Rotor structure and joint module motor

Abstract

The invention relates to the technical field of joint module motors, and discloses a rotor structure and a joint module motor, and the rotor structure comprises a rotor support which is provided with a plurality of magnetic sheets; the magnetic encoder induces the magnetic source, is coaxially arranged on the rotor bracket and rotates along with the rotor bracket; the encoder chip and the rotor support are arranged in a split mode, a gap is formed between the encoder chip and the magnetic encoder induction magnetic source, the positions of the encoder chip and the magnetic encoder induction magnetic source correspond to each other, and the encoder chip is used for detecting magnetic field changes when the magnetic encoder induction magnetic source rotates so as to detect the rotating position of the rotor structure. The induction magnetic source of the magnetic encoder is directly and coaxially arranged on the rotor support and synchronously rotates along with the rotor support, rotation signals can be detected without a gear transmission component, and the internal structure of the motor is simplified. According to the invention, transmission structures such as gears are cancelled, so that extra space occupation is avoided, the axial volume of the motor is effectively reduced, and the miniaturization design of the motor is facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a rotor structure and a joint module motor. Background Art

[0002] In the joint module motor, both the primary and secondary encoder rings are core components of the magnetic encoder, used to detect the motor's rotational status through changes in the magnetic field. The primary encoder ring is typically mounted directly on the end of the motor's output shaft. A gear transmission component is attached to the primary encoder ring, and the secondary encoder ring is mounted on top of the gear transmission component. The primary and secondary encoder rings rotate synchronously with the motor's output shaft, sensing the motor's rotational signal and reflecting the motor's real-time status.

[0003] Because the installation of the encoder magnetic ring requires the help of gears to transmit rotation, additional gear transmission components need to be added inside the motor to install the encoder magnetic ring. The addition of such gear transmission components will increase the complexity of the mechanical structure inside the motor. At the same time, the volume of the gear itself and the axial installation space requirements will cause the overall volume of the motor to increase. Summary of the Invention

[0004] In view of this, the present invention provides a rotor structure and a joint module motor to solve the problem that the current encoder magnetic ring installation requires the use of gears to transmit rotation, which will lead to an increase in the overall size of the motor.

[0005] In a first aspect, the present invention provides a rotor structure, comprising:

[0006] A rotor bracket, wherein a plurality of magnetic sheets are provided on the rotor bracket;

[0007] The rotor structure further comprises:

[0008] A magnetic encoder induction magnetic source is coaxially arranged on the rotor bracket and rotates with the rotor bracket;

[0009] An encoder chip is arranged separately from the rotor bracket. There is a gap between the encoder chip and the magnetic encoder induction source and their positions correspond. The encoder chip is used to detect the change in the magnetic field when the magnetic encoder induction source rotates, so as to detect the rotational position of the rotor structure.

[0010] The beneficial effects of the above rotor structure are: the magnetic encoder induction magnetic source is directly coaxially arranged on the rotor bracket and rotates synchronously with the rotor bracket. The rotation signal can be detected without the need for transmission components such as gears, which greatly reduces the number of mechanical components and simplifies the internal structure of the motor.

[0011] By eliminating transmission components such as gears, the present invention avoids additional space occupation and effectively reduces the axial volume of the motor, further facilitating its miniaturization. By eliminating transmission components such as gears, the present invention reduces the number of motor parts, reducing raw material and processing costs while simplifying the assembly process and further improving production efficiency.

[0012] The magnetic encoder of the present invention senses the synchronous rotation of the magnetic source and the rotor bracket, and the encoder chip directly detects the changes in the magnetic field when the rotor bracket rotates, avoiding error interference in the transmission link, and can more accurately reflect the real-time rotation state of the rotor, thereby improving the accuracy and reliability of position detection.

[0013] In an optional embodiment, the rotor support includes:

[0014] The inner ring of the bracket has a rotation shaft positioning hole provided at the center axis position of the inner ring of the bracket;

[0015] A stent outer ring, the stent outer ring being coaxially arranged with the stent inner ring and located on the periphery of the stent inner ring;

[0016] A plurality of connecting rods are distributed between the inner ring of the bracket and the outer ring of the bracket at intervals along the circumferential direction.

[0017] The beneficial effects of the above technical solution are: the spacing area between the connecting rods can form a hollow structure, which on the one hand reduces the weight of the rotor bracket; on the other hand, the hollow area can promote air flow inside the motor, enhance heat dissipation efficiency, and prevent performance degradation caused by heat generated by high-speed rotation of the rotor.

[0018] In an optional embodiment, a positioning groove is provided on the side wall of the inner ring of the bracket; the magnetic encoder induction source includes a primary magnetic encoder magnetic ring, the primary magnetic encoder magnetic ring is positioned in the positioning groove, and the surface of the primary magnetic encoder magnetic ring is divided into a plurality of magnetic pole regions arranged at equal intervals and alternating in N-S pole distribution along the circumferential direction;

[0019] The encoder chip includes a primary encoder chip, and the primary encoder chip corresponds to the magnetic pole region in an axial direction.

[0020] In an optional embodiment, the magnetic encoder induction magnetic source further includes a plurality of secondary magnetic encoder magnetic columns, each of the secondary magnetic encoder magnetic columns is respectively arranged on the connecting rod and located outside the primary magnetic encoder magnetic ring, and each of the secondary magnetic encoder magnetic columns is arranged at equal intervals along the circumference and is distributed in an N-S pole alternating manner;

[0021] The encoder chip includes a secondary encoder chip, and the secondary encoder chip corresponds to the secondary magnetic encoder magnetic column axially.

[0022] The beneficial effect of the above technical solution is that the first-level magnetic encoder magnetic ring and the second-level magnetic encoder magnetic column together constitute a dual-level magnetic encoding induction magnetic source. If the signal of one level of the magnetic source is abnormal, the other level can be used as a backup detection source to enhance the fault tolerance of the system.

[0023] The secondary magnetic column is directly installed on the inherent connecting rod of the rotor bracket, without the need for additional gear transmission components. It fully utilizes the circumferential distribution space of the connecting rod, maintains the coaxial synchronous rotation characteristics with the rotor bracket, further simplifies the internal structure of the motor, and contributes to the miniaturization design of the motor.

[0024] In an optional embodiment, the sector-shaped area angle formed by the line connecting two adjacent secondary magnetic encoder magnetic columns and the axis of the rotor bracket is smaller than the sector-shaped area angle of the magnetic pole area.

[0025] The beneficial effects of the above technical solution are as follows: the sector-shaped area angle of the magnetic pole area of the first-level magnetic encoder magnetic ring is large, the frequency of change of its magnetic field signal is low, and the coverage range is wide, which is suitable for quickly determining the approximate position of the rotor structure. The sector-shaped area formed by the line connecting the two adjacent second-level magnetic encoder magnetic columns and the axis of the rotor bracket is small, and the frequency of change of its magnetic field signal is high. It can further accurately measure small angular deviations within the approximate range determined by the first-level magnetic encoder magnetic ring, which is suitable for determining the precise position of the rotor structure. The first-level magnetic encoder magnetic ring and the second-level magnetic encoder magnetic column cooperate with each other to achieve coordinated detection of large-scale coarse positioning and small-scale fine calibration.

[0026] In a second aspect, the present invention provides a joint module motor, comprising:

[0027] Housing structure;

[0028] A stator structure, wherein the stator structure is positioned inside the housing structure, and a stator structure cavity is defined in the middle of the stator structure;

[0029] a rotor structure, the rotor structure being coaxially positioned within the stator structure cavity and coaxially connected to a rotating shaft;

[0030] A PCB board is arranged inside the housing structure, and the encoder chip of the rotor structure is arranged on the PCB board and electrically connected to the PCB board.

[0031] The beneficial effects of the above-mentioned joint module motor are the same as the beneficial effects of the rotor structure of the first aspect of the present invention, and will not be described in detail here.

[0032] In an optional embodiment, the housing structure includes:

[0033] A casing, the casing comprising an outer cylinder, an inner cylinder, and a casing end plate, the outer cylinder and the inner cylinder being connected via the casing end plate and coaxially arranged, a first storage space suitable for holding the stator structure being formed between the outer cylinder and the inner cylinder, and a second storage space suitable for holding a PCB being formed inside the inner cylinder;

[0034] An end cover is detachably connected to the casing.

[0035] In an optional embodiment, a plurality of steps are arranged axially at intervals inside the casing structure; the PCB board is a multi-layer PCB board, at least one PCB board is installed on each step, and each PCB board is respectively provided with a through hole suitable for the rotating shaft to pass through.

[0036] The beneficial effects of the above technical solution are as follows: multiple steps are arranged axially inside the casing structure, and the PCB board that was originally required to be arranged on the end face of the motor is converted to a layered installation along the axial direction. Because there are through holes on the PCB board, the PCB board is set to a hollow shape, so that the PCB board can be installed in the redundant space of the casing structure, avoiding the PCB board from occupying the space in the axial direction. At the same time, the redundant space in the axial direction of the motor is fully utilized, the structure is compact, and the radial volume of the motor is significantly reduced.

[0037] In an optional embodiment, the multiple steps are multiple groups of positioning seat groups arranged on the inner wall of the inner cylinder, each group of positioning seat groups is arranged axially at intervals, and each group of positioning seat groups includes multiple positioning seats distributed circumferentially at intervals on the inner wall of the inner cylinder.

[0038] In an optional embodiment, a notch is provided on the PCB board close to the end plate of the housing, and the notch is suitable for allowing a terminal on the PCB board axially adjacent thereto to pass through.

[0039] The beneficial effect of the above technical solution is that the connection terminals on the PCB board far away from the housing end plate can pass through the notch on the PCB board axially adjacent to it, thereby allowing the connection terminals on all the PCB boards to be led outward.

[0040] In an optional embodiment, the joint module motor further includes a wiring tube structure, and the wiring tube structure includes:

[0041] a wiring tube end plate, the wiring tube end plate being connected to the inner tube and sealing the axial end surface of the inner tube, the wiring tube end plate being provided with at least one opening, the PCB being provided with wiring terminals, the opening being suitable for allowing the wiring terminals on the PCB to pass through;

[0042] A hollow wiring tube, the hollow wiring tube is connected to the wiring tube end plate, the rotating shaft is a hollow rotating shaft, and the hollow wiring tube is arranged on the inner side of the hollow rotating shaft and passes through the hollow rotating shaft.

[0043] The beneficial effects of the above technical solution are as follows: the hollow wiring tube provides a dedicated protection channel for the internal lines of the motor, such as the power line, control signal line, sensor signal line, etc. of the PCB board. All PCB board wiring can be introduced into the interior of the motor through the hollow wiring tube, which not only avoids the disorder of the lines outside, but also effectively protects the lines and prevents them from being damaged by external environmental factors.

[0044] The hollow wiring tube is directly set on the inside of the hollow shaft, making full use of the axial hollow structure of the shaft. There is no need to add additional wiring brackets or expand the casing volume, which significantly improves the internal space utilization of the motor and meets the design requirements of miniaturization and lightweight.

[0045] The wiring tube end plate seals the axial end face of the inner tube, and its opening directly corresponds to the PCB board terminal block, enabling short, straight-line routing from the PCB board terminal block to the wiring tube, further reducing wiring length and space usage. Furthermore, while ensuring short-distance routing, the PCB board terminal block remains completely contained within the housing structure, unlike conventional motor terminals that protrude from the motor housing. In other words, the PCB board and all interfaces are completely internal to the housing structure, creating a fully enclosed structure with high protection and convenient and simple installation.

[0046] In an optional embodiment, the inner ring of the bracket of the rotor structure extends axially to the inside of the second storage space, the PCB board is arranged on the outside of the inner ring of the bracket, and the inner ring of the bracket is rotatably connected to the hollow wiring tube through a first bearing, thereby avoiding space waste due to the rotor bracket and the PCB board belonging to different axial areas and shortening the axial length of the motor.

[0047] In an optional embodiment, the joint module motor further includes a reducer, which is disposed inside the housing structure and is coaxially connected to the rotating shaft.

[0048] In an optional embodiment, the stator structure is an axial magnetic flux stator structure, and the rotor structure is an axial magnetic flux rotor structure.

[0049] In an optional embodiment, the stator structure is a radial flux stator structure, and the rotor structure is a radial flux rotor structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 A schematic structural diagram of a rotor structure provided by the present invention;

[0052] Figure 2 A schematic structural diagram of another rotor structure provided by the present invention;

[0053] Figure 3 A schematic diagram of the structure of a joint module motor provided by the present invention from a first perspective;

[0054] Figure 4 A schematic diagram of the structure of a joint module motor provided by the present invention from a second perspective;

[0055] Figure 5 A cross-sectional view of a joint module motor provided by the present invention;

[0056] Figure 6 A cross-sectional view of a joint module motor provided by the present invention;

[0057] Figure 7 A partial cross-sectional view of a joint module motor provided by the present invention;

[0058] Figure 8 A schematic diagram of the structure of a PCB board in a joint module motor provided by the present invention from a first perspective;

[0059] Figure 9 A schematic structural diagram of a PCB board in a joint module motor provided by the present invention from a second perspective;

[0060] Figure 10 A schematic structural diagram of a housing in a joint module motor provided by the present invention from a first perspective;

[0061] Figure 11 A schematic structural diagram of a housing in a joint module motor provided by the present invention from a second perspective;

[0062] Figure 12 A schematic structural diagram from a first perspective of a wiring tube structure in a joint module motor provided by the present invention;

[0063] Figure 13 A schematic structural diagram from a second perspective of a wiring tube structure in a joint module motor provided by the present invention;

[0064] Figure 14 A schematic structural diagram of a reducer in a joint module motor provided by the present invention from a first perspective;

[0065] Figure 15 A schematic structural diagram of a reducer in a joint module motor provided by the present invention from a second perspective;

[0066] Figure 16 An exploded view of a reducer in a joint module motor provided by the present invention;

[0067] Figure 17 A cross-sectional view of another joint module motor provided by the present invention;

[0068] Figure 18 This is a cross-sectional view of a joint module motor provided by the present invention.

[0069] Description of reference numerals:

[0070] 1. Rotor structure, 11. Rotor bracket, 111. Bracket outer ring, 112. Bracket inner ring, 113. Connecting rod, 114. Rotating shaft positioning hole, 12. Magnetic sheet, 13. Magnetic encoder induction source, 131. Primary magnetic encoder magnetic ring, 132. Secondary magnetic encoder magnetic column, 14. Encoder chip, 141. Primary encoder chip, 142. Secondary encoder chip;

[0071] 2. Casing structure, 21. Casing, 211. Outer cylinder, 212. Inner cylinder, 213. Casing end plate, 214. Positioning seat, 215. First storage space, 216. Second storage space, 22. End cover;

[0072] 3. Stator structure, 31. Stator core, 32. Stator winding;

[0073] 4. PCB board, 41. terminal block, 42. notch, 43. via;

[0074] 5. Cable pipe structure, 51. Hollow cable pipe, 52. Cable pipe end plate, 521. Opening, 53. First bearing;

[0075] 6. Reducer, 61. Sun gear, 62. First planetary gear, 63. Second planetary gear, 64. Ring gear, 65. Output end plate, 66. Crossed roller bearing, 67. Second bearing, 68. Planet carrier;

[0076] 7. Rotating shaft. DETAILED DESCRIPTION

[0077] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0078] The following combination Figures 1 to 15 , elaborate on the rotor structure of the first aspect of the present invention and the joint module motor of the second aspect of the present invention.

[0079] According to an embodiment of the invention, in a first aspect, a rotor structure is provided, which is combined with Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 As shown, Figure 1 Schematic diagram of the structure when the rotor structure is an axial flux rotor structure; Figure 2 The figure is a schematic diagram of the structure when the rotor structure is a radial flux rotor structure. A rotor structure includes a rotor bracket 11, a magnetic encoder induction source 13, and an encoder chip 14. A plurality of magnetic sheets 12 are provided on the rotor bracket 11. The magnetic encoder induction source 13 is coaxially arranged on the rotor bracket 11 and rotates with the rotor bracket 11. The encoder chip 14 is arranged separately from the rotor bracket 11. There is a gap between the encoder chip 14 and the magnetic encoder induction source 13 and their positions correspond. The encoder chip 14 is used to detect the change in the magnetic field when the magnetic encoder induction source 13 rotates, so as to detect the rotational position of the rotor structure. The encoder chip 14 can be a Hall sensor.

[0080] In the above rotor structure, the magnetic encoder induction source 13 is directly coaxially arranged on the rotor bracket 11 and rotates synchronously with the rotor bracket 11. The rotation signal can be detected without transmission components such as gears, which greatly reduces the number of mechanical components and simplifies the internal structure of the motor.

[0081] The volume and axial installation space required by traditional gear transmission components increase motor size. By eliminating gears and other transmission structures, this embodiment avoids the need for additional space, effectively reducing the motor's axial size and facilitating miniaturization. By eliminating gears and other transmission components, this embodiment reduces the number of motor parts, lowering raw material and processing costs while simplifying the assembly process and further improving production efficiency.

[0082] Traditional gear transmissions can introduce transmission errors due to gear play, wear, and other issues, affecting encoder detection accuracy. In this embodiment, the magnetic encoder's inductive magnetic source 13 rotates synchronously with the rotor bracket 11. The encoder chip 14 directly detects changes in the magnetic field as the rotor bracket 11 rotates. This avoids errors in the transmission link, more accurately reflects the rotor's real-time rotational state, and improves the accuracy and reliability of position detection.

[0083] In some embodiments, the rotor support 11 includes an inner ring 112, an outer ring 111, and connecting rods 113. A shaft positioning hole 114 is provided at the central axis of the inner ring 112. The shaft positioning hole 114 is suitable for positioning the rotating shaft 7 to ensure the coaxiality of the rotating shaft 7 and the rotor support 11. The outer ring 111 is coaxially arranged with the inner ring 112 and is located on the periphery of the inner ring 112. A plurality of connecting rods 113 are provided, each of which is spaced circumferentially between the inner ring 112 and the outer ring 111. The spaced connecting rods 113 reduce redundant material, reduce the overall weight of the rotor support 11, and help reduce the moment of inertia.

[0084] In this embodiment, the spacing area between the connecting rods 113 can form a hollow structure, on the one hand to reduce the weight of the rotor bracket 11; on the other hand, the hollow area can promote air flow inside the motor, enhance heat dissipation efficiency, and prevent performance degradation caused by heat generated by high-speed rotation of the rotor.

[0085] In some embodiments, a positioning groove is provided on the side wall of the bracket inner ring 112, which provides a precise positioning reference for the primary magnetic encoder ring 131, and the axis of the positioning groove is coaxial with the axis of the bracket inner ring 112. The magnetic encoder induction source 13 includes a primary magnetic encoder ring 131. The primary magnetic encoder ring 131 is positioned in the positioning groove to ensure its coaxiality with the rotor bracket, avoiding the magnetic field detection error caused by the offset of the ring in the traditional installation method. The surface of the primary magnetic encoder ring 131 is divided into a plurality of magnetic pole regions arranged at equal intervals and alternating with NS poles along the circumferential direction, so that the magnetic field changes in the circumferential direction present uniform and periodic characteristics. The encoder chip 14 includes a primary encoder chip 141, and the primary encoder chip 141 corresponds axially to the magnetic pole region.

[0086] In the traditional solution, the first-level encoder magnetic ring needs to be installed on the motor output shaft through an additional fixing structure (such as a clamp, gear, etc.), and additional debugging may be required due to installation errors. In this embodiment, the first-level magnetic encoder magnetic ring 131 is directly embedded in the positioning groove of the inner ring of the bracket and is integrated with the rotor bracket 11, eliminating the need for an independent fixing structure and reducing the number of parts and assembly steps. At the same time, after the first-level magnetic encoder magnetic ring 131 is installed in the positioning groove, the coaxiality requirement of the first-level magnetic encoder magnetic ring 131 and the rotor bracket 11 can be guaranteed without additional debugging. And because the present embodiment installs the first-level magnetic encoder magnetic ring 131 into a concave positioning groove, after installing the first-level magnetic encoder magnetic ring 131, the axial length of the rotor bracket 11 will not be increased, and the overall axial length of the motor will not be increased.

[0087] In some embodiments, the magnetic encoder induction source 13 further includes a plurality of secondary magnetic encoder columns 132. Each secondary magnetic encoder column 132 is disposed on the connecting rod 113 and positioned outside the primary magnetic encoder ring 131. The secondary magnetic encoder columns 132 are circumferentially spaced evenly and arranged in an alternating N-N polarity pattern. The primary magnetic encoder ring 131 and the secondary magnetic encoder columns 132 are sequentially disposed on the inner side of the magnetic sheet 12. The encoder chip 14 includes a secondary encoder chip 142, which is axially aligned with the secondary magnetic encoder columns 132.

[0088] In this embodiment, the primary magnetic encoder ring 131 and the secondary magnetic encoder column 132 together constitute a dual-stage magnetic encoding induction source. If the signal of one of the primary magnetic sources is abnormal, the other can serve as a backup detection source to enhance the fault tolerance of the system.

[0089] The secondary magnetic column is directly mounted on the inherent connecting rod 113 of the rotor bracket, without the need for additional gear transmission components. This fully utilizes the circumferential distribution space of the connecting rod 113, maintains the coaxial synchronous rotation characteristics with the rotor bracket, further simplifies the internal structure of the motor, and contributes to the miniaturization design of the motor.

[0090] Furthermore, when the secondary magnetic encoder column 132 is installed on the connecting rod 113, it only partially protrudes from the connecting rod 113. The protruding secondary magnetic encoder column 132 will only enter the cavity of the original casing structure 2 and will not occupy or increase the axial length of the motor.

[0091] In some embodiments, the angle θ1 formed by the line connecting two adjacent secondary magnetic encoder columns 132 and the axis of the rotor support is smaller than the angle θ2 formed by the sector area of the magnetic pole area. The sector area formed by the line connecting two adjacent secondary magnetic encoder columns 132 and the axis of the rotor support further divides the sector area of the magnetic pole area into different regions.

[0092] The smaller θ1 is, the denser the distribution of the secondary encoder's magnetic poles around the circumference. For example, if the primary encoder's single-pole angle θ2 = 10° and the secondary encoder's θ1 = 5°, the secondary encoder's magnetic poles generate twice as many signal pulses per revolution as the primary encoder's. By detecting changes in the secondary encoder's high-frequency magnetic field, the encoder chip can output finer angular segmentation signals, significantly improving position detection accuracy.

[0093] The primary magnetic encoder's magnetic ring has a large θ2, resulting in a low-frequency magnetic field signal with a wide coverage range, making it suitable for quickly determining the approximate position of the rotor structure. The secondary magnetic encoder's magnetic column has a smaller θ1 and a high-frequency magnetic field signal, allowing for further precise measurement of small angular deviations within the approximate range determined by the primary magnetic encoder's magnetic ring, making it suitable for determining the precise position of the rotor structure. The primary and secondary magnetic encoder's magnetic rings work together to achieve coordinated detection, combining large-scale coarse positioning with small-scale fine calibration.

[0094] According to an embodiment of the present invention, a second aspect provides a joint module motor, combined with Figures 1 to 18 As shown, the rotor structure 1 includes a housing structure 2, a stator structure 3, a rotor structure 1, and a PCB board 4. The stator structure 3 is fixedly mounted within the housing structure 2, with a stator structure cavity defined in its central portion. The rotor structure 1 is coaxially positioned within the stator structure cavity and coaxially connected to a rotating shaft 7. The PCB board 4 is mounted within the housing structure 2, and the encoder chip 14 of the rotor structure 1 is mounted on and electrically connected to the PCB board 4.

[0095] In some embodiments, the housing structure 2 includes a housing 21 and an end cover 22. The end cover 22 is detachably connected to the housing 21 by screws. Figure 10 、 Figure 11 As shown, the housing 21 includes an outer cylinder 211, an inner cylinder 212 and a housing end plate 213. The outer cylinder 211 and the inner cylinder 212 are connected by the housing end plate 213 and are coaxially arranged. A first storage space 215 suitable for holding the stator structure 3 is formed between the outer cylinder 211 and the inner cylinder 212. The stator structure 3 is fixed in the first storage space 215. The interior of the inner cylinder 212 forms a second storage space 216 suitable for holding the PCB board 4.

[0096] In this embodiment, the stator structure 3 generates heat during operation. In this embodiment, the stator structure 3 is physically isolated from the PCB board by the layered arrangement of the first storage space 215 and the second storage space 216, thereby reducing the heat radiation of the stator heating to the PCB board and reducing the interference of the electromagnetic radiation of the stator winding on the PCB control circuit.

[0097] The traditional PCB board is set on the end face of the motor, which occupies a certain axial space and causes the overall axial size of the motor to be long. In order to solve this problem, in some embodiments, the PCB board is combined with the Figure 8 、 Figure 9 As shown, each PCB board is provided with a via hole 43 suitable for passing the rotating shaft 7 through, and the housing structure 2 is configured as a hollow structure, with the PCB board and all interfaces internally housed. In this embodiment, the PCB board is installed within the relatively small space of the housing structure 2. The provision of the via hole 43 on the PCB board increases the radial dimension of the PCB board, and the relatively small space of the housing structure 2 may not be sufficient to fully accommodate the PCB board. Therefore, in this embodiment, the interior of the housing structure 2 is provided with multiple steps spaced axially, and the PCB board 4 is configured as a multi-layer PCB board, with at least one PCB board mounted on each step. This layered arrangement of the PCB boards in this embodiment allows PCBs that would otherwise have a larger radial dimension to be installed within the limited space of the housing structure 2.

[0098] In this embodiment, multiple steps are provided axially within the housing structure 2, allowing the PCB, which would otherwise be placed on the motor end face, to be installed in layers along the axial direction. Due to the provision of vias 43 on the PCB, the PCB is configured to be hollow, allowing the PCB to be installed within the redundant space of the housing structure 2. This avoids the PCB occupying axial space while fully utilizing the redundant axial space of the motor (such as the gap between the rotor structure and the housing end plate 213). This results in a compact structure and significantly reduces the radial volume of the motor. Air gaps are also formed between the axially layered PCBs, promoting air convection within the housing and accelerating heat dissipation from the electronic components on the PCBs.

[0099] More specifically, the multiple steps are composed of multiple sets of positioning seats installed on the inner sidewall of the inner cylinder 212. Each set of positioning seats is spaced axially apart. Each positioning seat group includes multiple positioning seats 214 spaced circumferentially along the inner sidewall of the inner cylinder 212, providing multiple reference points for the PCB. The positioning seats are an integral structure of the inner sidewall of the inner cylinder. When the PCB is secured to the positioning seats using bolts or other means, the evenly distributed positioning seats constrain radial and rotational deviation of the PCB, ensuring its coaxiality with the inner cylinder.

[0100] Two adjacent PCB layers are staggered with notches and screw holes. The PCBs are positioned on the positioning bases using screws inserted through the screw holes. The notches on the first PCB layer align with the screw holes on the second PCB layer, and vice versa.

[0101] There is a gap between two PCB boards adjacent to each other in the axial direction, which provides an accommodation space for electronic components on the PCB boards.

[0102] A notch 42 is provided on the PCB board near the housing end plate 213. The notch 42 is suitable for allowing the connection terminals on the PCB board axially adjacent to it to pass through. That is, the connection terminals on the PCB board away from the housing end plate 213 can pass through the notch 42 on the PCB board axially adjacent to it, thereby allowing the connection terminals on all the PCB boards to be led outward.

[0103] The traditional PCB board is a solid board, and it is impossible to route the wires inside the housing structure. The wiring of the PCB board is directly exposed outside the housing structure. The wiring outside will affect the normal use of the motor and pose a safety hazard. In order to reduce the impact of the external wiring on the use of the motor, it is necessary to wrap the external wiring, which is very cumbersome. In order to solve this problem, in some embodiments, combined with Figure 12 、 Figure 13 As shown, the joint module motor also includes a wiring tube structure 5, which includes a wiring tube end plate 52 and a hollow wiring tube 51. The wiring tube end plate 52 is connected to the inner tube 212 and seals the axial end face of the inner tube 212. At least one opening 521 is provided on the wiring tube end plate 52. The PCB board 4 is provided with a terminal 41. The opening 521 is suitable for allowing the terminal 41 on the PCB board 4 to pass through. The hollow wiring tube 51 is connected to the wiring tube end plate 52, and the hollow wiring tube 51 runs through the entire casing structure 2. The rotating shaft 7 is a hollow rotating shaft. The hollow wiring tube 51 is arranged on the inner side of the hollow rotating shaft and runs through the hollow rotating shaft. It is used for system wiring and has a compact structure.

[0104] In this embodiment, the hollow wiring tube 51 provides a dedicated protection channel for the internal lines of the motor, such as the power line, control signal line, sensor signal line, etc. of the PCB board. All PCB board wiring can be introduced into the interior of the motor through the hollow wiring tube, which not only avoids the disorder of the lines outside, but also effectively protects the lines to prevent them from being damaged by external environmental factors.

[0105] The hollow wiring tube is directly set on the inside of the hollow shaft, making full use of the axial hollow structure of the shaft. There is no need to add additional wiring brackets or expand the casing volume, which significantly improves the internal space utilization of the motor and meets the design requirements of miniaturization and lightweight.

[0106] The wiring tube end plate seals the axial end face of the inner tube, with its opening 521 directly corresponding to the PCB board terminal block 41. This enables short, straight-line routing from the PCB board terminal block to the wiring tube, further reducing wiring length and space usage. Furthermore, while ensuring short-distance routing, the PCB board terminal block 41 is completely contained within the housing structure, unlike conventional motor terminals that protrude from the motor housing. In other words, in this embodiment, the PCB board and all interfaces are completely internal to the housing structure, creating a fully enclosed structure with high protection and convenient and simple installation.

[0107] In some embodiments, the inner ring 112 of the bracket of the rotor structure 1 extends axially into the interior of the second storage space 216. The PCB board 4 is disposed on the outside of the bracket inner ring 112. The bracket inner ring 112 is rotatably connected to the hollow wiring tube 51 via a first bearing 53. This avoids wasted space due to the rotor bracket and the PCB board belonging to different axial regions and shortens the axial length of the motor. After the primary magnetic encoder ring on the side wall of the bracket inner ring extends into the second storage space, the radial distance from the encoder chip on the PCB board is shortened. The encoder chip can detect clearer and stronger magnetic field changes, thereby improving the resolution and accuracy of angle detection. The radial distance between the secondary magnetic encoder column and the encoder chip is also shortened, optimizing the signal quality of both magnetic sources.

[0108] In some embodiments, the joint module motor further includes a reducer 6, which is disposed inside the housing structure 2 and is coaxially connected to the rotating shaft 7. The reducer 6 includes a single-stage or multi-stage planetary reduction gear set.

[0109] Combine Figures 14 to 16 As shown, the structure of one type of reducer 6 includes a planet carrier 68, a sun gear 61, first planet gears 62, second planet gears 63, and a ring gear 64. The sun gear 61 is connected to the rotating shaft 7. Multiple first planet gears 62 are meshed around the outer circumference of the sun gear 61. Each first planet gear 62 is coaxially connected to a second planet gear 63. The outer circumference of each second planet gear 63 is meshed with a ring gear 64. Each first planet gear 62 is connected to the planet carrier 68. The planet carrier 68 is connected to an output end plate 65 via a connecting rod. The output end plate 65 serves as the output end of the reducer. The end cap 22 is cylindrical in shape. The output end plate 65 passes through the inner cylinder of the end cap 22 and is rotatably connected to the inner wall of the end cap 22 via a cross roller bearing 66. The rotating shaft 7 is rotatably connected to the planet carrier 68 via two second bearings 67. When the rotating shaft 7 rotates, it drives the sun gear 61 to rotate, and then drives the first planetary gear 62 and the second planetary gear 63 to rotate. The first planetary gear 62 and the second planetary gear 63 rotate while also revolving around the sun gear 61. When the first planetary gear 62 revolves, it drives the planetary carrier 68 to rotate. Finally, the planetary carrier 68 drives the output end plate 65 to rotate.

[0110] In some embodiments, combined Figure 1 As shown, the stator structure 3 is an axial flux stator structure, and the rotor structure 1 is an axial flux rotor structure. Figure 5 、 Figure 6 As shown, the stator structure 3 includes a stator core 31 and a stator winding 32. The stator winding 32 is wound around the outer periphery of the stator core 31. The magnetic sheets 12 are spaced apart on the axial sidewalls of the bracket outer ring 111, and the magnetic sheets 12 correspond to the stator core 31 in the axial direction, with a gap between the magnetic sheets 12 and the stator core 31.

[0111] As an alternative embodiment, in combination with Figure 2 As shown, the stator structure 3 is a radial flux stator structure, and the rotor structure 1 is a radial flux rotor structure. Figure 17 、 Figure 18 As shown, the stator structure 3 includes a stator core 31 and a stator winding 32, with the stator winding 32 wound around the periphery of the stator core 31. The support outer ring 111 of the rotor structure 1 extends axially to the periphery of the stator core 31. The magnetic sheets 12 are spaced apart on the inner circumferential sidewall of the support outer ring 111. The magnetic sheets 12 correspond to the stator core 31 in the radial direction, with gaps between the magnetic sheets 12 and the stator core 31.

[0112] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A rotor structure comprising: A rotor bracket (11), wherein a plurality of magnetic sheets (12) are provided on the rotor bracket (11); Characterized in that, the rotor structure further comprises: A magnetic encoder induction magnetic source (13), wherein the magnetic encoder induction magnetic source (13) is coaxially arranged on the rotor bracket (11) and rotates along with the rotor bracket (11); An encoder chip (14) is arranged separately from the rotor bracket (11), a gap is provided between the encoder chip (14) and the magnetic encoder induction source (13), and the positions thereof correspond to each other. The encoder chip (14) is used to detect changes in the magnetic field of the magnetic encoder induction source (13) when it rotates, so as to detect the rotational position of the rotor structure.

2. The rotor structure according to claim 1, characterized in that: The rotor support (11) comprises: A support inner ring (112), wherein a rotation shaft positioning hole (114) is provided at a central axis position of the support inner ring (112); A stent outer ring (111), the stent outer ring (111) being coaxially arranged with the stent inner ring (112) and located on the periphery of the stent inner ring (112); A plurality of connecting rods (113), each of the connecting rods (113) is distributed at intervals along the circumferential direction between the inner ring (112) of the bracket and the outer ring (111) of the bracket.

3. The rotor structure according to claim 2, characterized in that: A positioning groove is provided on the side wall of the bracket inner ring (112); the magnetic encoder induction magnetic source (13) includes a first-level magnetic encoder magnetic ring (131), the first-level magnetic encoder magnetic ring (131) is positioned in the positioning groove, and the surface of the first-level magnetic encoder magnetic ring (131) is divided into a plurality of magnetic pole areas arranged at equal intervals and distributed in an alternating N-S pole pattern along the circumferential direction; The encoder chip (14) comprises a primary encoder chip (141), and the primary encoder chip (141) corresponds axially to the magnetic pole region.

4. The rotor structure according to claim 3, characterized in that: The magnetic encoder induction magnetic source (13) further comprises a plurality of secondary magnetic encoder magnetic columns (132), each of the secondary magnetic encoder magnetic columns (132) being respectively arranged on the connecting rod (113) and located outside the primary magnetic encoder magnetic ring (131), and each of the secondary magnetic encoder magnetic columns (132) being arranged at equal intervals along the circumference and being distributed in an N-S polar alternating manner; The encoder chip (14) includes a secondary encoder chip (142), and the secondary encoder chip (142) corresponds axially to the secondary magnetic encoder column (132).

5. The rotor structure according to claim 4, characterized in that: The sector-shaped area angle formed by the line connecting the two adjacent secondary magnetic encoder magnetic columns (132) and the axis of the rotor bracket is smaller than the sector-shaped area angle of the magnetic pole area.

6. A joint module motor, characterized in that: include: Housing structure (2); A stator structure (3), the stator structure (3) being positioned and arranged inside the housing structure (2), and having a stator structure cavity in the middle thereof; The rotor structure (1) according to any one of claims 1 to 5, wherein the rotor structure (1) is coaxially positioned in the stator structure cavity, and the rotor structure (1) is coaxially connected to a rotating shaft (7); A PCB board (4) is arranged inside the housing structure (2); an encoder chip (14) of the rotor structure (1) is arranged on the PCB board (4) and is electrically connected to the PCB board (4).

7. The joint module motor according to claim 6, characterized in that: The housing structure (2) comprises: A casing (21), the casing (21) comprising an outer cylinder (211), an inner cylinder (212) and a casing end plate (213); the outer cylinder (211) and the inner cylinder (212) are connected via the casing end plate (213) and are coaxially arranged; a first storage space (215) suitable for storing the stator structure (3) is formed between the outer cylinder (211) and the inner cylinder (212); and a second storage space (216) suitable for storing a PCB board (4) is formed inside the inner cylinder (212); An end cover (22) is detachably connected to the housing (21).

8. The joint module motor according to claim 7, characterized in that: The interior of the housing structure (2) is provided with a plurality of steps at intervals along the axial direction; the PCB board (4) is a multi-layer PCB board, at least one PCB board is mounted on each step, and each PCB board is provided with a through hole (43) suitable for the rotation shaft (7) to pass through.

9. The joint module motor according to claim 8, characterized in that: The multiple steps are multiple groups of positioning seat groups arranged on the inner side wall of the inner cylinder (212), each group of the positioning seat groups is arranged at intervals along the axial direction, and each group of the positioning seat groups includes multiple positioning seats (214) distributed at intervals along the circumferential direction on the inner side wall of the inner cylinder (212).

10. The joint module motor according to claim 8, characterized in that: A notch (42) is provided on the PCB board close to the housing end plate (213), and the notch (42) is suitable for allowing a connection terminal on the PCB board axially adjacent thereto to pass through.

11. The joint module motor according to claim 7, characterized in that: The joint module motor further includes a wiring tube structure (5), and the wiring tube structure (5) includes: a wiring tube end plate (52), the wiring tube end plate (52) being connected to the inner tube (212) and sealing the axial end surface of the inner tube (212); at least one opening (521) being provided on the wiring tube end plate (52); a wiring terminal (41) being provided on the PCB board (4); and the opening (521) being suitable for allowing the wiring terminal (41) on the PCB board (4) to pass through; A hollow wiring pipe (51), the hollow wiring pipe (51) is connected to the wiring pipe end plate (52), the rotating shaft (7) is a hollow rotating shaft, and the hollow wiring pipe (51) is arranged on the inner side of the hollow rotating shaft and passes through the hollow rotating shaft.

12. The joint module motor according to claim 11, characterized in that: The bracket inner ring (112) of the rotor structure (1) extends axially to the interior of the second storage space (216); the PCB board (4) is arranged outside the bracket inner ring (112); and the bracket inner ring (112) and the hollow wiring tube (51) are rotatably connected via a first bearing (53).

13. The joint module motor according to any one of claims 6 to 12, characterized in that: The joint module motor further includes a reducer (6), which is arranged inside the housing structure (2) and is coaxially connected to the rotating shaft (7).

14. The joint module motor according to any one of claims 6 to 12, characterized in that: The stator structure (3) is an axial magnetic flux stator structure, and the rotor structure (1) is an axial magnetic flux rotor structure; or The stator structure (3) is a radial magnetic flux stator structure, and the rotor structure (1) is a radial magnetic flux rotor structure.

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