Brushless steering engine

Abstract

The brushless steering engine comprises a shell, a brushless motor, a reduction gear set, an output shaft and an output position detection assembly, the brushless motor, the reduction gear set, the output shaft and the output position detection assembly are arranged in the shell, a motor fixing column is formed on the inner bottom face of the shell, the brushless motor is arranged on the motor fixing column, and a PCB is arranged on the lower portion of the shell and located below the brushless motor. A motor position detection assembly used for detecting the position of the outer rotor assembly is arranged on the side, facing the brushless motor, of the PCB, and the motor position detection assembly is located below the outer rotor assembly. The brushless motor is directly integrated in the shell structure to form an integrated structure, a stator shell is not needed, the structure is simplified, the cost is reduced, and the overall thickness of the brushless steering engine is reduced; the motor position detection assembly is integrated on the PCB at the lower part, so that axial direction space multiplexing of the brushless motor and the motor position detection assembly is realized; only one PCB is arranged, and wires are not needed for connection, so that the disconnection risk is reduced, the anti-seismic performance is enhanced, and the reliability and the stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steering engine, in particular to a brushless steering engine. BACKGROUND

[0002] The steering engine is a kind of position (angle) servo driver, which is suitable for the control system that needs the angle to change continuously and can be maintained. The steering engine usually comprises an output shaft, a reduction gear set and a motor, and the motor drives the output shaft to rotate through the reduction gear set. The traditional steering engine can be divided into brush steering engine and brushless steering engine according to the type of motor. The brushless steering engine is driven by brushless motor, and compared with the brush steering engine driven by brush motor, the brushless steering engine has high efficiency, high control precision and long service life.

[0003] Most of the brushless motors of the existing brushless steering engine are independently installed. The brushless motor has a built-in position sensing mechanism, and the brushless motor is directly connected with the PCB board of the steering engine. This results in that the volume of the brushless motor is large, and a large installation space is required, so that the volume of the brushless steering engine is increased. Some brushless motors have an external position sensing mechanism, and the position sensing mechanism is connected with the PCB board of the steering engine through wires. This reduces the volume of the brushless motor, fully utilizes the space to install the position sensing mechanism, and reduces the volume. However, two PCB boards are still required, and the two PCB boards are connected through wires, which has the risk of disconnection, poor reliability and stability. In addition, the shell of the brushless motor still occupies a large internal space, and the volume is difficult to reduce. Therefore, it is necessary to improve. SUMMARY

[0004] In view of the defects in the prior art, the present application aims to provide a brushless steering engine, which simplifies the structure, reduces the cost, reduces the volume, and improves the reliability and stability.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a brushless steering engine, comprising a shell and a brushless motor, a reduction gear set, an output shaft and an output position detection assembly arranged in the shell, the brushless motor being in transmission connection with the reduction gear set, the reduction gear set being in transmission connection with the output shaft, the output position detection assembly being connected with the output shaft, the inner bottom surface of the shell being formed with a motor fixing column, the middle part of the motor fixing column being provided with a shaft hole, The brushless motor comprises an outer rotor shell, an outer rotor assembly, an inner stator assembly and a shaft rod, the shaft rod being rotatably installed in the shaft hole, the lower part of the outer rotor shell being open, the upper part of the outer rotor shell being fixedly connected with the shaft rod, the outer rotor assembly being fixedly installed on the inner side surface of the outer rotor shell, and the inner stator assembly being fixedly installed on the outer side surface of the motor fixing column and located in the outer rotor shell, The lower part of the shell is provided with a PCB board, the PCB board is provided with a fixing hole corresponding to the position of the motor fixing column, the fixing hole is sleeved on the motor fixing column, the PCB board is located below the brushless motor, the side of the PCB board facing the brushless motor is provided with a motor position detection assembly for detecting the position of the outer rotor assembly, the motor position detection assembly is located below the outer rotor assembly, an output position detection assembly is fixedly installed on the PCB board and located beside the brushless motor, the PCB board is provided with a steering control circuit, and the output position detection assembly, the inner stator assembly and the motor position detection assembly are electrically connected with the steering control circuit.

[0006] In a further technical solution, the shell includes an upper cover, a middle shell and a lower cover, the upper cover is arranged on the upper part of the middle shell, the lower cover is arranged on the lower part of the middle shell, the middle shell is provided with a motor mounting slot with a downward opening and an output mounting slot with an upward opening, the motor mounting slot and the output mounting slot are arranged side by side and spaced apart, and are separated from each other, the upper cover and the middle shell are provided with a transmission cavity, the lower cover and the middle shell are provided with a control cavity, the upper part of the output mounting slot communicates with the transmission cavity, the lower part of the motor mounting slot communicates with the control cavity, the lower part of the output mounting slot is provided with a detection hole, the upper part of the motor mounting slot is provided with a transmission hole, a reduction gear set is arranged in the transmission cavity, an output shaft is rotatably installed in the output mounting slot, a PCB board is fixedly installed on the lower cover, an output position detection assembly is arranged on the upper end face of the PCB board, the lower part of the output shaft passes through the detection hole and is connected with the output position detection assembly, a brushless motor is arranged in the motor mounting slot, and the upper end part of the shaft rod passes through the transmission hole and is in transmission connection with the reduction gear set.

[0007] In a further technical solution, the reduction gear set includes a first gear, a second gear, a third gear and a fourth gear, the first gear is fixedly installed on the upper end part of the shaft rod and located in the transmission cavity, the fourth gear is sleeved on the output shaft and located in the output mounting slot, the second gear and the third gear are rotatably installed in the transmission cavity and located between the first gear and the fourth gear, the first gear is in mesh with the second gear, the second gear is in mesh with the third gear, and the third gear is in mesh with the fourth gear.

[0008] In a further technical solution, the second gear and the third gear are double gear wheels, the large gear of the second gear is in mesh with the first gear, the small gear of the second gear is in mesh with the large gear of the third gear, and the small gear of the third gear extends into the output mounting slot and is in mesh with the fourth gear.

[0009] In a further technical solution, the outer side surface of the first gear is provided with an annular sealing mounting slot in the circumferential direction, and a sealing ring is embedded in the sealing mounting slot, and the sealing ring is located above the transmission hole.

[0010] Further, the output shaft is sequentially provided with a spline part, a transmission part and a detection part from top to bottom, the outer side surface of the spline part is provided with a plurality of spline grooves, the spline part is connected with the steering wheel through the upper cover, the outer side surface of the transmission part is provided with a plurality of clutch convex parts at intervals in the circumferential direction, the middle part of the fourth gear is provided with a clutch groove, the bottom of the clutch groove is provided with a through rod hole penetrating through the fourth gear, the detection part is connected with the output position detection assembly through the through rod hole, the inner side surface of the clutch groove is provided with a plurality of clutch grooves corresponding to the clutch convex parts at intervals in the circumferential direction, the transmission part is embedded in the clutch groove, and each clutch convex part is embedded in each clutch groove.

[0011] Further, the lower part of the fourth gear is provided with a limiting groove with an opening downward, the lower part of the output mounting groove is provided with a limiting convex part protruding upward, the limiting convex part extends into the limiting groove, and the upper part of the limiting groove is provided with a plurality of heat dissipation grooves at intervals in the circumferential direction.

[0012] Further, the motor fixing column is formed on the lower cover, the upper end of the shaft hole is communicated with the motor mounting groove, the lower end of the shaft hole penetrates through the lower cover, the lower end of the shaft hole is sealed by a cover plate, two bearings are arranged between the shaft rod and the shaft hole, the two bearings are arranged at intervals upward and downward, the lower part of the shaft rod is clamped with a clamping spring, and a wear-resistant washer is arranged between the upper bearing and the outer rotor shell and between the lower bearing and the clamping spring, respectively. The upper part of the outer rotor shell is provided with a plurality of heat dissipation holes penetrating through the outer rotor shell, and each heat dissipation hole is arranged at intervals in the circumferential direction and located at the periphery of the shaft rod.

[0013] Further, the outer rotor assembly comprises a magnetic yoke ring, a plurality of magnetic yoke convex teeth and a plurality of permanent magnets, the magnetic yoke ring is fixedly installed on the inner surface of the outer rotor shell, each magnetic yoke convex tooth is formed on the lower end surface of the magnetic yoke ring, an interval groove is formed between adjacent two magnetic yoke convex teeth, and each permanent magnet is embedded in the interval groove, The inner stator assembly comprises a stator core and a coil winding wound on the stator core, the stator core is sleeved on the motor fixing column, the stator core is provided with a plurality of wire winding grooves for accommodating the coil winding at intervals in the circumferential direction, the outer side surface of the motor fixing column is vertically provided with a wire channel, the end part of the coil winding penetrates through the wire channel and is connected with the PCB board and electrically connected with the steering engine control circuit. The motor position detection assembly comprises at least two Hall sensors, the two Hall sensors are arranged on the upper end surface of the PCB board and located below each permanent magnet respectively, and the two Hall sensors are respectively in Hall induction cooperation with each permanent magnet. The output position detection assembly comprises a potentiometer, the potentiometer is arranged on the upper end surface of the PCB board and electrically connected with the steering engine control circuit. The two sides of the PCB board are respectively provided with a connection socket, and the two connection sockets are respectively electrically connected with the steering engine control circuit.

[0014] In a further technical solution, a virtual rudder assembly is provided at the lower part of the lower cover corresponding to the position of the output shaft. The virtual rudder assembly includes a virtual rudder and a flange. A downward-facing virtual rudder groove is provided at the lower part of the lower cover. A mounting boss is provided in the virtual rudder groove. A mounting groove corresponding to the mounting boss is provided on the upper end face of the flange. The flange is embedded in the virtual rudder groove, and the mounting boss is inserted into the mounting groove. The virtual rudder is fixedly installed on the flange.

[0015] The advantages of this invention compared to existing technologies are as follows: By forming a motor fixing post and opening a shaft hole on the bottom surface of the outer casing, the brushless motor is directly integrated into the casing structure to form an integral structure, eliminating the need for a stator casing, simplifying the structure, reducing costs, and reducing axial space, thus reducing the overall thickness of the brushless servo; the lower opening of the outer rotor casing integrates the motor position detection component onto the lower PCB board, realizing the reuse of axial space between the brushless motor and the motor position detection component, making full use of installation space, and further reducing the volume of the brushless servo; both the motor position detection component and the output position detection component are set on the same PCB board, the brushless servo has only one PCB board, eliminating the need for wire connections, reducing the risk of disconnection, enhancing shock resistance, and improving reliability and stability. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is a cross-sectional view of the present invention; Figure 4 This is an exploded view of the brushless motor of the present invention; Figure 5 This is an exploded view of the output shaft and the fourth gear of the present invention; Figure 6 This is a schematic diagram of the bottom structure of the fourth gear of the present invention.

[0018] In the picture: 11 Top cover, 12 Middle shell, 121 Motor mounting slot, 122 Transmission through hole, 123 Output mounting slot, 124 Detection through hole, 125 Limiting protrusion, 13 Bottom cover, 131 Motor fixing post, 132 Shaft hole, 133 Wiring groove, 134 Virtual rudder groove, 135 Mounting boss, 14 Transmission cavity, 15 Control cavity, 16 Cover plate; 2. Brushless motor, 21. Outer rotor housing, 211. Heat dissipation hole, 22. Outer rotor assembly, 221. Magnetic yoke ring, 222. Magnetic yoke tooth, 223. Permanent magnet, 224. Spacing slot, 23. Stator core, 231. Winding slot, 24. Shaft, 25. Bearing, 26. Snap ring, 27. Wear-resistant washer. 3. Reduction gear set, 31. First gear, 311. Sealing ring, 32. Second gear, 33. Third gear, 34. Fourth gear, 341. Clutch groove, 342. Through rod hole, 343. Clutch groove, 344. Limiting groove, 345. Heat dissipation groove; 4 Output shaft, 41 Splined part, 42 Transmission part, 43 Detection part, 44 Clutch protrusion; 5 PCB boards, 51 connector sockets; 6 potentiometers; 7 Hall effect sensors; 8 steering wheels; 91 Virtual rudder disc, 92 Flange, 93 Mounting groove. Detailed Implementation

[0019] The following are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention.

[0020] A type of brushless servo, such as Figures 1 to 6 As shown, the device includes a housing and a brushless motor 2, a reduction gear set 3, an output shaft 4, and an output position detection component housed within the housing. The brushless motor 2 is driven by the reduction gear set 3, which is driven by the output shaft 4. The output position detection component is connected to the output shaft 4. A motor mounting post 131 is formed on the inner bottom surface of the housing, and a shaft hole 132 is formed in the middle of the motor mounting post 131. The brushless motor 2 includes an outer rotor housing 21, an outer rotor assembly 22, an inner stator assembly, and a shaft 24. The shaft 24 is rotatably mounted in the shaft hole 132. The lower part of the outer rotor housing 21 is open, and the upper part of the outer rotor housing 21 is fixedly connected to the shaft 24. The outer rotor assembly 22 is fixedly mounted on the inner side of the outer rotor housing 21, and the inner stator assembly is fixed. The PCB board 5 is installed on the outer side of the motor mounting post 131 and inside the outer rotor housing 21. The lower part of the housing is provided with a PCB board 5. The PCB board 5 has a fixing through hole corresponding to the position of the motor mounting post 131. The fixing through hole is fitted onto the motor mounting post 131. The PCB board 5 is located below the brushless motor 2. A motor position detection component for detecting the position of the outer rotor assembly 22 is provided on the side of the PCB board 5 facing the brushless motor 2. The motor position detection component is located below the outer rotor assembly 22. The output position detection component is fixedly installed on the PCB board 5 and located next to the brushless motor 2. The PCB board 5 is provided with a servo control circuit. The output position detection component, the inner stator assembly and the motor position detection component are electrically connected to the servo control circuit.

[0021] Traditional brushless servos have a separate brushless motor 2, which needs to be connected to the PCB board 5 by soldering or wires. Furthermore, the position detection mechanism of the brushless motor 2 is usually built into the brushless motor 2, resulting in a large overall size of the brushless motor 2 and consequently, a larger brushless servo. Some designs place the position detection mechanism separately on the outside of the brushless motor 2, requiring at least two PCB boards 5 inside the brushless servo. To ensure communication, the two PCB boards 5 need to be connected with wires, resulting in a complex structure, high cost, and poor shock resistance. This invention, however, integrates the brushless motor 2 by forming a motor fixing post 131 on the bottom inner surface of the casing and opening a shaft hole 132. The motor 2 is directly integrated into the housing structure to form a one-piece structure, eliminating the need for a stator housing, simplifying the structure, reducing costs, and reducing axial space, thus decreasing the overall thickness of the brushless servo. The lower opening of the outer rotor housing 21 integrates the motor position detection component onto the lower PCB board 5, enabling axial space reuse between the brushless motor 2 and the motor position detection component, making full use of installation space and further reducing the size of the brushless servo. Both the motor position detection component and the output position detection component are set on the same PCB board 5, with only one PCB board 5 for the brushless servo, eliminating the need for wire connections, reducing the risk of disconnection, enhancing shock resistance, and improving reliability and stability.

[0022] Specifically, the outer casing includes an upper cover 11, a middle cover 12, and a lower cover 13. The upper cover 11 is located on the upper part of the middle cover 12, and the lower cover 13 is located on the lower part of the middle cover 12. The middle cover 12 has a downward-facing motor mounting slot 121 and an upward-facing output mounting slot 123. The motor mounting slot 121 and the output mounting slot 123 are arranged side by side with intervals and relative to each other. A transmission cavity 14 is provided between the upper cover 11 and the middle cover 12, and a control cavity 15 is provided between the lower cover 13 and the middle cover 12. The upper part of the output mounting slot 123 communicates with the transmission cavity 14, and the lower part of the motor mounting slot 121 communicates with the control cavity. 15. The lower part of the output mounting slot 123 is provided with a detection through hole 124, the upper part of the motor mounting slot 121 is provided with a transmission through hole 122, the reduction gear set 3 is provided in the transmission cavity 14, the output shaft 4 is rotatably mounted in the output mounting slot 123, the PCB board 5 is fixedly mounted on the lower cover 13, the output position detection component is provided on the upper end face of the PCB board 5, the lower part of the output shaft 4 passes through the detection through hole 124 and is connected to the output position detection component, the brushless motor 2 is provided in the motor mounting slot 121, and the upper end of the shaft 24 passes through the transmission through hole 122 and is connected to the reduction gear set 3 for transmission.

[0023] The outer casing is divided into three parts: an upper cover 11, a middle cover 12, and a lower cover 13. These parts are connected and fixed with screws for easy assembly and maintenance. Removing the upper cover 11 exposes the transmission cavity 14, facilitating the repair of the reduction gear set 3. Removing the lower cover 13 exposes the control cavity 15, facilitating the repair of the brushless motor 2, PCB board 5, and output position detection component. This eliminates the need for complete disassembly, improving maintenance efficiency. After installing the brushless motor 2 and output shaft 4, the control cavity 15 is relatively isolated from the transmission cavity 14, preventing gear lubricating oil from the transmission cavity 14 from entering the control cavity 15 and contaminating the brushless motor 2, PCB board 5, and output position detection component, thus improving reliability and stability and reducing the failure rate. The space of the transmission cavity 14 is expanded by the output mounting slot 123, and the space of the control cavity 15 is expanded by the motor mounting slot 121, maximizing the space of both cavities and forming two independent heat dissipation spaces to improve heat dissipation.

[0024] Specifically, the reduction gear set 3 includes a first gear 31, a second gear 32, a third gear 33, and a fourth gear 34. The first gear 31 is fixedly mounted on the upper end of the shaft 24 and located within the transmission cavity 14. The fourth gear 34 is sleeved on the output shaft 4 and located within the output mounting groove 123. The second gear 32 and the third gear 33 are rotatably mounted within the transmission cavity 14 and located between the first gear 31 and the fourth gear 34. The first gear 31 meshes with the second gear 32, the second gear 32 meshes with the third gear 33, and the third gear 33 meshes with the fourth gear 34. The reduction gear set 3 adopts a three-stage reduction meshing transmission, which increases torque while reducing the number of gears, thereby reducing installation space and shrinking the size of the brushless servo. The gear module decreases in a stepwise manner, resulting in uniform stress distribution on the meshing contact surface and improving transmission efficiency.

[0025] Specifically, the second gear 32 and the third gear 33 are double gears. The large gear of the second gear 32 meshes with the first gear 31, and the small gear of the second gear 32 meshes with the large gear of the third gear 33. The small gear of the third gear 33 extends into the output mounting slot 123 and meshes with the fourth gear 34.

[0026] The fourth gear 34 is housed within the output mounting slot 123. The fourth gear 34 and the output shaft 4 are arranged side-by-side with the brushless motor 2, forming a symmetrical left-right structure. Meanwhile, the reduction gear set 3, the PCB board 5, and the output position detection assembly form a symmetrical top-bottom structure. This arrangement fully utilizes the installation space, further reducing the size of the brushless servo and centering its center of gravity, thus meeting the requirements for high-level installations. The double gear arrangement further reduces axial space requirements.

[0027] Specifically, the outer surface of the first gear 31 is provided with an annular sealing mounting groove along the circumferential direction, and a sealing ring 311 is embedded in the sealing mounting groove. The sealing ring 311 is located above the transmission through hole 122. The sealing ring 311 prevents the gear lubricating oil in the transmission cavity 14 from entering the motor mounting groove 121 through the transmission through hole 122, thus avoiding contamination of the motor mounting groove 121 and the control cavity 15, improving reliability and stability. At the same time, it can also reduce the evaporation of gear lubricating oil, extend the maintenance cycle, and reduce the operating cost and failure rate.

[0028] Specifically, the output shaft 4 is provided with a splined part 41, a transmission part 42, and a detection part 43 from top to bottom. The outer side of the splined part 41 is provided with multiple spline grooves. The splined part 41 passes through the upper cover 11 and is connected to the rudder disk 8. The outer side of the transmission part 42 is provided with multiple clutch protrusions 44 at intervals along the circumferential direction. The fourth gear 34 has a clutch groove 341 in the middle. The bottom of the clutch groove 341 is provided with a through hole 342 that passes through the fourth gear 34. The detection part 43 passes through the through hole 342 and is connected to the output position detection component. The inner side of the clutch groove 341 is provided with multiple clutch grooves 343 at intervals along the circumferential direction that correspond one-to-one with the clutch protrusions 44. The transmission part 42 is embedded in the clutch groove 341, and each clutch protrusion 44 is embedded in each clutch groove 343. When the load torque is too high, the originally meshing clutch protrusion 44 and clutch groove 343 automatically disengage, thereby protecting the brushless motor 2 and the reduction gear set 3, preventing gear breakage, reducing the load on the brushless motor 2, and extending its service life; the spline part 41 is connected to the rudder disk 8 through the spline groove, which improves the connection strength, prevents the generation of play, and improves the control accuracy; the output shaft 4 is directly connected to the output position detection component through the detection part 43, eliminating the accumulated error of traditional indirect transmission and improving the position repeatability accuracy.

[0029] Specifically, the lower part of the fourth gear 34 is provided with a downward-facing limiting groove 344, the lower part of the output mounting groove 123 is provided with an upward-protruding limiting protrusion 125, the limiting protrusion 125 extends into the limiting groove 344, and the upper part of the limiting groove 344 is provided with a plurality of heat dissipation grooves 345 at intervals along the circumferential direction.

[0030] Since the output shaft 4 and the fourth gear 34 have relatively large diameters, their weight is relatively increased. By using the limiting protrusion 125 and the limiting groove 344 to cooperate, the axial movement of the gear is reduced and the transmission backlash is reduced. While the fourth gear 34 is rotating, the airflow is guided by the heat dissipation groove 345 to blow on the surface of the fourth gear 34, thereby improving the heat dissipation effect and reducing the weight of the fourth gear 34, thus reducing the load on the brushless motor 2.

[0031] Specifically, the motor fixing post 131 is formed on the lower cover 13, the upper end of the shaft hole 132 is connected to the motor mounting groove 121, the lower end of the shaft hole 132 passes through the lower cover 13, and the lower end of the shaft hole 132 is sealed with a cover plate 16. Two bearings 25 are provided between the shaft 24 and the shaft hole 132, and the two bearings 25 are arranged vertically and horizontally. A retaining ring 26 is snapped into the lower part of the shaft 24. Wear-resistant washers 27 are respectively provided between the upper bearing 25 and the outer rotor housing 21 and between the lower bearing 25 and the retaining ring 26. Multiple heat dissipation holes 211 are opened on the upper part of the outer rotor housing 21, and each heat dissipation hole 211 is arranged at intervals along the circumferential direction and located on the periphery of the shaft 24. Two bearings 25 reduce the rotational friction of the shaft 24 and simultaneously reduce the axial composite load, thereby reducing the radial runout of the shaft 24 and making the operation more stable. Two wear-resistant washers 27 prevent the shaft 24 from rotating and wearing during axial runout, thus improving its service life. During assembly and maintenance, the retaining ring 26 can be disassembled and assembled by opening the cover plate 16, thereby enabling the disassembly and assembly of the shaft 24. The cover plate 16 not only hides the shaft 24 but also seals the shaft hole 132, preventing foreign objects from entering and improving waterproofing.

[0032] Specifically, the outer rotor assembly 22 includes a magnetic yoke ring 221, multiple magnetic yoke teeth 222, and multiple permanent magnets 223. The magnetic yoke ring 221 is fixedly installed on the inner surface of the outer rotor housing 21. Each magnetic yoke tooth 222 is formed on the lower end face of the magnetic yoke ring 221, and a spacer slot 224 is formed between two adjacent magnetic yoke teeth 222. Each permanent magnet 223 is embedded in the spacer slot 224. The inner stator assembly includes a stator core 23 and a coil winding wound around the stator core 23. The stator core 23 is sleeved on the motor mounting post 131. The stator core 23 has multiple winding slots 231 spaced along the circumferential direction for accommodating the coil winding. The outer side of the motor mounting post 131... A vertical wiring groove 133 is provided on the surface of the PCB board 5. The end of the coil winding passes through the wiring groove 133 and is connected to the PCB board 5 and electrically connected to the servo control circuit. The motor position detection component includes at least two Hall sensors 7, which are respectively located on the upper surface of the PCB board 5 and below each permanent magnet 223. The two Hall sensors 7 are respectively Hall sensing-coordinated with each permanent magnet 223. The output position detection component includes a potentiometer 6, which is located on the upper surface of the PCB board 5 and electrically connected to the servo control circuit. A connection socket 51 is provided on each side of the PCB board 5, and the two connection sockets 51 are respectively electrically connected to the servo control circuit. The coil winding is routed downward through the winding groove 231 and connected to the PCB board 5. The winding groove 231 can avoid squeezing the coil winding, prevent breakage, and improve reliability and stability. The Hall sensor 223 directly and vertically detects the magnetic field change of the permanent magnet 223 with an angular resolution of 0.01°, improving detection accuracy. The heat generated by the external rotor brushless motor 2 is concentrated on the stator assembly. The stator assembly directly conducts the heat to the housing of the brushless servo motor through the motor mounting post 131, thereby improving the heat dissipation efficiency.

[0033] Specifically, a virtual rudder assembly is provided at the lower part of the lower cover 13 corresponding to the position of the output shaft 4. The virtual rudder assembly includes a virtual rudder 91 and a flange 92. A downward-facing virtual rudder groove 134 is provided at the lower part of the lower cover 13, and a mounting boss 135 is provided in the virtual rudder groove 134. The upper end face of the flange 92 is provided with a mounting groove 93 corresponding to the mounting boss 135. The flange 92 is embedded in the virtual rudder groove 134, and the mounting boss 135 is inserted into the mounting groove 93. The virtual rudder 91 is fixedly installed on the flange 92. The virtual rudder 91 is mechanically zero-point blind-fit positioning, which shortens the calibration time and is suitable for batch debugging on the production line. The concave-convex structure restricts the virtual rudder 91 to installation in only one direction, reducing the assembly error rate.

[0034] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. A brushless servo motor, comprising a housing and a brushless motor (2), a reduction gear set (3), an output shaft (4), and an output position detection component disposed within the housing, wherein the brushless motor (2) is drivenly connected to the reduction gear set (3), the reduction gear set (3) is drivenly connected to the output shaft (4), and the output position detection component is connected to the output shaft (4), characterized in that: The inner bottom surface of the shell is formed with a motor fixing column (131), a shaft hole (132) is formed in the middle part of the motor fixing column (131), The brushless motor (2) comprises an outer rotor shell (21), an outer rotor assembly (22), an inner stator assembly and a shaft rod (24), the shaft rod (24) is rotatably installed in the shaft hole (132), the lower part of the outer rotor shell (21) is open, the upper part of the outer rotor shell (21) is fixedly connected with the shaft rod (24), the outer rotor assembly (22) is fixedly installed on the inner side surface of the outer rotor shell (21), and the inner stator assembly is fixedly installed on the outer side surface of the motor fixing column (131) and located in the outer rotor shell (21), The lower part of the shell is provided with a PCB board (5), the PCB board (5) is provided with a fixing hole corresponding to the position of the motor fixing column (131), the fixing hole is sleeved on the motor fixing column (131), the PCB board (5) is located below the brushless motor (2), one side of the PCB board (5) facing the brushless motor (2) is provided with a motor position detection assembly for detecting the position of the outer rotor assembly (22), the motor position detection assembly is located below the outer rotor assembly (22), an output position detection assembly is fixedly installed on the PCB board (5) and located beside the brushless motor (2), the PCB board (5) is provided with a steering control circuit, and the output position detection assembly, the inner stator assembly and the motor position detection assembly are electrically connected with the steering control circuit.

2. A brushless servo motor according to claim 1, characterized in that: The shell comprises an upper cover (11), a middle shell (12) and a lower cover (13), the upper cover (11) is arranged on the upper part of the middle shell (12), the lower cover (13) is arranged on the lower part of the middle shell (12), the middle shell (12) is provided with a motor installation slot (121) with a downward opening and an output installation slot (123) with an upward opening, the motor installation slot (121) and the output installation slot (123) are arranged side by side and spaced apart and are separated from each other, the transmission cavity (14) is arranged between the upper cover (11) and the middle shell (12), the control cavity (15) is arranged between the lower cover (13) and the middle shell (12), the upper part of the output installation slot (123) is communicated with the transmission cavity (14), the lower part of the motor installation slot (121) is communicated with the control cavity (15), the lower part of the output installation slot (123) is provided with a detection hole (124), the upper part of the motor installation slot (121) is provided with a transmission hole (122), the reduction gear set (3) is arranged in the transmission cavity (14), the output shaft (4) is rotatably installed in the output installation slot (123), the PCB board (5) is fixedly installed on the lower cover (13), the output position detection assembly is arranged on the upper end surface of the PCB board (5), the lower part of the output shaft (4) passes through the detection hole (124) and is connected with the output position detection assembly, the brushless motor (2) is arranged in the motor installation slot (121), and the upper end part of the shaft rod (24) passes through the transmission hole (122) and is in transmission connection with the reduction gear set (3).

3. A brushless servo motor according to claim 2, wherein: The reduction gear set (3) comprises a first gear (31), a second gear (32), a third gear (33) and a fourth gear (34), the first gear (31) is fixedly installed on the upper end of the shaft rod (24) and located in the transmission cavity (14), the fourth gear (34) is sleeved on the output shaft (4) and located in the output mounting groove (123), the second gear (32) and the third gear (33) are respectively rotatably installed in the transmission cavity (14) and located between the first gear (31) and the fourth gear (34), the first gear (31) is engaged with the second gear (32), the second gear (32) is engaged with the third gear (33), and the third gear (33) is engaged with the fourth gear (34).

4. A brushless servo motor according to claim 3, wherein: The second gear (32) and the third gear (33) are double gears, the large gear of the second gear (32) is engaged with the first gear (31), the small gear of the second gear (32) is engaged with the large gear of the third gear (33), and the small gear of the third gear (33) extends into the output mounting groove (123) and is engaged with the fourth gear (34).

5. A brushless servo motor according to claim 3, wherein: The outer side surface of the first gear (31) is provided with an annular sealing mounting groove in the circumferential direction, and a sealing ring (311) is embedded in the sealing mounting groove, and the sealing ring (311) is located above the transmission hole (122).

6. A brushless servo motor according to claim 3, wherein: The output shaft (4) is sequentially provided with a spline portion (41), a transmission portion (42) and a detection portion (43) from top to bottom, the outer side surface of the spline portion (41) is provided with a plurality of spline grooves, the spline portion (41) is connected with a steering wheel (8) through the upper cover (11), the outer side surface of the transmission portion (42) is provided with a plurality of clutch convex portions (44) which are spaced apart in the circumferential direction, the middle part of the fourth gear (34) is provided with a clutch groove (341), the groove bottom of the clutch groove (341) is provided with a through rod hole (342) penetrating through the fourth gear (34), the detection portion (43) is connected with the output position detection assembly through the through rod hole (342), the inner side surface of the clutch groove (341) is provided with a plurality of clutch grooves (343) which are spaced apart in the circumferential direction and correspond to the clutch convex portions (44) one by one, the transmission portion (42) is embedded in the clutch groove (341), and each clutch convex portion (44) is embedded in each clutch groove (343).

7. A brushless servo motor according to claim 6, characterized in that: The lower part of the fourth gear (34) is provided with a limiting groove (344) with an opening downward, the lower part of the output mounting groove (123) is provided with a limiting convex portion (125) protruding upward, the limiting convex portion (125) extends into the limiting groove (344), and the upper part of the limiting groove (344) is provided with a plurality of heat dissipation grooves (345) which are spaced apart in the circumferential direction.

8. A brushless servo motor according to claim 2, characterized in that: The motor fixing column (131) is formed on the lower cover (13), the upper end of the shaft hole (132) is communicated with the motor mounting groove (121), the lower end of the shaft hole (132) penetrates the lower cover (13), the lower end of the shaft hole (132) is sealed by the cover plate (16), two bearings (25) are arranged between the shaft rod (24) and the shaft hole (132), the two bearings (25) are arranged in an upper and lower interval, the lower part of the shaft rod (24) is clamped with the circlip (26), and the upper bearing (25) and the lower bearing (25) are arranged between the outer rotor shell (21) and the circlip (26) respectively, and the wear-resistant washer (27) is arranged between the upper bearing (25) and the lower bearing (25). The upper part of the outer rotor shell (21) is provided with a plurality of heat dissipation holes (211) penetrating the outer rotor shell (21), and each heat dissipation hole (211) is arranged in a circumferential direction and located at the periphery of the shaft rod (24).

9. A brushless servo motor according to claim 2, wherein: The outer rotor assembly (22) comprises a magnetic yoke ring (221), a plurality of magnetic yoke teeth (222) and a plurality of permanent magnets (223), the magnetic yoke ring (221) is fixedly installed on the inner surface of the outer rotor shell (21), each magnetic yoke tooth (222) is formed on the lower end surface of the magnetic yoke ring (221), and an interval groove (224) is formed between two adjacent magnetic yoke teeth (222), and each permanent magnet (223) is embedded in the interval groove (224), The inner stator assembly comprises a stator core (23) and a coil winding wound on the stator core (23), the stator core (23) is sleeved on the motor fixing column (131), the stator core (23) is arranged in a circumferential direction and is provided with a plurality of wire winding grooves (231) for accommodating the coil winding, and the outer surface of the motor fixing column (131) is vertically provided with a wire slot (133), the end of the coil winding passes through the wire slot (133) and is connected with the PCB board (5) and the rudder control circuit, The motor position detection assembly comprises at least two Hall sensors (7), the two Hall sensors (7) are arranged on the upper end surface of the PCB board (5) and are located below each permanent magnet (223) respectively, and the two Hall sensors (7) are respectively in Hall induction cooperation with each permanent magnet (223), The output position detection assembly comprises a potentiometer (6), the potentiometer (6) is arranged on the upper end surface of the PCB board (5) and is electrically connected with the rudder control circuit; The two sides of the PCB board (5) are respectively provided with a connection socket (51), and the two connection sockets (51) are respectively electrically connected with the rudder control circuit.

10. A brushless servo motor according to claim 9, characterized in that: The lower part of the lower cover (13) is provided with a virtual rudder disc assembly corresponding to the position of the output shaft (4), the virtual rudder disc assembly comprises a virtual rudder disc (91) and a flange disc (92), the lower part of the lower cover (13) is provided with a virtual rudder recess (134) with an opening downward, the virtual rudder recess (134) is provided with a mounting boss (135), the upper end surface of the flange disc (92) is provided with a mounting recess (93) corresponding to the mounting boss (135), the flange disc (92) is embedded in the virtual rudder recess (134), the mounting boss (135) is inserted into the mounting recess (93), and the virtual rudder disc (91) is fixedly installed on the flange disc (92).

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