A compound motion servo motor

Abstract

The utility model discloses a servo motor with compound motion, which relates to the field of motors. The servo motor with compound motion includes a housing, a shaft, a rotation drive component, a linear drive component and a position sensor component; the shaft includes an upper part, a middle part and a lower part, and the middle part is connected to the upper part and the lower part respectively; the linear drive component surrounds the upper part; the rotation drive component surrounds the middle part; the position sensor component surrounds the lower part; the rotation drive component, the linear drive component and the position sensor component are respectively in the housing. The compound motion of the motor is realized, the accuracy of the feedback of the position sensor component is improved, and the position accuracy of the motor when it is controlled is improved, so as to achieve a precise position control effect.

Description

Technical Field

[0001] The utility model relates to the field of motors, in particular to a servo motor with compound motion. Background Art

[0002] The compound motion motors on the market use two independent motors to achieve compound motion, for example: one motor realizes the up and down motion of the motor shaft, and the other motor realizes the left and right motion of the motor shaft, or a linear drive motor and a rotary drive combination are used to achieve compound motion. The resulting compound motor cannot achieve precise position control, or cannot achieve smooth torque during position control. Utility Model Content

[0003] The technical problem to be solved by the embodiments of the utility model is that the existing compound motion motor cannot achieve a smooth torque during position control, cannot obtain accurate position control, and cannot be applied to equipment with high precision requirements.

[0004] In order to solve the above problems, the embodiment of the utility model discloses a compound motion servo motor, which realizes the compound motion of the motor, improves the accuracy of the feedback of the position sensor component, and further improves the position accuracy of the motor when it is controlled, and realizes the precise position control effect.

[0005] The utility model provides a servo motor with compound motion, which comprises a shell, a shaft, a rotation drive component, a linear drive component, and a position sensor component; the shaft comprises an upper part, a middle part, and a lower part, the middle part is respectively connected to the upper part and the lower part; the linear drive component surrounds the upper part; the rotation drive component surrounds the middle part; the position sensor component surrounds the lower part; the rotation drive component, the linear drive component, and the position sensor component are respectively in the shell.

[0006] A further technical solution is that it also includes a plurality of balancing devices, wherein the balancing devices include elastic components and bearings, wherein the bearings are respectively connected to the elastic components and the shaft, and the elastic components are fixed on the housing.

[0007] A further technical solution is that the position sensor assembly includes a PCB board, a sensing element and a plurality of sensing modules, the sensing element is sleeved on the lower part, and the plurality of sensing modules are respectively connected to the PCB board and surround the sensing element.

[0008] A further technical solution is that the rotary drive assembly includes a first mover and a first stator, the first mover is sleeved on the middle portion, and the first stator surrounds the first mover and is fixed on the housing.

[0009] A further technical solution is that the linear drive assembly includes a second mover and a second stator, the second mover is fixed on the upper portion, and the second stator surrounds the second mover and is fixed on the housing.

[0010] A further technical solution is that the shell includes a casing, a first end cover and a second end cover, the casing is connected to the first end cover and the second end cover respectively, and the shaft passes through the axial hole of the first end cover and the axial hole of the second end cover respectively.

[0011] A further technical solution is that the position sensor assembly is arranged in the second end cover, and the balancing device is connected to the position sensor assembly and the rotation drive assembly respectively.

[0012] Its further technical solution is that it also includes a positioning component and a connector, the second end cover is respectively connected to the PCB board, the shell and the positioning component, the lower part passes through the axial hole of the PCB board, and is connected to the positioning component.

[0013] A further technical solution is that the shell further includes a first wire frame and a second wire frame, the first wire frame is connected to the first stator and embedded in a first limiting notch of the shell, and the second wire frame is connected to the first stator and embedded in a second limiting notch of the shell.

[0014] A further technical solution is that the elastic component includes a spring sheet and a bracket, the spring sheet is connected to the bearing and the bracket respectively, the bracket is fixed on the shell, and the spring sheet is made of metal material.

[0015] Compared with the prior art, the technical effects achieved by the embodiments of the present invention include:

[0016] The servo motor of this compound motion realizes compound motion with rotational drive and linear drive through an integrated structural design. The position sensor component is installed at the lower part of the shaft to realize real-time detection of the motor rotor position, and through FOC logic control, the angle and direction of motor rotation can be accurately controlled. The servo motor of this compound motion is applied to products, such as electric toothbrushes, which can accurately simulate the human brushing action (circumferential rotation around the axis and axial movement). The motor rotates forward and reverse at a set angle (circumferential rotation), and during high-speed forward and reverse rotation, the motor can also generate high-frequency vibration (axial movement) effect, which improves the position accuracy of the motor when it is controlled and realizes precise position control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a servo motor for compound motion provided by an embodiment of the utility model;

[0019] Figure 2 A schematic diagram of another composite motion servo motor structure provided by an embodiment of the utility model;

[0020] Figure 3 for Figure 2 Sectional view at AA in the middle;

[0021] Figure 4 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0022] Figure 5 for Figure 4 Cross-section at the middle BB;

[0023] Figure 6 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0024] Figure 7 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0025] Figure 8 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0026] Fig. 9 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0027] Fig.10 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0028] Fig.11 A schematic diagram of the structure of another composite motion servo motor provided by an embodiment of the utility model;

[0029] Fig.12 A schematic diagram of the structure of an elastic component provided by an embodiment of the utility model;

[0030] Fig.13 A schematic diagram of another elastic component structure provided by an embodiment of the utility model;

[0031] Fig.14 A schematic diagram of the spring structure provided in an embodiment of the utility model;

[0032] Fig.15 A schematic diagram of a second end cover structure provided in an embodiment of the utility model;

[0033] Fig.16 A schematic diagram of another second end cover structure provided in an embodiment of the utility model.

[0034] Reference numerals

[0035] Shell 1, shaft 2, rotation drive component 3, linear drive component 4, position sensor component 5, balancing device 6, elastic component 61, bearing 62, PCB board 51, induction member 52, induction module 53, first mover 31, first stator 32, second mover 41, second stator 42, casing 11, first end cover 12, second end cover 13, connector 72, first wire rack 14, second wire rack 15, spring piece 611, bracket 612, buckle 6111, positioning boss 131, mounting hole 132. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments. Similar component numbers in the drawings represent similar components. Obviously, the embodiments to be described below are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0037] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0038] It should also be understood that the terms used in this utility model embodiment specification are only for the purpose of describing specific embodiments and are not intended to limit the utility model embodiments. As used in the utility model embodiment specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0039] See also Figure 1-16The embodiment of the utility model provides a servo motor with compound motion. The servo motor with compound motion includes a housing 1, a shaft 2, a rotation drive assembly 3, a linear drive assembly 4, and a position sensor assembly 5; the shaft 2 includes an upper part, a middle part, and a lower part, and the middle part is respectively connected to the upper part and the lower part; the linear drive assembly 4 surrounds the upper part; the rotation drive assembly 3 surrounds the middle part; the position sensor assembly 5 surrounds the lower part; the rotation drive assembly 3, the linear drive assembly 4, and the position sensor assembly 5 are respectively in the housing 1. The specific introduction of each component is as follows:

[0040] In this embodiment, the housing 1 is used to fix and protect the various components of the motor. The middle and lower parts of the shaft body 2 are inside the housing 1. The upper part of the shaft body 2 passes through the housing 1. The upper part is used to connect with the device. When the shaft body 2 rotates, it drives the device to rotate. The rotary drive assembly 3 includes a rotary motor, which is composed of a stator and a rotor. In this embodiment, the rotor of the rotary drive assembly 3 is connected to the shaft body 2 to drive the shaft body 2 to rotate in a circumferential direction. The linear drive assembly 4 includes a voice coil motor, which realizes linear displacement motion by the Lorentz force of a charged wire in a magnetic field, and is used to drive the shaft body 2 to perform axial displacement. The position sensor assembly 5 includes a Hall element and a permanent magnet. The Hall element is used to sense the approach and distance of the permanent magnet and the rotation of the permanent magnet.

[0041] In one embodiment, the diameter of the upper part of the shaft body 2 is larger than the diameter of the middle part, and the diameter of the middle part is larger than the diameter of the lower part. The upper part of the shaft body 2 is installed at the opening of the shell 1 for connecting with the device. The linear drive component 4 is installed at the upper part to drive the shaft body 2 to move up and down. The linear drive component 4 is between the rotation drive component 3 and the device to improve the movement stability of the shaft body 2. The rotation drive component 3 is installed in the middle part to drive the shaft body 2 to rotate circumferentially. The position sensor component 5 is installed at the lower part to measure the angle and direction of rotation of the shaft body 2 to realize real-time detection of the motor rotor position.

[0042] The working process of the servo motor of the compound motion is as follows:

[0043] The servo motor with compound motion realizes compound motion with rotational drive and linear drive through an integrated structural design. The position sensor component 5 is installed at the lower part of the shaft body 2 to realize real-time detection of the motor rotor position, and through FOC logic control, the angle and direction of motor rotation can be accurately controlled. The servo motor with compound motion is applied to products, such as electric toothbrushes, which can finely simulate the human body's brushing action (circumferential rotation around the axis and axial movement). The motor rotates forward and reverse at a set angle (circumferential rotation), and during high-speed forward and reverse rotation, the motor can also generate high-frequency vibration (axial movement) effect, thereby improving the position accuracy of the motor when it is controlled and realizing precise position control.

[0044] Continue to see Figure 1-16 In this embodiment, a plurality of balancing devices 6 are further included. The balancing devices 6 include an elastic component 61 and a bearing 62. The bearing 62 is respectively connected to the elastic component 61 and the shaft 2. The elastic component 61 is fixed on the housing 1.

[0045] Specifically, the balancing device 6 is used to prevent the shaft body 2 from making a large radial movement. The elastic component 61 is a component with an elastic buffer structure, which is sleeved on the bearing 62 and fixed on the inner wall of the shell 1. The elastic component 61 is connected to the shaft body 2 through the bearing 62. When the shaft body 2 moves radially, the bearing 62 is driven to move radially. The elastic component 61 buffers the radial movement of the bearing 62, reduces the amplitude of the radial movement of the bearing 62, and improves the stability of the shaft body 2.

[0046] Furthermore, the position sensing assembly 5 includes a PCB board 51, a sensing member 52 and a plurality of sensing modules 53. The sensing member 52 is sleeved on the lower portion, and the plurality of sensing modules 53 are respectively connected to the PCB board 51 and surround the sensing member 52.

[0047] Specifically, a plurality of sensing modules 53 are respectively welded on the PCB board 51 in a 90° pin-type, the PCB board 51 is fixed on the housing 1, the sensing member 52 is sleeved and fixed at the lower part of the shaft body 2, the shaft body 2 drives the sensing member 52 to rotate in a circumferential direction, and the potential phase difference generated by the action of the sensing module 53 and the sensing member 52 generates a position signal, and the position signal is fed back through the circuit on the PCB board 51. Generally, the sensing member 52 is a permanent magnetic material, and adopts an outer diameter to inner diameter magnetization design. In this embodiment, the magnet of the sensing member 52 is a circular two-pole sinusoidally magnetized permanent magnet, which is sleeved and fixed at the lower part of the shaft body 2.

[0048] In one embodiment, the two sensing modules 53 respectively include pin-type Hall sensors, which are welded on the PCB board 51. The two sensing modules 53 can accurately identify the position of the sensing component 52 after forward and reverse rotation. The sensing component 52 includes a ring-shaped magnet, which is designed with outer diameter and inner diameter magnetization. It is sleeved on the shaft body and can follow the circumferential rotation and axial movement of the shaft body. The pin-type sensing module 53 is used to surround the sensing component 52, so that the sensing of the sensing module 53 will not produce errors or even failures due to axial movement of the shaft body 2, thereby improving the accuracy of the position signal of the position sensor component 5.

[0049] Furthermore, the rotary drive assembly 3 includes a first mover 31 and a first stator 32 , wherein the first mover 31 is sleeved on the middle portion, and the first stator 32 surrounds the first mover 31 and is fixed on the housing 1 .

[0050] Specifically, the first stator 32 includes a stator core fixed on the inner wall of the casing 11, the coil is connected to the first stator 32, the first mover 31 includes four tile-shaped magnets fixed around the middle, and the first stator 32 is energized to generate a magnetic field, so that the first mover 31 drives the shaft 2 to rotate circumferentially.

[0051] The rotation driving assembly 3 is installed on the middle part of the shaft body 2 to realize the circumferential rotation of the shaft body 2.

[0052] Furthermore, the linear drive assembly 4 includes a second mover 41 and a second stator 42 . The second mover 41 is fixed on the upper portion, and the second stator 42 surrounds the second mover 41 and is fixed on the housing 1 .

[0053] Specifically, the linear drive assembly 4 also includes a fixing frame and a voice coil bobbin, the second mover 41 includes a voice coil magnet, which is fixed to the upper part of the shaft body 2 through the fixing frame, and the second stator 42 includes a voice coil winding, which is surrounded by the voice coil bobbin around the second mover 41. The linear drive assembly 4 thus formed has a device for converting electrical energy into mechanical energy to achieve linear and limited swing angle movement. In this embodiment, the second stator 42 is energized to generate a magnetic field, so that the second mover 41 drives the shaft body 2 to move up and down along the axial direction.

[0054] Furthermore, the housing 1 includes a casing 11, a first end cover 12 and a second end cover 13, the casing 11 is connected to the first end cover 12 and the second end cover 13 respectively, and the shaft 2 passes through the axial hole of the first end cover 12 and the axial hole of the second end cover 13 respectively.

[0055] Specifically, the casing 11 is made of metal material. In this embodiment, the casing 11 is cylindrical. The first end cover 12 is sleeved on the upper part of the shaft body 2 and covers an opening of the casing 11. The second end cover 13 is sleeved on the lower part of the shaft body 2 and covers another opening of the casing 11. The rotary drive component 3, the linear drive component 4 and the position sensor component 5 are sealed by the casing 11, the first end cover 12 and the second end cover 13 respectively. The first end cover 12 and the second end cover 13 are respectively reserved with axial holes, and the shaft body 2 passes through the axial holes of the first end cover 12 and the axial holes of the second end cover 13 respectively.

[0056] In one embodiment, a positioning point and a stop position are provided on the inner wall of the casing 11. The positioning point and the stop position are respectively protruding structures on the inner wall of the casing 11. The positioning point is used to indicate the installation direction of the first stator 32, and the stop position is used to limit the installation depth of the first stator 32. The positioning point and the stop position can improve the assembly efficiency of the motor, and the assembled motor is more in line with the standard and unified.

[0057] Furthermore, the position sensing assembly 5 is disposed in the second end cover 13 , and the balancing device 6 is connected to the position sensing assembly 5 and the rotation driving assembly 3 , respectively.

[0058] Specifically, a groove is reserved in the second end cover 13 for placing the position sensor assembly 5. In this embodiment, the lower part of the shaft body 2 passes through the axial hole of the second end cover 13 and enters the groove. The connecting piece 72, the sensing piece 52 and the plurality of sensing modules 53 are respectively arranged in the groove and on the same side of the PCB board 51. A balancing device 6 is installed between the second end cover 13 and the rotation drive assembly 3.

[0059] The second end cover 13 fixes the position sensor assembly 5 . The second end cover 13 is partially embedded in the housing 11 , and can clamp and fix the balancing device 6 . The balancing device 6 can improve the stability of the shaft body 2 .

[0060] Furthermore, the second end cover 13 is further provided with a positioning boss 131 and a mounting hole 132 . The mounting hole 132 and the PCB board 51 are respectively on the positioning boss 131 , and a bolt passes through the PCB board 51 and enters the mounting hole 132 .

[0061] Specifically, the mounting hole 132 is an opening on the positioning boss 131 , and the positioning boss 131 is a protruding structure on the inner wall of the second end cover 13 . The PCB board 51 and the positioning boss 131 are fixed by bolts passing through the PCB board 51 and the mounting hole 132 .

[0062] Furthermore, it also includes a connecting member 72, and the connecting member 72 is connected to the sensing member 52 and the shaft body 2 respectively.

[0063] Specifically, the connecting member 72 is sleeved on the lower part of the shaft body 2. In one embodiment, the connecting member 72 is made of metal copper. The sensing member 52 is bonded to the connecting member 72 between the sensing member 52 and the second end cover 13. The sensing member 52 is fixedly connected to the shaft body 2 through the connecting member 72, thereby strengthening the connection between the sensing member 52 and the shaft body 2 and improving the durability of the motor.

[0064] Furthermore, the shell 1 also includes a first wire frame 14 and a second wire frame 15, the first wire frame 14 is connected to the first stator 32 and embedded in the first limiting notch of the shell 11, and the second wire frame 15 is connected to the first stator 32 and embedded in the second limiting notch of the shell 11.

[0065] Specifically, the first wire frame 14 is arranged between the linear drive component 4 and the rotation drive component 3, and the second wire frame 15 is arranged between the position sensing component 5 and the rotation drive component 3. The first wire frame 14 and the second wire frame 15 are respectively used to fix the coil. The first wire frame 14 is embedded in the first limiting notch of the casing 11 to achieve a fixed connection between the first wire frame 14 and the casing 11. The second wire frame 15 is embedded in the second limiting notch of the casing 11 to achieve a fixed connection between the second wire frame 15 and the casing 11, thereby clamping and fixing the rotation drive component 3 in the casing 11.

[0066] Furthermore, the elastic component 61 includes a spring piece 611 and a bracket 612 , the spring piece 611 is connected to the bearing 62 and the bracket 612 respectively, the bracket 612 is fixed on the housing 1 , and the spring piece 611 is made of metal material.

[0067] Specifically, the spring piece 611 is made of metal material and has an elastic buffering effect. In this embodiment, the spring piece 611 is made of stainless steel material. The spring piece 611 is connected to the bearing 62 support by rubber. In one embodiment, the spring piece 611 is provided with a buckle 6111, and is connected to the bracket 612 through the buckle 6111. In this embodiment, the spring piece 611 between the bearing 62 and the bracket 612 is in the shape of a thin strip and is distributed along the radial direction of the bearing 62 to achieve a buffer connection between the bearing 62 and the bracket 612. Fig.14 The spring piece 611 includes an annular portion and a plurality of connecting portions, all of which are respectively distributed along the radial direction of the annular portion, the connecting portion is provided with a bent portion obtained by bending, and the buckle 6111 is installed on the bent portion of the connecting portion. The bracket 612 includes an inner ring and an outer ring, the inner ring and the annular portion are integrally connected by a rubber coating process, the bearing is arranged in the inner ring, and the outer ring and the bent portion of the connecting portion are limitedly connected by the buckle 6111. In one embodiment, the outer ring and the bent portion of the connecting portion are coated with rubber, and the rubber coating is covered on the surface of the buckle and the outer ring to achieve the connection stability of the outer ring and the spring piece 611. The spring piece 611 has a simple structure and low production cost. It is tightly connected to the inner ring of the bracket 612 through the annular portion, connected to the outer ring through the buckle 6111, and the buffer connection between the inner ring and the outer ring is achieved through the elastic deformation of the connecting portion.

[0068] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0069] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0070] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0071] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be connected, detachably connected, or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms should not be understood as necessarily being directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0074] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include these modifications and variations.

[0075] The above is a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A servo motor with compound motion, characterized in that: It includes a housing, a shaft, a rotary drive assembly, a linear drive assembly, and a position sensor assembly; The shaft body comprises an upper part, a middle part and a lower part, and the middle part is connected to the upper part and the lower part respectively; The linear drive assembly surrounds the upper portion; The rotary drive assembly surrounds the central portion; The position sensing assembly surrounds the lower portion; The rotary drive assembly, the linear drive assembly and the position sensor assembly are respectively in the housing.

2. The servo motor for compound motion according to claim 1, characterized in that: It also includes a plurality of balancing devices, wherein the balancing devices include elastic components and bearings, wherein the bearings are respectively connected to the elastic components and the shaft, and the elastic components are fixed on the housing.

3. The servo motor for compound motion according to claim 2, characterized in that: The position sensor assembly includes a PCB board, a sensing element and a plurality of sensing modules. The sensing element is sleeved on the lower part. The plurality of sensing modules are respectively connected to the PCB board and surround the sensing element.

4. The servo motor for compound motion according to claim 3, characterized in that: The rotary drive assembly includes a first mover and a first stator. The first mover is sleeved on the middle portion. The first stator surrounds the first mover and is fixed on the housing.

5. The servo motor for compound motion according to claim 4, characterized in that: The linear drive assembly includes a second mover and a second stator. The second mover is fixed on the upper portion. The second stator surrounds the second mover and is fixed on the housing.

6. The servo motor for compound motion according to claim 5, characterized in that: The housing comprises a casing, a first end cover and a second end cover, the casing is connected to the first end cover and the second end cover respectively, and the shaft passes through the axial hole of the first end cover and the axial hole of the second end cover respectively.

7. The servo motor for compound motion according to claim 6, characterized in that: The second end cover is also provided with a positioning boss and a mounting hole. The mounting hole and the PCB board are respectively on the positioning boss, and a bolt passes through the PCB board and enters the mounting hole.

8. The servo motor for compound motion according to claim 7, characterized in that: It also includes a connecting member, which is connected to the sensing member and the shaft body respectively.

9. The servo motor for compound motion according to claim 8, characterized in that: The housing further includes a first wire frame and a second wire frame, wherein the first wire frame is connected to the first stator and embedded in a first limiting notch of the housing, and the second wire frame is connected to the first stator and embedded in a second limiting notch of the housing.

10. The servo motor for compound motion according to claim 2, characterized in that: The elastic component includes a spring sheet and a bracket. The spring sheet is connected to the bearing and the bracket respectively. The bracket is fixed on the housing. The spring sheet is made of metal material.

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