Circuit board and servo motor

Abstract

The utility model discloses a circuit board and a servo motor, and relates to the technical field of circuit boards, the servo motor comprises a stator assembly, a rotor assembly and an encoder rotor, the circuit board comprises a first area and a second area, the first area is provided with an encoder circuit, and the encoder circuit is used for being arranged opposite to the encoder rotor to serve as an encoder stator; the second area is provided with a stator winding wire and a plurality of stator winding connecting ends; wherein the plurality of stator winding connecting ends are electrically connected with the stator winding wiring; and the stator winding connecting end is used for being connected with a contact pin of a stator assembly. According to the servo motor, the servo motor inner stator winding wiring circuit board and the encoder circuit board are integrated, the encoder rotor is installed on the motor rotating shaft in an interference mode, or the encoder rotor and the motor rotating shaft are arranged in an adhesive mode, and the effects of reducing the size of the servo motor and reducing the assembling complexity and cost of the servo motor are achieved.

Description

Technical Field

[0001] This application relates to the technical field of circuit boards, and particularly to a circuit board and a servo motor. Background Art

[0002] As a key component of automation and precision control, the servo motor plays a core role in multiple fields. Currently, achieving miniaturized design of the servo motor remains the main research and development direction of those skilled in the art. Summary of the Utility Model

[0003] The main purpose of this application is to propose a circuit board and a servo motor, aiming to integrate the circuit board for stator winding wiring of the servo motor and the encoder circuit board, and to press-fit the encoder rotor onto the motor shaft, or to adhesively attach the encoder rotor to the motor shaft, so as to achieve the effects of reducing the volume of the servo motor and lowering the assembly complexity and cost of the servo motor.

[0004] To achieve the above object, this application proposes a circuit board for a servo motor, where the servo motor includes a stator assembly, a rotor assembly, and an encoder rotor, and the circuit board includes:

[0005] A first area, where an encoder circuit is provided, for being disposed opposite to the encoder rotor to serve as an encoder stator;

[0006] A second area, where stator winding wiring and a plurality of stator winding connection ends are provided;

[0007] Wherein, the plurality of stator winding connection ends are electrically connected to the stator winding wiring; the stator winding connection ends are used to connect to the pins of the stator assembly.

[0008] Optionally, an encoder signal connection end and a power connection end are further provided on the circuit board;

[0009] Wherein, the encoder signal connection end is electrically connected to the encoder circuit, and the encoder signal connection end is used to connect to an external device;

[0010] The power connection end is connected to the stator winding wiring, and the power connection end is used to connect to a supply voltage

[0011] Optionally, an isolation area is further provided between the first area and the second area on the circuit board.

[0012] Optionally, isolation grooves are provided in the isolation area, the number of the isolation grooves is multiple, and a connection bridge is formed between any two adjacent isolation grooves.

[0013] Optionally, the isolation grooves include arc-shaped isolation grooves, and the number of the arc-shaped isolation grooves is multiple;

[0014] Among them, multiple of the arc isolation grooves are arranged on the same circumference; or,

[0015] At least one of the arc isolation grooves and any other arc isolation groove are arranged on different circumferences.

[0016] Optionally, at least one of the stator winding connection ends is arranged at the edge position of the circuit board, and the stator winding connection end arranged at the edge position of the circuit board is a grooved pad.

[0017] Optionally, the stator winding connection end includes a connection base, and the connection base is used to access the pins of the stator assembly.

[0018] Optionally, the circuit board is of a circular structure, and the second region is arranged in a ring shape outside the first region.

[0019] Optionally, the circuit board includes positioning holes and fixing holes. The positioning holes are used to position the circuit board, and the fixing holes are used to fixedly connect the circuit board to the motor.

[0020] This application provides a servo motor, including: a stator assembly, a rotor assembly, an encoder rotor, and the circuit board according to any one of the above.

[0021] Among them, the encoder rotor is connected to the rotor assembly, the circuit board is connected to the stator assembly, the encoder rotor and the rotor assembly can rotate relative to the stator assembly and the circuit board, the encoder circuit on the circuit board and the encoder rotor are arranged opposite to each other, and the pins of the stator assembly access the stator winding connection ends of the circuit board.

[0022] Optionally, the servo motor further includes a housing and a rear end cover. The stator assembly is arranged in the accommodation cavity of the housing, the circuit board is arranged in the accommodation cavity of the rear end cover. An outlet and an outlet terminal are arranged on the side wall of the rear end cover, and the outlet terminal is connected to the encoder signal connection end and the power connection end on the circuit board.

[0023] Optionally, the side of the rear end cover facing the stator assembly has a stop wall, and a plurality of avoidance through holes are arranged on the stop wall. The pins of the stator assembly extend into the accommodation cavity of the rear end cover through the avoidance through holes.

[0024] The present application provides a circuit board for a servo motor. The servo motor includes a stator assembly, a rotor assembly, and an encoder rotor. The circuit board includes a first region and a second region. The first region is provided with an encoder circuit for being disposed opposite to the encoder rotor to serve as an encoder stator. The second region is provided with stator winding wiring and a plurality of stator winding connection ends. Among them, the plurality of stator winding connection ends are electrically connected to the stator winding wiring. The stator winding connection ends are used to access the pins of the stator assembly.

[0025] With such an arrangement, in an actual servo motor, the stator winding wiring and the encoder circuit can be integrally disposed on the same circuit board. The encoder rotor is press-fitted onto the motor shaft, or the encoder rotor is adhesively disposed with the motor shaft. In this way, the number of circuit boards is reduced, the volume of the servo motor is reduced, its integration degree is improved, and the manufacturing cost and assembly complexity of the servo motor are reduced. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application 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 application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0027] Figure 1 It is a schematic structural diagram of an embodiment of the circuit board of the present application;

[0028] Figure 2 It is a schematic diagram of the whole machine of an embodiment of the servo motor of the present application;

[0029] Figure 3 It is a schematic cross-sectional view of another embodiment of the servo motor of the present application;

[0030] Figure 4 It is a schematic diagram of the rear end cover of another embodiment of the servo motor of the present application.

[0031] Explanation of the Reference Numerals in the Drawings:

[0032] 100. First region; 200. Second region; 1. Stator winding connection end; 2. Isolation groove; 3. Connection bridge; 4. Encoder signal connection end; 5. Power connection end; 6. Positioning hole; 7. Fixing hole; 8. Encoder rotor; 9. Stator assembly; 10. Motor shaft; 11. Support step; 12. Avoidance through hole; 13. Pin of the stator assembly; 14. Fixing screw; 15. Positioning pin; 16. Housing; 17. Rear end cover; 18. Wire outlet; 19. Stop wall.

[0033] The realization, functional features and advantages of the present application will be further described in conjunction with embodiments with reference to the accompanying drawings. Detailed implementation manners

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] It should be noted that if there are directional indications (such as up, down, left, right, front, back,...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0036] As a key component of automation and precision control, the servo motor plays a core role in multiple fields. At present, the miniaturized design of the servo motor remains the main research and development direction of those skilled in the art.

[0037] For this reason, the present application proposes a circuit board, refer to Figure 1 , for a servo motor, the servo motor includes a stator assembly, a rotor assembly and an encoder rotor, and the circuit board includes:

[0038] A first region 100, where an encoder circuit is arranged in the first region 100 and is arranged opposite to the encoder rotor to serve as an encoder stator;

[0039] A second region 200, where stator winding wiring and a plurality of stator winding connection ends 1 are arranged in the second region 200;

[0040] Among them, the plurality of stator winding connection ends 1 are electrically connected to the stator winding wiring; the stator winding connection end 1 is used to access the pin 13 of the stator assembly.

[0041] In this embodiment, the circuit board can be implemented by using a ceramic substrate, a glass fiber substrate, etc.

[0042] In this embodiment, an encoder circuit (not shown in the figure) is provided in the first region 100. The encoder circuit may include circuit modules such as an encoder module for receiving the output result of the encoder, performing signal processing on it, and then outputting the result. The encoder module is used to receive the output result from the encoder, process it, and then output it to an external terminal or the control circuit of the servo motor to enable it to determine the current position of the motor. For example, the output result of the encoder is subjected to analog-to-digital conversion and then output to the control circuit of the servo motor, so that the control circuit can determine the current position of the motor according to the result.

[0043] Optionally, based on the embodiment in which the encoder circuit includes an encoder module, in one embodiment, the encoder circuit further includes a power management circuit. The power management circuit is electrically connected to the encoder module and is used to provide stable voltage and current for the encoder module to ensure that the encoder module and other electronic components can work at appropriate voltages. For example, the power management circuit may include a voltage converter, such as a buck converter, for converting the input voltage into the working voltage required by the encoder circuit. It may also include a filtering circuit for filtering out the noise and fluctuations in the input voltage to ensure that the encoder circuit receives a stable voltage signal and improve the signal interference problem caused by the input voltage fluctuation.

[0044] In the second region 200, stator winding wiring and a plurality of stator winding connection terminals 1 are provided. For example, the plurality of stator winding connection terminals 1 can be implemented by welding holes. The plurality of stator winding connection terminals 1 are electrically connected to the stator winding wiring. The stator winding connection terminals 1 are used to connect to the pins 13 of the stator assembly. The stator winding wiring is a preset conductive path on the circuit board and is used to connect to the stator winding connection terminals 1 and also to connect to an external power source to enable the voltage output by the external power source to be output to the stator assembly 9 through the stator winding wiring and the plurality of stator winding connection terminals 1, thereby realizing the function of the stator assembly 9 in the servo motor.

[0045] Through the above settings, the stator winding wiring and the encoder circuit can be integrally provided on the same circuit board. The encoder rotor is press-fitted onto the motor shaft, or the encoder rotor is adhesively set to the motor shaft. In this way, the number of circuit boards is reduced, the volume of the servo motor is reduced, its integration degree is improved, and the manufacturing cost and assembly complexity of the servo motor are reduced.

[0046] It should be understood that there are differences in the voltage requirements between the stator assembly 9 and the encoder circuit. The voltage of the stator assembly 9 is higher than the working voltage of the encoder circuit. Therefore, it is necessary to improve the problem that the encoder circuit malfunctions due to the interference of the high-voltage signal in the second region 200 on the low-voltage signal in the first region 100.

[0047] In an embodiment of the present application, an isolation region is further provided between the first region 100 and the second region 200.

[0048] Optionally, in an embodiment, the isolation region can be a region without devices or copper plating to achieve the interval between the two.

[0049] Optionally, in an embodiment, the isolation region can be entirely or partially covered with ground copper plating, which is used to improve the heat dissipation performance of the circuit board, provide a ground plane, and shield electromagnetic interference (EMI). For example, ground copper plating is laid around the encoder circuit to reduce the influence of the electrical signals in the second region 200 on the signals flowing through the encoder circuit in the first region 100.

[0050] Optionally, in an embodiment, an isolation groove 2 is provided in the isolation region. For example, a gap or groove is cut on the mechanical layer of the circuit board to improve the signal isolation degree between the first region 100 and the second region 200. In addition, a filler, such as insulating silicone grease, can be provided in the isolation groove 2, which can not only improve the isolation degree but also improve the heat dissipation performance of the circuit board.

[0051] Optionally, in an embodiment, some isolation components, such as grounded metal isolation components, can be provided in the isolation region to improve the signal isolation degree between the first region 100 and the second region 200.

[0052] Furthermore, optionally, based on the above embodiment in which the isolation groove 2 is provided in the isolation region, in an embodiment, the number of the isolation grooves 2 is multiple, and a connection bridge 3 is formed between any two adjacent isolation grooves 2. In this embodiment, due to the difference in the coefficient of thermal expansion (CTE) between the circuit board and the components on the board (connectors, chips, and other components), thermal stress will be generated. If the thermal stress is concentrated at a point or a region, it may cause solder joint cracks, delamination, or fracture, thus affecting the connection and function of the circuit. Therefore, in this embodiment, by using multiple connection bridges 3 to achieve the local connection of any two adjacent isolation grooves 2, the stress can be evenly distributed, reducing the stress borne by a single connection point, thereby improving the overall thermal stability and durability. At the same time, the mechanical stress generated during the fixing or installation process can also be dispersed, reducing the risk of circuit board deformation or damage caused by local stress concentration.

[0053] In an embodiment, referring to Figure 1 , the isolation groove 2 includes an arc-shaped isolation groove 2.

[0054] The number of the arc-shaped isolation grooves 2 is multiple;

[0055] Among them, multiple arc-shaped isolation grooves 2 are arranged on the same circumference; or,

[0056] At least one of the arc isolation grooves 2 and any other arc isolation groove 2 are arranged on different circumferences.

[0057] In this embodiment, in order to effectively isolate the first region 100 and the second region 200, while optimizing the heat conduction and electromagnetic interference performance, the present application provides a plurality of arc isolation grooves 2 on the circuit board, and these arc isolation grooves 2 are arranged in the radial direction. It should be noted that the layout of the arc isolation grooves 2 can have two forms: all the arc isolation grooves 2 are arranged on the same circumference to form an annular array; or, different arc isolation grooves 2 are arranged on different circumferences to form a multi-layer annular array. In this embodiment, it is selected that all the arc isolation grooves 2 are arranged on the same circumference. As Figure 1 shown, 4 arc notches are arranged on the same circumference of the circuit board. In this way, the problems of heat conduction and electromagnetic interference between the first region 100 and the second region 200 can be improved.

[0058] In an embodiment of the present application, referring to Figure 1 , at least one of the plurality of stator winding connection ends 1 is arranged at the edge position of the circuit board.

[0059] Optionally, the plurality of stator winding connection ends 1 can be all arranged at the edge position of the circuit board, or can be arranged at the middle position of the circuit board; among them, the stator winding connection ends 1 at the middle position may be more beneficial to the layout of the stator winding wiring and reduce the wiring complexity. The stator winding connection ends 1 arranged at the edge position can be closer to the motor housing, which is beneficial to heat dissipation and improves the heat dissipation efficiency. In addition, the welding holes at the edge position are easier to weld during the assembly process, and are far from the encoder circuit in the first region 100 on the circuit board, further improving the isolation degree between the first region 100 and the second region 200.

[0060] Optionally, in an embodiment, the plurality of stator winding connection ends 1 are all arranged along the edge position of the circuit board. In this way, not only the integration degree can be improved, but also the assembly convenience can be improved.

[0061] Optionally, in an embodiment, the stator winding connection end 1 arranged at the edge position of the circuit board is a slot-shaped pad. That is, slot-shaped pads matching the pins of the stator assembly 9 are provided on the circumference (edge position) of the circuit board. These slot-shaped pads are distributed along the edge of the circuit board so as to directly weld the pins 13 of the stator assembly on the circuit board. The setting of the slot-shaped pads reduces the occupied area of the circuit board, leaves more space for other components on the circuit board and the stator winding wiring, and reduces the design complexity.

[0062] It should be noted that when manufacturing a servo motor, since the stator winding needs to be wound multiple times at the bottom of the pin and the pin is relatively long, it may cause structural deformation and skew of the pin, which may further lead to misalignment during the assembly with the stator winding wiring circuit board. Therefore, in this embodiment, the stator winding connection end 1 includes a connection base, and the connection base is used to connect the pins 13 of the stator assembly. Using a connection base (connector) to replace the traditional welding hole (groove-shaped pad) can shorten the originally long pins of the stator assembly 9, reduce the deformation and skew caused by gravity during the winding process, and thus improve the accuracy and reliability of the stator assembly 9. The connection base installed on the two-in-one circuit board proposed in this application matches the pins 13 of the stator assembly, reducing circuit failures caused by poor soldering or pin misalignment.

[0063] As can be seen from the above, using a connection base to replace the traditional welding hole connection method can not only effectively avoid the structural deformation and assembly misalignment of the pins caused by excessive length during the winding process, but also simplify the motor assembly process, improve production efficiency and product quality, and significantly enhance the stability and reliability of the servo motor.

[0064] In one embodiment, referring to Figure 1 , an encoder signal connection end 4 and a power connection end 5 are further provided on the circuit board;

[0065] Among them, the encoder signal connection end 4 is electrically connected to the encoder circuit, and the encoder signal connection end 4 is used to connect to an external device;

[0066] The power connection end 5 is connected to the stator winding wiring, and the power connection end 5 is used to connect to a supply voltage.

[0067] A wiring port is further provided on the circuit board, and multiple terminals in the wiring port are respectively and electrically connected to the encoder signal connection end 4 and the power connection end 5 in one-to-one correspondence.

[0068] In this embodiment, the encoder signal connection end 4 is connected to the encoder circuit and is responsible for receiving and sending encoder signals; while the power connection end 5 is connected to the stator assembly 9 and is used to receive the supply voltage output by an external device to provide power for the motor.

[0069] Optionally, in one embodiment, in order to facilitate the connection with external devices, a wiring port is also designed on the circuit board. There are multiple terminals inside the wiring port, and these terminals are respectively in one-to-one correspondence with the encoder signal connection end 4 and the power connection end 5. The wiring port can be implemented by a standard wiring port. In the servo motor, an opening can be provided on the housing of the servo motor at the position corresponding to the wiring port for the user to directly access a single external device or multiple external devices through a single wiring port, so as to realize data interaction between a single or multiple external devices and the encoder circuit through the same wiring port and output the supply voltage to the stator assembly 9 through the stator winding wiring. In this way, the user can easily access external devices through the wiring port without additional wiring or worrying about incorrect connection. It should be noted that the encoder signal connection end 4 and the power connection end 5 can be arranged near the motor wire outlet side and led out from the same wire outlet 18. This not only simplifies the wiring inside the motor but also reduces the number of wiring ports, making the structure of the entire motor more compact and easier to install and maintain.

[0070] Optionally, in another embodiment, the servo motor includes: a connection port, and multiple terminals inside the connection port are respectively in one-to-one correspondence and electrically connected to the encoder signal connection end 4 and the power connection end 5.

[0071] In this embodiment, optionally, the encoder signal connection end 4 and the power connection end 5 on the circuit board can be directly welded in one-to-one correspondence with multiple different terminals inside the connection port of the servo motor. Optionally, the encoder signal connection end 4 and the power connection end 5 can be first connected in one-to-one correspondence with multiple terminals inside the wiring port of the circuit board, and then the multiple terminals of the wiring port on the circuit board and the terminals of the connection port on the housing are connected through the connectors at both ends of the flexible cable. In this way, the installation complexity is simplified.

[0072] In one embodiment of the present application, referring to Figure 1 , the circuit board is of a circular structure. In the servo motor, the pins on the stator assembly 9 are usually arranged radially along the stator assembly 9 and are arranged on the same circumference. Therefore, the circular circuit board has a high structural matching degree with the pins of multiple stator assemblies 9, improving the accuracy and convenience of circuit board installation. When multiple stator winding connection ends 1 are all arranged along the edge of the circuit board and are evenly distributed on the circumference, it is easier to quickly align the stator winding connection ends 1 with the pins of the stator assembly 9, facilitating installation.

[0073] In one embodiment of the present application, the second region 200 is annularly arranged outside the first region 100. In this embodiment, referring to Figure 3, the encoder rotor 8 is embedded in the motor shaft 10. As the motor shaft 10 rotates, the encoder circuit on the circuit board will receive the corresponding output result of the encoder rotor 8, so that the encoder module in the encoder circuit processes and outputs it to an external terminal or the control circuit of the servo motor to determine the current position of the motor. The stator assembly 9 is arranged around the motor shaft 10. Since the motor shaft 10 is arranged at the central position of the motor and the stator assembly 9 is arranged outside the motor shaft 10, a circular circuit board is adopted in this application to adapt to the structure of the servo motor and reduce the assembly complexity. At the same time, the first area 100 where the encoder circuit is located is used as the inner circle to facilitate the corresponding connection between the encoder circuit and the encoder rotor 8, and the second area 200 provided with the stator winding wiring and the stator winding connection end 1 is arranged outside the first area 100 to facilitate the pin-to-pin connection between the stator winding connection end 1 and the stator assembly 9. In this way, the assembly complexity is simplified.

[0074] In order to ensure the precise installation and firm fixation of the two-in-one circuit board (the stator winding wiring circuit board and the encoder circuit board are integrated), in one embodiment, the circuit board includes positioning holes 6 and fixing holes 7. The positioning holes 6 are used to position the circuit board, and the fixing holes 7 are used to fixedly connect the circuit board to the motor.

[0075] As Figure 1 shown, the positioning holes 6 and the fixing holes 7 are distributed on the edge of the circuit board and arranged in the radial direction. It should be noted that the diameters and positions of these positioning holes 6 and fixing holes 7 need to be accurately calculated to align with the pin holes 15 on the motor rear end cover 17. The use of the positioning holes 6 ensures that the two-in-one circuit board can be quickly and accurately aligned during installation, thereby reducing the cumbersome complexity of manual adjustment and greatly improving the assembly efficiency. Secondly, a plurality of fixing holes 7 arranged in the radial direction are used to firmly connect the circuit board to the motor by screws. These fixing holes 7 are also located on the edge of the circuit board and are adjacent to the positioning holes 6. The diameters of the fixing holes 7 are suitable for standard screws. After the positioning holes 6 are aligned with the pin holes 15 on the rear end cover 17, the two-in-one circuit board can be firmly fixed to the motor rear end cover 17 by using screws through these fixing holes 7. The number and arrangement of the fixing holes 7 ensure that the circuit board is evenly stressed and reduce the risk of stress concentration and circuit board damage caused by uneven installation.

[0076] By providing the positioning holes 6 and the fixing holes 7 in the radial direction on the circuit board (two-in-one circuit board) of this application, not only the precise positioning of the circuit board is achieved, but also its firm connection to the motor is ensured, thereby improving the assembly efficiency and guaranteeing the performance of the servo motor at the same time.

[0077] This application also proposes a servo motor. Refer to Figure 3, including: an encoder rotor 8, a rotor assembly, a stator assembly 9, and a circuit board as described in any one of the above;

[0078] Wherein, the encoder rotor 8 is connected to the rotor assembly, the circuit board is connected to the stator assembly 9, the encoder rotor 8 and the rotor assembly can rotate relative to the stator assembly 9 and the circuit board, the encoder circuit on the circuit board and the encoder rotor 8 are arranged opposite to each other, and the pins 13 of the stator assembly are connected to the stator winding connection end 1 of the circuit board.

[0079] The servo motor includes a motor shaft 10, and the encoder rotor 8 is embedded in the motor shaft 10.

[0080] Combined with the content of the above embodiments, the stator winding wiring circuit board and the encoder circuit are integrated on the circuit board to form a two-in-one circuit board. The circuit board is provided with a stator winding connection end 1 corresponding to the pins 13 of the motor stator assembly, which is convenient for electrical connection with the pins 13 of the stator assembly. Among them, the stator winding connection end 1 can be realized by using a welding hole or a connection socket. The motor shaft 10 is the core component of the motor, and the encoder rotor 8 is embedded therein to achieve precise control of the motor position. That is, the encoder rotor 8 is embedded in the motor shaft 10, and the encoder rotor 8 connected to the rotor assembly and the encoder circuit are arranged opposite to each other. Since the encoder rotor 8 and the rotor assembly rotate relative to the stator assembly 9 and the encoder circuit, magnetic signals or other signals can be generated, thereby calculating the position and used to feedback the result to an external terminal or the control circuit of the servo motor to determine the current position of the motor. The pins 13 of the stator assembly are connected to the stator winding connection end 1 on the circuit board. When these stator winding connection ends 1 are located at the edge of the circuit board, it is convenient for welding operations.

[0081] In this embodiment, the encoder rotor 8 is press-fitted on the motor shaft 10, or the encoder rotor 8 is adhesively disposed with the motor shaft 10.

[0082] It can be understood that interference installation (also known as interference fit or press fit) is a common mechanical assembly technique mainly used to ensure a tight connection between two parts for torque or axial force transmission. This assembly method is based on the principle of elastic deformation of materials and is mainly applied to the fit between holes and shafts. The interference fit assembly can be achieved by the press-in method and the thermal expansion and contraction method. The press-in method directly presses the shaft into the hole by mechanical force, while the thermal expansion and contraction method uses the principle of thermal expansion and contraction to temporarily reduce the interference amount by heating the hole or cooling the shaft to make the assembly process easier. Interference installation relies on the physical properties of materials rather than any external fasteners, so it can provide a very reliable connection. Taking the thermal expansion and contraction method as an example, a heating device is used to preheat the encoder rotor 8 until it reaches a preset temperature. At this time, the diameter of the encoder rotor 8 is enlarged due to the principle of thermal expansion and contraction, facilitating installation. When the temperature reaches the preset temperature, the heated encoder rotor 8 is quickly sleeved onto the motor shaft 10, and using the principle of interference fit, it is tightly fitted onto the shaft.

[0083] Optionally, a thin layer of structural adhesive can also be applied to the contact surface between the encoder rotor 8 and the motor shaft 10. Ensure that the glue is evenly applied to avoid bubbles and accumulation, and wait for the glue to cure. The curing time depends on the type of glue and the ambient temperature. In this way, the bonding setting between the encoder rotor 8 and the motor shaft 10 can be achieved. It should be noted that in this embodiment, interference installation and structural adhesive can be combined, that is, the structural adhesive can be applied to the contact surface between the encoder rotor 8 and the motor shaft 10 before cooling, so that the encoder rotor 8 can be firmly fixed on the motor shaft 10, ensuring good stability of the servo motor during operation. The combined use of interference fit and structural adhesive provides double protection, and can keep the encoder rotor 8 stably fixed as much as possible even under extreme working conditions.

[0084] In an embodiment of the present application, referring to Figure 2 , the servo motor further includes a housing 16 and a rear end cover 17. The stator assembly 9 is disposed in the accommodating cavity of the housing 16, and the circuit board is disposed in the accommodating cavity of the rear end cover 17. An outlet 18 and an outlet terminal are provided on the side wall of the rear end cover 17. The outlet terminal is connected to the encoder signal connection terminal 4 and the power connection terminal 5 on the circuit board. In this embodiment, the servo motor includes a housing 16 and a rear end cover 17. The housing 16 and the rear end cover 17 are arranged in a vertical structure corresponding to each other. An outlet 18 and an outlet terminal are also provided on the rear end cover 17. As Figure 2As shown, the upper part is the rear end cover 17, and the lower part is the motor housing 16. An outlet 18 is provided on the side wall of the rear end cover 17. In this embodiment, a hole can be drilled in the wall of the rear end cover 17 for installing the outlet terminal. The outlet 18 is a rectangular hole. The encoder signal connection terminal 4 and the power connection terminal 5 are directly led out through a cable and connected to the outlet 18 and the outlet terminal. It should be noted that the shape of the outlet 18 can be set according to actual needs. The rear end cover 17 is designed with a plurality of support steps 11, which are correspondingly connected to the positioning holes 6 and fixing holes 7 on the circuit board, for accurately aligning and fixing the two-in-one circuit board, ensuring that the circuit board can be stably installed at the rear of the motor, that is, placing the circuit board near the rear end cover 17 of the motor. At the same time, the support steps 11 are provided with positioning pin 15 holes and threaded holes, which are convenient for cooperating with the positioning pin 15 and the fixing screw 14 (such as Figure 2 shown) to firmly position and fix the two-in-one circuit board on the rear end cover 17.

[0085] In one embodiment, referring to Figure 4 , one side of the rear end cover 17 facing the stator assembly 9 has a stop wall 19. A plurality of avoidance through holes 12 are provided on the stop wall 19. The positions of the avoidance through holes 12 correspond to the pins 13 of the motor stator assembly. In this way, the pins 13 of the stator assembly extend into the accommodation cavity of the rear end cover 17 through the avoidance through holes 12. During the assembly process, the pins 13 of the stator assembly pass through these avoidance through holes 12 and are then welded to the stator winding connection end 1 on the circuit board to form an electrical connection. At the same time, the encoder rotor 8 is pre-embedded in the motor shaft 10 and fixed by interference fit 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. In actual assembly operations, first install the encoder rotor 8 on the motor shaft head, and then fix the two-in-one circuit board on the rear end cover 17 through the positioning pin 15 and the screw. Then weld the pins of the stator assembly 9 to the stator winding connection end 1, and finally lead out the encoder cable and the motor cable from the outlet 18 to complete the assembly work of the entire servo motor.

[0086] By fixing the encoder rotor 8 to the motor shaft head by means of tight fitting or structural adhesive, compared with the traditional method of fixing the encoder rotor 8 and the motor shaft head with radial set screws, the motor structure is simplified, which helps to reduce the overall size of the motor and at the same time reduces the cost. The corresponding connection between the support step 11 on the rear end cover 17 and the positioning holes 6 and fixing holes 7 on the circuit board enables the two-in-one circuit board to be accurately aligned and firmly fixed, simplifying the motor assembly process. In addition, the through holes 12 of the pins 13 of the multiple stator assemblies on the rear end cover 17 correspond to the pins of the stator assembly 9, ensuring stable and reliable electrical connection between the motor stator assembly 9 and the circuit board. Secondly, the fixing method of the two-in-one circuit board to the rear end cover 17 and the installation method of the encoder rotor 8 are both convenient for disassembly and replacement, which is beneficial to the maintenance and repair of the motor and reduces the maintenance cost.

[0087] It should be noted that since the servo motor of the present application includes the above-mentioned circuit board, therefore, the embodiments of the servo motor of the present application include all the technical solutions of all the embodiments of the above-mentioned circuit board, and the achieved technical effects are also exactly the same, which will not be elaborated here.

[0088] The above are only optional embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the application concept of the present application, or direct / indirect application in other related technical fields are all included in the patent protection scope of the present application.

Claims

1. A circuit board for a servo motor, the servo motor comprising a stator assembly, a rotor assembly, and an encoder rotor, characterized in that, The circuit board includes: A first region, where an encoder circuit is provided in the first region and is arranged opposite to the encoder rotor to serve as an encoder stator; A second region, where stator winding wiring and a plurality of stator winding connection terminals are provided in the second region; Among them, a plurality of the stator winding connection terminals are electrically connected to the stator winding wiring; the stator winding connection terminals are used to connect to the pins of the stator assembly.

2. The circuit board according to claim 1, wherein An encoder signal connection terminal and a power connection terminal are also provided on the circuit board; Among them, the encoder signal connection terminal is electrically connected to the encoder circuit, and the encoder signal connection terminal is used to connect to an external device; The power connection terminal is connected to the stator winding wiring, and the power connection terminal is used to connect to a supply voltage.

3. The circuit board according to claim 1, characterized in that, On the circuit board, an isolation region is also provided between the first region and the second region.

4. The circuit board according to claim 3, wherein An isolation groove is provided in the isolation region, and the number of the isolation grooves is multiple. A connection bridge is formed between any two adjacent isolation grooves.

5. The circuit board according to claim 4, wherein, The isolation groove includes an arc-shaped isolation groove, and the number of the arc-shaped isolation grooves is multiple; Among them, a plurality of the arc-shaped isolation grooves are arranged on the same circumference; or, At least one of the arc-shaped isolation grooves and any other arc-shaped isolation groove are arranged on different circumferences.

6. The circuit board according to claim 1, characterized in that, At least one of the plurality of stator winding connection terminals is arranged at the edge position of the circuit board, and the stator winding connection terminal arranged at the edge position of the circuit board is a slot-shaped pad.

7. The circuit board according to claim 1, wherein The stator winding connection terminal includes a connection socket, and the connection socket is used to connect to the pins of the stator assembly.

8. The circuit board according to any one of claims 1-7, characterized in that, The circuit board is of a circular structure, and the second region is arranged around the outside of the first region.

9. The circuit board according to any one of claims 1-7, characterized in that, The circuit board includes a positioning hole and a fixing hole. The positioning hole is used to position the circuit board, and the fixing hole is used to fixedly connect the circuit board to the motor.

10. A servo motor, characterized in that, Including: A stator assembly, a rotor assembly, an encoder rotor, and the circuit board according to any one of claims 1-9; Among them, the encoder rotor is connected to the rotor assembly, the circuit board is connected to the stator assembly, the encoder rotor and the rotor assembly can rotate relative to the stator assembly and the circuit board, the encoder circuit on the circuit board is arranged opposite to the encoder rotor, and the pins of the stator assembly are connected to the stator winding connection terminals of the circuit board.

11. The servo motor according to claim 10, wherein, The servo motor further includes a housing and a rear end cover. The stator assembly is arranged in the accommodation cavity of the housing, the circuit board is arranged in the accommodation cavity of the rear end cover, an outlet and an outlet terminal are provided on the side wall of the rear end cover, and the outlet terminal is connected to the encoder signal connection terminal and the power connection terminal on the circuit board.

12. The servo motor according to claim 11, characterized in that, One side of the rear end cover facing the stator assembly has a stop wall, and a plurality of avoidance through holes are provided on the stop wall. The pins of the stator assembly extend into the accommodation cavity of the rear end cover through the avoidance through holes.

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