Large hollow shaft hybrid stepper motor with rotary encoder structure

Abstract

This utility model relates to a large hollow shaft hybrid stepper motor with a rotary encoder structure, characterized by comprising a motor, an encoder, and a rotor shaft; the motor has a first circular hole in its center and is a rectangular structure with chamfered corners; the rotor shaft is a hollow cylindrical structure with a preset length, and is disposed inside the motor through the first circular hole; the encoder is disposed at the bottom of the motor and has a second circular hole that communicates with the first circular hole, and the rotor shaft passes through the second circular hole, suitable for sensing the position and angle of the rotor shaft. This large hollow shaft hybrid stepper motor with rotary encoder structure solves the problem that traditional solid shaft hybrid stepper motors are difficult to flexibly adjust in optical path system integration, resulting in a fixed optical path that cannot adapt to the needs of different application scenarios.

Description

Technical Field

[0001] This utility model relates to the field of precision optical adjustment device technology for industrial automation, and in particular to a structure of a large hollow shaft hybrid stepper motor with a rotary encoder. Background Technology

[0002] In the field of precision optical adjustment devices for industrial automation, traditional motors face bottlenecks in achieving high-precision positioning and rapid response, failing to meet the stringent requirements of high dynamic response in precision optical adjustment scenarios. Their limited repeatability makes it difficult to guarantee accurate adjustment of the optical system. In applications with extremely high precision requirements, such as semiconductor wafer handling and microscopic imaging, this can lead to wafer positioning deviations and blurred imaging, reducing the overall performance and reliability of the equipment and hindering the further development of precision optical adjustment technology in industrial automation. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a large hollow shaft hybrid stepper motor structure with a rotary encoder. It features an innovative hollow shaft design and a high-resolution incremental magnetic encoder with contact-type inductive mounting. This allows for deep integration of the optical path system and the rotary encoder, ensuring a repeatability of ±0.05° while reducing axial space by more than 30%. This effectively solves the problems of spatial interference in optical path transmission, heat dissipation channel reservation, and multi-component integration in traditional solid shaft motors, as well as the inability of fixed optical paths to adapt to diverse application scenarios. This addresses the issues raised in the background technology.

[0004] This utility model provides the following technical solution: a large hollow shaft hybrid stepper motor with rotary encoder structure, including a motor, encoder and rotor shaft;

[0005] The motor has a first circular hole in the center and is a rectangular structure with chamfered corners at the four corners.

[0006] The rotor shaft is a hollow cylindrical structure with a preset length, and the rotor shaft passes through the first circular hole and is set inside the motor.

[0007] The encoder is located at the bottom of the motor and has a second circular hole that is connected to the first circular hole. The rotor shaft passes through the second circular hole, which is suitable for sensing the position and angle of the rotor shaft.

[0008] In one embodiment of the utility model, the encoder includes a decoder PCB board, an encoder code disk, and an interface;

[0009] The decoder PCB board has a plate-like structure. The second circular hole is opened on the decoder PCB board, and an extension extends outward from one point on the decoder PCB board.

[0010] The encoder code disk is mounted on the decoder PCB board. The encoder code disk has a hollow cylindrical structure, and the hollow structure of the encoder code disk is connected to the second circular hole.

[0011] The interface is a cuboid structure and is located on the extension.

[0012] In one embodiment of the utility model, the decoder PCB board has a raised-plate structure, with the extension extending outward from the outside of the motor, and the interface is located on the extension extending outward from the outside of the motor.

[0013] In one embodiment of the utility model, a cover is also included. The cover is a rectangular structure with a groove. The top of the cover is connected to the bottom of the motor. A third circular hole is provided at the bottom of the cover. The third circular hole is connected to the hollow structure of the encoder disk. A through hole is provided on one side of the cover. The top of the through hole passes through the top of the cover.

[0014] In one embodiment of the utility model, the shape of the through hole is the same as the shape of the interface, and the extension penetrates the through hole and is located outside the cover.

[0015] In one embodiment of the utility model, the rotor shaft passes through the third circular hole. The length of the rotor shaft is greater than the sum of the length of the motor and the length of the casing, and the top of the rotor shaft protrudes from the top of the motor, with the protruding portion having a predetermined length.

[0016] In one embodiment of the utility model, bolt holes are provided at the four corners of the motor, and bolt holes are provided at opposite corners of the cover. The cover and the motor are fixedly connected at opposite corners by screws.

[0017] In one embodiment of the utility model, bolt holes are provided at the four corners of the decoder PCB board, and bolt holes matching the bolt holes on the motor are provided on the motor. The decoder PCB board and the motor are fixedly connected by screws.

[0018] The encoder code disk has hexagonal head bolt holes on its side, and the hexagonal head bolts on the side of the encoder code disk fix the encoder code disk to the rotor shaft.

[0019] In one embodiment of the utility model, the encoder is a high-resolution incremental magnetic encoder, and the encoder and the rotor shaft are connected by a contact inductive connection.

[0020] In one embodiment of the utility model, the interface of the decoder PCB board includes a pin header, which is surface-mounted onto the decoder PCB board.

[0021] The beneficial effects of this utility model are:

[0022] By designing the rotor shaft as a hollow cylindrical structure with circular holes penetrating the motor, decoder PCB board, encoder code disk, and housing, and by rationally arranging the encoder and motor components, this invention achieves high-precision position feedback and rapid response through its precise structural design, effectively ensuring the accurate adjustment of the optical system. The hollow design of the rotor shaft provides a channel for optical transmission, avoiding spatial interference. The integrated layout of the encoder and motor, combined with the high-resolution encoder code disk and decoder PCB board, significantly improves repeatability and positioning accuracy. This meets the stringent requirements for high dynamic response in precision optical adjustment scenarios such as semiconductor wafer handling and microscopic imaging, effectively avoiding wafer positioning deviations and imaging blurring, improving the overall performance and reliability of the equipment, and promoting the development of precision optical adjustment technology in industrial automation.

[0023] Other features and aspects of the present invention will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0024] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of the present invention together with the specification and serve to explain the principles of the present invention.

[0025] Figure 1 This shows a rear view of the structure of the large hollow shaft hybrid stepper motor with rotary encoder according to an embodiment of the present invention;

[0026] Figure 2 This diagram shows the main body of the large hollow shaft hybrid stepper motor with rotary encoder structure according to an embodiment of the present invention; Detailed Implementation

[0027] Various exemplary embodiments, features, and aspects of the present invention will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0028] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0031] Furthermore, to better illustrate this utility model, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this utility model can be implemented even without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail, in order to highlight the main points of this utility model.

[0032] The large hollow shaft hybrid stepper motor with rotary encoder structure of this utility model is a high-precision core component of industrial automation. It is applied in the field of precision optical adjustment device technology for industrial automation, and plays a role in realizing the deep integration of optical path system and rotary encoder, ensuring precise adjustment and fast response of optical system, and improving the positioning accuracy and reliability of device.

[0033] Specific references Figures 1-2 As a specific embodiment of the large hollow shaft hybrid stepper motor with rotary encoder structure of this utility model, the large hollow shaft hybrid stepper motor with rotary encoder structure includes: motor 110, encoder 120 and rotor shaft 130. The basic components of the large hollow shaft hybrid stepper motor with rotary encoder structure include motor 110, encoder 120 and rotor shaft 130.

[0034] Furthermore, such as Figure 1 As shown, the structure of the large hollow shaft hybrid stepper motor with rotary encoder mainly consists of motor 110, encoder 120 and rotor shaft 130.

[0035] The motor 110 has a first circular hole in its center. The motor 110 has a rectangular structure with chamfered corners. The first circular hole in the center of the motor 110 provides installation space for the rotor shaft 130 and optical transmission functions, allowing the rotor shaft 130 to pass through the interior of the motor 110 and achieve rotation. The chamfered rectangular structure of the motor 110 avoids safety hazards caused by excessively sharp corners, preventing injuries to operators during handling and installation. Furthermore, this structure is more aesthetically pleasing, and in some integrated installations, the chamfered structure reduces the risk of interference with surrounding components, resulting in a more compact and rational layout.

[0036] Furthermore, such as Figure 1 As shown, the motor 110 has a first circular hole in the center, which provides space for the rotor shaft 130 to pass through. The motor 110 has a rectangular structure with chamfered corners. This structure is relatively regular in appearance, and the chamfers can avoid the risk of bumps caused by sharp corners.

[0037] The rotor shaft 130 is a hollow cylindrical structure with a preset length. It passes through the first circular hole and is positioned inside the motor 110. The cylindrical shape of the rotor shaft 130 matches the first circular hole in the center of the motor 110, facilitating installation and ensuring coaxiality of rotation. Its preset length is determined based on the overall structural design of the motor 110 and actual application requirements to meet the compatibility requirements with other components. The hollow structure is one of the key innovations of this design; it can be used for optical transmission or as a heat dissipation channel, and it also avoids spatial interference problems when integrating multiple components, improving the functionality and applicability of the motor 110.

[0038] Furthermore, such as Figure 1 As shown, the rotor shaft 130 is a hollow cylindrical structure that is installed inside the motor 110 through the first circular hole. In actual operation, the rotor shaft 130 rotates under the action of the magnetic field of the motor 110. Its preset length ensures that it is compatible with the internal structure of the motor 110, and the hollow design can realize functions such as optical path transmission or heat dissipation channel.

[0039] The encoder 120 is located at the bottom of the motor 110, and has a second circular hole that communicates with the first circular hole. The rotor shaft 130 passes through the second circular hole, allowing the encoder to sense the position and angle of the rotor shaft 130. The encoder 120's location at the bottom of the motor 110 is based on overall structural layout considerations, facilitating integration with internal components such as the rotor shaft 130. The second circular hole's communication with the first circular hole and its passage through the rotor shaft 130 enable the encoder 120 to directly sense the position and angle information of the rotor shaft 130. By acquiring this information, the encoder 120 provides feedback to the motor 110 control system, thereby achieving precise control of the motor 110's operating state and meeting the high-precision positioning and angle control requirements of applications such as precision optical adjustment.

[0040] Furthermore, such as Figure 1 As shown, encoder 120 is located at the bottom of motor 110. The second circular hole on encoder 120 communicates with the first circular hole, and rotor shaft 130 passes through the second circular hole. Encoder 120 generates corresponding signals by sensing the position and angle of rotor shaft 130 and feeds them back to the control system.

[0041] In one embodiment of the utility model, the encoder 120 includes a decoder PCB board 121, an encoder code disk 122, and an interface 123.

[0042] The decoder PCB board 121 has a plate-like structure. A second circular hole is formed on the decoder PCB board 121. An extension extends outward from a point on the decoder PCB board 121. The decoder PCB board 121 adopts a raised plate-like structure design, with the second circular hole precisely positioned at its center. The diameter of this hole matches the outer diameter of the rotor shaft 130, ensuring that the rotor shaft 130 can pass through smoothly with uniform clearance, typically controlled within 0.1-0.3mm. The extension extends horizontally outward from one edge of the plate-like body. The extension length is determined based on the overall layout of the motor 110, typically 20-50mm, allowing the interface 123 to effectively extend to the outside of the motor 110, facilitating connection to an external control system.

[0043] The encoder code disk 122 is mounted on the decoder PCB board 121. The encoder code disk 122 is a hollow cylindrical structure, and its hollow structure communicates with the second circular hole. The inner diameter of the encoder code disk 122 is the same as the diameter of the second circular hole, and the concentricity error between the two is controlled within ±0.05mm. The encoder code disk 122 is made of a high-permeability material, with a uniformly distributed precision magnetic grating on its surface. The grating density is determined according to the required resolution, typically 200-1000 lines / revolution. A precision positioning fixture is used to fix the encoder code disk 122 onto the decoder PCB board 121, ensuring accurate relative positioning.

[0044] Interface 123 has a cuboid structure and is located on the extension. Interface 123 uses a standard cuboid pin header, which contains 8-16 signal pins and is firmly fixed to the end of the extension using surface mount soldering. During the soldering process, the soldering temperature and time are strictly controlled to avoid solder buildup affecting the pin spacing accuracy. The pin spacing error does not exceed ±0.02mm.

[0045] In this embodiment, the decoder PCB board 121 has a raised plate-shaped structure, with the extension extending outward from the outside of the motor 110, and the interface 123 is located on the extension extending outward from the outside of the motor 110.

[0046] In this embodiment, a cover 210 is also included. The cover 210 is a rectangular structure with a groove. The top of the cover 210 is connected to the bottom of the motor 110. A third circular hole is formed at the bottom of the cover 210, which communicates with the hollow structure of the encoder code disk 122. A through hole is formed on one side of the cover 210, with the top of the through hole penetrating the top of the cover 210. The cover 210 is made of die-cast aluminum alloy and has a rectangular structure with a groove. The groove depth is 10-15mm, which is used to accommodate the decoder PCB board 121 and the encoder code disk 122. A sealing groove is machined on the top edge of the cover 210, and a rubber sealing ring is embedded in the groove to achieve dustproof and waterproof sealing when connected to the bottom of the motor 110. The third circular hole is opened at the center of the bottom of the cover 210, and its diameter is 0.5-1.0mm larger than the outer diameter of the rotor shaft 130, ensuring that the rotor shaft 130 can rotate freely without interference. The through hole is located on one side of the cover 210. Its shape is perfectly matched with the shape of the interface 123. It is machined by CNC milling, and the dimensional accuracy is controlled within ±0.1mm.

[0047] Furthermore, such as Figure 2 As shown, the top of the housing 210 connects to the bottom of the motor 110, and they fit tightly during actual assembly. The housing 210 has a recessed groove to accommodate components such as the decoder PCB board 121 and the encoder code disk 122, serving to protect and organize the internal components. A third circular hole at the bottom of the housing 210 communicates with the hollow structure of the encoder code disk 122, through which the rotor shaft 130 passes, ensuring that the encoder code disk 122 accurately senses the position and angle of the rotor shaft 130 as it rotates. A through hole on one side of the housing 210, extending through the top of the housing 210, has the same shape as the interface 123, allowing the extension of the decoder PCB board 121 to pass through, enabling the interface 123 to be placed outside the housing 210 for easy connection to an external controller.

[0048] In this embodiment, the shape of the through hole is the same as that of the interface 123. The extension passes through the through hole and is located outside the cover 210. The decoder PCB board 121 passes through the through hole through the extension, so that the interface 123 is completely exposed outside the cover 210.

[0049] In this embodiment, the rotor shaft 130 passes through the third circular hole. The length of the rotor shaft 130 is greater than the sum of the length of the motor 110 and the length of the housing 210, and the top of the rotor shaft 130 protrudes from the top of the motor 110, with the protruding portion having a preset length. First, the rotor shaft 130 is inserted into the first circular hole at the top of the motor 110, and then sequentially passes through the second circular hole of the decoder PCB board 121, the hollow structure of the encoder code disk 122, and the third circular hole of the housing 210, ensuring that the top of the rotor shaft 130 protrudes from the top of the motor 110 by the preset length.

[0050] In this embodiment, bolt holes are provided at the four corners of the motor 110, and bolt holes are provided at opposite corners of the cover 210. The cover 210 and the motor 110 are fixedly connected at opposite corners by screws. The top of the cover 210 is aligned with the bottom of the motor 110, and the cover 210 is fixedly connected by screws through the two bolt holes distributed at opposite corners.

[0051] In this embodiment, bolt holes are formed at the four corners of the decoder PCB board 121, and bolt holes matching the bolt holes on the motor 110 are formed on the motor 110. The decoder PCB board 121 and the motor 110 are fixedly connected by screws. The bolt holes at the four corners of the decoder PCB board 121 have a diameter of φ3.2mm and a positional error of no more than ±0.1mm. Threaded holes matching the decoder PCB board 121 are machined at corresponding positions on the bottom of the motor 110. Screws are used to fix the decoder PCB board 121 and the motor 110, ensuring that the PCB board and the bottom surface of the motor 110 fit tightly without warping or deformation.

[0052] The encoder code disk 122 has hexagonal head bolt holes on its side. These hexagonal head bolts secure the encoder code disk 122 to the rotor shaft 130. Three hexagonal head bolt holes are evenly distributed on the side of the encoder code disk 122, and the distance from the center of each bolt hole to the center of the code disk shaft is controlled within ±0.03mm. By screwing in the hexagonal bolts, the bolt heads press against the outer surface of the rotor shaft 130, generating sufficient frictional torque to ensure that the code disk rotates synchronously with the rotor shaft 130, with an angular displacement transmission error of less than ±0.01°.

[0053] In this embodiment, the encoder 120 is a high-resolution incremental magnetic encoder 120. The encoder 120 and the rotor shaft 130 are connected by a contact inductive connection. The high-resolution incremental magnetic encoder 120 has a resolution of 2000-5000 pulses / revolution, which can be selected according to the actual accuracy requirements. The encoder 120 uses a contact inductive connection and converts the angular displacement change of the rotor shaft 130 into an electrical signal through the magnetoelectric conversion principle. When the rotor shaft 130 rotates, the Hall element on the magnetic grating cutter PCB board 121 on the encoder code disk 122 generates two-phase A and B pulse signals with a phase difference of 90°, and simultaneously outputs a Z-phase zero-position pulse signal for system zeroing and positioning.

[0054] Furthermore, by employing a contact-type induction mounting method between the high-resolution incremental magnetic encoder 120 and the hollow shaft rotor, the axial space is reduced by more than 30% while maintaining a repeatability of ±0.05°. This device is particularly suitable for precision optical adjustment scenarios requiring high dynamic response, such as the resonant cavity optical path collimation system of automated laser welding equipment, the vacuum environment adaptation module of semiconductor wafer handling equipment, and the multi-axis collaborative control system of microscopic imaging equipment.

[0055] In this embodiment, the interface 123 of the decoder PCB board 121 includes a pin header, which is surface-mount soldered onto the decoder PCB board 121. Surface-mount soldering has the advantages of strong soldering, high reliability, and small footprint, ensuring a good electrical connection between the pin header and the decoder PCB board 121 and reducing contact resistance and interference during signal transmission. This design makes the interface 123 more compact, which is beneficial to improving the stability and reliability of the encoder 120 signal output and facilitates quick and accurate connection with an external controller.

[0056] This utility model features a large hollow shaft hybrid stepper motor with a rotary encoder structure. A hollow cylindrical rotor shaft runs through the motor, decoder PCB board, encoder disk, and housing. A high-resolution incremental magnetic encoder is connected to the rotor shaft via contact sensing. All components are fixed using matching bolt holes and screws, and their shapes are adapted for connection, achieving deep integration of the optical system and the rotary encoder. This solves the spatial interference problem of traditional motors, ensures ±0.05° repeatability positioning accuracy, reduces axial space by more than 30%, and meets the high dynamic response requirements of precision optical adjustment scenarios.

[0057] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A structure for a large hollow shaft hybrid stepper motor with a rotary encoder, characterized in that, Includes the motor, encoder, and rotor shaft; The motor has a first circular hole in the center and the motor has a rectangular structure with chamfered corners at the four corners. The rotor shaft is a hollow cylindrical structure with a preset length, and the rotor shaft passes through the first circular hole and is disposed inside the motor. The encoder is located at the bottom of the motor, and a second circular hole is provided on the encoder. The second circular hole is connected to the first circular hole, and the rotor shaft passes through the second circular hole, which is suitable for sensing the position and angle of the rotor shaft.

2. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 1, characterized in that, The encoder includes a decoder PCB board, an encoder code disk, and an interface; The decoder PCB board has a plate-like structure, the second circular hole is opened on the decoder PCB board, and an extension extends outward from one point of the decoder PCB board; The encoder code disk is mounted on the decoder PCB board. The encoder code disk is a hollow cylindrical structure, and the hollow structure of the encoder code disk is connected to the second circular hole. The interface is a cuboid structure and is located on the extension.

3. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 2, characterized in that, The decoder PCB board has a raised-plate structure, the extension extends outward beyond the motor, and the interface is located on the extension extending outward beyond the motor.

4. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 3, characterized in that, It also includes a cover, which is a rectangular structure with a groove. The top of the cover is connected to the bottom of the motor. The bottom of the cover has a third circular hole that communicates with the hollow structure of the encoder disk. A through hole is provided on one side of the cover, and the top of the through hole passes through the top of the cover.

5. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 4, characterized in that, The through hole has the same shape as the interface, and the extension extends through the through hole and is located outside the cover.

6. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 5, characterized in that, The rotor shaft passes through the third circular hole, and the length of the rotor shaft is greater than the sum of the length of the motor and the length of the casing. The top of the rotor shaft protrudes from the top of the motor, and the protruding part has a preset length.

7. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 6, characterized in that, The motor has bolt holes at its four corners, and the cover has bolt holes at its opposite corners. The cover and the motor are fixedly connected at opposite corners by screws.

8. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 7, characterized in that, The decoder PCB board has bolt holes at its four corners, and the motor has bolt holes that match the bolt holes on the decoder PCB board. The decoder PCB board and the motor are fixedly connected by screws. The encoder code disk has hexagonal head bolt holes on its side, and the hexagonal head bolts on the side of the encoder code disk fix the encoder code disk to the rotor shaft.

9. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 8, characterized in that, The encoder is a high-resolution incremental magnetic encoder, and the encoder and the rotor shaft are connected by a contact inductive connection.

10. The structure of the large hollow shaft hybrid stepper motor with rotary encoder according to claim 9, characterized in that, The decoder PCB board interface includes a pin header, which is surface-mount soldered onto the decoder PCB board.

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