Frameless servo motor with encoder
By designing the mating parts of the motor stator and encoder stator and multiple fixing parts and coil parts in the frameless servo motor, the problems of low encoder accuracy and high cost are solved, and a frameless servo motor with higher accuracy, lower cost and smaller volume are achieved.
Patent Information
- Application Number
- CN202422563931.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-08-22
- Estimated Expiration
- 2034-10-23
AI Technical Summary
Traditional frameless servo motors have low encoder accuracy and high cost, and external encoders will lose accuracy and increase costs.
In the frameless servo motor, by providing a first mating member on the motor stator and a second mating member on the encoder stator, the encoder stator and the motor stator are fixed, and additional component external or Hall external encoder are cancelled, and a stable magnetic field is formed in combination with the design of multiple fixing members, coil parts and magnets to improve the encoder accuracy and installation convenience.
Improves the accuracy of the encoder, reduces the cost, simplifies the installation process, reduces the overall motor volume, and improves the stability and power density of the motor.
Smart Images
Figure CN223261410U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of motors, and in particular to a frameless servo motor with an encoder. Background Art
[0002] A frameless servo motor is a type of motor consisting of a rotor and a stator. It lacks fixed housings, bearings, or other components. Its advantages include light weight, small size, fast response, and high energy efficiency, making it widely used in a variety of fields. Composition: A frameless motor consists primarily of two components: a rotor and a stator. The rotor is typically composed of a rotating steel ring assembly with permanent magnets, while the stator is an external component that generates electromagnetic force. Advantages: The main advantages of a frameless motor include lighter overall weight, smaller size, faster motion response, and high energy efficiency. It can be freely adapted to the integrated installation of components such as housings, bearings, and feedback devices that are specific to each customer. Application Scenarios: Frameless motors are best suited for applications requiring small size and high performance, such as automotive, aerospace, robotics, medical equipment, semiconductors, and other fields.
[0003] The encoders of traditional frameless servos are generally connected externally to other parts or use Hall-effect sensing. The process of transmitting the external encoder through the structural parts will lose some accuracy, and the encoder cost is higher; the second method of Hall-effect sensing has low accuracy. Utility Model Content
[0004] Therefore, the embodiment of the present invention provides a frameless servo motor with an encoder, which improves the accuracy of the encoder.
[0005] To solve the above problems, the utility model provides a frameless servo motor comprising: a motor stator, which is provided with a first mating piece; an encoder stator, which is provided with a second mating piece, and the second mating piece cooperates with the first mating piece to fix the motor stator on the encoder stator; and a rotor assembly, which is arranged in a first accommodating cavity formed by the motor stator and the encoder stator.
[0006] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: by providing a first mating piece on the motor stator and cooperating with the second mating piece on the encoder stator, the encoder stator and the motor stator are fixed to each other. In this way, the encoder accuracy is higher, and no additional components are required for external connection or the use of a Hall external encoder. This method not only reduces the cost, but also improves the accuracy of the encoder, and is simpler and faster to install. Through the rapid positioning of the first mating piece and the second mating piece, the installation and fixing of the motor stator and the encoder stator are made faster. At the same time, the rotor assembly is also provided in the first accommodating cavity, which makes installation more convenient. Through this structure, the overall frameless servo motor is smaller in size, and has low cogging effect, high power density and low inertia.
[0007] In one embodiment of the present invention, the motor stator further includes: a plurality of first fixing members, which are sequentially connected in a surrounding manner, and each first fixing member is provided with a first matching member; and a plurality of coil members, which are provided corresponding to the plurality of first fixing members.
[0008] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting up multiple first fixing parts and connecting them in sequence, the magnetic field formed is more stable. At the same time, by setting up multiple coil parts, the magnetic field generated subsequently is more stable and more effective, thereby facilitating the stable operation of the motor in the future.
[0009] In an embodiment of the present invention, each first fixing member further includes: a first protrusion member, the first protrusion member protrudes toward the center of a circle formed by sequentially surrounding and connecting the plurality of first fixing members; and a coil member is wound around the first protrusion member.
[0010] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first protrusion toward the center protrusion formed by the multiple first fixing members that are sequentially connected and surrounded, the position of the coil winding is closer to the center of the circle, thereby making the formed magnetic field more stable, which can better facilitate the stable operation of the subsequent motor, and at the same time make the overall structure more compact, thereby making the overall volume smaller.
[0011] In an embodiment of the present invention, the frameless servo motor further includes: each first fixing member is provided with two oppositely disposed ends; and the first matching member protrusions are provided at the two ends.
[0012] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting the first mating part protrusion at both ends of the first fixing part, the motor stator can be installed in different directions, and there is no need to fix the installation in one direction, thereby improving the efficiency of installing the motor stator.
[0013] In an embodiment of the present invention, there are multiple second matching pieces, and the second matching pieces are arranged corresponding to the first protruding pieces; the first protruding pieces are embedded in the second matching pieces to achieve fixation.
[0014] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting multiple second matching parts corresponding to the first protruding parts, the first protruding parts are fixed by embedding. The embedding method is not only simple in fixing method, but also simple in structure, making the overall structure more compact and convenient, and this method is more convenient to install, and the structural accuracy is also higher.
[0015] In an embodiment of the present invention, the rotor assembly further includes: a yoke portion connected to the encoder stator; and a plurality of magnets disposed around the yoke portion.
[0016] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting a magnetic yoke part to connect the encoder stator, and setting multiple magnets around the magnetic yoke part, the magnetic field formed is made more stable, so that the rotor assembly is better and more stable when working.
[0017] In an embodiment of the present invention, the yoke portion further includes: a first grid member, and the first grid member is provided on a side close to the encoder stator.
[0018] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by arranging the first grid member on the yoke part close to one end of the encoder stator, the first grid member can constrain the leakage magnetic field of the induction coil from diffusing outward, thereby improving the efficiency of induction heating, and serving as a magnetic shield to reduce the heat generation of metal components, thereby making the overall device more stable during operation.
[0019] In an embodiment of the present invention, the yoke is provided with a first end surface; the first grid member is provided with a plurality of protrusions that are arranged in a direction that seems to be protruding away from the first end surface.
[0020] Compared with the existing technology, the technical effect achieved by adopting this technical solution is as follows: by setting a convex portion protruding away from the first end face on the first end face, the constraint effect is better, and at the same time, there is a reference surface during installation, which makes the installation process faster, and the convex portion can make the overall encoder more accurate.
[0021] In an embodiment of the present invention, a plurality of magnets, a plurality of first fixing members, and a plurality of coil members are correspondingly arranged.
[0022] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by setting multiple magnets and multiple first fixing parts and corresponding coil parts, the generated magnetic field induction is more stable, thereby making the overall component more stable in operation and making the overall encoder more accurate.
[0023] After adopting the technical solution of the utility model, the following technical effects can be achieved:
[0024] (1) By providing a first mating piece on the motor stator and cooperating with a second mating piece on the encoder stator, the encoder stator and the motor stator are fixed to each other. This method makes the encoder more accurate and does not require additional components or the use of a Hall external encoder. This method not only reduces costs but also improves the accuracy of the encoder, and makes installation simpler and faster. By quickly positioning the first mating piece and the second mating piece, the installation and fixing of the motor stator and the encoder stator is made faster. At the same time, the rotor assembly is provided in the first accommodating cavity, making installation more convenient. This structure makes the overall frameless servo motor smaller in size and has low cogging effect, high power density and low inertia.
[0025] (2) By arranging the first grid member on the yoke part near one end of the encoder stator, the first grid member can constrain the leakage magnetic flux of the induction coil from diffusing outward, thereby improving the efficiency of induction heating and acting as a magnetic shield to reduce the heat generation of the metal components, thereby making the overall device more stable during operation;
[0026] (3) By providing a convex portion on the first end face that is raised away from the first end face, the constraint effect is improved. At the same time, there is a reference surface during installation, which makes the installation process faster. At the same time, the convex portion can make the accuracy of the overall encoder higher. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings to be used in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.
[0028] Figure 1 A schematic structural diagram of a frameless servo motor with an encoder provided in an embodiment of the present utility model;
[0029] Figure 2 One of the exploded structural diagrams of a frameless servo motor with an encoder provided by an embodiment of the present utility model;
[0030] Figure 3 The second exploded structural diagram of a frameless servo motor with an encoder provided by an embodiment of the present utility model;
[0031] Figure 4 for Figure 3 Magnified view of area A in center.
[0032] Description of reference numerals:
[0033] 100. Frameless servo motor with encoder; 110. Motor stator; 111. First mating member; 112. First fixing member; 113. Coil member; 114. First protrusion member; 120. Encoder stator; 121. Second mating member; 130. Rotor assembly; 131. Yoke; 132. Magnet; 133. First grid member; 134. Protrusion; 135. First end face. DETAILED DESCRIPTION
[0034] To make the above-mentioned purposes, features, and advantages of the present invention more clearly understood, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.
[0035] [First embodiment]
[0036] See also Figures 1-4 The utility model provides a frameless servo motor including: a motor stator 110, the motor stator 110 is provided with a first matching piece 111; an encoder stator 120, the encoder stator 120 is provided with a second matching piece 121, the second matching piece 121 cooperates with the first matching piece 111 to fix the motor stator 110 on the encoder stator 120; and a rotor assembly 130, the rotor assembly 130 is arranged in a first accommodating cavity formed by the motor stator 110 and the encoder stator 120.
[0037] Specifically, the encoder stator 120 is combined with the motor terminal board and named as encoder stator 120. The encoder rotor is combined with the yoke and named as yoke, which is characterized by a concave and convex grid on the end surface of the yoke.
[0038] Specifically, the encoder stator 120 has a circle of positioning holes, or second mating parts 121, around its periphery. These holes mate with the positioning posts, or first mating parts 111, on the motor stator 110 frame, or first fixing part 112, and are secured via wire welding. This assembly is called the stator assembly. Magnets 132 are attached to the exterior of the yoke, and this assembly is called the rotor assembly 130. When in use, the rotor assembly 130 with its grille attached should be mounted on the same side as the stator assembly with its encoder attached.
[0039] Preferably, a first mating piece 111 is provided on the motor stator 110 and cooperates with a second mating piece 121 on the encoder stator 120, so that the encoder stator 120 and the motor stator 110 are fixed to each other. In this way, the encoder accuracy is higher, and no additional components are required for external connection or the use of a Hall external encoder. This method not only reduces the cost, but also improves the accuracy of the encoder, and makes installation simpler and faster. Through the rapid positioning of the first mating piece 111 and the second mating piece 121, the installation and fixing of the motor stator 110 and the encoder stator 120 is faster. At the same time, a rotor assembly 130 is provided in the first accommodating cavity, which makes installation more convenient. Through this structure, the overall frameless servo motor is smaller in size, and has low cogging effect, high power density and low inertia.
[0040] Specifically, the motor stator 110 further includes: a plurality of first fixing members 112 , which are connected in sequence and surrounded, and each first fixing member 112 is provided with a first matching member 111 ; and a plurality of coil members 113 , which are provided corresponding to the plurality of first fixing members 112 .
[0041] Preferably, by providing a plurality of first fixing members 112 that are connected in a surrounding manner in sequence, the formed magnetic field is made more stable. At the same time, by providing a plurality of coil members 113, the magnetic field generated subsequently is made more stable and more effective, thereby facilitating the stable operation of the motor.
[0042] Specifically, each first fixing member 112 further includes: a first protruding member 114 , which protrudes toward the center of a circle formed by sequentially surrounding the plurality of first fixing members 112 ; and a coil member 113 is wound around the first protruding member 114 .
[0043] Preferably, by arranging the first protrusion 114 toward the center protrusion formed by the plurality of first fixing members 112 connected in sequence around the circle, the coil is wound closer to the center of the circle, thereby making the formed magnetic field more stable, which can better facilitate the stable operation of the subsequent motor, and at the same time make the overall structure more compact, thereby making the overall volume smaller.
[0044] Specifically, the frameless servo motor further includes: each first fixing member 112 is provided with two oppositely disposed ends; and the first matching members 111 are protrudingly provided at the two ends.
[0045] Preferably, by arranging the protrusions of the first fitting member 111 at both ends of the first fixing member 112, the motor stator 110 can be installed in different directions, and there is no need to fix the installation in one direction, thereby improving the efficiency of installing the motor stator 110.
[0046] Specifically, there are multiple second matching pieces 121, and the second matching pieces 121 are arranged corresponding to the first protruding pieces 114; the first protruding pieces 114 are embedded in the second matching pieces 121 to achieve fixation.
[0047] Preferably, by setting a plurality of second mating parts 121 corresponding to the first protrusion part 114, the first protrusion part 114 is fixed by being embedded. The embedding method is not only simple in fixing method, but also simple in structure, making the overall structure more compact and convenient. This method is more convenient to install and has higher structural accuracy.
[0048] Specifically, the rotor assembly 130 further includes: a yoke portion 131 , which is connected to the encoder stator 120 ; and a plurality of magnets 132 , which are disposed around the yoke portion 131 .
[0049] Preferably, a yoke portion 131 is provided to connect the encoder stator 120 , and a plurality of magnets 132 are provided to surround the yoke portion 131 . In this way, the formed magnetic field is more stable, so that the rotor assembly 130 works better and more stably.
[0050] Specifically, the yoke portion 131 further includes a first grid member 133 . The first grid member 133 is disposed on a side close to the encoder stator 120 .
[0051] Preferably, by arranging the first grid member 133 on the yoke portion 131 close to one end of the encoder stator 120, the first grid member 133 can constrain the leakage magnetic field of the induction coil from diffusing outward, thereby improving the efficiency of induction heating, and serving as a magnetic shield to reduce the heat generation of metal components, thereby making the overall device more stable during operation.
[0052] Specifically, the yoke is provided with a first end surface 135 ; the first grid member 133 is provided with a plurality of protrusions 134 that are arranged in a direction that seems to protrude away from the first end surface 135 .
[0053] Preferably, by providing a protrusion 134 on the first end face 135 that protrudes away from the first end face 135, the constraint effect is better, and there is a reference surface during installation, which makes the installation process faster. At the same time, the protrusion 134 can make the accuracy of the overall encoder higher.
[0054] Specifically, the plurality of magnets 132 , the plurality of first fixing members 112 , and the plurality of coil members 113 are disposed correspondingly.
[0055] Preferably, by arranging a plurality of magnets 132 and a plurality of first fixing members 112 and coil members 113 in correspondence, the generated magnetic field induction is made more stable, thereby making the entire component more stable in operation and making the accuracy of the entire encoder higher.
[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.
Claims
1. A frameless servo motor with an encoder, characterized in that: The frameless servo motor comprises: A motor stator (110), wherein the motor stator (110) is provided with a first matching piece (111); An encoder stator (120), wherein the encoder stator (120) is provided with a second matching piece (121), and the second matching piece (121) matches the first matching piece (111) to fix the motor stator (110) on the encoder stator (120); A rotor assembly (130) is provided in a first accommodating cavity formed by the motor stator (110) and the encoder stator (120).
2. The frameless servo motor with encoder according to claim 1, characterized in that: The motor stator (110) further comprises: A plurality of first fixing members (112), wherein the plurality of first fixing members (112) are sequentially connected in a surrounding manner, and each first fixing member (112) is provided with a first matching member (111); A plurality of coil members (113), wherein the plurality of coil members (113) are arranged corresponding to the plurality of first fixing members (112).
3. The frameless servo motor with encoder according to claim 2, characterized in that: Each of the first fixing members (112) further comprises: a first protruding member (114), the first protruding member (114) protruding toward the center of a circle formed by sequentially surrounding the plurality of first fixing members (112); Furthermore, a coil part (113) is wound around the first protruding part (114).
4. The frameless servo motor with encoder according to claim 3, characterized in that: The frameless servo motor also includes: Each of the first fixing members (112) is provided with two oppositely disposed ends; The first matching piece (111) is protrudingly provided at the two ends.
5. The frameless servo motor with encoder according to claim 4, characterized in that: There are multiple second matching pieces (121), and the second matching pieces (121) are arranged corresponding to the first protruding pieces (114); The first protruding piece (114) is embedded in the second matching piece (121) to achieve fixation.
6. The frameless servo motor with encoder according to claim 2, characterized in that: The rotor assembly (130) further includes: a yoke portion (131), the yoke portion (131) being connected to the encoder stator (120); A plurality of magnets (132) are provided surrounding the yoke portion (131).
7. The frameless servo motor with encoder according to claim 6, characterized in that: The yoke portion (131) further includes: A first grid member (133) is provided on a side close to the encoder stator (120).
8. The frameless servo motor with encoder according to claim 7, characterized in that: The magnetic yoke is provided with a first end surface (135); The first grid member (133) is provided with a plurality of convex portions (134) arranged in an array and protruding in a direction away from the first end surface (135).
9. The frameless servo motor with encoder according to claim 6, characterized in that: The plurality of magnets (132), the plurality of first fixing members (112), and the plurality of coil members (113) are arranged correspondingly.