Servo motor

Abstract

The utility model discloses a servo motor, and relates to the technical field of motors, the servo motor comprises a casing, a stator assembly, a rotor assembly, an encoder rotor and a circuit board, the casing comprises a shell and a rear cover, one end, facing the rear cover, of the shell is provided with an end cover, and the end cover is provided with a shaft hole and a pin hole; the stator assembly is arranged in the shell, the stator assembly comprises a stator winding, and a contact pin of the stator winding penetrates through the contact pin hole and extends into the rear cover; the rotor assembly is arranged on the radial inner side of the stator assembly, and the end part of a rotating shaft of the rotor assembly extends into the rear cover from the shaft hole; the encoder rotor is arranged in the rear cover and is connected to the end part of the rotating shaft; the circuit board comprises an encoder stator and a stator winding wiring area, the encoder stator and the encoder rotor are oppositely arranged, and the contact pin is connected to the stator winding wiring area. The integration level of the servo motor is improved, and the size of the servo motor is reduced.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a servo motor. Background Technology

[0002] Servo motors, as a key component of automation and precision control, play a central role in many fields. Currently, miniaturizing the design of servo motors remains a primary research focus for those skilled in the art. Utility Model Content

[0003] The main objective of this application is to propose a servo motor that aims to improve the integration of the servo motor and reduce its size.

[0004] To achieve the above objectives, this application proposes a servo motor, comprising:

[0005] The housing includes a shell and a rear cover, the end of the shell facing the rear cover has an end cap, and the end cap has a shaft hole and a pin hole;

[0006] A stator assembly is disposed within the housing, the stator assembly including a stator winding, wherein the pins of the stator winding extend through the pin holes into the rear cover;

[0007] A rotor assembly is located radially inside the stator assembly, and the end of the rotor shaft of the rotor assembly extends into the rear cover through the shaft hole;

[0008] An encoder rotor is disposed inside the rear cover and connected to the end of the rotating shaft;

[0009] The circuit board includes an encoder stator and a stator winding wiring area, wherein the encoder stator is disposed opposite to the encoder rotor, and the pin is connected to the stator winding wiring area.

[0010] In one embodiment, the servo motor further includes a connector, which includes a signal line terminal and a power line terminal. The signal line terminal is electrically connected to the encoder stator via a signal line and is used to output a signal detected by the encoder stator. The power line terminal is connected to the stator winding wiring area via a power line and is used to connect to the power supply voltage.

[0011] In one embodiment, a wiring hole is provided on the side wall of the rear cover, and the connector is installed in the wiring hole.

[0012] In one embodiment, the rear cover is provided with a support step, and the circuit board is mounted on the support step.

[0013] In one embodiment, there are multiple support steps, which are spaced apart from each other on the end cap. Each support step includes a positioning hole and a locking hole. The positioning hole is used to position the circuit board through a first mating member, and the locking hole is used to connect and fix the circuit board through a second mating member.

[0014] In one embodiment, the first mating component is a spring pin adapted to connect with the positioning hole; the second mating component is a screw adapted to connect with the locking hole.

[0015] In one embodiment, the stator assembly includes:

[0016] Stator core;

[0017] A skeleton is disposed on the outer periphery of the stator core. A plurality of pins are disposed on the side of the skeleton facing the circuit board. The pins pass through the rear cover and are connected to the circuit board, and are covered with an insulating sleeve.

[0018] The stator winding is wound around the frame and is connected to the pins.

[0019] In one embodiment, the rear cover includes a cover body and a mounting portion. The cover body has a through hole in its center. The mounting portion is arranged around the cover body. The stator assembly has a plurality of pins on one side facing the rear cover. The plurality of pins pass through a plurality of pin holes one-to-one. The plurality of pin holes are arranged around the through hole on the cover body.

[0020] In one embodiment, the encoder stator has an encoder signal connection terminal provided on the circuit board, and the stator winding wiring area has a power connection terminal provided on the circuit board;

[0021] The signal line terminal is electrically connected to the encoder signal connection terminal via a signal line, and the power line terminal is connected to the power supply connection terminal via a power line.

[0022] In one embodiment, the side of the circuit board facing away from the stator assembly and the rotor assembly is covered with an insulating cover.

[0023] This application discloses a servo motor, including a housing, a stator assembly, a rotor assembly, an encoder rotor, and a circuit board. The housing includes a shell and a rear cover. The end of the shell facing the rear cover has an end cap, which has a shaft hole and a pin hole. The stator assembly is disposed within the shell and includes a stator winding. The pins of the stator winding extend into the rear cover through the pin holes. The rotor assembly is disposed radially inside the stator assembly, and the end of the rotor shaft extends into the rear cover through the shaft hole. The encoder rotor is disposed within the rear cover and connected to the end of the shaft. The circuit board includes an encoder stator and a stator winding wiring area. The encoder stator is disposed opposite to the encoder rotor, and the pins are connected to the stator winding wiring area.

[0024] This configuration allows the stator winding wiring area and encoder stator to be integrated onto the same circuit board, reducing the number of circuit boards. By inserting the stator winding pins through pin holes on the end cover into the rear cover and directly connecting them to the stator winding wiring area on the circuit board, the axial length of the servo motor is shortened. This makes the motor more compact, increases its power density, further reduces the size of the servo motor, improves its integration, and reduces manufacturing costs and assembly complexity. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a cross-sectional view of an embodiment of the servo motor of this application;

[0027] Figure 2 This is a cross-sectional view of another embodiment of the servo motor of this application;

[0028] Figure 3 This is a side view of an embodiment of the servo motor of this application;

[0029] Figure 4 This is a schematic diagram showing the installation of a circuit board for a servo motor according to an embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the circuit board of a servo motor according to an embodiment of this application;

[0031] Figure 6 This is a side view of an embodiment of the rear cover of the servo motor of this application;

[0032] Figure 7This is a schematic diagram of the structure of a servo motor according to an embodiment of the present application.

[0033] Explanation of icon numbers:

[0034] 1. Rotor assembly; 2. Wiring hole; 3. Circuit board; 4. Connector; 5. Housing; 6. Rear cover; 7. Rear cover plate; 8. Cover body; 9. Mounting part; 10. Through hole; 11. Pin; 12. Pin hole; 13. Encoder signal connection terminal; 14. Power connection terminal; 15. Stator core; 16. Frame; 17. Stator winding; 18. Magnet; 19. Magnet support; 20. Magnet; 21. Insulating cover plate; 22. First area; 23. Second area; 24. Power line terminal; 25. Signal line terminal; 26. Power line; 27. Signal line; 28. Positioning hole; 29. ​​Locking hole; 30. Support step.

[0035] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0037] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Currently, servo motors typically consist of three parts: a stator, a rotor, and an encoder. For small motors, such as 60-frame and 80-frame servo motors, space is limited, and their structural design needs to be particularly compact. The stator consists of stator windings, an iron core, a housing, and a PCB (Printed Circuit Board). The PCB connects the pins of the stator windings to achieve electrical connections. The encoder typically consists of a rotor assembly, a mounting bracket, and a circuit board. The rotor assembly is mounted on the motor shaft and rotates with it; the mounting bracket supports and secures the circuit board; the circuit board contains sensors for detecting the rotor's position and speed information. Using quick-connect fittings for electrical connections simplifies the assembly process. Therefore, signal lines are led out from the encoder circuit board via quick-connect fittings, transmitting position and speed information to the control system. The motor's three-phase power lines are led out from quick-connect fittings on the PCB board, providing the current required to drive the motor. For ease of wiring and maintenance, the power lines and signal lines are led out through two separate sockets, typically located at the front and rear ends of the motor. While the front and rear socket design effectively achieves electrical connection, it occupies additional axial length to some extent and increases the complexity of the wiring path.

[0039] Therefore, this application proposes a servo motor, with reference to Figure 1 ,include:

[0040] The housing includes a housing 5 and a rear cover 6. The end of the housing 5 facing the rear cover 6 has an end cap, and the end cap has a shaft hole and a pin 12.

[0041] A stator assembly is disposed within the housing 5. The stator assembly includes a stator winding 17, and the pins 11 of the stator winding 17 extend through the pin holes 12 into the rear cover 6.

[0042] The rotor assembly 1 is located radially inside the stator assembly, and the end of the shaft of the rotor assembly 1 extends into the rear cover 6 through the shaft hole;

[0043] The encoder rotor is located inside the rear cover 6 and connected to the end of the rotating shaft;

[0044] Circuit board 3 includes an encoder stator and a stator winding wiring area. The encoder stator is disposed opposite to the encoder rotor, and the pin 11 is connected to the stator winding wiring area.

[0045] In this embodiment, the stator assembly and rotor assembly 1 are disposed in the housing 5. The pins 11 of the stator winding 17 pass through the pin holes 12 and extend into the rear cover 6 to connect with the stator winding wiring area of ​​the circuit board 3. The rotor assembly 1 is nested with the stator assembly, that is, the rotor assembly 1 is disposed radially inside the stator assembly. The housing 5 is provided with a first mounting cavity, and the circuit board 3 is disposed in the first mounting cavity. The end of the rotor shaft of the rotor assembly 1 extends into the rear cover 6 through the shaft hole of the end cover. The encoder rotor is disposed in the rear cover 6 and connected to the end of the shaft.

[0046] In this embodiment, circuit board 3 can be implemented using a ceramic substrate, fiberglass substrate, or the like. The rotor assembly 1 is nested within the stator assembly, located radially inside the stator assembly, making the motor structure more compact and reducing the motor's axial length. The encoder stator detects the position signal from the encoder rotor, processes it, and outputs it to an external terminal or the control circuit of the servo motor to determine the current motor position. The encoder stator and encoder rotor are positioned opposite each other, ensuring accurate detection of the motor's position and speed signals.

[0047] In this embodiment, placing the circuit board 3 within the first mounting cavity effectively utilizes the space within the housing, reducing the overall size of the servo motor. Furthermore, it prevents dust, moisture, and other contaminants from entering the circuit board 3 area, thereby improving the motor's reliability and lifespan. In other words, the first mounting cavity provides a fixed and protected space for the circuit board 3, ensuring it is unaffected by the external environment. The stator winding wiring area consists of pre-defined conductive paths on the circuit board 3. These paths are used to introduce current from the power supply into the stator winding 17, thereby driving the servo motor. Specifically, it is used to connect an external power supply, enabling the voltage output from the external power supply to be output to the stator assembly through the stator winding wiring area, thus realizing the function of the stator assembly in the servo motor.

[0048] Optionally, the servo motor further includes a connector 4, such as Figure 7 As shown, the connector 4 includes a signal line terminal 25 and a power line terminal 24. The signal line terminal 25 is electrically connected to the encoder stator via a signal line 27 and is used to output the encoder stator detection signal. The power line terminal 24 is wired and connected to the stator winding 17 via a power line 26 and is used to connect to the power supply voltage.

[0049] Optionally, the rear cover 6 has a wiring hole 2 on its side wall, and the connector 4 is installed in the wiring hole 2. The wiring hole 2 communicates with the first mounting cavity.

[0050] In this embodiment, connector 4 can be implemented using a PCB connector, quick-connect connector, etc. Wiring hole 2 is used to accommodate connector 4, facilitating the connection and lead-out of signal line 27 and power line 26. This reduces the number of connectors 4 required and related mounting parts, thereby simplifying the wiring process and assembly complexity, and ultimately improving the overall compactness and ease of maintenance of the motor.

[0051] refer to Figure 6 The sidewall of the rear cover 6 has at least one flat surface, and the wiring hole 2 is located within this flat surface. Drilling and other machining operations are easier to perform on a flat surface than on a curved surface. For example, flat machining can utilize standard tools and equipment, reducing machining difficulty and cost. Furthermore, the flat design makes the installation of the connector 4 more standardized, allowing the use of common threaded interfaces or quick-connect connectors, reducing the need for special designs. The flat surface provides a clear reference point, facilitating alignment of the connector 4 with the wiring hole 2 and reducing adjustment work during assembly. Simultaneously, the flat design makes the installation of the sealing ring or gasket more secure and flat, ensuring a good sealing effect, preventing external dust, moisture, and other contaminants from entering the motor, and protecting electrical components from damage.

[0052] It should be noted that signal line 27 transmits low-level control signals or sensor feedback signals (such as signals detected by the encoder stator). These signals are very sensitive and easily affected by external electromagnetic interference, thus affecting the accuracy of motor position recognition. Power line 26 typically transmits high current and high voltage. These lines generate strong electromagnetic fields during operation, which can affect the transmission of other signals, such as interfering with signals detected by the encoder stator. Therefore, in this embodiment, shielding sleeves can be wrapped around signal line 27 and / or power line 26 to reduce the risk of mutual interference between them. This allows for better electromagnetic compatibility within the same connector 4, thereby improving the reliability and stability of motor operation. Simultaneously, signal line terminal 25 and power line terminal 24 are integrated within a single connector 4. Signals detected by the encoder stator (such as A-phase, B-phase, and Z-phase signals) are transmitted to the control circuit through signal line terminal 25, providing accurate position and speed feedback. Power line terminal 24 introduces three-phase AC power from an external power source into the stator winding 17, providing drive current for the motor. This reduces the number of independent contacts, lowering the risk of malfunctions caused by loose contacts or poor contact. Connecting and leading out the signal line 27 and power line 26 through the same connector 4 simplifies the wiring process, saving space and improving assembly efficiency.

[0053] With the above configuration, the stator winding 17 wiring and the encoder stator can be integrated onto the same circuit board 3, reducing the number of circuit boards 3. Furthermore, the encoder stator detection signal is output through the signal line terminal 25 of connector 4, and the power supply voltage is connected through the power line terminal 24 of connector 4. Using connector 4 for electrical connection simplifies the assembly process, reduces the number of connectors 4, significantly compresses the axial length of the motor, further reduces the size of the servo motor, improves its integration, and lowers the manufacturing cost and assembly complexity of the motor.

[0054] In another embodiment, the rear cover 6 is provided with a support step 30, and the circuit board 3 is mounted on the support step 30.

[0055] Optionally, there are multiple support steps 30, which are spaced apart on the end cap. Each support step 30 includes a positioning hole 28 and a locking hole 29. The positioning hole 28 is used to position the circuit board 3 through a first mating member, and the locking hole 29 is used to connect and fix the circuit board 3 through a second mating member.

[0056] In this embodiment, the positioning hole 28 and locking hole 29 of the supporting step 30 are respectively connected to the positioning hole 6 and fixing hole 7 on the circuit board 3 for precise alignment and fixation of the circuit board 3. This ensures that the circuit board 3 can be stably installed on the rear cover 6 of the motor, and prevents displacement caused by vibration or rotation during the operation of the servo motor, thereby ensuring the reliability and accuracy of the encoder stator detection signal. It should be noted that the first mating part is a spring pin adapted to the positioning hole 28. The spring pin can be either a straight groove type or a toothed type. The straight groove type has a straight groove; during installation, the spring pin is compressed using a special tool and inserted into the positioning hole 28. After release, the spring pin returns to its original shape, forming a fixation. The toothed type has a toothed surface, which provides greater friction and a tighter effect, suitable for applications requiring higher fixation strength. The second mating part is a screw adapted to the locking hole 29. Locking hole 29 is used to fix circuit board 3 to support step 30 by screw, and positioning hole 28 (such as pin hole) is used to position encoder by spring pin.

[0057] refer to Figure 6 The number of supporting steps 30 is three. It can be understood that three supporting steps 30 provide sufficient stability while maintaining the simplicity and lightweight of the structure. The three points can define a plane, ensuring that the circuit board 3 has a stable supporting foundation in space.

[0058] In this embodiment, at least two of the three support steps 30 may have a locking hole 29 and a positioning hole 28. The three support steps 30 are evenly spaced along the circumference, that is, they are arranged at equal intervals on the circumference, which avoids stress concentration at a certain point, thereby increasing the stability and reliability of the overall structure.

[0059] In one embodiment, reference Figure 1 and Figure 6 The housing includes a housing 5, a front cover, and a rear cover 6. The housing 5 has a first end and a second end opposite to each other. The front cover is installed at the first end of the housing 5. The rear cover 6 is installed at the second end of the housing 5. The housing 5, the front cover, and the rear cover 6 enclose a second mounting cavity. The stator assembly and the rotor assembly 1 are installed in the second mounting cavity. The first mounting cavity and the wiring hole 2 are located in the rear cover 6.

[0060] In one embodiment, the rear cover 6 includes a cover body and a mounting portion 9. A through hole 10 is provided in the middle of the cover body, allowing the encoder rotor to be exposed to the first mounting cavity. The mounting portion 9 is arranged around the cover body, and a plurality of pins 11 are provided on the side of the stator assembly facing the rear cover 6. The plurality of pins 11 pass through a plurality of pins 12 one-to-one, and the plurality of pins 12 are arranged around the through hole 10 on the cover body.

[0061] In a servo motor, the rotor assembly 1 typically includes bearings, a rotor core, and magnets 18. The bearings are mounted on the housing, the rotor core has a shaft that is mounted on the bearings, and the magnets 18 are located on the rotor core. In this embodiment, the number of bearings can be two or more, used for mounting to the front cover and rear cover 6 respectively. In this embodiment, the front cover has bearing mounting holes for mounting bearings to support the shaft, and may also have a through hole to allow a portion of the rotor core to protrude. The through hole in the front cover should match the outer diameter of the rotor core to ensure a tight fit and prevent dust and moisture from entering the motor. The through hole 10 in the rear cover 6 allows the encoder rotor to be exposed from one side of the rear cover 6 and enter the first mounting cavity to be positioned opposite the encoder stator, ensuring the accuracy of position and speed information detection.

[0062] Optionally, refer to Figure 1 The servo motor also includes a rear cover plate 7, which is located at the end of the rear cover 6 facing away from the housing 5. The rear cover plate 7 encloses the rear cover 6 to form the first mounting cavity; that is, the first mounting cavity is located between the rear cover 6 and the rear cover plate 7, and is used to accommodate the circuit board 3. In conjunction with the above embodiment, the wiring hole 2 is located on the periphery of the rear cover 6, and it is necessary to ensure that the encoder stator on the circuit board 3 is aligned with the through hole 10 of the rear cover 6 so as to be opposite to the encoder rotor.

[0063] During motor installation, first install the rear cover 6 at the second end of the housing 5, ensuring the sealing ring between it and the housing 5 is correctly installed and checking the sealing performance. Next, install the circuit board 3 in the first mounting cavity of the rear cover 6, ensuring the encoder stator on the circuit board 3 is aligned with the through hole 10 of the rear cover 6. Then, install the rear cover plate 7 at the end of the rear cover 6 facing away from the housing 5 and secure it to the rear cover 6 with screws, ensuring a tight fit to prevent loosening or detachment.

[0064] In practical applications, the rear cover 6 provides a mounting position for the circuit board 3, and the rear cover plate 7 encloses the circuit board 3 to prevent external dust, moisture and other contaminants from entering the motor and to protect the electrical components on the circuit board 3 from damage.

[0065] In one embodiment, reference Figure 6 The rear cover 6 includes a cover body 8 and a mounting part 9. The cover body 8 has a through hole 10 in the middle for exposing the encoder rotor from inside the motor to the first mounting cavity. The mounting part 9 is arranged around the cover body 8. The rear cover plate 7 in the above embodiment is provided on the mounting part 9. The rear cover plate 7 and the cover body 8 are spaced apart and define the first mounting cavity.

[0066] The stator assembly is provided with a plurality of pins 11 on the side facing the rear cover 6. The rear cover 6 is provided with a plurality of pin holes 12 corresponding to the positions of the plurality of pins 11. The plurality of pins 11 pass through the plurality of pin holes 12 one by one, and the plurality of pins 11 are electrically connected to the stator winding wiring area.

[0067] Multiple pin holes 12 are arranged around the through hole 10 on the cover 8, and the position of the wiring hole 2 communicating with the first mounting cavity is staggered from the position of the multiple pin holes 12.

[0068] Optionally, multiple pins 11 can be directly electrically connected to the relevant wire harness in the stator winding wiring area to achieve flexible wiring. For example, each wire in the wire harness can be connected to the pin 11 via a crimp terminal, or each wire in the wire harness can be directly soldered to the pin 11. Optionally, multiple pins 11 can be directly soldered to corresponding pads on the circuit board 3, ensuring electrical connection and improving integration and reliability.

[0069] In this embodiment, the multiple pin holes 12 can be located either at the edge of the cover 8 or in the middle of the cover 8. Pin holes 12 located in the middle may be more advantageous for the layout of the stator winding wiring area, reducing wiring complexity. Pin holes 12 located at the edge are closer to the motor housing, facilitating heat dissipation and improving heat dissipation efficiency. It is understood that the pin holes 12 can be implemented using solder holes. The multiple pin holes 12 are electrically connected to the stator winding wiring area and are used to connect the pins 11 of the stator winding. Solder holes facilitate soldering during assembly and, after installation, ensure distance from the encoder stator on the circuit board 3, improving isolation and further enhancing signal accuracy. Furthermore, since the wiring holes 2 are used to install the connector 4 for connecting external power and signal lines 27, the position of the wiring holes 2 is offset from the pin holes 12, and their directions can be different; for example, when the pin holes 12 are vertically positioned, the wiring holes 2 are horizontally positioned. This avoids mutual interference.

[0070] In one embodiment, reference Figure 4 and Figure 5 The encoder stator has an encoder signal connection terminal 13 provided on the circuit board 3, and the stator winding wiring area has a power connection terminal 14 provided on the circuit board 3.

[0071] The signal line terminal 25 is electrically connected to the encoder signal connection terminal 13 via the signal line 27, and the power line terminal 24 is connected to the power connection terminal 14 via the power line 26.

[0072] In this embodiment, the encoder signal connection terminal 13 is used to receive the encoder stator detection signal, and the power supply connection terminal 14 is used to receive the power supply voltage.

[0073] In accordance with the above embodiments, the signal terminal 25 of connector 4 is connected to the encoder signal connection terminal 13 via signal line 27. The power terminal 24 is connected to the power connection terminal 14 via power line 26. Wiring holes 2 are provided on the side wall of the rear cover 6, allowing users to directly connect a single external device or multiple external devices through a single wiring hole 2. This enables single or multiple external devices to interact with the encoder stator via the same connector 4 and output power supply voltage to the stator assembly via the stator winding wiring area. Thus, users can easily connect external devices through the wiring holes 2 and connector 4 without additional wiring or concerns about incorrect connections. It is worth noting that the encoder signal connection terminal 13 and power connection terminal 14 can be arranged near the motor output side and led out from the same connector 4. This not only simplifies the internal wiring of the motor but also reduces the number of connectors 4, making the entire motor structure more compact and easier to install and maintain.

[0074] In one embodiment, reference Figure 2 and Figure 3 The stator assembly includes a stator core 15, a frame 16, and a stator winding 17. The frame 16 is disposed on the outer periphery of the stator core 15 to provide mechanical support. The end of the stator core 15 near the pin 11 extends out of the housing.

[0075] In this embodiment, the housing 5 does not completely enclose the stator core 15, and the exposed length of the stator core 15 can be 1 to 2 mm. It is understood that if the housing 5 completely encloses the stator core 15, additional housing 5 material is required to cover both ends of the stator core 15. By exposing a portion of the stator core 15, this redundant material can be reduced, thereby shortening the overall axial length of the motor. Simultaneously, by exposing the stator core 15, the overall size of the motor becomes more compact. Furthermore, if the housing 5 completely encloses the stator core 15, the pin 11 needs to be led out from inside the housing 5, which increases the axial length of the motor. By exposing the stator core 15, the pin 11 can be led out directly from the exposed portion, reducing the path length of the pin 11 and thus shortening the axial length of the motor. In this embodiment, considering that during the manufacturing of the servo motor, the stator winding needs to be wound multiple times at the bottom of the pin 11, and the pin 11 is relatively long, it may cause structural deformation or skewing of the pin 11, which could lead to misalignment when assembled with the stator winding 17 wiring circuit board 3. If the housing 5 completely encloses the stator core 15, the pin 11 needs to pass through a long distance from inside the housing to reach the external circuit board 3. The longer pin 11 is more susceptible to external forces, leading to bending or damage. Therefore, by exposing the stator core 15, the pin 11 can be led out directly from a shorter distance, reducing the length of the pin 11 and thus reducing the risk of bending.

[0076] Optionally, the frame 16 has multiple pins 11 on the side facing the circuit board 3 for electrical connection with the circuit board 3; the stator winding 17 is wound around the frame 16, and the stator winding 17 is connected to the corresponding pins 11. That is, the pins 11 are electrically connected to the circuit board 3 to ensure that the current can be smoothly transmitted to the stator winding 17 to drive the motor. In order to protect the exposed pins 11 and prevent short circuits and other electrical faults, in this embodiment, the pins are fitted with insulating sleeves, for example, insulating sleeves can be fitted on the exposed pins 11. Common insulating sleeve materials include heat shrink tubing, PVC tubing, etc., which have good insulation performance and durability. That is, after potting, the exposed pins 11 are inserted into the insulating sleeves one by one to ensure that the pins 11 are isolated from the external environment and avoid contact with other metal parts or conductive materials. It should be noted that potting materials, such as epoxy resin and polyurethane, can be used to encapsulate the stator core 15, frame 16 and stator winding 17 as a whole, forming a solid whole and improving mechanical strength and electrical insulation performance.

[0077] In practical applications, the stator winding 17 is wound around the bobbin 16, with the beginning and end of the winding connected to the pins 11 of the bobbin 16. This ensures efficient current transmission to the stator winding 17, simplifies the wiring process, and improves work efficiency. Simultaneously, the stator core 15, bobbin 16, and stator winding 17 are integrally encapsulated, forming a robust whole that improves mechanical strength and electrical insulation performance, extending service life. Furthermore, the exposed pins 11 are fitted with insulating sleeves to prevent short circuits and other electrical faults, enhancing the safety and reliability of the motor operation.

[0078] In one embodiment, the rotor assembly 1 includes a bearing, a rotor core, and a magnet 18. The bearing is mounted on the housing, the rotor core has a shaft and is mounted on the bearing via the shaft, and the magnet 18 is disposed on the rotor core.

[0079] It should be noted that if an air gap exists between the rotor and stator, and the stator core 15 and the rear cover 6 are not concentric, uneven friction will occur during rotor rotation, leading to vibration and noise. This will also accelerate the wear of bearings and other moving parts, shortening the motor's lifespan. In this embodiment, the rotor assembly 1 is first installed together with the rear cover 6, ensuring that the rotor core, magnets 18, and shaft are in the correct relative positions before being installed onto the stator assembly. This makes it easier to achieve overall concentric alignment when the entire rotor assembly 1 is subsequently installed onto the stator assembly. Furthermore, the pins 11 of the stator winding 17 need to pass through the pin holes 12 on the rear cover 6 and connect to the circuit board 3. If the position of the pin holes 12 is inaccurate, the pins 11 will not be able to insert correctly into the pin holes 12 on the circuit board 3, affecting the quality of the electrical connection and potentially causing a short circuit or open circuit. In this embodiment, the rotor assembly 1 is installed with the rear cover 6 first, ensuring the uniqueness and accuracy of the stator wire exit position on the rear cover 6. The pre-assembled rotor assembly 1 and the rear cover 6 are inserted into the stator assembly as a whole, ensuring precise alignment between the stator core 15 and the rear cover 6. After the rotor assembly 1 is installed into the stator, the magnet support 19 is installed on the shaft end, and then the circuit board 3 is aligned with the pin hole 12 and installed in place.

[0080] refer to Figure 4 An insulating cover plate 21 is provided on the side of the circuit board 3 facing away from the stator assembly and the rotor assembly 1.

[0081] In this embodiment, the insulating cover 21 can be made of glass fiber reinforced resin, ceramic materials, etc. After the circuit board 3 is aligned with the pin hole 12 and installed in place, the insulating cover 21 can be fixed to the circuit board 3 with screws or other fasteners to ensure a tight fit and prevent loosening or falling off. The seal between the insulating cover 21 and the circuit board 3 should be checked to ensure there are no gaps, preventing external dust, moisture, and other contaminants from entering the area where the circuit board 3 is located. The insulating cover 21, covering the side of the circuit board 3 facing away from the stator assembly and rotor assembly 1, provides electrical isolation, mechanical protection, and heat dissipation, further improving power density.

[0082] Optionally, the circuit board 3 has a first region 22 and a second region 23, the encoder stator is located in the first region 22, and the stator winding wiring area is located in the second region 23.

[0083] In this embodiment, an isolation region may be provided between the first region 22 and the second region 23. Optionally, the isolation region may be an area without any devices or copper plating to achieve separation between the two. Optionally, the entire isolation region may be covered with or partially covered with grounded copper plating to improve the heat dissipation performance of the circuit board 3, provide a ground plane, and shield electromagnetic interference (EMI). For example, grounded copper plating may be laid around the encoder stator to reduce the influence of electrical signals in the second region 23 on the signals detected by the encoder stator in the first region 22.

[0084] With the above configuration, the stator winding 17 wiring and the encoder stator can be integrated onto the same circuit board 3, reducing the number of circuit boards 3, shrinking the size of the motor, increasing its integration, and lowering the manufacturing cost and assembly complexity of the servo motor. Furthermore, the isolation area configuration improves the issues of heat conduction and electromagnetic interference between the first area 22 and the second area 23, further enhancing the reliability and stability of the motor operation.

[0085] In one embodiment of this application, reference is made to Figure 5 The circuit board 3 has a circular structure, and the second region 23 is arranged around the outside of the first region 22 on the circuit board 3.

[0086] In servo motors, pins 11 are typically arranged radially along the stator core 15 and on the same circumference. Therefore, the circular circuit board 3 has a high structural compatibility with the multiple pins 11, which improves the accuracy and convenience of circuit board 3 installation. With the connection ends of multiple stator windings 17 all arranged along the edge of the circuit board 3, their uniform distribution on the circumference makes it easier to quickly align the connection ends of the stator windings 17 with the pins 11, facilitating installation.

[0087] In this embodiment, the encoder rotor is embedded in the motor shaft. As the motor shaft rotates, the encoder stator on the circuit board 3 receives the output result corresponding to the encoder rotor, so that the encoder stator processes it 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 core 15 is arranged around the motor shaft. Since the motor shaft 10 is located at the center of the motor and the stator core 15 is located on the outside of the motor shaft 10, this application adopts a circular circuit board 3 to adapt to the structure of the servo motor and reduce assembly complexity. At the same time, the first area 22 where the encoder stator is located is used as the inner ring to facilitate the corresponding connection between the encoder stator and the encoder rotor. The second area 23, which has the stator winding wiring area, is located on the outside of the first area 22 to facilitate the corresponding connection between the circuit board 3 and the pins 11. In this way, the assembly complexity is simplified.

[0088] To ensure accurate installation and secure fixation of circuit board 3, in one embodiment, reference is made to... Figure 5 The circuit board 3 includes a positioning hole 28 and a locking hole 29. The positioning hole 28 is used to position the circuit board 3, and the locking hole 29 is used to fix the circuit board 3 to the motor. The positioning hole 28 and locking hole 29 match the positioning hole 28 and locking hole 29 on the rear cover 6.

[0089] In this embodiment, positioning holes 28 and locking holes 29 are distributed along the edge of the circuit board 3, arranged radially. It should be noted that the diameter and position of these positioning holes 28 and locking holes 29 need to be precisely calculated to align with their corresponding positions on the motor rear cover 6. The use of positioning holes 28 ensures that the two-in-one circuit board 3 can be quickly and accurately aligned during installation, thereby reducing the tedious complexity of manual adjustments and greatly improving assembly efficiency. Secondly, multiple locking holes 29 arranged radially are used to securely connect the circuit board 3 to the motor using screws. These locking holes 29 are also located on the edge of the circuit board 3, adjacent to the positioning holes 28. The diameter of the locking holes 29 is suitable for standard screws. Once the positioning holes 28 are aligned with their corresponding positions on the rear cover 6, the circuit board 3 can be firmly fixed to the motor rear cover 6 using screws through these locking holes 29. The number and arrangement of the locking holes 29 ensure that the circuit board 3 is subjected to uniform force, reducing the risk of stress concentration and damage to the circuit board 3 that may be caused by uneven installation.

[0090] The radial positioning holes 28 and locking holes 29 not only enable precise positioning of the circuit board 3, but also ensure its stable connection with the motor, thereby improving assembly efficiency and ensuring the performance of the servo motor.

[0091] To reduce the risk of mutual interference between signal line 27 and power line 26, in one embodiment, signal line 27 is wrapped with a shielding sleeve, and / or power line 26 is wrapped with a shielding sleeve.

[0092] In this embodiment, the shielding sleeve can be made of a metal material, such as copper, tin-plated copper, or aluminum. A metal mesh woven from metal wires can be used as the shielding sleeve, wrapped around the outer surface of the signal line 27 and / or the power line 26. The metal mesh has good flexibility and is suitable for applications requiring frequent bending.

[0093] In this embodiment, the way the shielding sleeve is wrapped also affects its shielding effect and ease of installation. Single-layer, double-layer, or other wrapping methods can be selected according to actual needs.

[0094] The above settings effectively shield against external electromagnetic interference, ensuring the accuracy and stability of signal transmission. Transmitting large currents generates strong electromagnetic radiation; shielding measures effectively reduce this radiation from the power line 26, minimizing interference with other signals.

[0095] The above description is merely an optional embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A servo motor characterized by comprising: The servo motor comprises a housing, a stator assembly, a rotor assembly, an encoder rotor, a circuit board and a connector. The housing comprises a shell and a back cover, an end cover is arranged at an end of the shell facing the back cover, and an axle hole and a pin hole are formed in the end cover. The stator assembly is arranged in the shell, and comprises a stator winding, and a pin of the stator winding extends into the back cover through the pin hole. The rotor assembly is arranged radially inside the stator assembly, and an end of a rotating shaft of the rotor assembly extends into the back cover through the axle hole. The encoder rotor is arranged in the back cover and connected to the end of the rotating shaft. The circuit board comprises an encoder stator and a stator winding wiring area, the encoder stator is arranged opposite to the encoder rotor, and the pin is connected to the stator winding wiring area.

2. The servomotor of claim 1, wherein The connector comprises a signal line terminal and a power line terminal, the signal line terminal is electrically connected to the encoder stator through a signal line, and the signal line terminal is used for outputting a signal detected by the encoder stator; the power line terminal is connected to the stator winding wiring area through a power line, and the power line terminal is used for inputting a power supply voltage.

3. The servomotor of claim 2, wherein A wiring hole is arranged on a side wall of the back cover, and the connector is arranged in the wiring hole.

4. The servomotor of claim 1, wherein A support step is arranged on the back cover, and the circuit board is arranged on the support step.

5. The servomotor of claim 4, wherein, The support step comprises a plurality of positioning holes and locking holes, the positioning holes are used for positioning the circuit board through a first matching part, and the locking holes are used for connecting and fixing the circuit board through a second matching part.

6. The servomotor of claim 5, wherein The first matching part is a spring pin matched with the positioning hole, and the second matching part is a screw matched with the locking hole.

7. The servomotor of claim 1, wherein The stator assembly comprises a stator core and a framework. The framework is arranged on an outer periphery of the stator core, a plurality of pins are arranged on a side of the framework facing the circuit board, the pins are connected to the circuit board through the back cover and are sleeved with insulating sleeves, and a stator winding is wound on the framework and connected to the pins. The back cover comprises a cover body and a mounting part, a through hole is arranged in a middle portion of the cover body, and the mounting part is arranged around the cover body. The encoder stator has an encoder signal connection end arranged on the circuit board, and the stator winding wiring area has a power supply connection end arranged on the circuit board.

8. The servomotor of claim 1, wherein The signal line terminal is electrically connected to the encoder signal connection end through a signal line, and the power line terminal is connected to the power supply connection end through a power line.

9. The servomotor of claim 2, wherein An insulating cover plate is arranged on a side of the circuit board facing away from the stator assembly and the rotor assembly. ​ 10. The servomotor of claim 1, wherein ​

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