Torque motor with built-in encoder

Abstract

The utility model discloses a torque motor with a built-in encoder, and belongs to the field of torque motors, and the torque motor comprises a stator, a rotor assembly rotating relative to the stator, and a PCB fixedly arranged at one end of the stator. The rotor assembly comprises a rotating shaft axially penetrating through the stator and an electromagnet fixedly arranged on the outer side of the rotating shaft in a sleeving mode. The torque motor further comprises an encoder circuit welded on the PCB, and one end of the electromagnet penetrates through one end, close to the PCB, of the stator and at least extends to one surface, far away from the stator, of the PCB. The torque motor is simple in structure and convenient to use, does not need to be additionally provided with redundant components such as a magnet and a plate for detecting a circuit, can effectively shorten the length of the motor, reduces the size and weight of the motor, facilitates the miniaturization and light weight of the motor, and is suitable for popularization and application.

Description

Technical Field

[0001] This application relates to the field of torque motor technology, specifically a torque motor with an encoder built-in. Background Technology

[0002] With the development of technology, motors are being used in various fields, and the requirements for motor performance, size, and weight are becoming increasingly stringent. In robot joint modules, the motor, encoder, and reducer need to be assembled into a single unit to further reduce the size of the joint module.

[0003] Chinese invention patent application CN112260487A discloses a novel magnetic encoder motor. It includes an output shaft, a stator for driving the output shaft to rotate, a magnet mechanism that rotates with the output shaft to provide a detection magnetic field, a detection mechanism mounted on the side of the magnet mechanism away from the output shaft for detecting changes in the magnetic field, and a cable connected to the detection mechanism for transmitting the signal. The output shaft is a hollow cylindrical structure. The magnet mechanism includes a first magnet fixedly mounted on the outer wall of one end of the output shaft and a second magnet mounted on the stator that rotates with the first magnet. The detection mechanism includes a control board mounted on the side of the first magnet away from the output shaft and a magnetic sensor mounted on the control board at a position corresponding to the second magnet.

[0004] This magnetic encoder motor can integrate a magnetic encoder onto the motor and detect magnetic field changes when the output shaft rotates. However, by adding a magnet mechanism to the output shaft of the motor and fixing a detection mechanism corresponding to the magnet mechanism on one side of the output shaft, the length of the motor will inevitably be increased, thereby increasing the overall size and weight of the motor, which is not conducive to the miniaturization and lightweighting of robot joint modules.

[0005] Therefore, this application provides a torque motor built into an encoder to solve the above problems. Utility Model Content

[0006] This application provides a torque motor built into an encoder, which aims to solve the problem mentioned in the background art that the existing magnetic encoder motors have magnets installed on the motor output shaft and a detection mechanism for each motor, resulting in a large motor size, which is not conducive to the miniaturization and lightweighting of robot joint modules.

[0007] To achieve the above objectives, this application provides the following technical solution: a torque motor with an integrated encoder, comprising a stator, a rotor assembly rotating relative to the stator, and a PCB board fixedly disposed at one end of the stator. The rotor assembly includes a shaft axially penetrating the stator and an electromagnet fixedly sleeved on the outside of the shaft. The torque motor further includes an encoder circuit soldered to the PCB board, with one end of the electromagnet penetrating the stator near the PCB board and extending at least to the side of the PCB board away from the stator. In this way, by soldering the encoder circuit onto the motor's PCB board, the motor's speed and shaft position are detected by detecting changes in the magnetic field signal of the electromagnet driven by the rotating shaft. This eliminates the need for additional magnets and an encoder motherboard, effectively shortening the motor's length and thus reducing its size and weight.

[0008] Preferably, the electromagnet includes a plurality of permanent magnets arranged in a ring array on the outer side of the rotating shaft.

[0009] Preferably, the torque motor further includes a housing fixedly mounted on the outside of the stator, rotor assembly and the PCB board, and the rotating shaft axially passes through the housing.

[0010] Preferably, the housing includes a sleeve fixedly fitted on one end of the stator and an end cover disposed on one end of the sleeve for sealing the stator, rotor assembly and PCB board inside the sleeve, and the rotating shaft is rotatably connected to the sleeve and the end cover.

[0011] Preferably, a first bearing and a second bearing are respectively provided on the rotating shaft at positions corresponding to the housing and the end cover.

[0012] Preferably, the end cap has a through slot for passing wires.

[0013] This torque motor has a simple structure and is easy to use. The encoder detection circuit is soldered to the motor's PCB board to detect the magnetic field change signal of the motor's rotor electromagnet. There is no need to add extra magnets or detection circuit boards and other unnecessary components. It can effectively detect the speed and position of the motor shaft while shortening the length, reducing the size and weight of the motor. This is conducive to the miniaturization and lightweighting of the motor and is suitable for widespread use. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a torque motor built into an encoder;

[0015] Figure 2 This is an exploded structural diagram of a torque motor built into an encoder.

[0016] Figure 3This is a cross-sectional view of a torque motor built into an encoder.

[0017] In the picture:

[0018] 1. Stator;

[0019] 2. Rotor assembly;

[0020] 21. Shaft;

[0021] 211. First bearing; 212. Second bearing;

[0022] 22. Electromagnet;

[0023] 3. PCB board;

[0024] 4. Encoder circuit;

[0025] 5. Shell;

[0026] 51. Shell;

[0027] 52. End cap;

[0028] 521. Threading channel. Detailed Implementation

[0029] 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 some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] Example 1

[0031] This embodiment provides a torque motor built into the encoder, such as... Figure 1 , Figure 2 and Figure 3 As shown, the torque motor includes a stator 1, a rotor assembly 2 that rotates relative to the stator 1, and a PCB board 3 fixedly mounted on one end of the stator 1. The rotor assembly 2 includes a rotating shaft 21 that axially passes through the stator 1 and an electromagnet 22 fixedly sleeved on the outside of the rotating shaft 21. To reduce the length and overall size of the motor, unlike existing technologies, the torque motor also includes an encoder detection circuit 4 soldered to the PCB board 3. One end of the electromagnet 22 passes through the stator 1 near the PCB board 3 and extends at least to the side of the PCB board 3 away from the stator 1.

[0032] When the shaft 21 rotates, the electromagnet 22 rotates with it. The encoder detection circuit 4 detects the change in magnetic field signal during shaft rotation, thereby detecting the motor speed and shaft position. Integrating the encoder detection circuit 4 onto the motor's PCB board 3 to detect the change in magnetic field signal during electromagnet 22 rotation eliminates the need for additional magnets and detection circuit support boards, effectively shortening the motor length and reducing its weight, which is beneficial for the miniaturization and weight reduction of robot joint modules.

[0033] To further improve detection accuracy, the electromagnet 22 includes several permanent magnets arranged in a ring array on the outside of the rotating shaft 21. It is understood that the more magnetic poles there are, the higher the detection accuracy; the arrangement of multiple permanent magnets effectively increases the number of magnetic poles, thereby improving detection accuracy.

[0034] Example 2

[0035] To protect the stator 1, rotor assembly 2, PCB board 3, and encoder detection circuit 4, unlike in embodiment 1, as follows... Figure 1 , Figure 2 and Figure 3 As shown, the torque motor also includes a housing 5 that is fixedly mounted on the outside of the stator 1, rotor assembly 2 and PCB board 3, and the rotating shaft 21 axially passes through the housing 5.

[0036] Specifically, the housing 5 includes a sleeve 51 fixedly fitted onto one end of the stator 1 and an end cap 52 disposed at one end of the sleeve 51 for enclosing the stator 1, rotor assembly 2, and PCB board 3 within the sleeve 51. The rotating shaft 21 is rotatably connected to the sleeve 51 and the end cap 52. To enable the rotating shaft 21 to rotate on the housing 5 and reduce the impact of contact friction between the housing 5 and the rotating shaft 21 on its rotation, a first bearing 211 and a second bearing 212 are respectively disposed on the rotating shaft 21 at positions corresponding to the sleeve 51 and the end cap 52.

[0037] It should be noted that the PCB board 3 needs to be connected to the outside to realize the power supply and signal transmission of the PCB board 3 and the encoder detection circuit 4. In order to facilitate the wire passing and enable the PCB board 4 to be connected to the external control system, the end cover 52 is provided with a through slot 521 for wire passing.

[0038] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A torque motor with built-in encoder, comprising a stator (1), a rotor assembly (2) rotating relative to the stator (1), and a PCB board (3) fixedly disposed at one end of the stator (1), wherein the rotor assembly (2) comprises a rotating shaft (21) axially passing through the stator (1) and an electromagnet (22) fixedly sleeved on the outside of the rotating shaft (21); Its features are: The torque motor also includes an encoder circuit (4) soldered on the PCB board (3), and one end of the electromagnet (22) passes through the stator (1) near the PCB board (3) and extends at least to the side of the PCB board (3) away from the stator (1).

2. The torque motor built into the encoder according to claim 1, characterized in that: The electromagnet (22) includes several permanent magnets arranged in a ring array on the outside of the rotating shaft (21).

3. The torque motor built into the encoder according to claim 1 or 2, characterized in that: The torque motor also includes a housing (5) that is fixedly mounted on the outside of the stator (1), rotor assembly (2) and PCB board (3), and the rotating shaft (21) passes through the housing (5) axially.

4. The torque motor built into the encoder according to claim 3, characterized in that: The housing (5) includes a sleeve (51) fixedly fitted on one end of the stator (1) and an end cover (52) disposed on one end of the sleeve (51) for sealing the stator (1), rotor assembly (2) and PCB board (3) inside the sleeve (51). The rotating shaft (21) is rotatably connected to the sleeve (51) and the end cover (52).

5. The torque motor built into the encoder according to claim 3, characterized in that: The rotating shaft (21) is provided with a first bearing (211) and a second bearing (212) at positions corresponding to the sleeve (51) and the end cover (52), respectively.

6. The torque motor built into the encoder according to claim 4, characterized in that: The end cap (52) has a through slot (521) for passing wires.

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