracy of the AC permanent magnet torque motor are not only related to the accuracy of the magnetoelectric encoder, but also related to the installation structure of the magnetoelectric encoder itself. Since the accurate positioning of the motor shaft rotation needs to reach the arc second level, and the rotor sleeve of the integral encoder cannot be completely locked with the motor shaft during installation, the torque motor has the characteristics of low speed and high torque. When it is operated in sudden turns or sudden stops, the encoder rotor sleeve will have a slight offset from the motor shaft due to inertia force, resulting in inaccurate angle position measurement.

[0004] To solve this problem, most of the existing AC permanent magnet torque motors completely fix and lock the encoder rotor sleeve and the motor shaft with pins. Although this can ensure the synchronous operation between the encoder rotor sleeve and the motor shaft, the pins need to be broken during the disassembly of the encoder or the motor shaft, making the disassembly and maintenance process of the entire motor inconvenient. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor, aiming to solve the problem in the prior art that the connection method between the encoder rotor sleeve and the motor shaft is not convenient for disassembly and assembly of the entire encoder, based on the premise of synchronous operation between the encoder rotor sleeve and the motor shaft and ensuring detection accuracy.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0007] A locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor is applied to an AC permanent magnet torque motor. The AC permanent magnet torque motor includes a motor shaft and a motor housing. An encoder is fixed on the motor housing. The encoder includes a ring-type encoder body and an encoder rotor sleeve. The ring-type encoder body and the encoder rotor sleeve are connected through a bearing, and the encoder rotor sleeve is sleeved on the outer surface of the motor shaft. The locking device includes:

[0008] The locking sleeve is a hollow cylinder with an opening at one end as a whole. The locking sleeve is provided with an internal thread on the arc-shaped inner wall near the opening. In addition, the locking sleeve is sleeved on the end of the motor shaft by using the opening, and an external thread matching the internal thread is provided on the arc-shaped side wall of the end of the motor shaft. On this basis, a plurality of arc-shaped limiting grooves are provided at equal intervals in an annular shape on the end surface of the locking sleeve, and the distance between the center of the starting end of the limiting groove and the center of the end surface of the locking sleeve is greater than the distance between the center of the end end of the limiting groove and the center of the end surface of the locking sleeve.

[0009] The rotary locking assembly is provided with several groups and the number is the same as the limiting slide grooves, each group of rotary locking assemblies includes a limiting bolt, and the rotary locking assembly is connected and configured with the locking sleeve through the sliding connection between the limiting bolt and the limiting slide groove; in addition, the rotary locking assembly also includes a connecting arm with one end sleeved on the limiting bolt, and the other end of the connecting arm is fixedly connected with an embedding pin, on this basis, the connecting arm is parallel to the end of the locking sleeve, the embedding pin forms an angle of 70° with the connecting arm, and is located on the side of the connecting arm close to the ring encoder body; the cross-section of the embedding pin is a trapezoid, and the side close to the locking sleeve is the short side, and the side away from the locking sleeve is the long side, and the outer surface of each of the embedding pins is coated with UV polyurethane glue;

[0010] Based on the above structure, the locking device also includes an inclined groove that cooperates with the pin, and the inclined groove is partially opened on the outer surface of the motor shaft and partially opened on the inner surface of the encoder rotor sleeve. The inclination and cross-sectional area of ​​the inclined groove are the same as those of the pin. On this basis, the length of the inclined groove is equal to the axial stroke length of the internal thread and the external thread; when the limiting bolt is at the starting end of the limiting slide groove, when the locking sleeve is initially matched with the external thread at the end of the motor shaft through the internal thread, the ends of several pins are placed at the end of the inclined groove, and when the locking sleeve is rotated, the limiting bolt starts to slide in the limiting slide groove, and the pin starts to slide into the inside of the inclined groove. When the thread stroke of the locking sleeve ends, the limiting bolt slides to the end end of the limiting slide groove, and at this time the end of the pin abuts against the end of the inclined groove, and the inclined groove as a whole cooperates with the outer wall of the pin, and the locking device completes the matching installation.

[0011] Preferably, a fixing block with a regular hexagonal cross section is provided on the end surface of the locking sleeve, and after the rotary locking assembly and the locking sleeve are cooperatively installed, and during the entire process of cooperative installation of the locking device, the fixing block does not interfere with any element in the rotary locking assembly.

[0012] More preferably, the material of each component in the locking sleeve and the rotary locking assembly is 40Cr.

[0013] Further, in the rotary locking assembly, the limiting bolt includes a limiting block located at the end of the limiting bolt, and a threaded portion located on the side wall of the limiting bolt, a smooth portion is between the threaded portion and the limiting block, the limiting bolt is slidably connected to the limiting slide groove through the smooth portion, and the diameter of the smooth portion matches the width of the limiting slide groove, and the length of the smooth portion is not less than the depth of the limiting slide groove;

[0014] In addition, the thread outer diameter of the threaded portion is smaller than the diameter of the smooth portion, and one end of the connecting arm is sleeved on the outside of a portion of the threaded portion. On this basis, the remaining portion of the threaded portion is threadedly connected with a locking nut.

[0015] Furthermore, in the limiting bolt, a heat shrink tube sleeve is provided on the outer wall of the threaded portion, and the material of the heat shrink tube is PTFE plastic.

[0016] The beneficial effects of the present invention are:

[0017] In general, the locking device provided by the present invention is designed based on the connection method between the motor shaft and the encoder rotor sleeve in the AC permanent magnet torque motor. The locking device is provided with a plurality of embedded pins with trapezoidal cross-sections, each of which forms an angle with the axial direction of the motor shaft. Correspondingly, the locking device opens an inclined groove between the motor shaft and the encoder rotor sleeve, and the inclined groove is partially opened on the outer surface of the motor shaft and partially opened on the inner surface of the encoder rotor sleeve. The inclined groove cooperates with the embedded pin, and the characteristic of increasing friction by the inclined surface is utilized to lock the motor shaft and the encoder rotor sleeve in both the axial and radial directions, thereby achieving the stable installation requirements of the encoder structure.

[0018] In addition, the present invention also coats the outer surface of each embedded pin with UV polyurethane glue, and uses its good elasticity and impact resistance to increase the friction between the embedded pin and the motor shaft and encoder rotor sleeve, thereby preventing the motor from wearing out between the embedded pin and the motor shaft and encoder rotor sleeve after multiple rapid acceleration and deceleration, thereby affecting the measurement accuracy.

[0019] On this basis, the present invention has a locking sleeve threadedly connected to the end of the motor shaft, and a plurality of embedded pins are slidably set in a limiting groove on the locking sleeve through a limiting bolt. In the process of threading the locking sleeve, the radial displacement of the starting end and the end of the limiting groove is used to realize the oblique insertion of the embedded pin into the oblique groove, thereby realizing the convenience of disassembly and assembly of the encoder and the motor shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention 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 present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the overall assembly of the encoder and the motor shaft in the present invention;

[0022] Figure 2 It is a schematic diagram of the split mechanism of the matching mode between the encoder rotor sleeve and the motor shaft in the present invention;

[0023] Figure 3 It is a schematic diagram of the split mechanism of the cooperation mode between the locking device and the motor shaft in the present invention;

[0024] Figure 4 It is a front view structural schematic diagram of the locking device in the present invention;

[0025] Figure 5 It is a side view structural schematic diagram of the locking device in the present invention;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the locking device in the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Different AC permanent magnet torque motors need to be designed as needed when they are used in different working conditions. In this process, it is necessary not only to consider whether the motor can meet the actual production parameter requirements, but also to consider the maintenance and replacement costs of various components in the motor. Taking the encoder as an example, the AC permanent magnet torque motor is generally used with a high-precision magnetoelectric encoder, which is mainly used for the precise positioning of the motor shaft rotation angle. Since the encoder mainly relies on the encoder body to detect the encoder rotor sleeve position, which is equivalent to the encoder's detection of the motor shaft rotation angle, the installation structure between the encoder rotor sleeve and the motor shaft is particularly important. The technical requirements are: to make the rotation process of the encoder rotor sleeve and the motor shaft as close to synchronization as possible.

[0030] Most of the existing technical solutions use an independent mounting structure to connect the encoder externally, which increases the production and transportation costs on the basis of the larger overall size of the motor. With the ordinary key, pin, and threaded connection method, when the accurate positioning of the motor shaft rotation needs to reach the arc second level, under the characteristics of low speed and high torque of the torque motor, and during sudden turns and emergency stops, the encoder rotor sleeve will have a slight offset from the motor shaft due to inertia force, making it impossible for the encoder to accurately detect the angular position. If the encoder rotor sleeve and the motor shaft are completely fixed and locked with pins, although this can ensure the synchronous operation between the encoder rotor sleeve and the motor shaft, the pins need to be broken before disassembly during the disassembly of the encoder or the motor shaft, which makes the disassembly, assembly and maintenance process of the entire motor inconvenient, and increases the time and labor costs of the disassembly process.

[0031] In order to solve the above problems, the present invention provides a locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor, in which a pin with a trapezoidal cross-section and an inclined groove matched with the pin are used to fix the encoder rotor sleeve and the motor shaft, and the characteristic of the inclined surface increasing friction is used to lock the motor shaft and the encoder rotor sleeve in both the axial and radial directions, thereby achieving the stable installation requirements of the encoder structure; and the installation process of the pin adopts a sliding cooperation method of a limit bolt and a limit groove on the locking sleeve, and in the process of threading the locking sleeve, the radial displacement of the starting end and the end end of the limit groove is used to realize the oblique insertion of the pin into the inclined groove, thereby achieving the convenience of disassembly and assembly of the encoder and the motor shaft.

[0032] The technical solution of the present application will be described in detail below with reference to the accompanying drawings.

[0033] The locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor provided in the present application is applied to an AC permanent magnet torque motor. The AC permanent magnet torque motor includes a motor shaft 1 and a motor housing, and an encoder is fixed on the motor housing, such as Figure 1 As shown, the encoder includes a ring-type encoder body 2 and an encoder rotor sleeve 201 . The ring-type encoder body 2 and the encoder rotor sleeve 201 are connected via two bearings 61813 - 2zr and 61815 - 2zr, and the encoder rotor sleeve 201 is sleeved on the outer surface of the motor shaft 1 .

[0034] It should be noted that fixing the encoder to the motor housing is a common setting in this field. In the present technical solution, it corresponds to the relative static fixing effect of the ring encoder body 2 and the motor housing. The motor housing is not shown in the figure, and the fixed installation method of the encoder and the motor housing is not detailed here.

[0035] Furthermore, the size and tolerance of the encoder rotor sleeve 201 is Φ55H7, and the size and tolerance of the motor shaft 1 is Φ55h7. The encoder rotor sleeve 201 is sleeved on the outer surface of the motor shaft 1. There is a certain gap between the encoder rotor sleeve 201 and the motor shaft 1. H7 and h7 are the tolerance bands of the base hole system and the base shaft system, respectively, which directly reflect the gap effect. If the gap is too large, it will be impossible to ensure that the encoder rotor sleeve 201 is coaxial with the motor shaft 1, and shaking will occur when the motor is working; if the gap is too small, it will be difficult to assemble the encoder and the motor shaft 1.

[0036] After the encoder rotor sleeve 201 and the motor shaft 1 are initially positioned, a locking device is used to conveniently and firmly lock the two. As the core of the present invention, the locking device provided in the present application will be described in detail in terms of structure and function below.

[0037] In this technical solution, if Figure 1-6 As shown, the locking device comprises: a locking sleeve 3 and a rotary locking assembly 4, wherein:

[0038] like Figure 3-6 As shown, the locking sleeve 3 is a hollow cylinder with one end open as a whole. The locking sleeve 3 is provided with an internal thread 301 on the arc-shaped inner wall near the opening. In addition, the locking sleeve 3 is sleeved on the end of the motor shaft 1 using the opening, and an external thread 101 that matches the internal thread 301 is provided on the arc-shaped side wall of the end of the motor shaft 1.

[0039] More importantly, if Figure 4 As shown, a plurality of arc-shaped limiting grooves 302 are provided in a circular shape at equal intervals on the end surface of the locking sleeve 3, and the distance between the center of the starting end of the limiting groove 302 and the center of the end surface of the locking sleeve 3 is greater than the distance between the center of the tail end of the limiting groove 302 and the center of the end surface of the locking sleeve 3.

[0040] Based on the above embodiment, the locking sleeve 3 can be installed on the end of the motor shaft 1 through the cooperation between the internal thread 301 and the external thread 101 .

[0041] In addition, if Figure 2 As shown, the rotary locking assembly 4 is provided with several groups, and the number is the same as the limiting slide groove 302. In order to ensure the locking effect, the rotary locking assembly 4 is not less than three groups. Those skilled in the art can adjust the number on the basis of achieving the locking effect. In this application, four groups are set as an example, wherein each group of rotary locking assemblies 4 includes a limiting bolt 401, and the rotary locking assembly 4 is connected to the locking sleeve 3 through the sliding connection between the limiting bolt 401 and the limiting slide groove 302.

[0042] like Figure 2-6 As shown, the rotary locking assembly 4 also includes a connecting arm 402 with one end sleeved on the limit bolt 401, and the other end of the connecting arm 402 is fixedly connected to the embedded pin 5. It is also important that the connecting arm 402 is parallel to the end of the locking sleeve 3, and the embedded pin 5 and the connecting arm 402 form an angle of 70°. The specific structure is as follows Figure 5 As shown, it is located on the connecting arm 402 on one side close to the ring encoder body 2; the cross section of the embedded pin 5 is trapezoidal, and the side close to the locking sleeve 3 is the short side, and the side away from the locking sleeve 3 is the long side.

[0043] Based on the above structure, Figure 1-3 As shown, the locking device provided by the present application also includes a bevel groove 6 that cooperates with the pin 5. The bevel groove 6 is partially opened on the outer surface of the motor shaft 1 and partially opened on the inner surface of the encoder rotor sleeve 201. The inclination and cross-sectional area of ​​the bevel groove 6 are the same as those of the pin 5. On this basis, the length of the bevel groove 6 is equal to the axial stroke length of the internal thread 301 and the external thread 101.

[0044] In the present technical solution, the cross-section of each pin 5 is trapezoidal, each pin 5 forms an angle with the axial direction of the motor shaft 1, and the shape of each bevel groove 6 matches the corresponding pin 5. In this way, multiple inclined surface contact modes are formed between the encoder rotor sleeve 201 and the motor shaft 1, and the inclined surface contact modes are distributed in the axial and radial directions of the motor shaft 1. The characteristic of the inclined surface to increase friction is utilized to lock the motor shaft 1 and the encoder rotor sleeve 201 in the axial and radial directions, thereby achieving the stable installation requirements of the encoder structure.

[0045] In addition, the materials of the locking sleeve 3 and the components of the rotary locking assembly 4 are all 40Cr. 40Cr has the characteristics of moderate hardness and good wear resistance. On the one hand, it meets the locking requirements of the locking device; on the other hand, it also prevents the motor from generating friction loss for a long time, which causes inaccurate detection. On this basis, the outer surface of each embedded pin 5 is coated with UV polyurethane glue, which uses its good elasticity and impact resistance to increase the friction between the embedded pin 5 and the motor shaft 1 and the encoder rotor sleeve 201, so as to prevent the motor from wearing out between the embedded pin 5 and the motor shaft 1 and the encoder rotor sleeve 201 after multiple rapid acceleration and deceleration, which affects the measurement accuracy.

[0046] For the locking process, based on the above structure, when the limiting bolt 401 is at the starting end of the limiting groove 302, when the locking sleeve 3 is initially matched with the external thread 101 at the end of the motor shaft 1 through the internal thread 301, the ends of the four pins 5 are placed at the end of the inclined groove 6, and when the locking sleeve 3 is rotated, the limiting bolt 401 begins to slide in the limiting groove 302, and at this time the pin 5 begins to slide into the inside of the inclined groove 6. When the thread stroke of the locking sleeve 3 ends, the limiting bolt 401 slides to the end end of the limiting groove 302, and at this time the end of the pin 5 abuts against the end of the inclined groove 6, and the inclined groove 6 as a whole is matched with the outer wall of the pin 5, and the locking device completes the matching installation.

[0047] More specifically, Figure 2 As shown, in order to facilitate the turning of the locking sleeve 3 during the locking process, the present application also provides a fixing block 303 with a regular hexagonal cross-section on the end face of the locking sleeve 3 for cooperating with a wrench, and after the rotary locking assembly 4 is cooperatively installed with the locking sleeve 3, and during the entire process of cooperative installation of the locking device, the fixing block 303 does not interfere with any component in the rotary locking assembly 4.

[0048] In addition, in the rotation locking assembly 4, as Figure 5-6As shown, the limiting bolt 401 includes a limiting block 403 located at the end of the limiting bolt 401, and a threaded portion 404 located on the side wall of the limiting bolt 401, and a smooth portion 405 is between the threaded portion 404 and the limiting block 403. The limiting bolt 401 is slidably connected to the limiting slide groove 302 through the smooth portion 405, and the diameter of the smooth portion 405 matches the width of the limiting slide groove 302. The length of the smooth portion 405 is not less than the depth of the limiting slide groove 302. This arrangement allows the limiting bolt 401 to be installed and locked during the installation process. The limiting bolt 401 is convenient for sliding in the limiting groove 302; in addition, the outer diameter of the thread of the threaded portion 404 is smaller than the diameter of the smooth portion 405, and one end of the connecting arm 402 is sleeved on the outside of part of the threaded portion 404. On this basis, the remaining part of the threaded portion 404 is threadedly connected with a locking nut 406. This arrangement can avoid friction between the connecting arm 402 and the locking sleeve 3 during the installation and locking process, and it is convenient to use the locking nut 406 to fix the connecting arm 402 and the limiting bolt 401.

[0049] In the limiting bolt 401, a heat shrink tube sleeve is also provided on the outer wall of the threaded portion 404. The heat shrink tube is made of PTFE plastic, has a shrinkage ratio of 1.7:1, and a shrinkage temperature higher than 350°C. The heat shrinkage property of the heat shrink tube sleeve allows the thread of the threaded portion 404 to fit tightly. At this time, assembling the locking nut 406 can improve its locking performance and prevent the vibration generated by repeated use of the motor from reducing its locking effect.

[0050] Specifically, the locking device provided by the present invention is designed based on the connection method between the motor shaft 1 and the encoder rotor sleeve 201 in the AC permanent magnet torque motor. In the locking principle: the cross-section of the embedded pin 5 is trapezoidal, the embedded pin 5 forms an angle with the axial direction of the motor shaft 1, and the shape of the inclined groove 6 matches the corresponding embedded pin 5, etc., to increase the friction in the axial and radial directions of the motor shaft 1, and at the same time, the setting of UV polyurethane glue is used to achieve the stable installation requirements of the encoder structure; in the locking process: the locking sleeve 3 is rotated to achieve the sliding of the limit bolt 401 in the limit slide groove 302, and the radial displacement of the starting end and the end end of the limit slide groove 302 is used to achieve the action of obliquely inserting the embedded pin 5 into the inclined groove 6, thereby achieving the convenience of disassembly and assembly of the encoder and the motor shaft 1.

[0051] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor, applied to an AC permanent magnet torque motor, wherein the AC permanent magnet torque motor comprises a motor shaft and a motor housing, an encoder is fixed on the motor housing, the encoder comprises a ring-type encoder body and an encoder rotor sleeve, the ring-type encoder body and the encoder rotor sleeve are connected via a bearing, and the encoder rotor sleeve is sleeved on the outer surface of the motor shaft, characterized in that: The locking device includes: The locking sleeve is a hollow cylinder with an opening at one end as a whole. The locking sleeve is provided with an internal thread on the arc-shaped inner wall near the opening. In addition, the locking sleeve is sleeved on the end of the motor shaft by using the opening, and an external thread matching the internal thread is provided on the arc-shaped side wall of the end of the motor shaft. On this basis, a plurality of arc-shaped limiting grooves are provided at equal intervals in an annular shape on the end surface of the locking sleeve, and the distance between the center of the starting end of the limiting groove and the center of the end surface of the locking sleeve is greater than the distance between the center of the end end of the limiting groove and the center of the end surface of the locking sleeve. The rotary locking assembly is provided with several groups and the number is the same as the limiting slide grooves, each group of rotary locking assemblies includes a limiting bolt, and the rotary locking assembly is connected and configured with the locking sleeve through the sliding connection between the limiting bolt and the limiting slide groove; in addition, the rotary locking assembly also includes a connecting arm with one end sleeved on the limiting bolt, and the other end of the connecting arm is fixedly connected with an embedding pin, on this basis, the connecting arm is parallel to the end of the locking sleeve, the embedding pin forms an angle of 70° with the connecting arm, and is located on the side of the connecting arm close to the ring encoder body; the cross-section of the embedding pin is a trapezoid, and the side close to the locking sleeve is the short side, and the side away from the locking sleeve is the long side, and the outer surface of each of the embedding pins is coated with UV polyurethane glue; Based on the above structure, the locking device also includes an inclined groove that cooperates with the pin, and the inclined groove is partially opened on the outer surface of the motor shaft and partially opened on the inner surface of the encoder rotor sleeve. The inclination and cross-sectional area of ​​the inclined groove are the same as those of the pin. On this basis, the length of the inclined groove is equal to the axial stroke length of the internal thread and the external thread; when the limiting bolt is at the starting end of the limiting slide groove, when the locking sleeve is initially matched with the external thread at the end of the motor shaft through the internal thread, the ends of several pins are placed at the end of the inclined groove, and when the locking sleeve is rotated, the limiting bolt starts to slide in the limiting slide groove, and the pin starts to slide into the inside of the inclined groove. When the thread stroke of the locking sleeve ends, the limiting bolt slides to the end end of the limiting slide groove, and at this time the end of the pin abuts against the end of the inclined groove, and the inclined groove as a whole cooperates with the outer wall of the pin, and the locking device completes the matching installation.

2. The locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor according to claim 1, characterized in that: A fixing block with a regular hexagonal cross section is provided on the end surface of the locking sleeve. After the rotary locking assembly and the locking sleeve are installed in coordination, and during the entire process of the locking device being installed in coordination, the fixing block does not interfere with any element in the rotary locking assembly.

3. The locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor according to claim 1, characterized in that: The material of each component in the locking sleeve and the rotary locking assembly is 40Cr.

4. The locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor according to claim 1, characterized in that: In the rotary locking assembly, the limiting bolt includes a limiting block located at the end of the limiting bolt and a threaded portion located on the side wall of the limiting bolt, a smooth portion is between the threaded portion and the limiting block, the limiting bolt is slidably connected to the limiting slide groove through the smooth portion, and the diameter of the smooth portion matches the width of the limiting slide groove, and the length of the smooth portion is not less than the depth of the limiting slide groove; In addition, the thread outer diameter of the threaded portion is smaller than the diameter of the smooth portion, and one end of the connecting arm is sleeved on the outside of a portion of the threaded portion. On this basis, the remaining portion of the threaded portion is threadedly connected with a locking nut.

5. The locking device for a high-precision magnetoelectric encoder based on an AC permanent magnet torque motor according to claim 4, characterized in that: In the limiting bolt, a heat shrinkable tube sleeve is provided on the outer wall of the threaded portion, and the heat shrinkable tube is made of PTFE plastic.

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