Servo motor

Abstract

The utility model discloses a servo motor, which relates to the technical field of motor encoders and comprises a main body, an end cover, an encoder stator and an encoder rotor. The main body has a spindle; the end cover is arranged on the main body, a through hole for a rotating shaft of the servo motor to extend out is formed in the end cover, and the end cover is further provided with an integrally-formed support; the encoder stator is arranged on the bracket; the encoder rotor is arranged on the rotating shaft. According to the servo motor provided by the utility model, through the end cover and the support integrally formed with the end cover, the installation precision of the motor when a plurality of encoders are installed at the same time is improved, and the assembly difficulty when the plurality of encoders are installed is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of motor encoders, and particularly relates to a servo motor. Background Art

[0002] In motor control, an encoder can be used to feedback the current position or motion state of the motor to ensure the accuracy of motor control. The encoder can include a magnetic encoder and an optical encoder. The magnetic encoder detects the change of position or angle through the change of magnetic field; while the optical encoder works by detecting the change of light field.

[0003] For a traditional motor, the structure for simultaneously installing multiple encoders is complex. When installing multiple encoders simultaneously, different fixing components are required for each encoder, including support components and fixing components, etc., which leads to too many internal installation parts, large assembly errors, difficult assembly, and low installation accuracy. Summary of the Utility Model

[0004] The main object of the utility model is to propose a servo motor, aiming to simplify the installation of multiple encoders on the motor and improve the installation accuracy of the encoders.

[0005] To achieve the above object, the servo motor proposed by the utility model, optionally, includes:

[0006] A main body having a rotating shaft;

[0007] An end cover provided on the main body. The end cover is provided with a through hole for the rotating shaft of the servo motor to extend out, and the end cover is further provided with an integrally formed bracket protruding from the surface of the end cover;

[0008] An encoder stator provided on the bracket;

[0009] An encoder rotor provided on the rotating shaft.

[0010] Optionally, the bracket includes a first bracket,

[0011] The encoder stator includes a first stator component provided on the first bracket;

[0012] Wherein, the first stator component is a circuit board of a magnetic encoder or a circuit board of an optical encoder.

[0013] Optionally, the first bracket has a plurality of first protruding portions, and the plurality of first protruding portions are spaced apart from each other along the circumferential direction of the through hole on the end cover. A first connecting portion is provided on the first protruding portion. The plurality of first protruding portions are used to support the first stator assembly, and the first connecting portion is used to be fixedly connected to the first stator assembly through a first fitting;

[0014] The first stator assembly has a second connecting portion, and the second connecting portion is fixedly connected to the first connecting portion of the first bracket through a first fitting to fix the first stator assembly to the first bracket.

[0015] Optionally, the first connecting portion includes a plurality of first connecting holes, and the second connecting portion includes a plurality of second connecting holes;

[0016] The first fitting is a screw adapted to be connected to the first connecting hole and the second connecting hole; or, the first fitting is a spring pin adapted to be connected to the first connecting hole and the second connecting hole.

[0017] Optionally, the bracket further includes a second bracket. The protruding height of the second bracket on the end cover is less than the protruding height of the first bracket on the end cover, and the first bracket and the second bracket are spaced apart from each other along the circumferential direction of the through hole on the end cover; the encoder stator further includes a second stator assembly, and the second stator assembly is disposed on the second bracket;

[0018] Wherein, the second stator assembly is a light emitting assembly of an optical encoder.

[0019] Optionally, the second bracket includes a second protruding portion, a third protruding portion, and a fourth protruding portion. The second protruding portion and the third protruding portion are spaced apart relatively. The fourth protruding portion connects the second protruding portion and the third protruding portion. An avoidance groove with an opening facing the direction of the through hole is formed by enclosing the second protruding portion, the third protruding portion, and the fourth protruding portion. Third connecting portions are respectively provided on the second protruding portion and the third protruding portion. The second protruding portion and the third protruding portion are used to support the second stator assembly, and the third connecting portion is used to be fixedly connected to the second stator assembly through a second fitting.

[0020] Optionally, the second stator assembly has a fourth connecting portion, and the fourth connecting portion is fixedly connected to the third connecting portion of the second bracket through a second fitting to fix the second stator assembly to the second bracket;

[0021] The third connecting portion includes at least one third connecting hole, the fourth connecting portion includes at least one fourth connecting hole, and the second fitting includes a screw.

[0022] Optionally, the encoder rotor includes a first rotor assembly, a second rotor assembly, and a support portion;

[0023] The first rotor assembly and the second rotor assembly are disposed on the rotating shaft, and one end of the support portion is connected to the rotor of the servo motor, and the other end is connected to the first rotor assembly and / or the second rotor assembly.

[0024] Optionally, the first rotor assembly includes a magnet, and the second rotor assembly includes a code disk; the code disk is disposed around the circumferential side of the magnet.

[0025] Optionally, the main body includes a stator assembly, and a plurality of avoidance through holes are provided on the end cover. The pins of the stator assembly extend into the side of the end cover having the bracket through the avoidance through holes. The pins are connected to a stator circuit board, and the stator circuit board and the encoder stator are integrally provided and fixed on the bracket.

[0026] In summary, the present invention provides a servo motor, aiming to simplify the process of installing multiple encoders simultaneously and improve the installation accuracy of the encoders. The servo motor includes a main body, an end cover, an encoder stator, and an encoder rotor; wherein, the main body has a rotating shaft for transmitting power; the end cover is disposed at one end of the main body, and is provided with a through hole for the rotating shaft of the servo motor to extend out, for installing the encoder rotor, and is also provided with an integrally formed bracket for installing the encoder stator. Specifically, the bracket can install a circuit board or other stator components, such as an LED lamp assembly, and then install a magnet and a code disk on the rotating shaft, so as to realize the installation of a magnetic encoder and an optical encoder. In this way, the present invention solves the problems of complex structure, large assembly difficulty, and low installation accuracy caused by installing multiple encoders in a traditional motor; in addition, the integrally formed bracket not only reduces the number of fixing components that need to be installed separately, but also improves the installation accuracy of the encoder and simplifies the assembly process. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0028] Figure 1 It is a schematic structural diagram of the first embodiment of the servo motor provided by the present invention;

[0029] Figure 2 It is a cross-sectional view of an embodiment of the end cover provided by the present invention;

[0030] Figure 3 Schematic diagram of the second embodiment of the servo motor provided by the present utility model;

[0031] Figure 4 Schematic diagram of the third embodiment of the servo motor provided by the present utility model;

[0032] Figure 5 Schematic diagram of the fourth embodiment of the servo motor provided by the present utility model;

[0033] Figure 6 is Figure 5 side view of.

[0034] Explanation of the reference numerals in the drawings:

[0035] 100 Servo motor; 1 Main body; 11 Rotating shaft; 2 End cover; 21 Through hole; 22 Bracket; 23 First bracket; 231 First convex part; 232 First connecting part; 233 First connecting hole; 24 Second bracket; 241 Second convex part; 242 Third convex part; 243 Fourth convex part; 244 Third connecting part; 245 Third connecting hole; 246 Avoidance groove; 3 Encoder stator; 31 First stator assembly; 311 Second connecting part; 312 Second connecting hole; 32 Second stator assembly; 321 Fourth connecting part; 322 Fourth connecting hole; 4 Encoder rotor; 41 First rotor assembly; 42 Second rotor assembly; 43 Support part; 51 First fitting; 52 Second fitting; 53 Rear housing.

[0036] The realization, functional features and advantages of the object of the present utility model will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0037] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0038] It should be noted that if there are descriptions involving "first", "second", etc. in the embodiments of the present utility model, such descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Additionally, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. Moreover, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0039] In motor control, an encoder can be used to feedback the current position or motion state of the motor to ensure the accuracy of motor control. The encoder can include a magnetic encoder and an optical encoder. The magnetic encoder detects changes in position or angle through changes in the magnetic field; the optical encoder works by detecting changes in the light field.

[0040] For traditional motors, the structure for simultaneously installing multiple encoders is complex. When installing multiple encoders simultaneously, different fixing components are required for each encoder, including support components and fixing components, etc., which leads to too many internal installation parts, large assembly errors, difficult assembly, and low installation accuracy.

[0041] To solve the above problems, as Figures 1 to 6 shown, the present utility model provides a servo motor 100. Optionally, the servo motor 100 includes a main body 1, an end cover 2, an encoder stator 3, and an encoder rotor 4; among them, the encoder stator 3 and the encoder rotor 4 can achieve various encoder combinations, such as a magnetic encoder and an optical encoder, which are not limited herein.

[0042] In this embodiment, the main body 1 of the servo motor 100 includes a rotor, a stator, and a rotating shaft 11, and the rotating shaft 11 is used to transmit the rotational force of the rotor; the end cover 2 can be provided at the front end cover 2 or the rear end cover 2 of the servo motor 100, that is, installed at the front end or the rear end of the main body 1.

[0043] In this embodiment, the end cover 2 has a through hole 21, and the through hole 21 is used to lead out the rotating shaft 11 of the servo motor 100, so that after the end plate is installed on the servo motor 100, the rotating shaft 11 can be exposed outside; thus, it is convenient to install the corresponding encoder rotor 4 on the rotating shaft 11, so that the encoder rotor 4 can rotate together with the rotating shaft 11, and it is also beneficial to detect the rotation of the rotating shaft 11.

[0044] In this embodiment, the end cap 2 further includes a bracket 22, which protrudes from the surface of the end cap 2. The bracket 22 may include a first bracket 23 and a second bracket 24. Both the first bracket 23 and the second bracket 24 are used to mount the encoder stator 3. It can be understood that the height of the first bracket 23 protruding on the end cap 2 is greater than that of the second bracket 24, which is used to adapt to different types of encoder stators 3. For example, if the encoder stator 3 includes a circuit board and a light-emitting component, the first bracket 23 can be used to mount the circuit board, and the second bracket 24 can be used to mount the light-emitting component. In this way, the assembly speed is increased, and since the first bracket 23 and the second bracket 24 are located on the same plane of the end cap 2, it is more convenient to mount the encoder stator 3.

[0045] In practical applications, the number and types of the brackets 22 can be set according to the application scenarios.

[0046] In this embodiment, the bracket 22 on the end cap 2 is integrally formed, that is, the bracket 22 is not an independent part installed later, but is formed as a whole with the end cap 2 during the production process. In this way, the connection strength between the bracket 22 and the end cap 2 can be increased, and the possibility of loosening under vibration or external force can be reduced. At the same time, the assembly process is simplified, without additional assembly steps, reducing the production cost and the probability of installation errors, and thus improving the installation accuracy of the magnetic encoder and the optical encoder.

[0047] It can be understood that one or both of the first bracket 23 and the second bracket 24 may not be installed with the encoder stator 3, that is, the servo motor 100 can be installed with one type of encoder stator 3 or multiple types of encoder stator 3, which is not limited here. Similarly, one type of encoder rotor 4 or multiple types of encoder rotors 4 can be installed on the rotating shaft 11. When there are multiple encoder rotors 4, they can be fixed to the rotating shaft 11 through a supporting portion 43.

[0048] The encoder rotor is a rotating component installed on the object to be measured (such as a motor shaft). When the object to be measured rotates, the rotor rotates accordingly and changes the signal between it and the encoder stator in a certain way. The encoder stator is the stationary part, which is used to receive information from the rotor and convert it into an electrical signal. It can be understood that for different encoders, there can be different rotors and stators. For example, for a magnetic encoder, the rotor is a magnet and the stator is a magnetic inductor; for an optical encoder, the rotor is a code disk and the stator is a light source and a light inductor.

[0049] In practical applications, the encoder rotor 4 may include a magnet and a code disk; the encoder stator 3 may include a circuit board with magnetic induction and optical induction, as well as a light-emitting component. First, after installing the end cap 2 at one end of the servo motor 100, ensure that the rotating shaft 11 can protrude from the through hole 21 on the end cap 2; then install the magnet and the code disk on the rotating shaft 11, and then install and fix the circuit board on the first bracket 23, and install and fix the light-emitting component on the second bracket 24. After installation, the circuit board is equipped with magnetic induction elements and optical induction elements, such as Hall effect sensors and photosensitive sensors, etc.; when the rotating shaft 11 rotates, it drives the code disk and the magnet; the movement of the magnet causes a change in the magnetic field, and the magnetic induction element detects these changes and generates corresponding electrical signals; at the same time, the rotation of the code disk causes an interruption of light, and the photosensitive element detects the change in light and generates corresponding electrical signals. In this way, the servo motor 100 can achieve the assembly of two encoders, with a simple process, and each component has a corresponding installation position, ensuring high installation accuracy.

[0050] In summary, the present utility model proposes a servo motor 100, aiming to simplify the process of simultaneously installing multiple encoders and improve the installation accuracy of the encoders. The servo motor 100 includes a main body 1, an end cap 2, an encoder stator 3, and an encoder rotor 4; wherein, the main body 1 has a rotating shaft 11 for transmitting power; the end cap 2 is provided at one end of the main body 1, and is provided with a through hole 21 for the rotating shaft 11 of the servo motor 100 to protrude, for installing the encoder rotor 4, and is also provided with an integrally formed bracket 22 for installing the encoder stator 3. Specifically, the bracket 22 can install a circuit board, or some other stator components, such as an LED lamp component, and then install a magnet and a code disk on the rotating shaft 11, thus realizing the installation of a magnetic encoder and an optical encoder. In this way, the present utility model solves the problems of complex structure, difficult assembly, and low installation accuracy caused by installing multiple encoders in traditional servo motors; in addition, the integrally formed bracket 22 not only reduces the number of fixing components that need to be installed separately, but also improves the installation accuracy of the encoder and simplifies the assembly process.

[0051] In this embodiment, the bracket 22 includes a first bracket 23 and a second bracket 24, and the encoder stator 3 includes a first stator assembly 31 and a second stator assembly 32. The first stator assembly 31 is disposed on the first bracket 23, and the second stator assembly 32 is disposed on the second bracket 24. Optionally, the first stator assembly is a circuit board of a magnetic encoder or a circuit board of an optical encoder, or may be a circuit board with a magnetic induction component and an optical induction component. The second stator assembly is a light emitting component of an optical encoder to achieve the simultaneous installation of a magnetic encoder and an optical encoder. It should be noted that although the above embodiment lists that this servo motor 100 includes both a magnetic encoder and an optical encoder at the same time, in other embodiments, it may also include other encoders, such as capacitive, inductive encoders, fiber optic encoders, incremental encoders, and so on.

[0052] Optionally, the first bracket 23 and the second bracket 24 are spaced apart from each other along the circumferential direction of the through hole 21 on the end cover 2; the encoder stator 3 includes a first stator assembly 31 and a second stator assembly 32. The first stator assembly 31 is disposed on the first bracket 23, and the second stator assembly 32 is disposed on the second bracket 24.

[0053] In this embodiment, since the first stator assembly 31 and the second stator assembly 32 may be different components, in order to enable each encoder stator 3 to cooperate with the encoder rotor 4, it is necessary to space the first bracket 23 and the second bracket 24 apart from each other along the circumferential direction of the through hole 21 on the end cover 2 to ensure that the middle between each second bracket 24 and the rotating shaft 11 is unobstructed.

[0054] In this embodiment, as Figures 1 - 3 shown, the first bracket 23 and the second bracket 24 are spaced apart from each other along the circumferential direction of the through hole 21 on the end cover 2. It should be noted that there should be no obstruction between the second bracket 24 and the rotating shaft 11, that is, the first bracket 23 cannot be disposed between the second bracket 24 and the rotating shaft 11. Therefore, the first bracket 23 and the second bracket 24 are spaced apart along the circumferential direction of the through hole 21, that is, each bracket 22 occupies an independent arc segment to ensure that after the optical encoding component is disposed on the second bracket 24, the light can pass through unobstructed.

[0055] It can be understood that the first bracket 23 and the second bracket 24 in the above embodiment are respectively disposed in different arc segments. In other embodiments, the first bracket 23 and the second bracket 24 may be disposed in the same arc segment, but the second bracket 24 needs to be disposed between the first bracket 23 and the through hole 21, that is, the second bracket 24 is closer to the through hole 21 relative to the first bracket 23 to ensure that there is no obstruction between the second bracket 24 and the rotating shaft 11.

[0056] The first stator assembly 31 can be a circuit board, on which a plurality of sensors are provided for sensing the rotation of the rotor; the second stator assembly 32 can be a light-emitting assembly, which cooperates with a specific rotor (such as a code disk) to achieve optoelectronic coding.

[0057] It can be understood that since the circuit board is arranged on the first bracket 23, the length of the rotating shaft 11 of the servo motor 100 extending out of the through hole 21 should be less than the height of the first bracket 23 to ensure that the extended part of the rotating shaft 11 does not affect the installation of the circuit board. Based on this, if the height of the second bracket 24 is greater than that of the first bracket 23, the position where the light-emitting assembly is located will be higher than the position where the circuit board is located, so that the light can be projected onto the code disk; therefore, the protruding height of the second bracket 24 is lower than that of the first bracket 23, which helps to install the encoder stator 3 other than the circuit board and facilitates the realization of multiple encodings.

[0058] In this embodiment, the first bracket 23 includes a plurality of first protruding portions 231, and the plurality of first protruding portions 231 are arranged at intervals along the circumference of the through hole 21 on the end cover 2. It can be understood that the first bracket 23 can be formed by a relatively large-volume first protruding portion 231, or can be composed of a plurality of small-volume first protruding portions 231. In this embodiment, as Figures 1 - 3 shown, the first bracket 23 is composed of a plurality of small-volume first protruding portions 231, so that the overall weight of the end cover 2 can be reduced.

[0059] In this embodiment, as Figures 4 - 6 shown, a first connecting portion 232 is provided on the first protruding portion 231. It can be understood that when there is one first protruding portion 231, the first protruding portion 231 is provided with a first connecting portion 232; when the number of first protruding portions 231 is multiple, a first connecting portion 232 can be provided on each first protruding portion 231, or a first connecting portion 232 can be provided on any one or any several of the first protruding portions 231.

[0060] In this embodiment, as Figures 4 - 6 shown, the plurality of first protruding portions 231 are used to support the first stator assembly 31, and the first connecting portion 232 is used to be connected and fixed to the first stator assembly 31 through a first fitting 51. It can be understood that the first connecting portion 232 can be a connecting hole, a clamping groove or other types of mechanical connection points. The first fitting 51 is used to cooperate with the first connecting portion 232 to fix the first stator assembly 31. The first fitting 51 can be a screw, a pin, a fixture or other fixing devices, specifically depending on the design of the first connecting portion 232 and the installation requirements of the first stator assembly 31. In this way, it is ensured that the first stator assembly 31 is firmly fixed on the first bracket 23, preventing displacement caused by vibration or rotation during the operation of the servo motor 100, thereby ensuring the reliability and accuracy of the magnetic encoder.

[0061] In this embodiment, the first stator assembly 31 has a second connection portion 311. The second connection portion 311 is fixedly connected to the first connection portion 232 of the first bracket 23 through a first fitting 51, so as to fix the first stator assembly 31 to the first bracket 23. That is, the second connection portion 311 is provided on the first stator assembly 31 and cooperates with the first connection portion 232 on the first bracket 23. The first stator assembly 31 is firmly fixed to the first bracket 23 through the first fitting 51 (such as a screw, a pin or other fixing devices).

[0062] It can be understood that the second connection portion 311 may be in the form of a hole, a clamping groove or other forms of mechanical interfaces for docking with the first connection portion 232 of the first bracket 23. The first connection portion 232 is usually designed in a shape matching the second connection portion 311 on the first stator assembly 31, such as a hole or a protrusion, to facilitate the connection between the two. The first fitting 51 is a fixing member for connecting the second connection portion 311 and the first connection portion 232. Common ones include screws, pins, clamps, etc. Which fixing member to choose depends on the design of the first connection portion 232 and the material and thickness of the first stator assembly 31.

[0063] In this embodiment, the first connection portion 232 includes a plurality of first connection holes 233, and the second connection portion 311 includes a plurality of second connection holes 312; the first fitting 51 is a spring pin or a screw adapted to be connected to the first connection holes 233 and the second connection holes 312; when the first fitting 51 is a spring pin, the spring pin is an elastic cylindrical pin with a straight groove and / or an elastic cylindrical pin with teeth.

[0064] The first connection holes 233 are usually circular holes for cooperating with the first fitting 51. The second connection holes 312 are located on the first stator assembly 31, corresponding to the positions of the first connection holes 233 and having the same number. The first stator assembly 31 is fixed to the first bracket 23 through the first fitting 51.

[0065] In other embodiments, each first connection portion 232 may be provided with one first connection hole 233 or may be provided with a plurality of first connection holes 233. When there is one first connection hole 233 on the first connection portion 232, the first connection hole 233 is a screw hole, a pin hole or other forms of connection holes; when there are a plurality of first connection holes 233 on the first connection portion 232, the forms of the first connection holes 233 can be various combinations, which can be screw holes or pin holes, etc.

[0066] The first mating part 51 can be a spring pin or a screw. For the spring pin, it can be divided into multiple types, such as the straight-groove type of elastic cylindrical pin and the toothed type of elastic cylindrical pin; the straight-groove type of elastic cylindrical pin has a straight notch. During installation, the spring pin is compressed by a special tool and inserted into the hole. After release, the spring pin returns to its original shape to form a fixation; the toothed type of elastic cylindrical pin has tooth patterns on its surface, which can provide greater friction and fastening effect, and is suitable for occasions where higher fixing strength is required.

[0067] In this embodiment, the number of the first protruding parts 231 is three. It can be understood that the three first protruding parts 231 can provide sufficient stability while maintaining the simplicity and light weight of the structure. Three points can define a plane to ensure that the first stator assembly 31 has a stable support basis in space.

[0068] In addition, the three first protruding parts 231 are evenly spaced along the circumferential direction of the through hole 21, that is, arranged at equal distances on the circumference, avoiding stress concentration at a certain point, thereby increasing the stability and reliability of the overall structure.

[0069] In this embodiment, among the three first protruding parts 231, at least two of the first protruding parts 231 are provided with a screw hole and a pin hole. The screw hole is used to fix the first stator assembly 31 to the first bracket 23 through a screw, and the pin hole is used to position the encoder through a spring pin.

[0070] In this embodiment, each first protruding part 231 is arranged in an arc shape along the circumferential direction of the through hole 21. The first protruding part 231 is arranged as at least a part of a ring, that is, regardless of the number of the first protruding parts 231, the first protruding part 231 can be an incomplete ring structure, which can be a half-ring, or a combination of multiple sector rings, etc.

[0071] In this embodiment, as Figures 4 - 6 shown, the second bracket 24 includes a second protruding part 241, a third protruding part 242, and a fourth protruding part 243. The second protruding part 241 and the third protruding part 242 are relatively spaced apart. The fourth protruding part 243 connects the second protruding part 241 and the third protruding part 242. The second protruding part 241, the third protruding part 242, and the fourth protruding part 243 enclose an avoidance groove 246 with an opening facing the direction of the through hole 21. Second connecting parts 311 are respectively arranged on the second protruding part 241 and the third protruding part 242. The second protruding part 241 and the third protruding part 242 are used to support the second stator assembly 32, and the second connecting parts 311 are used to connect and fix the second stator assembly 32 through the second mating part 52.

[0072] It can be understood that the second protrusion 241 and the third protrusion 242 are arranged at a relative interval to provide a sufficient support surface for the second stator assembly 32. The fourth protrusion 243 functions to connect the second protrusion 241 and the third protrusion 242, forming an integral bracket 22 structure. In this way, not only the structural stability of the bracket 22 is enhanced, but also an avoidance groove 246 is formed, which provides sufficient space for the installation of the second stator assembly 32 and avoids physical interference with other components.

[0073] The form of the second bracket 24 can be various, and the above is only one of the embodiments. The opening of the avoidance groove 246 of the second bracket 24 faces any other direction; the second bracket 24 can also be an ordinary boss structure; the second bracket 24 can also be a structure with two bosses arranged at intervals.

[0074] In this embodiment, the second stator assembly 32 has a fourth connection portion 321, and the fourth connection portion 321 and the third connection portion 244 of the second bracket 24 are fixedly connected by a second fitting 52 to fix the second stator assembly 32 to the second bracket 24.

[0075] Furthermore, the fourth connection portion 321 is a fixed point on the second stator assembly 32. The fourth connection portion 321 may include connection holes, card slots or other types of mechanical interfaces for aligning and fixing with the third connection portion 244 of the second bracket 24. The third connection portion 244 is a fixed point located on the second bracket 24 and matches the fourth connection portion 321 to facilitate the installation and stability of the second stator assembly 32. The second fitting 52 is a fixing device for connecting the fourth connection portion 321 and the third connection portion 244, and can be a screw, a pin, a clamp or other types of fixing devices, specifically depending on the design requirements and the installation requirements of the encoder.

[0076] Optionally, the third connection portion 244 includes at least one third connection hole 245, the fourth connection portion 321 includes at least one fourth connection hole 322, and the second fitting 52 is a screw.

[0077] In this embodiment, the encoder rotor 4 includes a first rotor assembly 41, a second rotor assembly 42 and a support portion 43; the first rotor assembly 41 and the second rotor assembly 42 are arranged on the rotating shaft 11, and one end of the support portion 43 is connected to the rotor of the servo motor 100, and the other end is connected to the first rotor assembly 41 and the second rotor assembly 42.

[0078] It can be understood that one end of the support portion 43 is connected to the rotor of the servo motor 100, and the other end is connected to the first rotor assembly 41 and / or the second rotor assembly 42 to ensure that the encoder rotor 4 can be stably mounted on the rotating shaft 11 and accurately rotate with the rotation of the rotating shaft 11. The support portion 43 can also help position the encoder rotor 4 to ensure that the encoder rotor 4 is correctly aligned with the corresponding encoder stator 3.

[0079] Due to the existence of the support portion 43, multiple encoder rotors 4 can be provided on the rotating shaft 11. When there are multiple encoder rotors 4 and they cannot be arranged on the end face of the rotating shaft 11, they can be fixed to the rotating shaft 11 through the support portion 43.

[0080] The encoder rotor 4 can be designed according to different encoder types and technologies and can be the following components: magnets, code disks, inductive rotors, absolute encoder rotors 4, etc.

[0081] Optionally, the first stator assembly 31 is a circuit board, and the second stator assembly 32 is a light-emitting assembly. And the first rotor assembly 41 includes magnets, and the second rotor assembly 42 includes a code disk. In this way, an optoelectronic encoder and a magnetic encoder can be formed. Among them, the code disk is arranged around the circumference of the magnet.

[0082] The installation process of the optoelectronic encoder is as follows: First, position and lock the circuit board on the end cover 2 to ensure that the light-sensing component on the circuit board is facing the light-transmitting area of the code disk. After completing the alignment adjustment, lock the second stator assembly 32 on the end cover 2 so that the light emitted by it can pass through the code disk and reach the light-sensing component. The fixed position of the second stator assembly 32 needs to consider the distance and angle from the code disk to ensure that the light can effectively irradiate the code disk.

[0083] The installation process of the magnetic encoder is as follows: After fixing the magnet to the rotating shaft 11, position the circuit board through a spring pin and then lock it with a screw.

[0084] In this embodiment, the second stator assembly 32 is arranged at a position corresponding to the circumference of the first stator assembly 31 on the rotating shaft 11. It can be understood that the magnet is installed on the rotating shaft 11 of the servo motor 100. When the servo motor 100 starts and operates, the magnet will move with the rotation of the rotating shaft 11, generating a periodic magnetic field change. The code disk is located on the circumference of the magnet, that is, the code disk is arranged around the magnet. When the magnet rotates, the code disk rotates accordingly.

[0085] Optionally, the servo motor 100 further includes a rear cover 53. After the first stator assembly 31, the magnetic encoding assembly 6, and the second stator assembly 32 are installed on the rotating shaft 11 and the end cover 2, the rear cover 53 is covered on the side of the end cover 2 facing away from the main body 14.

[0086] First, install the first stator assembly 31, the magnetic encoding assembly 6, and the second stator assembly 32 on the end cover 2, and the connection with the rotating shaft 11 and the bracket 22 is firm and reliable; then align the rear cover 53 with the back of the end cover 2, confirm that all connection points and fixing points are aligned, and use screws, buckles or other appropriate fixing methods to firmly fix the rear cover 53 on the end cover 2. The rear cover 53 covers the back of the end cover 2, that is, the side facing away from the main body 14 of the servo motor 100, preventing dust, water vapor, and impurities from entering, and at the same time avoiding accidental impact or wear on the encoder assembly. At the same time, the combination of the rear cover 53 and the end cover 2 enhances the overall structural stability of the servo motor 100, especially when the servo motor 100 rotates at high speed, it can effectively suppress vibration and reduce noise.

[0087] In this embodiment, the main body 1 includes a stator assembly. The end cover 2 is provided with a plurality of avoidance through holes. The pins of the stator assembly extend into the side of the end cover with a bracket through the avoidance through holes. The pins are connected to the stator circuit board. The stator circuit board and the encoder stator are integrally arranged and fixed on the bracket.

[0088] It can be understood that the end cover is provided with a plurality of avoidance through holes, and the positions of the avoidance through holes correspond to the pins of the motor stator assembly. The pins of the stator assembly extend into the side of the end cover 2 with the bracket 22 through the avoidance through holes. During the assembly process, the pins of the stator assembly pass through the avoidance through holes and then are welded to the stator winding connection ends on the stator circuit board to form an electrical connection. At the same time, the encoder rotor 4 is pre-embedded in the motor rotating shaft 11 and fixed by tight fitting or structural adhesive. Compared with the traditional radial set screw installation and fixation, the overall size of the motor is reduced and the design cost is lowered. Then the encoder rotor 8 is installed on the motor shaft head, and then the stator circuit board is fixed on the end cover 2 by positioning pins and screws to complete the assembly work of the entire servo motor. In this way, the avoidance through holes on the end cover 2 correspond to the pins of the stator assembly, ensuring a stable and reliable electrical connection between the motor stator assembly and the stator circuit board.

[0089] The above is only an exemplary embodiment of the present invention, and it does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A servo motor, characterized in that: The servo motor comprises: A main body, wherein the main body has a rotating shaft; An end cover is arranged on the main body, the end cover is provided with a through hole for the shaft of the servo motor to extend out, and the end cover is also provided with an integrally formed bracket, and the bracket is convexly arranged on the surface of the end cover; An encoder stator, the encoder stator being arranged on the bracket; An encoder rotor is arranged on the rotating shaft.

2. The servo motor according to claim 1, characterized in that: The support comprises a first support, The encoder stator comprises a first stator assembly, and the first stator assembly is arranged on the first bracket; Wherein, the first stator component is a circuit board of a magnetic encoder or a circuit board of a photoelectric encoder.

3. The servo motor according to claim 2, characterized in that: The first bracket has a plurality of first protrusions, which are arranged on the end cover along the circumference of the through hole at intervals from each other, and a first connecting portion is arranged on the first protrusion, which is used to support the first stator assembly, and the first connecting portion is used to be connected and fixed to the first stator assembly through a first matching piece; The first stator assembly has a second connecting portion, and the second connecting portion is connected and fixed to the first connecting portion of the first bracket through a first matching piece, so as to fix the first stator assembly to the first bracket.

4. The servo motor according to claim 3, characterized in that: The first connection portion includes a plurality of first connection holes, and the second connection portion includes a plurality of second connection holes; The first matching piece is a screw connected and matched with the first connecting hole and the second connecting hole; or, the first matching piece is a spring pin connected and matched with the first connecting hole and the second connecting hole.

5. The servo motor according to claim 2, characterized in that: The bracket further includes a second bracket, the protrusion height of the second bracket on the end cover is smaller than the protrusion height of the first bracket on the end cover, and the first bracket and the second bracket are arranged on the end cover along the circumference of the through hole and spaced from each other; the encoder stator further includes a second stator assembly, and the second stator assembly is arranged on the second bracket; Wherein, the second stator component is a light-emitting component of a photoelectric encoder.

6. The servo motor according to claim 5, characterized in that: The second bracket includes a second protrusion, a third protrusion and a fourth protrusion, the second protrusion and the third protrusion are arranged relatively spaced apart, the fourth protrusion connects the second protrusion and the third protrusion, the second protrusion, the third protrusion and the fourth protrusion are surrounded to form an avoidance groove with an opening toward the through hole, the second protrusion and the third protrusion are respectively provided with a third connecting portion, the second protrusion and the third protrusion are used to support the second stator assembly, and the third connecting portion is used to be connected and fixed to the second stator assembly through a second mating piece.

7. The servo motor according to claim 6, characterized in that: The second stator assembly has a fourth connection portion, and the fourth connection portion is connected and fixed to the third connection portion of the second bracket through a second matching piece, so as to fix the second stator assembly to the second bracket; The third connection portion includes at least one third connection hole, the fourth connection portion includes at least one fourth connection hole, and the second matching piece includes a screw.

8. The servo motor according to claim 1, characterized in that: The encoder rotor includes a first rotor assembly, a second rotor assembly and a support portion; The first rotor assembly and the second rotor assembly are arranged on the rotating shaft, one end of the support portion is connected to the rotor of the servo motor, and the other end is connected to the first rotor assembly and / or the second rotor assembly.

9. The servo motor according to claim 8, characterized in that: The first rotor assembly includes a magnet, and the second rotor assembly includes a code disc; the code disc is arranged around the circumference of the magnet.

10. The servo motor according to claim 1, characterized in that: The main body includes a stator assembly, and a plurality of avoidance through holes are arranged on the end cover. The pins of the stator assembly extend into the side of the end cover having the bracket through the avoidance through holes. The pins are connected to a stator circuit board. The stator circuit board and the encoder stator are integrally arranged and fixed on the bracket.

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