Direct-drive outer rotor hub motor for easy inductive encoder debugging

Abstract

The present invention discloses a direct-drive outer rotor hub motor that facilitates debugging of an inductive encoder. The motor comprises a hub housing, a movement in an outer rotor and stator configuration, and an inductive encoder. The rotor is directly fixed or integrally mounted on the hub housing, and the stator is fixed to the motor shaft via a stator bracket. One end of the motor shaft serves as a movement lead terminal, and a movement lead lead exit hole is provided axially thereon. The inductive encoder comprises an inductive ring fixed or integrally mounted on the inner end wall of the hub housing, and an encoder PCB board fixed to the motor shaft or the stator bracket. The motor shaft is characterized in that the other end serves as an encoder debugging terminal, and an encoder debugging hole is provided axially thereon. The inductive encoder is mounted near the encoder debugging terminal, and the encoder PCB board is provided with a debugging connection portion that extends into the encoder debugging hole via a radial jack provided on the motor shaft, and a debugging connection terminal is provided on the encoder PCB board, which is opposite to the mouth of the encoder debugging hole. The present invention enables more convenient and efficient debugging of an internal inductive encoder.

Description

Technical Field

[0001] The invention relates to a direct-drive outer rotor hub motor which is convenient for debugging an inductive encoder. Background Art

[0002] Some in-wheel motors are used as the running mechanisms of mobile platforms or production robots to perform various production tasks, including transporting materials and products. In highly automated factory workshops, these mobile platforms and robots often handle high-precision transfer operations between different production stations. Furthermore, the complex factory environments in which they operate place high demands on the running and steering accuracy of their running mechanisms.

[0003] To directly detect the steering angle of the wheel hub housing and better control the steering accuracy of the running mechanism, existing in-wheel motors typically incorporate an inductive encoder. This inductive encoder primarily consists of an inductive ring (commonly known as an inductive ring) and an encoder PCB. The encoder PCB utilizes a toroidal coil formed by attaching and etching copper foil, which cooperates with the inductive ring for sensing. During actual installation, the inductive ring is primarily fixed to a rotating component, such as the inner wall of the wheel hub housing, while the encoder PCB is fixed to a fixed component, such as the stator bracket or motor shaft.

[0004] To optimize the inductance encoder's performance and improve its accuracy, in-wheel motor production and practical applications, it's often necessary to debug the inductance encoder. This involves plugging the electrical connector on the debug cable of an external debug device into the debug connector on the encoder's PCB. While the in-wheel motor is running, the inductance encoder's detection data is corrected using the external debug device.

[0005] Taking the debugging of a traditional inner-rotor hub motor structure as an example, in this inner-rotor hub motor, a movement housing is installed inside the hub shell. The movement housing is fixed to the motor shaft and is used to fix the stator. The rotor is located inside the stator, and the output end of the rotor is connected to the hub shell through a reduction mechanism to drive the rotation of the hub shell. To this end, the encoder PCB board is fixed to the inner wall of the movement housing, and the outer wall of the movement housing has an opening corresponding to the debugging connection terminal position of the internal encoder PCB board, and the inductive ring is installed at one end of the rotor. Therefore, for an inner-rotor hub motor, its inductive encoder is installed on the movement. During debugging, only the external hub shell needs to be removed to complete the connection and debugging of the inductive encoder.

[0006] However, unlike inner-rotor hub motors, existing direct-drive outer-rotor hub motors do not have a core housing inside the hub shell. Instead, the rotor and induction rings are directly fixed to the inner wall of the hub shell. The hub shell cannot be removed for debugging, which makes debugging the inductor encoder difficult. The current conventional practice is to install encoder debugging leads on the encoder PCB of the inductor encoder. These leads, along with the core leads (i.e., the stator winding leads), are then routed externally through the core lead lead hole axially located at one end of the motor shaft for debugging. However, this approach presents the following problems in practice:

[0007] 1. After the in-wheel motor is installed, the end of the motor shaft that leads to the motor core is often enclosed within the device housing. The housing cannot be easily removed to expose the motor core leads. This prevents the encoder debugging leads, which are connected along with the motor core leads, from being quickly pulled out for debugging, making debugging difficult. This is especially true for in-wheel motors. When debugging and maintaining the internal inductance encoder, the operation becomes extremely cumbersome, significantly reducing debugging efficiency.

[0008] 2. For non-professional debugging personnel, it is difficult to distinguish the encoder debugging lead from the movement lead, which can easily cause trouble in the debugging work.

[0009] 3. It is necessary to insert a longer encoder debugging lead on the encoder PCB board, and then lead it out to the outside of the hub shell together with the movement lead through the longer movement lead lead hole. This not only increases the production cost, but also increases the manufacturing process, increases the assembly complexity, and reduces the motor production efficiency.

[0010] Therefore, it is urgent to optimize and adjust the internal inductance encoder assembly structure of the direct-drive outer rotor hub motor in order to design a direct-drive outer rotor hub motor that is convenient for debugging the inductance encoder, so as to facilitate efficient debugging of the inductance encoder. Summary of the Invention

[0011] The purpose of the present invention is to provide a direct-drive outer rotor hub motor that is convenient for debugging an inductance encoder, and can conveniently and efficiently implement debugging operations on the inductance encoder inside the motor.

[0012] The technical solution of the present invention is: a direct-drive outer rotor hub motor that is convenient for debugging an inductive encoder, comprising a hub shell rotatably assembled on the motor shaft through a bearing and a movement and an inductive encoder of an outer rotor inner stator configuration arranged in the hub shell, the rotor is directly fixed or integrally formed on the hub shell, the stator is fixed to the motor shaft by a stator bracket, and one end of the motor shaft is a movement lead end, and a movement lead lead outlet hole is provided in its axial direction; the inductive encoder comprises an inductive ring and an encoder PCB board; it is characterized in that the other end of the motor shaft is an encoder debugging end, and an encoder debugging hole is provided in its axial direction; the inductive encoder is installed close to the encoder debugging end, its inductive ring is fixed or integrally formed on the inner end wall of the hub shell, the encoder PCB board is fixed on the motor shaft or the stator bracket, and is opposite to the inductive ring, the encoder PCB board is provided with a debugging connection part, which extends into the encoder debugging hole through a radial jack provided on the motor shaft, the debugging connection part is provided with a debugging connection terminal, which is opposite to the mouth of the encoder debugging hole.

[0013] Furthermore, the encoder PCB board described in the present invention is provided with a motor shaft clearance hole, and a protruding piece is radially protruded on the periphery of the motor shaft clearance hole as the debugging connection portion. Furthermore, a clearance area is left within the motor shaft clearance hole in the radial direction of the protruding piece, allowing the power supply shaft to pass through without interfering with the protruding piece. This structural design is primarily intended to facilitate the assembly of the encoder PCB board. During actual assembly of the encoder PCB board, it is first inserted onto the motor shaft through the clearance area within the motor shaft clearance hole, and then moved radially perpendicular to the motor shaft so that the protruding piece on it can extend into the encoder debugging hole through the radial socket on the motor shaft. Finally, the encoder PCB board is secured.

[0014] Furthermore, the motor shaft clearance hole of the present invention is eccentrically disposed on the encoder PCB. This eccentric arrangement of the motor shaft clearance hole facilitates alignment of the motor shaft to the center of the encoder PCB after radial movement of the encoder PCB, thereby facilitating accurate alignment of the encoder PCB and the induction ring.

[0015] Specifically preferably, the motor shaft clearance hole in the present invention is an oblong hole, and the protruding pieces are distributed along the length direction of the oblong hole.

[0016] Furthermore, the encoder PCB board described in the present invention is fixed to the motor shaft through an encoder mounting disk. The encoder mounting disk is interference fit on the motor shaft through a mounting hole provided thereon, and the mounting hole cooperates with the outer circumference of the motor shaft through a spline or a flat key for circumferential positioning. At the same time, a shoulder is provided on the motor shaft for the encoder mounting disk to axially abut, and the encoder PCB board is fixed to the encoder mounting disk.

[0017] Furthermore, the encoder PCB of the present invention is provided with a plurality of PCB positioning holes at equal angles along its circumference, and the encoder mounting plate is provided with mounting plate positioning holes corresponding to each PCB positioning hole, for receiving screws, bolts, connecting pins, or rivets to secure the encoder PCB to the encoder mounting plate. The introduction of the encoder mounting plate not only facilitates assembly and fixation of the encoder PCB to the motor shaft, but also provides a certain resistance to the encoder PCB, so that the debugging connector on it can better withstand the plugging force of the electrical connector on the debugging cable of the external debugging device.

[0018] Furthermore, the motor shaft's core lead end extends longer than the encoder debugging end's, extending from the hub housing. A protective sheath surrounding the encoder debugging end is formed on the hub housing's outer end wall. A removable or retractable protective cover is secured to the opening of the sheath to cover the opening of the encoder debugging hole. In actual production, the protective cover can be secured to the hub housing's outer end wall using screws, rivets, or pins, or it can be attached to the hub housing's outer end wall using a hinge or pivotal member in combination with a latch. The protective cover prevents dust and water from entering the hub housing through the encoder debugging hole, potentially causing contamination and damage.

[0019] For further debugging convenience, the present invention can also include an encoder debugging lead with electrical connectors at both ends. The electrical connector at one end is connected to the debugging connection terminal, while the electrical connector at the other end is led out through the encoder debugging hole. In this way, during actual debugging, the debugger can complete the debugging connection externally without even inserting the electrical connector on the debugging cable of the external debugging device into the encoder debugging hole, making the operation more convenient.

[0020] It should be noted that, as in conventional technology, the encoder PCB in this invention utilizes a toroidal coil formed by attaching and etching copper foil to the induction ring. The induction ring is made of a metal alloy, such as aluminum alloy, onto which a magnetic track is formed. The induction ring can be directly secured to the inner end wall of the hub housing using fasteners such as screws. Alternatively, the ring can be integrally formed from the same metal as the hub housing end wall, with magnetic material attached to its surface to create the magnetic track.

[0021] When the internal inductance encoder of the present invention needs to be debugged, the debugger only needs to open the protective cover, insert the electrical connector on the debugging wiring of the external debugging device into the debugging hole of the encoder and plug it into the debugging connection terminal on the debugging connection part of the encoder PCB board to implement debugging.

[0022] The advantages of the present invention are:

[0023] 1) This invention features an encoder debugging terminal on the motor shaft, distinct from the motor lead terminal, and an encoder debugging hole. Furthermore, the assembly structure of the internal inductance encoder is optimized to facilitate direct connection of the electrical connector on the debugging wiring of external debugging equipment with the debugging connection terminals on the internal encoder PCB through the encoder debugging hole. Consequently, this invention facilitates efficient debugging of the motor's internal inductance encoder, significantly reducing debugging time and improving debugging efficiency.

[0024] 2) The encoder debugging end and the movement lead end in the present invention are not at the same end. Therefore, when the hub motor is assembled on a device such as a mobile platform or a robot, when it is necessary to debug the internal inductance encoder separately, there is no need to disassemble the device casing that encapsulates the movement lead end as in the prior art. Instead, it is possible to directly start from the encoder debugging end that is not blocked by the device casing. This greatly reduces the tedious operations during debugging and improves debugging efficiency.

[0025] 3) The present invention eliminates the design of providing encoder debugging leads on the encoder PCB board and leading them out together with the movement leads. Therefore, the problem in the prior art that the encoder debugging leads are difficult to distinguish from the movement leads, which easily causes trouble in the debugging work, does not exist, and is more convenient for the debugging personnel.

[0026] 4) Similarly, since the present invention does not require a longer encoder debugging lead to be provided on the encoder PCB board as in the prior art, and the encoder debugging lead is led out to the outside of the hub shell together with the movement lead through the longer movement lead lead hole, the production cost is reduced while reducing the manufacturing process and improving the motor production efficiency.

[0027] 5) The introduction of the encoder mounting plate in the present invention not only facilitates the assembly and fixation of the encoder PCB board on the motor shaft, but also can provide the encoder PCB board with a certain resistance force so that the debugging connection portion thereon can better withstand the plug-in force of the electrical connector on the debugging wiring of the external debugging equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0029] Figure 1 This is a main cross-sectional view of the structure of the present invention;

[0030] Figure 2 for Figure 1 Axial view of the encoder PCB.

[0031] Among them: 1. Motor shaft; 101. Movement lead lead hole; 102. Encoder debugging hole; 103. Radial jack; 104. Shaft shoulder; 2. Hub shell; 201. Sleeve; 3. Bearing; 4. Rotor; 5. Stator; 6. Stator bracket; 7. Induction ring; 8. Encoder PCB board; 801. Lug; 802. PCB board positioning hole; 9. Debug connection terminal; 10. Motor shaft clearance hole; 11. Encoder mounting plate; 12. Screws; 13. Protective cover. DETAILED DESCRIPTION

[0032] Example: Combination Figure 1 and Figure 2 As shown, the specific implementation of the direct-drive outer rotor hub motor provided by the present invention that facilitates debugging of the inductive encoder is described in detail as follows:

[0033] Like conventional technology, it has a motor shaft 1, a hub shell 2 rotatably assembled on the motor shaft 1 at both ends through bearings 3, and an outer rotor inner stator structure movement and an inductive encoder arranged in the hub shell 2. Figure 1 As shown, the hub shell 2 is made up of left and right end covers and an intermediate ring shell fixed by screws. The magnetic steel positioning ring of the rotor 4 is integrated with the intermediate ring shell, and the magnetic steel of the rotor 4 is correspondingly arranged on the inner circumferential surface of the intermediate ring shell. The stator 5 is fixed to the motor shaft 1 by the stator bracket 6, and one end of the motor shaft 1 ( Figure 1 The right end is the core lead end, which is axially provided with a core lead lead hole 101. The core lead connected to the stator 5 winding is led out through the core lead lead hole 101. The inductive encoder is composed of an inductive ring 7 and an encoder PCB board 8.

[0034] The core design of the present invention is that the other end of the motor shaft 1 ( Figure 1 The left end of the hub is set as the encoder debugging end, and an encoder debugging hole 102 extending to the inside of the hub shell 2 is provided in its axial direction. Figure 1 As shown, the entire inductive encoder is installed near the encoder debugging end. Its inductive ring 7 is fixed to the inner end wall of the hub housing 2 (the inner wall of the left end cap) with screws 12. The encoder PCB 8 is fixed to the motor shaft 1 with an encoder mounting plate 11, facing the inductive ring 7. The encoder PCB 8 is equipped with a debugging connection portion, which extends into the encoder debugging hole 102 through a radial socket 103 on the motor shaft 1. The debugging connection portion is equipped with a debugging connection terminal 9, which faces the mouth of the encoder debugging hole 102.

[0035] Recombination Figure 2As shown, the encoder PCB 8 in this embodiment is circular and eccentrically disposed with a motor shaft clearance hole 10. A downwardly projecting tab 801 is formed radially on the periphery of the motor shaft clearance hole 10, serving as the debugging connection portion. Furthermore, a clearance area is provided within the motor shaft clearance hole 10 in the radial direction of the tab 801, allowing the motor shaft 1 to pass through without interfering with the tab 801. In this embodiment, the motor shaft clearance hole 10 is an oblong hole, with the tabs 801 distributed along the length of the oblong hole. This structural design primarily facilitates assembly of the encoder PCB 8. During actual assembly, the encoder PCB 8 is first inserted onto the motor shaft 1 through the clearance area within the motor shaft clearance hole 10. It is then radially moved perpendicular to the motor shaft 1, allowing the tab 801 to extend into the encoder debugging hole 102 via the radial insertion hole 103 on the motor shaft 1. Finally, the encoder PCB 8 is secured. The eccentric setting of the motor shaft clearance hole 10 is beneficial for the motor shaft 1 to be adjusted to the center position of the encoder PCB board 8 after the radial movement of the encoder PCB board 8, thereby facilitating the accurate alignment of the encoder PCB board 8 and the induction ring piece 7.

[0036] Recombination Figure 1 As shown, the encoder PCB board 8 is fixed to the motor shaft 1 through the encoder mounting disk 11. The encoder mounting disk 11 is interference fit on the motor shaft 1 through the mounting hole provided thereon, and the mounting hole cooperates with the outer circumference of the motor shaft 1 through a flat key for circumferential positioning. At the same time, a shoulder 104 is provided on the motor shaft 1 for the encoder mounting disk 11 to abut axially, and the encoder PCB board 8 is fixed to the encoder mounting disk 11.

[0037] Recombination Figure 2 As shown, in this embodiment, the encoder PCB 8 is provided with three PCB positioning holes 802 at equal angles along its circumference. Corresponding to each PCB positioning hole 802, the encoder mounting plate 11 is provided with mounting plate positioning holes for receiving screws 12 for securing the encoder PCB 8 to the encoder mounting plate 11. The introduction of the encoder mounting plate 11 not only facilitates assembly and fixation of the encoder PCB 8 to the motor shaft 1 but also provides a sufficient resistance to the encoder PCB 8, allowing the protrusions 801 thereon to better withstand the plugging force of the electrical connectors on the debugging cable of the external debugging device.

[0038] Recombination Figure 1As shown, the motor shaft 1 of the present invention extends longer from the hub housing 2 than the encoder debugging end. A protective sheath 201 is formed on the outer end wall of the hub housing 2 (the outer wall of the left end cap) surrounding the encoder debugging end. A removable protective cover 13 is screwed to the opening of the sheath 201, covering the opening of the encoder debugging hole 102. The protective cover 13 prevents dust and water from entering the hub housing 2 through the encoder debugging hole 102 and causing contamination and damage.

[0039] When the internal inductance encoder of the present invention needs to be debugged, the debugging personnel only need to open the protective cover 13, extend the electrical connector on the debugging wiring of the external debugging device into the encoder debugging hole 102 and plug it into the debugging connection terminal 9 on the protrusion 801 of the encoder PCB board 8 to implement debugging.

[0040] Compared with the prior art, this embodiment has the following advantages:

[0041] 1) By providing an encoder debugging terminal, distinct from the motor lead terminal, and encoder debugging hole 102 on motor shaft 1, and optimizing the assembly structure of the internal inductance encoder, the electrical connector on the debugging wiring of an external debugging device can be directly connected to the debugging connection terminal 9 on the internal encoder PCB board 8 through encoder debugging hole 102. Therefore, the present invention facilitates efficient debugging of the motor's internal inductance encoder, significantly reducing debugging time and improving debugging efficiency.

[0042] 2) Since the encoder debugging end and the movement lead end are not at the same end, when the hub motor is assembled on a device such as a mobile platform or a robot, when it is necessary to debug the internal inductance encoder separately, there is no need to disassemble the device housing that encapsulates the movement lead end as in the prior art. Instead, you can directly start from the encoder debugging end that is not blocked by the device housing. This greatly reduces the tedious operations during debugging and improves debugging efficiency.

[0043] 3) Since the design method of setting the encoder debugging lead on the encoder PCB board 8 and leading it out together with the movement lead is eliminated, the problem of the encoder debugging lead and the movement lead being difficult to distinguish in the prior art, which easily causes trouble in the debugging work, is no longer encountered, and the debugging work of the debugging personnel is more convenient.

[0044] 4) Similarly, since there is no need to set a longer encoder debugging lead on the encoder PCB board 8 as in the prior art, and lead it out to the outside of the hub shell together with the movement lead through the longer movement lead lead hole, the production cost is reduced while reducing the manufacturing process and improving the motor production efficiency.

[0045] 5) The introduction of the encoder mounting plate 11 not only facilitates the assembly and fixation of the encoder PCB board 8 on the motor shaft 1, but also can provide the encoder PCB board 8 with a certain resistance force so that the protrusion 801 thereon can better withstand the connection force of the electrical connector on the debugging wiring of the external debugging equipment.

[0046] The above embodiments are intended only to illustrate the technical concepts and features of the present invention. Their purpose is to enable those skilled in the art to understand the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. Any modifications made within the spirit of the main technical solution of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A direct-drive outer rotor hub motor that is convenient for debugging an inductive encoder, comprising a hub shell (2) rotatably assembled on a motor shaft (1) through a bearing (3), and a movement and an inductive encoder configured as a stator (5) within an outer rotor (4) arranged in the hub shell (2), wherein the rotor (4) is directly fixed or integrally formed on the hub shell (2), the stator (5) is fixed to the motor shaft (1) by a stator bracket (6), and one end of the motor shaft (1) is a movement lead end, and a movement lead lead hole (101) is provided in its axial direction; the inductive encoder comprises an inductive ring (7) and an encoder PCB board (8); and is characterized in that The other end of the motor shaft (1) is an encoder debugging end, and an encoder debugging hole (102) is provided in the axial direction of the encoder; the inductive encoder is installed close to the encoder debugging end, and its inductive ring piece (7) is fixed or integrally formed on the inner end wall of the hub shell (2); the encoder PCB board (8) is fixed on the motor shaft (1) or the stator bracket (6) and is opposite to the inductive ring piece (7); the encoder PCB board (8) is provided with a debugging connection part, which extends into the encoder debugging hole (102) through a radial jack (103) provided on the motor shaft (1); the debugging connection part is provided with a debugging connection terminal (9) and is opposite to the mouth of the encoder debugging hole (102); The encoder PCB board (8) is provided with a motor shaft clearance hole (10), a convex piece (801) is radially protruded on the periphery of the motor shaft clearance hole (10) as the debugging connection part, and a clearance area is left in the motor shaft clearance hole (10) in the radial direction of the convex piece (801) so that the power supply shaft (1) can pass through without interfering with the convex piece (801); The length of the core lead end of the motor shaft (1) extending out of the hub shell (2) is longer than the length of the encoder debugging end thereof extending out of the hub shell (2); and a protective sleeve (201) surrounding the encoder debugging end is formed on the outer end wall of the hub shell (2), and a detachable or retractable protective cover (13) is fixed to the mouth of the protective sleeve (201) to cover the mouth of the encoder debugging hole (102).

2. The direct-drive outer rotor hub motor that facilitates inductive encoder debugging according to claim 1 is characterized in that The motor shaft clearance hole (10) is eccentrically arranged on the encoder PCB board (8).

3. The direct-drive outer rotor hub motor that facilitates inductive encoder debugging according to claim 1 or 2, characterized in that The motor shaft clearance hole (10) is an oblong hole, and the protruding pieces (801) are distributed along the length direction of the oblong hole.

4. The direct-drive outer rotor hub motor that facilitates inductive encoder debugging according to claim 1 is characterized in that The encoder PCB (8) is fixed to the motor shaft (1) via an encoder mounting disk (11). The encoder mounting disk (11) is interference-fitted onto the motor shaft (1) via a mounting hole provided thereon, and the mounting hole cooperates with the outer circumference of the motor shaft (1) via a spline or a flat key for circumferential positioning. At the same time, a shaft shoulder (104) is provided on the motor shaft (1) for the encoder mounting disk (11) to abut axially. The encoder PCB (8) is fixed to the encoder mounting disk (11).

5. The direct-drive outer rotor hub motor that facilitates inductive encoder debugging according to claim 4 is characterized in that The encoder PCB board (8) is provided with a plurality of PCB board positioning holes (802) at equal angle intervals along the circumference, and the encoder mounting plate (11) is provided with mounting plate positioning holes corresponding to the respective PCB board positioning holes (802) for passing screws (12), bolts, connecting pins or rivets to fix the encoder PCB board (8) and the encoder mounting plate (11).

6. The direct-drive outer rotor hub motor that facilitates inductive encoder debugging according to claim 1 is characterized in that It also includes an encoder debugging lead, both ends of which are provided with electrical connectors, the electrical connector at one end of which is connected to the debugging connection terminal (9), and the electrical connector at the other end is led out through the encoder debugging hole (102).

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