A servo motor

Abstract

The utility model relates to a kind of servo motor.It solves the technical problems such as the size of existing servo motor being too large etc., including motor casing, rotator assembly with motor shaft is rotationally arranged in motor casing, motor casing circumferential inner side has stator body located at the circumferential outer side of rotator assembly, the front end cover of one end of motor casing is formed output end with motor shaft one end passing out, the rear end cover of the other end of motor casing is passed out with motor shaft other end and extends to the inner side of mounting skeleton, encoder assembly is installed on mounting skeleton and encoder casing is fixedly sleeved on the outside of mounting skeleton, stator body is six-slot four-pole stator, stator body one end is connected with stator circuit board by pin fixing structure and stator circuit board is connected with encoder assembly by threading hole on rear end cover, and mounting skeleton is provided with wire-out structure located at the outside of rear end cover.Advantages are that the wire-winding gap of six-slot four-pole stator and stator body can reduce cogging force, ensure high-precision machining.

Description

Technical Field

[0001] This utility model belongs to the field of servo motor equipment technology, and specifically relates to a servo motor. Background Technology

[0002] Servo motors, as drive devices capable of precisely controlling speed, position, and torque, have been widely used in numerous fields such as industrial automation, robotics, precision instrument manufacturing, and aerospace due to their excellent dynamic response performance, high-precision control characteristics, and stable operation. However, the current structural design of servo motors, in pursuit of high precision and high power density, often results in complex structures and difficulty in effectively reducing their size. This makes servo motors unsuitable for small-size applications and hinders the high-precision machining of small-sized servo motors. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned problems by providing a servo motor.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A servo motor includes a motor housing with open ends. A rotor assembly with a motor shaft is rotatably mounted inside the motor housing. A stator body is located circumferentially outside the rotor assembly on the inner side of the motor housing. One end of the motor shaft passes through a front end cover at one end of the motor housing to form an output end. The other end of the motor shaft passes through a rear end cover at the other end of the motor housing and extends to the inner side of a mounting frame. An encoder assembly is mounted on the mounting frame, and an encoder housing is fixedly fitted onto the outer side of the mounting frame. The stator body is a six-slot, four-pole stator. The stator body is close to... One end of the rear end cover is connected to the stator circuit board via a pin fixing structure, and the stator circuit board is connected to the encoder assembly via a wire hole on the rear end cover. The mounting frame has a wire exit structure located on the outside of the rear end cover. The encoder assembly can measure the magnetic pole position and the servo motor's rotation angle and speed. The encoder housing can protect the encoder assembly, and the pin fixing structure can reduce the space occupied by the stator circuit board, shorten the distance between the stator circuit board and the stator winding, and improve the control accuracy of the servo motor. The wire hole and wire exit structure can facilitate the constraint and guidance of the wire harness, and facilitate the repair and maintenance of the servo motor.

[0005] In the aforementioned servo motor, the stator body has six arc-shaped and evenly distributed stator slots on its outer circumferential side, and all of the stator slots extend along the axial direction of the stator body.

[0006] In the aforementioned servo motor, the stator body has a plurality of stator laminations and adjacent stator laminations are connected by a rivetless structure. The rivetless structure can improve the working efficiency of the servo motor, as well as improve the overall strength of the stator body and extend its service life.

[0007] In the aforementioned servo motor, the stator circuit board is annular and the motor shaft passes through the center of the stator circuit board. The stator circuit board and the stator body are coaxially arranged, which facilitates the installation of the stator circuit board and reduces the occupied area, making it easier to install the servo motor compactly.

[0008] In the aforementioned servo motor, the pin fixing structure includes several pins disposed on the outer circumferential side of one end of the stator body. The outer circumferential side of the stator circuit board has several slots corresponding to the pins one by one, and the pins are inserted and fixed in the slots. The pins and slots facilitate the stator circuit board to be fixed on the stator body by welding, ensuring the installation stability of the stator circuit board and improving the control accuracy of the servo motor.

[0009] In the aforementioned servo motor, the pins are arranged in a ring-shaped, uniform distribution and are all positioned along the axial direction of the stator body, which can improve the connection stability between the stator body and the stator circuit board.

[0010] In the aforementioned servo motor, the mounting frame and the rear end cover are integrated into a single structure. One side of the mounting frame does not extend beyond one side of the rear end cover, while the other side of the mounting frame extends beyond the other side of the rear end cover. The wire hole is arc-shaped and passes through the rear end cover and the mounting frame in sequence. A motor shaft hole is provided between the mounting frame and the rear end cover for the motor shaft to pass through. A bearing is provided between the motor shaft hole and the motor shaft. The motor shaft hole facilitates the placement of the motor shaft, and the bearing improves the rotation efficiency of the motor shaft and ensures rotation accuracy.

[0011] In the aforementioned servo motor, the encoder assembly includes a power circuit board and an encoder circuit board stacked adjacent to each other. The power circuit board and the encoder circuit board are connected to a mounting frame via a circuit board fixing structure. The circuit board fixing structure includes two first mounting posts located on one side of the mounting frame extending beyond the rear end cover, and a second mounting post located on the other side of the mounting frame. Both the first and second mounting posts extend axially along the inner side of the encoder housing. The ends of the second mounting post and at least one first mounting post are provided with circuit board mounting bolts for fixing the power circuit board and the encoder circuit board. The circuit board mounting bolts facilitate the fixed connection of the power circuit board and the encoder circuit board to the mounting frame via the first and second mounting posts, ensuring connection stability.

[0012] In the aforementioned servo motor, the cable exit structure includes exit holes through which power lines connected to the power circuit board and encoder lines connected to the encoder circuit board pass. These exit holes are formed between two first mounting posts. The motor housing is rectangular cylindrical, and the encoder housing is rectangular box-shaped. One end of the encoder housing is closed, and the other end is open. The open end of the encoder housing is closed by a mounting frame. The exit holes are located inside the open end of the encoder housing, and the outer side of the encoder housing is provided with several fixing bolts connected to the sides of the first and / or second mounting posts. The exit holes facilitate the constraint and guidance of the power lines and encoder lines, simplifying future maintenance and repair, and improving maintenance efficiency. The open end allows the encoder housing to be fitted onto the encoder assembly, and the fixing bolts ensure the connection stability between the encoder housing and the mounting frame.

[0013] In the aforementioned servo motor, the stator body has six equidistant winding slots on its inner circumferential side. An insulating frame is provided inside each winding slot, and a winding notch is provided on one side of the insulating frame that communicates with the winding slot. The winding notch can reduce magnetic field abrupt changes and reduce cogging force. The winding notch facilitates the placement of the stator winding in the winding slot, and the stator winding is placed on the insulating frame. The insulating frame can isolate the stator winding from the stator body, thereby blocking the conductive path and preventing grounding short circuits.

[0014] Compared with existing technologies, the advantages of this utility model are:

[0015] 1. The stator body is a six-slot four-pole stator, which can reduce cogging force, and the winding notch of the stator body can further reduce cogging force, ensuring high-precision machining of the servo motor.

[0016] 2. The pin-fixing structure reduces the space occupied by the stator circuit board, facilitates the compact design of the servo motor, and improves the control accuracy of the servo motor.

[0017] 3. The stator body with a rivet-free structure can reduce the space occupied, improve the overall strength, and extend the service life. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a schematic diagram of the stator body in this utility model.

[0020] Figure 3 This is a schematic diagram of the pin fixing structure in this utility model.

[0021] Figure 4 This is a cross-sectional view of the stator body in this utility model.

[0022] Figure 5 This is an exploded view of the structure of the mounting frame in this utility model.

[0023] In the diagram: 1. Motor housing; 11. Front cover; 12. Rear cover; 121. Wire hole; 121. Rotor assembly; 2. Motor shaft; 21. Stator body; 3. Stator slot; 31. Stator lamination; 32. Winding slot; 33. Insulating frame; 34. Winding notch; 35. Mounting frame; 4. Motor shaft hole; 41. Bearing; 42. Encoder assembly; 5. Power circuit board; 51. Encoder circuit board; 52. Encoder housing; 6. Open end; 61. Fixing bolt; 62. Pin fixing structure; 7. Pin; 71. Slot; 72. Stator circuit board; 8. Outgoing wire structure; 9. Outgoing wire hole; 91. Circuit board fixing structure; 10. First mounting post; 101. Second mounting post; 102. Circuit board mounting bolt; 103. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1 , Figure 2 , Figure 5 As shown, this servo motor includes a motor housing 1 with open ends. A rotor assembly 2 with a motor shaft 21 is rotatably mounted inside the motor housing 1. A stator body 3 is located circumferentially outward from the rotor assembly 2 on the inner side of the motor housing 1. One end of the motor shaft 21 extends through a front end cover 11 at one end of the motor housing 1 to form an output end, and the other end of the motor shaft 21 extends through a rear end cover 12 at the other end of the motor housing 1 and extends into the inner side of a mounting frame 4. An encoder assembly 5 is mounted on the mounting frame 4, and an encoder housing 6 is fixedly fitted onto the outer side of the mounting frame 4. The length between the front end cover 11 and the encoder housing 6 is 69mm to 109mm. The stator body 3 is a six-slot, four-pole stator. The six-slot, four-pole stator reduces cogging force and ensures the servo motor's... For machining accuracy, the stator body 3 is connected to the stator circuit board 8 at one end near the rear end cover 12 via a pin fixing structure 7, and the stator circuit board 8 is connected to the encoder assembly 5 via a wire hole 121 on the rear end cover 12. The mounting frame 4 is provided with a wire exit structure 9 located outside the rear end cover 12. The encoder assembly 5 can measure the magnetic pole position and the servo motor rotation angle and speed. The encoder housing 6 can protect the encoder assembly 5. The pin fixing structure 7 can reduce the space occupied by the stator circuit board 8, shorten the distance between the stator circuit board 8 and the stator winding, and improve the control accuracy of the servo motor. The wire hole 121 and the wire exit structure 9 can facilitate the constraint and guidance of the wire harness, which is convenient for the maintenance and repair of the servo motor.

[0026] Specifically, the stator body 3 has six arc-shaped and evenly distributed stator slots 31 on the outer periphery, and all stator slots 31 extend along the axial direction of the stator body 3.

[0027] The stator body 3 has several stator laminations 32 and adjacent stator laminations 32 are connected by a rivetless structure. The rivetless structure can improve the working efficiency of the servo motor and improve the overall strength and service life of the stator body 3.

[0028] like Figure 2 , Figure 3 As shown, the stator circuit board 8 is ring-shaped and the motor shaft 21 passes through the center of the stator circuit board 8. The stator circuit board 8 and the stator body 3 are coaxially arranged, which facilitates the installation of the stator circuit board 8 and reduces the area occupied, making it convenient for the compact installation of the servo motor.

[0029] Furthermore, the pin fixing structure 7 includes several pins 71 disposed on the outer circumference of one end of the stator body 3. The stator circuit board 8 has several slots 72 on the outer circumference that correspond one-to-one with the pins 71, and the pins 71 are inserted and fixed in the slots 72. The pins 71 and the slots 72 facilitate the stator circuit board 8 to be fixed on the stator body 3 by welding, ensuring the installation stability of the stator circuit board 8 and improving the control accuracy of the servo motor.

[0030] The pins 71 are arranged in a ring and are uniformly distributed, and all pins 71 are arranged along the axial direction of the stator body 3, which can improve the connection stability between the stator body 3 and the stator circuit board 8.

[0031] Combination Figure 1 , Figure 2 , Figure 5 As shown, the mounting frame 4 and the rear cover 12 are integrated into one structure. One side of the mounting frame 4 does not extend beyond one side of the rear cover 12, and the other side of the mounting frame 4 extends beyond the other side of the rear cover 12. The wire hole 121 is arc-shaped and passes through the rear cover 12 and the mounting frame 4 in sequence. There is a motor shaft hole 41 between the mounting frame 4 and the rear cover 12 for the motor shaft 21 to pass through. A bearing 42 is provided between the motor shaft hole 41 and the motor shaft 21. The motor shaft hole 41 facilitates the placement of the motor shaft 21, and the bearing 42 improves the rotation efficiency of the motor shaft 21 and ensures rotation accuracy.

[0032] The encoder assembly 5 includes a power circuit board 51 and an encoder circuit board 52 stacked adjacent to each other. The power circuit board 51 and the encoder circuit board 52 are connected to the mounting frame 4 through a circuit board fixing structure 10. The circuit board fixing structure 10 includes two first mounting posts 101 located on one side of the mounting frame 4 that extends beyond the rear end cover 12, and a second mounting post 102 located on the other side of the mounting frame 4. Both the first mounting post 101 and the second mounting post 102 extend axially along the inner side of the encoder housing 6. The ends of the second mounting post 102 and at least one first mounting post 101 are provided with circuit board mounting bolts 103 for fixing the power circuit board 51 and the encoder circuit board 52. The circuit board mounting bolts 103 facilitate the fixed connection of the power circuit board 51 and the encoder circuit board 52 to the mounting frame 4 through the first mounting posts 101 and the second mounting posts 102, and ensure the stability of the connection.

[0033] Specifically, the outgoing structure 9 includes an outgoing hole 91 through which the power line connected to the power circuit board 51 and the encoder line connected to the encoder circuit board 52 pass. The outgoing hole 91 is formed between two first mounting posts 101. The motor housing 1 is rectangular cylindrical, and the encoder housing 6 is rectangular box-shaped. One end of the encoder housing 6 is closed and the other end is open, and the open end 61 of the encoder housing 6 is closed by the mounting frame 4. The outgoing hole 91 is located inside the open end 61 of the encoder housing 6, and the outer side of the encoder housing 6 is provided with several fixing bolts 62 that are connected to the sides of the first mounting post 101 and / or the second mounting post 102. The outgoing hole 91 facilitates the constraint and guidance of the power line and the encoder line, making it easier to maintain and repair in the future and improving maintenance efficiency. The open end 61 facilitates the mounting of the encoder housing 6 onto the encoder assembly 5, and the fixing bolts 62 ensure the connection stability between the encoder housing 6 and the mounting frame 4.

[0034] Combination Figure 3 , Figure 4 As shown, the stator body 3 has six equidistant winding slots 33 arranged on its inner circumference. An insulating frame 34 is provided inside the winding slots 33. A winding notch 35 connected to the winding slots 33 is provided on one side of the insulating frame 34. The winding notch 35 can reduce magnetic field abrupt changes and reduce cogging force. The winding notch 35 can facilitate the stator winding to be placed in the winding slots 33 and the stator winding to be placed on the insulating frame 34. The insulating frame 34 can block the stator winding from the stator body 3, block the conductive path, and avoid grounding short circuit.

[0035] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0036] Although this document frequently uses terms such as motor housing 1, front cover 11, rear cover 12, wire hole 121, rotor assembly 2, motor shaft 21, stator body 3, stator slot 31, stator lamination 32, winding slot 33, insulating frame 34, winding notch 35, mounting frame 4, motor shaft hole 41, bearing 42, encoder assembly 5, power circuit board 51, encoder circuit board 52, encoder housing 6, open end 61, fixing bolt 62, pin fixing structure 7, pin 71, slot 72, stator circuit board 8, wire exit structure 9, wire exit hole 91, circuit board fixing structure 10, first mounting post 101, second mounting post 102, circuit board mounting bolt 103, etc., the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A servo motor, comprising a motor housing (1) open at both ends, wherein a rotor assembly (2) having a motor shaft (21) is rotatably disposed within the motor housing (1), wherein a stator body (3) is located circumferentially outward of the rotor assembly (2) on the inner side of the motor housing (1), one end of the motor shaft (21) extends through a front end cover (11) at one end of the motor housing (1) to form an output end, and the other end of the motor shaft (21) extends through a rear end cover (12) at the other end of the motor housing (1) and extends to the inner side of a mounting frame (4), wherein an encoder assembly (5) is mounted on the mounting frame (4) and an encoder housing (6) is fixedly sleeved on the outer side of the mounting frame (4), characterized in that, The stator body (3) is a six-slot four-pole stator. The end of the stator body (3) near the rear end cover (12) is connected to the stator circuit board (8) through the pin fixing structure (7). The stator circuit board (8) is connected to the encoder assembly (5) through the wire hole (121) on the rear end cover (12). The mounting frame (4) is provided with a wire outlet structure (9) located outside the rear end cover (12).

2. A servo motor according to claim 1, characterized in that, The stator body (3) has six arc-shaped and evenly distributed stator slots (31) on its outer circumference, and the stator slots (31) are all extended along the axial direction of the stator body (3).

3. A servo motor according to claim 1, characterized in that, The stator body (3) has a plurality of stator laminations (32) and adjacent stator laminations (32) are connected by a rivetless structure.

4. A servo motor according to claim 1, characterized in that, The stator circuit board (8) is annular and the motor shaft (21) passes through the center of the stator circuit board (8), and the stator circuit board (8) and the stator body (3) are coaxially arranged.

5. A servo motor according to claim 4, characterized in that, The pin fixing structure (7) includes a number of pins (71) arranged on the outer side of one end of the stator body (3). The stator circuit board (8) has a number of slots (72) on the outer side that correspond one-to-one with the pins (71), and the pins (71) are inserted and fixed in the slots (72).

6. A servo motor according to claim 5, characterized in that, The pins (71) are arranged in a ring and are uniformly distributed, and all pins (71) are arranged along the axial direction of the stator body (3).

7. A servo motor according to claim 1, characterized in that, The mounting frame (4) and the rear cover (12) are integrated into one structure. One side of the mounting frame (4) does not extend beyond one side of the rear cover (12), and the other side of the mounting frame (4) extends beyond the other side of the rear cover (12). The wire hole (121) is arc-shaped and passes through the rear cover (12) and the mounting frame (4) in sequence. A motor shaft hole (41) through which the motor shaft (21) passes is provided between the mounting frame (4) and the rear cover (12), and a bearing (42) is provided between the motor shaft hole (41) and the motor shaft (21).

8. A servo motor according to claim 1, characterized in that, The encoder assembly (5) includes a power circuit board (51) and an encoder circuit board (52) stacked adjacent to each other. The power circuit board (51) and the encoder circuit board (52) are connected to the mounting frame (4) through a circuit board fixing structure (10). The circuit board fixing structure (10) includes two first mounting posts (101) on one side of the mounting frame (4) that extend beyond the rear end cover (12). The mounting frame (4) has a second mounting post (102) on the other side. The first mounting post (101) and the second mounting post (102) both extend axially along the inner side of the encoder housing (6). The ends of the second mounting post (102) and at least one first mounting post (101) are provided with circuit board mounting bolts (103) for fixing the power circuit board (51) and the encoder circuit board (52).

9. A servo motor according to claim 8, characterized in that, The cable outlet structure (9) includes a cable outlet hole (91) through which the power line connected to the power circuit board (51) and the encoder line connected to the encoder circuit board (52) pass. The cable outlet hole (91) is formed between two first mounting posts (101). The motor housing (1) is rectangular cylindrical, and the encoder housing (6) is rectangular box-shaped. One end of the encoder housing (6) is closed and the other end is open. The open end (61) of the encoder housing (6) is closed by the mounting frame (4). The cable outlet hole (91) is located inside the open end (61) of the encoder housing (6). The outer side of the encoder housing (6) is provided with several fixing bolts (62) connected to the side of the first mounting post (101) and / or the second mounting post (102).

10. A servo motor according to claim 1, characterized in that, The stator body (3) has six equally spaced winding grooves (33) on its inner circumference. An insulating frame (34) is provided inside the winding grooves (33). A winding notch (35) communicating with the winding grooves (33) is provided on one side of the insulating frame (34).

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