Hollow cup motor and robot

Abstract

This application relates to the field of motor assembly technology, and discloses a hollow cup motor and a robot. The hollow cup motor includes a hollow cup motor body, a rear end cover, and an encoder mounting base. The hollow cup motor body has a front end and a rear end. The rear end cover is disposed at the rear end of the hollow cup motor body and has a wire outlet hole. The encoder mounting base is connected to the rear end cover and has a wire through hole. The wire outlet hole and the wire through hole are correspondingly arranged. One of the rear end cover and the encoder mounting base is provided with a positioning element, and the other is provided with a positioning hole. Both the positioning element and the positioning hole are eccentrically arranged, and the positioning hole is adapted to the positioning element to fix the circumferential relative position of the rear end cover and the encoder mounting base. This application precisely aligns the wire outlet hole, reducing errors.

Description

Technical Field

[0001] This application relates to the field of motor assembly technology, specifically to a hollow cup motor and robot. Background Technology

[0002] Coreless motors are widely used in demanding fields such as robotics, precision instruments, medical equipment, and aerospace due to their high efficiency, low inertia, and fast response. In these applications, the enameled wires connecting the encoder inside the motor need to pass through the rear cover of the motor and extend to the encoder cover for connection. The safety and reliability of this wiring directly affect the performance stability and service life of the motor.

[0003] In existing coreless motor structures, the encoder mount and the motor rear end cover are typically separate designs. After axial fixing, their relative circumferential angle (i.e., their position in the circumferential direction) lacks an effective mechanical positioning structure. During production line assembly, operators need to thread the enameled wire through the pre-drilled hole in the rear end cover and guide it to the corresponding interface on the encoder cover. However, since there is no circumferential positioning reference between the encoder mount and the rear end cover, operators must rely entirely on visual inspection and experience to manually adjust the angle of the encoder mount to roughly align the outlet hole on the rear end cover with the inlet hole or wiring path on the encoder cover.

[0004] Because there is no circumferential positioning structure between the encoder mounting base and the rear cover, manual alignment operations are highly uncertain and prone to errors. If the operator fails to accurately align the wire exit hole during assembly, or if a slight misalignment occurs due to vibration during later debugging, transportation, or use, the enameled wire exiting the rear cover is highly susceptible to scraping against the edge of the wire exit hole during subsequent pulling (e.g., when connecting the encoder or tidying the wiring harness) or motor vibration. This scraping can easily damage or even break the insulating varnish layer (enamel coating) on ​​the surface of the enameled wire. Damage to the varnish coating can lead to a potential short circuit risk, while wire breakage directly causes motor malfunction, severely reducing product yield, reliability, and lifespan, and increasing repair costs and after-sales risks. Utility Model Content

[0005] This application provides a hollow cup motor and robot to solve the problem of accurately aligning the wire outlet hole and reducing errors.

[0006] In a first aspect, this application provides a hollow cup motor, comprising:

[0007] The hollow cup motor body has a front end and a rear end;

[0008] A rear end cover is provided at the rear end of the hollow cup motor body, and the rear end cover is provided with a wire outlet hole;

[0009] An encoder mounting base is connected to the rear end cover. The encoder mounting base is provided with a wire through hole, and the wire outlet hole is provided corresponding to the wire through hole. One of the rear end cover and the encoder mounting base is provided with a positioning element, and the other is provided with a positioning hole. The positioning element and the positioning hole are both eccentrically set, and the positioning hole is adapted to the positioning element so that the rear end cover and the encoder mounting base are circumferentially fixed.

[0010] Beneficial effects: The mechanical positioning structure, consisting of positioning elements and positioning holes, aligns the wire outlet hole and the wire passage hole, eliminating deviations caused by manual visual adjustment and preventing the enameled wire from being scratched or broken by the edge of the rear cover due to misalignment. Simultaneously, even when the adhesive is not fully cured or the motor is vibrating, the circumferential positioning structure formed by the positioning elements and positioning holes can prevent relative rotation between the rear cover and the encoder mount, eliminating wire damage caused by micro-displacement.

[0011] In one alternative embodiment, the encoder mounting base includes:

[0012] The outer ring has a boss structure on its inner sidewall, the wire hole is provided on the boss structure, and the inner sidewall of the area enclosed by the boss structure has a limit hole.

[0013] The positioning element is provided on the boss structure.

[0014] Beneficial effects: The boss structure simultaneously supports the wire guide hole and the positioning component, simplifying the assembly process and ensuring spatial consistency between the positioning function and the wiring path. The limiting hole provides an additional fixing point for the encoder body, ensuring that the encoder body is locked in place and preventing displacement.

[0015] In one optional embodiment, the positioning element is configured as a protrusion structure, and the protrusion structure and the boss structure are constructed as an integral structure, and the protrusion structure is adapted to the positioning hole.

[0016] Beneficial effects: The integrated injection molding of the raised structure and the boss structure can eliminate the need for additional parts assembly, improve production efficiency and structural strength, and at the same time, eliminate the risk of loosening of the split positioning parts, which is especially suitable for high-speed vibration scenarios.

[0017] In one optional embodiment, the boss structure is provided with a first through hole, the rear end cover is provided with a second through hole, and the rear end cover and the encoder mounting base are connected by a connector inserted into the first through hole and the second through hole.

[0018] Beneficial effects: Detachable connectors not only achieve circumferential positioning but also reduce subsequent maintenance costs.

[0019] In one alternative implementation, the rear end cover includes:

[0020] The main body and the first connecting part are connected sequentially along the direction from the rear end cover to the encoder mounting base. The first connecting part is configured as a ring structure, and the outer ring is sleeved on the outside of the first connecting part. The positioning hole and the wire outlet hole are both provided on the main body.

[0021] Beneficial effects: The sleeve structure between the outer ring and the first connecting part can enhance the stability of the mating surface and prevent misalignment caused by radial displacement.

[0022] In one optional embodiment, a first notch and a second notch are respectively provided on the inner sidewall of the first connecting part, the first notch communicating with the outlet hole and the second notch communicating with the positioning hole.

[0023] Beneficial effects: The first notch provides a smooth transition channel for the enameled wire, reducing bending stress. The second notch facilitates observation of the insertion status of the positioning component during assembly, improving operational error tolerance and also serving a guiding function.

[0024] In one alternative embodiment, the boss structure is provided with a third notch, the third notch connecting the wire hole and the area enclosed by the boss structure.

[0025] Beneficial effects: The third notch increases the area of ​​the wire hole, making it easier to pass through the enameled wire, and also helps to adapt to the encoder body.

[0026] In one alternative implementation, it further includes:

[0027] An encoder body is disposed within the area enclosed by the boss structure. The encoder body is provided with a lead wire, which includes a first end and a second end opposite to each other. The first end of the lead wire is located on the side of the boss structure away from the rear end cover. The outer ring is provided with a fourth notch, and the second end of the lead wire passes through the fourth notch.

[0028] Beneficial effects: The fourth notch is dedicated to the routing of encoder lead wires, which can realize the radial routing of lead wires and shorten the overall length of the coreless motor.

[0029] In one optional embodiment, a limiting block is provided on the inner sidewall of the outer ring, and the first end of the lead wire is located between the limiting block and the boss structure.

[0030] Beneficial effect: The limit block presses the end of the lead wire tightly, preventing the connection point from loosening due to motor vibration.

[0031] Secondly, this application also provides a robot, including a hollow cup motor.

[0032] Beneficial effects: The zero-damage design of the enameled wire ensures stability under long-term high-frequency operation and reduces downtime for maintenance. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of a hollow cup motor according to an embodiment of this application;

[0035] Figure 2 This is a cross-sectional view of a hollow cup motor according to an embodiment of this application;

[0036] Figure 3 This is a schematic diagram of the structure of the rear end cover in an embodiment of this application;

[0037] Figure 4 This is a schematic diagram of the encoder mounting base in an embodiment of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1. Rear end cover; 101. Outlet hole; 102. Positioning hole; 103. Body; 104. First connecting part; 105. First notch; 106. Second notch; 107. Second connecting part; 2. Encoder mounting base; 201. Through hole; 202. Positioning component; 203. Outer ring; 204. Boss structure; 205. Limiting hole; 206. Third notch; 207. Fourth notch; 208. Limiting block; 3. Encoder body; 301. Lead wire; 4. Front end cover; 5. Shaft; 6. Front bearing; 7. Rear bearing; 8. Rotor; 9. Stator core; 10. Winding; 11. Balance block; 12. Encoder magnet; 13. Enamelled wire. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, 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.

[0041] The following is combined Figures 1 to 4 This describes an embodiment of the present application.

[0042] According to an embodiment of this application, another aspect provides a hollow cup motor, including a hollow cup motor body, a rear end cover 1, and an encoder mounting base 2. The hollow cup motor body has a front end and a rear end. The rear end cover 1 is disposed at the rear end of the hollow cup motor body, and the rear end cover 1 is provided with a wire outlet hole 101. The encoder mounting base 2 is connected to the rear end cover 1, and the encoder mounting base 2 is provided with a wire through hole 201. The wire outlet hole 101 is correspondingly disposed with the wire through hole 201. One of the rear end cover 1 and the encoder mounting base 2 is provided with a positioning member 202, and the other is provided with a positioning hole 102. Both the positioning member 202 and the positioning hole 102 are eccentrically disposed, and the positioning hole 102 is adapted to the positioning member 202 so that the rear end cover 1 and the encoder mounting base 2 are circumferentially fixed.

[0043] It should be noted that, as Figure 1 As shown, the encoder mounting base 2 and the rear cover 1 are common structural components of coreless motors, typically with a circular cross-section. When the rear cover 1 and the encoder mounting base 2 are connected, their axes and centers coincide. By setting off-center positioning parts 202 and positioning holes 102 on both, a circumferential positioning structure is constructed, thus achieving circumferential fixation of the rear cover 1 and the encoder mounting base 2. The front end of the coreless motor is the end with the output shaft, and the rear end is the end with the encoder body 3. The front and rear ends of the coreless motor are axially opposite each other.

[0044] Understandably, the corresponding arrangement of the outlet hole 101 and the through hole 201 allows the enameled wire 13 of the hollow cup motor body to be led out through the two holes, avoiding wear on the enameled wire 13 caused by misalignment of the outlet hole 101 and the through hole 201. Meanwhile, the positioning component 202 and the positioning hole 102 used to circumferentially fix the rear end cover 1 and the encoder mounting base 2 can be respectively provided on the rear end cover 1 and the encoder mounting base 2.

[0045] In this embodiment, the mechanical positioning structure formed by the positioning element 202 and the positioning hole 102 aligns the wire outlet hole 101 and the wire passage hole 201, eliminating deviations caused by manual visual adjustment and preventing the enameled wire 13 from being scratched or broken by the edge of the rear end cover 1 due to misalignment. Simultaneously, even when the adhesive is not cured or the motor vibrates during operation, the circumferential positioning structure formed by the positioning element 202 and the positioning hole 102 can prevent relative rotation between the rear end cover 1 and the encoder mount, eliminating wire damage caused by micro-displacement.

[0046] In one embodiment, such as Figure 4As shown, the encoder mounting base 2 includes an outer ring 203. A boss structure 204 is provided on the inner sidewall of the outer ring 203. A wire-passing hole 201 is provided on the boss structure 204. A limit hole 205 is provided on the inner sidewall of the area enclosed by the boss structure 204. A positioning element 202 is provided on the boss structure 204.

[0047] Understandably, the encoder body 3 passes through the area enclosed by the boss structure 204. The limiting hole 205 can be adapted to the shape of the encoder body 3 and provides a limiting effect on the encoder body 3, preventing it from rotating circumferentially and ensuring the stability of the connection. At the same time, the boss structure 204 can provide support for the encoder body 3.

[0048] Optionally, the limiting hole 205 is set as a rectangular hole, and the area enclosed by the limiting hole 205 and the boss structure 204 is connected, which is the whole hollow area, so as to realize the installation and limiting effect of the encoder body 3.

[0049] Optionally, limiting holes 205 are provided on two opposite sides of the area enclosed by the boss structure 204, that is, the two limiting holes 205 are symmetrically arranged.

[0050] Optionally, multiple limiting holes 205 may be provided at intervals on the inner wall and sidewall of the area enclosed by the boss structure 204.

[0051] In this embodiment, the boss structure 204 simultaneously supports the wire hole 201 and the positioning element 202, simplifying the assembly process and ensuring spatial consistency between the positioning function and the wiring path. The limiting hole 205 provides an additional fixing point for the encoder body 3, securing the encoder body 3 and ensuring that displacement is avoided.

[0052] In one embodiment, such as Figure 4 As shown, the positioning element 202 is configured as a protruding structure, and the protruding structure and the boss structure 204 are constructed as an integral structure, and the protruding structure is adapted to the positioning hole 102.

[0053] It should be noted that the rear cover 1 can be made of metal or injection-molded plastic, the encoder mounting base 2 can be made of injection-molded plastic, and the positioning part 202 can be formed by machining or by injection molding as a one-piece structure.

[0054] Optionally, the protrusion structure can be configured as a semi-circular boss, and the positioning hole 102 can be configured as a semi-circular groove that matches the protrusion structure.

[0055] Optionally, the positioning element 202 and the positioning hole 102 are arranged in pairs, and multiple holes can be arranged at intervals along the circumference of the rear end cover 1.

[0056] In this embodiment, the integral injection molding of the protrusion structure and the boss structure 204 can eliminate the need for additional parts assembly, improve production efficiency and structural strength, and at the same time, eliminate the risk of the separate positioning part 202 coming loose, which is especially suitable for high-speed vibration scenarios.

[0057] In one embodiment, the boss structure 204 is provided with a first through hole, the rear end cover 1 is provided with a second through hole, and the rear end cover 1 and the encoder mounting base 2 are connected by a connector that inserts into the first through hole and the second through hole.

[0058] Alternatively, the connector can be configured as a pin.

[0059] Optionally, both the first through hole and the second through hole can be configured as circular cross-section structures, and can be transitioned or interference-fitted with the plug-in to improve the stability of the overall structure.

[0060] In this embodiment, the detachable connector not only achieves circumferential positioning but also reduces subsequent maintenance costs.

[0061] In one embodiment, such as Figure 3 As shown, the rear cover 1 includes a body part 103 and a first connecting part 104. Along the direction from the rear cover 1 to the encoder mounting base 2, the body part 103 and the first connecting part 104 are connected in sequence. The first connecting part 104 is configured as a ring structure, and the outer ring 203 is sleeved on the outside of the first connecting part 104. The positioning hole 102 and the wire outlet hole 101 are both provided on the body part 103.

[0062] It should be noted that, as Figure 2 As shown, a front cover 4 is provided at the front end of the hollow cup motor body, and a rotating shaft 5 is provided inside the front cover 4. The front cover 4 is a cylindrical structure, and the axis of the rotating shaft 5 coincides with that of the front cover 4, and the rotating shaft 5 passes through the front cover 4. The front cover 4 includes a first end and a second end opposite to each other. The first end of the front cover 4 is rotatably connected to one end of the rotating shaft 5 through a front bearing 6. The rear cover 1 also includes a second connecting part 107, which is connected to the main body 103. The second connecting part 107 and the first connecting part 104 are respectively provided on two opposite sides of the main body 103. The middle part of the second connecting part 107 is rotatably connected to the other end of the rotating shaft 5 through a rear bearing 7. The second connecting part 107 is inserted into the second end of the front cover 4. A rotor 8 and a stator core 9 are arranged sequentially outside the rotating shaft 5. The stator core 9 is connected to the inner wall of the front cover 4, and the rotor 8 is connected to the rotating shaft 5. The winding 10 is arranged on the inner wall of the stator core 9 and has a certain gap with the rotor 8. Two balance blocks 11 are fitted onto the rotating shaft 5, and the two balance blocks 11 are located at both ends of the rotor 8. The rotating shaft 5 passes through the main body 103 and is equipped with an encoder magnet 12. The above-mentioned structures are all commonly used structural components in coreless motors.

[0063] Understandable, such as Figure 2 As shown, the outer diameter of the main body 103 is larger than the outer diameter of the first connecting part 104 and the second connecting part 107, and the outer diameter of the main body 103 is equal to the outer diameter of the front cover 4 and the outer diameter of the outer ring 203, which can ensure the flatness of the outer wall of the hollow cup motor.

[0064] In this embodiment, the sleeve structure between the outer ring 203 and the first connecting part 104 can enhance the stability of the mating surface and prevent misalignment caused by radial displacement.

[0065] In one embodiment, such as Figure 3 As shown, a first notch 105 and a second notch 106 are respectively provided on the inner side wall of the first connecting part 104. The first notch 105 is connected to the wire outlet hole 101, and the second notch 106 is connected to the positioning hole 102.

[0066] It should be noted that, as Figure 3 As shown, the inner walls of the first notch 105 and the second notch 106 are both set as arc-shaped structures, and the curvature is the same as the inner wall curvature of the wire outlet hole 101 and the positioning hole 102, respectively.

[0067] Understandably, the second notch 106 can also serve as an auxiliary positioning feature, meaning that even when the positioning element 202 is not inside the positioning hole 102, it can still achieve solid circumferential positioning.

[0068] In this embodiment, the first notch 105 provides a smooth transition channel for the enameled wire 13, reducing bending stress. The second notch 106 facilitates observation of the insertion status of the positioning component 202 during assembly, improving operational error tolerance, and also serves as a guide.

[0069] In one embodiment, such as Figure 4 As shown, the boss structure 204 is provided with a third notch 206, which connects the area enclosed by the wire hole 201 and the boss structure 204.

[0070] It should be noted that the wire hole 201 is set to correspond to the soldering hole on the PCB board on the encoder body 3.

[0071] In this embodiment, the third notch 206 can increase the area of ​​the wire hole 201, making it easier to pass through the enameled wire 13, and can also adapt to the encoder body 3.

[0072] In one embodiment, such as Figure 2As shown, it also includes an encoder body 3, which is disposed in the area enclosed by the boss structure 204. The encoder body 3 is provided with a lead wire 301, which includes a first end and a second end opposite to each other. The first end of the lead wire 301 is located on the side of the boss structure 204 away from the rear end cover 1. The outer ring 203 is provided with a fourth notch 207, and the second end of the lead wire 301 passes through the fourth notch 207.

[0073] Understandably, the fourth gap 207 is set on the circumferential surface of the outer ring 203 so that the lead wire 301 can be led out from the fourth gap 207.

[0074] It should be noted that the fourth notch 207 is located at the end of the outer ring 203 away from the rear end cover 1.

[0075] In this embodiment, the fourth notch 207 is dedicated to the routing of the encoder lead wire 301, which can realize the radial routing of the lead wire 301 and shorten the overall length of the hollow cup motor.

[0076] In one embodiment, such as Figure 1 As shown, a limiting block 208 is provided on the inner side wall of the outer ring 203, and the first end of the lead wire 301 is located between the limiting block 208 and the boss structure 204.

[0077] In this embodiment, the limiting block 208 presses the end of the lead wire 301 to prevent the connection point from loosening due to motor vibration.

[0078] According to an embodiment of this application, another aspect provides a robot including a hollow cup motor.

[0079] In this embodiment, the zero-damage design of the enameled wire 13 ensures stability under long-term high-frequency operation and reduces downtime for maintenance.

[0080] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A hollow cup motor, characterized in that, include: The hollow cup motor body has a front end and a rear end; The rear end cover (1) is located at the rear end of the hollow cup motor body, and the rear end cover (1) is provided with a wire outlet hole (101); An encoder mounting base (2) is connected to the rear end cover (1). The encoder mounting base (2) is provided with a wire hole (201). The wire outlet hole (101) is provided corresponding to the wire hole (201). One of the rear end cover (1) and the encoder mounting base (2) is provided with a positioning element (202), and the other is provided with a positioning hole (102). The positioning element (202) and the positioning hole (102) are both eccentrically arranged, and the positioning hole (102) is adapted to the positioning element (202) so that the rear end cover (1) and the encoder mounting base (2) are circumferentially fixed.

2. The hollow cup motor according to claim 1, characterized in that, The encoder mounting base (2) includes: The outer ring (203) has a boss structure (204) on its inner side wall. The wire hole (201) is provided on the boss structure (204). The inner side wall of the area enclosed by the boss structure (204) is provided with a limit hole (205). The positioning element (202) is provided on the boss structure (204).

3. The hollow cup motor according to claim 2, characterized in that, The positioning element (202) is configured as a protruding structure, and the protruding structure and the boss structure (204) are constructed as an integral structure, and the protruding structure is adapted to the positioning hole (102).

4. The hollow cup motor according to claim 2, characterized in that, The boss structure (204) is provided with a first through hole, the rear end cover (1) is provided with a second through hole, and the rear end cover (1) and the encoder mounting base (2) are connected by a connector inserted into the first through hole and the second through hole.

5. The hollow cup motor according to claim 2, characterized in that, The rear end cover (1) includes: The main body (103) and the first connecting part (104) are connected in sequence along the direction from the rear end cover (1) to the encoder mounting base (2). The first connecting part (104) is configured as a ring structure, and the outer ring (203) is sleeved on the outside of the first connecting part (104). The positioning hole (102) and the wire outlet hole (101) are both provided on the main body (103).

6. The hollow cup motor according to claim 5, characterized in that, The inner sidewall of the first connecting part (104) is provided with a first notch (105) and a second notch (106). The first notch (105) is connected to the wire outlet (101), and the second notch (106) is connected to the positioning hole (102).

7. The hollow cup motor according to claim 2, characterized in that, The boss structure (204) is provided with a third notch (206), which connects the wire hole (201) and the area enclosed by the boss structure (204).

8. The hollow cup motor according to claim 2, characterized in that, Also includes: The encoder body (3) is disposed within the area enclosed by the boss structure (204). The encoder body (3) is provided with a lead wire (301). The lead wire (301) includes a first end and a second end opposite to each other. The first end of the lead wire (301) is located on the side of the boss structure (204) away from the rear end cover (1). The outer ring (203) is provided with a fourth notch (207). The second end of the lead wire (301) passes through the fourth notch (207).

9. The hollow cup motor according to claim 8, characterized in that, A limiting block (208) is provided on the inner side wall of the outer ring (203), and the first end of the lead wire (301) is located between the limiting block (208) and the boss structure (204).

10. A robot, characterized in that, include: The hollow cup motor according to any one of claims 1 to 9.

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