A type of motor with built-in magnet encoder

Abstract

This utility model discloses a magnet encoder-embedded motor, including a rotor and a stator; the rotor is provided with a position sensing element; the stator is provided with a control circuit board, and the control circuit board is electrically connected to a position detection element for use in conjunction with the position sensing element; the position detection element detects the rotor's operating parameters by triggering the position sensing element. Through the above structural arrangement, in use, the position sensing element on the rotor is electrically connected to the position detection element on the control circuit board, which can detect the rotor's speed, position and / or direction and other operating parameters in real time, realize the accurate detection and control of the motor's movement position, improve the motor's response accuracy and operating stability, reduce position errors, and enhance system reliability.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and in particular to a motor with a built-in magnet encoder. Background Technology

[0002] With the rapid development of automation control, intelligent equipment, and robotics, motors play a core role in motion control systems. To achieve high-precision speed regulation and positioning of motors, real-time detection and feedback of the motor rotor's motion state (such as angle, speed, and position) are typically required. Existing technologies primarily employ position detection methods including optical encoders, magnetic encoders, and Hall effect sensors. Optical encoders offer high detection accuracy, but they are highly sensitive to the installation environment and susceptible to dust, oil, and vibration, leading to unstable signals and insufficient reliability. While traditional magnetic encoders offer strong anti-interference capabilities and good environmental adaptability, they are mostly externally mounted, which can complicate the overall motor structure, lengthen signal transmission paths, increase errors and assembly difficulty, and reduce system reliability and response speed.

[0003] Therefore, how to effectively integrate magnetic encoders with the internal structure of motors to achieve high-precision detection and real-time control of rotor motion while ensuring the compact structure and stable operation of the motor has become a technical problem that urgently needs to be solved in this field. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, this utility model provides a motor with a built-in magnet encoder.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] This utility model provides a magnet encoder-embedded motor, including a rotor and a stator; the rotor is provided with a position sensing element; the stator is provided with a control circuit board, and the control circuit board is electrically connected to a position detection element for use in conjunction with the position sensing element; the position detection element detects the rotor's operating parameters by triggering the position sensing element.

[0007] Preferably, the position sensing element is a magnet and the position detection element is a magnetic encoder. The magnetic encoder measures the phase angle or rotational speed of the rotor by detecting the change in the magnetic field generated by the magnet. The magnet and the magnetic encoder work together to measure the angle or rotational speed of the rotor in real time and accurately, thereby achieving high-precision monitoring and control of the rotor's motion state, improving the accuracy of motor position control and dynamic response performance, and reducing position detection errors.

[0008] Preferably, the rotor includes a cover made of metal material and a rotor core made of magnetic material. The rotor core is arranged in a ring on the cover. The cover and the rotor core are sleeved on the outside of the stator and rotate relative to the stator. The metal material is aluminum or iron. The metal cover and the ring magnetic rotor core are combined to form a rotor structure, so that the rotor has sufficient mechanical strength and magnetic permeability, realizes stable rotor rotation and efficient electromagnetic coupling, and improves motor operating efficiency and durability.

[0009] Preferably, the rotor includes a cover made of non-metallic material and a rotor core made of magnetic material. The rotor core is arranged in a ring on the cover. The cover and the rotor core are sleeved on the outside of the stator and rotate relative to the stator. The non-metallic material is plastic. The non-metallic material cover reduces the overall weight of the rotor while maintaining the magnetic properties of the rotor core, realizing a lightweight design of the motor, improving the motor response speed, reducing energy consumption, and reducing the power loss caused by rotational inertia.

[0010] Preferably, the position sensing element is disposed on the cover, and the cover is provided with a blind slot for accommodating the position sensing element. By providing a dedicated slot on the cover to accommodate the position sensing element, it is possible to ensure that the position sensing element of the magnet is fixed reliably and positioned accurately, thereby realizing the stability and repeatability of the magnetic encoder position detection and improving the detection reliability during motor operation.

[0011] Preferably, an end cap is provided at the end of the cover away from the stator. The position sensing element is mounted on the cover via the end cap. The end cap has a blind groove for accommodating the position sensing element. The position sensing element is fixed by the end cap, and the receiving groove is provided on the end cap, so that the position sensing element of the magnet is easy to install and remains coaxial with the rotor rotation axis, so as to realize the accurate measurement of the rotor angle by the position detection element, while ensuring the safety and reliability of the installation process.

[0012] Preferably, the stator includes a stator inner column and a stator core. The stator core surrounds the stator inner column and has multiple fins arranged in a circular array around the central axis of the stator core. A coil is wound around the outer side of each fin. The motor also includes a limiting component. The stator inner column and the stator core are fixedly mounted on the limiting component. The control circuit board is mounted on the stator inner column and is located at one end of the stator inner column near the end cover along its length. The position detection element is located on the control circuit board near the end cover. The stator inner column and the stator core are fixed to the limiting component to ensure the stability of the stator structure. The control circuit board is positioned close to the end cover so that the position detection element is adjacent to the position sensing element, achieving high-precision detection of the rotor position while ensuring a compact overall motor structure and high signal acquisition reliability.

[0013] Preferably, the cover is rotatably mounted on the inner column of the stator. The inner column of the stator has heat dissipation holes that penetrate through it and are arranged along the central axis of the inner column of the stator. The control circuit board covers one end of the opening of the heat dissipation hole. The inner column of the stator is provided with bearing components. The cover is rotatably mounted relative to the inner column of the stator via the bearing components. The bearing components enable the cover to rotate with low friction on the inner column of the stator, so that the rotor rotates smoothly, reducing energy loss and mechanical wear, improving the service life and efficiency of the motor, and ensuring that the position detection accuracy is not affected by mechanical vibration.

[0014] Preferably, the position sensing element and the position detection element are arranged coaxially, and both the position sensing element and the position detection element are located on the rotation axis of the cover. The coaxial arrangement of the position sensing element and the position detection element makes the magnetic field change detected by the magnetic encoder consistent with the actual rotation angle of the rotor, thereby achieving high position measurement accuracy and small error, and improving the accuracy and reliability of motor control.

[0015] Preferably, heat dissipation holes are provided on the inner column of the stator. The heat dissipation holes extend through both ends of the inner column along the axial direction of the inner column. The heat dissipation holes extend through both ends of the inner column of the stator and can be used for wiring, reducing the weight of the stator, realizing flexible circuit wiring and lightweight motor design, while maintaining the structural strength of the stator and improving the practicality and reliability of the overall motor design.

[0016] The beneficial effects of this utility model are as follows: With the above-described structural design, when in use, a position sensing element is installed on the rotor and electrically connected to the position detection element on the control circuit board, which can detect the rotor's motion state in real time, realize accurate detection and control of the motor's motion position, improve the motor's response accuracy and operational stability, reduce position errors, and enhance system reliability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the following description of the embodiments will be briefly introduced. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is one of the schematic diagrams of the motor structure of this utility model;

[0020] Figure 2 This is the second schematic diagram of the motor structure of this utility model;

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of the motor according to this utility model;

[0022] Figure 4 This is one of the exploded views of the motor of this utility model;

[0023] Figure 5 This is the second exploded view of the motor of this utility model, showing the limiting component;

[0024] Figure 6 This is a schematic diagram of the stator structure of this utility model;

[0025] Figure 7 This is a schematic diagram of the abutment structure of this utility model.

[0026] The reference numerals in the figures include:

[0027] 1. Rotor; 2. Stator; 3. Position sensing element; 4. Control circuit board; 5. Limiting element; 6. Bearing element; 11. Cover; 111. First slot; 12. Rotor core; 13. End cover; 21. Stator inner column; 211. Heat dissipation hole; 212. Stopping element; 22. Stator core; 41. Position detection element. Detailed Implementation

[0028] Reference Figures 1 to 7 A magnet encoder-embedded motor includes a rotor 1 and a stator 2, with the rotor 1 rotatably mounted relative to the stator 2; a position sensing element 3 is provided on the rotor 1; a control circuit board 4 is provided on the stator, and the control circuit board 4 is electrically connected to a position detection element 41 for use in conjunction with the position sensing element 3; the position detection element 41 detects the operating parameters of the rotor 1 by triggering the position sensing element 3.

[0029] With the above structural setup, when in use, the rotor 1 is equipped with a position sensing element 3 and electrically connected to the position detection element 41 on the control circuit board 4. This enables real-time detection of the rotor 1's motion state, achieving precise detection and control of the motor's motion position, improving the motor's response accuracy and operational stability, reducing position errors, and enhancing system reliability.

[0030] Specifically, in addition to the position detection element 41, the control circuit board 4 also has a power supply circuit and a signal processing circuit. The signal processing circuit is used to convert the raw signal output by the position detection element 41 (i.e., the magnetic encoder) into a digital signal or a pulse signal, and output it to the motor controller via the interface. This will not be elaborated on here.

[0031] Specifically, the power supply circuit on control circuit board 4 is responsible for powering the entire system. It receives external power input and converts it into a suitable operating voltage for position detection element 41 and signal processing circuit through components such as voltage regulator chips. The power supply circuit provides a stable power supply to each part of the circuit through the wires on the printed control circuit board.

[0032] When the motor is powered on, the coils on stator 2 generate a magnetic field, which interacts with the rotor core 12, driving rotor 1 to rotate. The position sensing element 3 (magnet) on rotor 1 generates a constantly changing magnetic field as the rotor rotates. The position detection element 41 (magnetic encoder) on control circuit board 4 detects these magnetic field changes in real time and converts them into raw electrical signals. These raw electrical signals are transmitted to the signal processing circuit, where they are amplified, filtered, and converted from analog to digital, forming digital or pulse signals that can be used for control. These signals are output to the motor controller via an interface. The motor controller determines the rotor's motion state (such as angle and rotational speed) based on the received signals and adjusts the motor's input current or voltage according to a preset control strategy, achieving precise control of the motor's speed, direction, and position.

[0033] Specifically, the position sensing element 3 is a magnet, and the position detection element 41 is a magnetic encoder. The magnetic encoder measures the phase angle or rotational speed of the rotor 1 by detecting the change in the magnetic field generated by the magnet. The magnet and the magnetic encoder work together to measure the angle or rotational speed of the rotor 1 in real time and accurately, thereby achieving high-precision monitoring and control of the rotor 1's motion state, improving the accuracy of motor position control and dynamic response performance, and reducing position detection errors.

[0034] Specifically, the surface of the magnet is provided with a magnetic shielding layer, which covers the surface of the magnet that is not close to the magnetic encoder.

[0035] Specifically, the magnetic shielding layer can be made of nanocrystalline alloy material with a thickness of 0.3mm, covering the non-detection surface of the magnet.

[0036] Specifically, in addition to the combination of magnets and magnetic encoders, the position sensing element 3 and the position detection element 41 can also employ the following various technical solutions to detect the rotor's motion state:

[0037] 1. Optical encoder solution

[0038] Position sensing element 3: a code disk with alternating light-transmitting and opaque sections (usually mounted on the rotor).

[0039] Position detection element 41: photoelectric sensor (including light-emitting diode and photosensitive receiver, mounted on the stator).

[0040] Principle: As the encoder disk rotates with the rotor, the light-transmitting and opaque parts alternately block the light. The photoelectric sensor converts the light signal into an electrical signal, thereby detecting the angle and speed of the rotor.

[0041] 2. Hall effect sensor solution

[0042] Position sensing element 3: permanent magnet (mounted on the rotor).

[0043] Position detection element 41: Hall effect sensor (mounted on the stator).

[0044] Principle: When the permanent magnet rotates with the rotor, the Hall effect sensor detects the change in the magnetic field and outputs a voltage signal related to the rotor position.

[0045] 3. Rotary Transformer Scheme

[0046] Position sensing element 3: Rotor section of the rotary transformer (coaxially mounted with the motor rotor).

[0047] Position detection element 41: Stator section of the rotary transformer (mounted on the stator).

[0048] Principle: Rotary transformers convert the mechanical position of the rotor into an electrical signal output through the principle of electromagnetic induction.

[0049] 4. Inductive encoder solution

[0050] Position sensing element 3: Metal target (mounted on the rotor).

[0051] Position detection element 41: Inductive sensor (mounted on the stator).

[0052] Principle: When the metal target rotates with the rotor, the inductive sensor detects the change in inductance caused by the target, thereby determining the position of the rotor.

[0053] 5. Capacitive encoder solution

[0054] Position sensing element 3: Capacitor plate (mounted on the rotor).

[0055] Position detection element 41: Capacitive sensor (mounted on the stator).

[0056] Principle: When the capacitor plates rotate with the rotor, the capacitive sensor detects the change in capacitance value, thereby determining the position of the rotor.

[0057] Specifically, in the first embodiment, the rotor 1 includes a cover 11 made of metal material and a rotor core 12 made of magnetic material. The rotor core 12 is arranged in a ring on the cover 11. The cover 11 and the rotor core 12 are sleeved on the outside of the stator 2 and rotate relative to the stator 2. The metal material is aluminum or iron, etc. The metal material cover 11 and the ring magnetic material rotor core 12 are combined to form the rotor 1 structure, so that the rotor 1 has sufficient mechanical strength and magnetic permeability, realizes stable rotation of the rotor 1 and efficient electromagnetic coupling, and improves the motor operating efficiency and durability.

[0058] Specifically, in another embodiment, the rotor 1 includes a cover 11 made of non-metallic material and a rotor core 12 made of magnetic material. The rotor core 12 is arranged in a ring on the cover 11. The cover 11 and the rotor core 12 are sleeved on the outside of the stator 2 and rotate relative to the stator 2. The non-metallic material is plastic or other materials. The non-metallic material cover 11 reduces the overall weight of the rotor 1 while maintaining the magnetic properties of the rotor core 12, realizing a lightweight design of the motor, improving the motor response speed, reducing energy consumption, and reducing the power loss caused by rotational inertia.

[0059] Specifically, in the metal cover embodiment, the rotor core 12 can adopt a gear-shaped toothed structure (corresponding to...). Figure 3 , Figure 5 By increasing the surface area of ​​the magnetic poles, the magnetic flux efficiency is improved, and the gap between the tooth tip circle diameter and the inner diameter of stator 2 is controlled at 0.5-1.2mm to ensure electromagnetic coupling stability.

[0060] Specifically, in the first embodiment, the position sensing element 3 is disposed on the cover 11, and the cover 11 is provided with a blind groove for accommodating the position sensing element 3. By providing a dedicated groove on the cover 11 to accommodate the position sensing element 3, it is possible to ensure that the position sensing element 3 of the magnet is fixed reliably and positioned accurately, thereby realizing the stability and repeatability of the magnetic encoder position detection and improving the detection reliability during motor operation.

[0061] Specifically, in another embodiment, an end cap 13 is provided on the end of the cover 11 away from the stator 2. The position sensing element 3 is disposed on the cover 11 via the end cap 13. The end cap 13 is provided with a blind groove for accommodating the position sensing element 3. The position sensing element 3 is fixed by the end cap 13, and the receiving groove is provided on the end cap, so that the position sensing element 3 of the magnet is easy to install and remains coaxial with the rotor rotation axis, so as to realize the accurate measurement of the rotor 1 angle by the position detection element 41, while ensuring the safety and reliability of the installation process.

[0062] Specifically, in this embodiment, the position sensing element 3 is embedded in the groove at the center of the inner end face of the cover 11 and is fixed by adhesive or snap-fit. The position sensing element 3 is a magnet, and the free end of the magnet protrudes out of the inner end face of the cover 11 and is close to the position detection element 41. The position detection element 41 is a magnetic encoder.

[0063] Specifically, in this embodiment, the cover 11 is approximately bowl-shaped, and the cover 11 is composed of a ring and its bottom surface.

[0064] Specifically, the end cap 13 and the cover body 11 form an I-shaped structure. The end cap 13 is used to wrap the external wires. In this embodiment, it is used in a gym.

[0065] Of course, both the cover 11 and the end cap 13 are provided with mounting slots, allowing users to adaptively install external workpieces as needed.

[0066] Specifically, the stator 2 includes an inner stator column 21 and a stator core 22. The stator core 22 is arranged around the inner stator column 21 and has multiple fins arranged in a ring around the central axis of the stator core 22. A coil is wound around the outer side of each fin. The motor also includes a limiting member 5. The inner stator column 21 and the stator core 22 are fixedly mounted on the limiting member 5. The control circuit board 4 is mounted on the inner stator column 21 and is located at one end of the inner stator column 21 near the end cover 13 along its length. The position detection element 41 is located on the control circuit board 4 near the end cover 13. The inner stator column 21 and the stator core 22 are fixed to the limiting member 5 to ensure the stability of the stator 2 structure. The control circuit board 4 is located near the end cover 13 so that the position detection element 41 is close to the position sensing element 3, realizing high-precision detection of the rotor 1 position, while ensuring that the overall structure of the motor is compact and the signal acquisition is highly reliable.

[0067] Specifically, the stator core 22 can be manufactured using a segmented silicon steel sheet lamination process.

[0068] Specifically, the cover 11 is rotatably mounted on the inner stator column 21 (i.e., the cover 11 is rotatably mounted relative to the inner stator column 21, and the cover 11 is rotatably mounted on the inner stator column 21 via the bearing component 6). The inner stator column 21 is provided with a heat dissipation hole 211 that penetrates the inner stator column 21. The heat dissipation hole 211 is arranged along the central axis of the inner stator column 21. The control circuit board 4 covers the opening at one end of the heat dissipation hole 211. The inner stator column 21 is provided with a bearing component 6. The cover 11 is rotatably mounted relative to the inner stator column 21 via the bearing component 6. The bearing component 6 enables the cover 11 to rotate on the inner stator column 21 with low friction, so that the rotor 1 rotates smoothly, reduces energy loss and mechanical wear, improves the service life and efficiency of the motor, and ensures that the position detection accuracy is not affected by mechanical vibration.

[0069] Specifically, a miniature heat sink can also be provided on the control circuit board 4.

[0070] Specifically, the heat dissipation hole 211 extends through both ends of the stator inner column 21 along the axial direction of the stator inner column 21. The heat dissipation hole 211 extends through both ends of the stator inner column 21 and can be used for wiring, reducing the weight of the stator, realizing flexible circuit wiring and lightweight motor design, while maintaining the structural strength of the stator and improving the practicality and reliability of the overall motor design.

[0071] Specifically, the inner column 21 of the stator is provided with a stop 212, which is used to limit the axial movement range of the bearing component 6.

[0072] Specifically, in this embodiment, the stopper 212 is located on the stator inner column 21 at the end away from the control circuit board 4.

[0073] Specifically, the inner column 21 of the stator is provided with a groove for accommodating the stop member 212.

[0074] Specifically, there are two bearing components 6. The cover 11 has a side plate, a central shaft located at the center of the side plate, multiple reinforcing ribs connecting the central shaft and the side plate, multiple through holes on the side plate, and an outer ring on the edge of the side plate. The multiple through holes are arranged around the central shaft, and the outer ring is arranged around the central shaft. The central shaft has a first shaft hole and a second shaft hole, which are located at both ends of the central shaft. One end of the first bearing component 6 is located in the first shaft hole, and the other end of the first bearing component 6 protrudes out of the central shaft. The second bearing component 6 is inserted into the second shaft hole. The stator inner column 21 is detachably provided with a stopper for blocking the second bearing component 6 in the second shaft hole. The central shaft is provided with a retaining ring for preventing the two bearing components 6 from approaching each other.

[0075] Specifically, the position sensing element 3 and the position detection element 41 are arranged coaxially, and both the position sensing element 3 and the position detection element 41 are located on the rotation axis of the cover 11. The coaxial arrangement of the position sensing element 3 and the position detection element 41 makes the magnetic field change detected by the magnetic encoder consistent with the actual rotation angle of the rotor 1, thereby achieving high position measurement accuracy and small error, and improving the accuracy and reliability of motor control.

[0076] Specifically, the position sensing element 3 is arranged in a cylindrical shape.

[0077] Specifically, the control circuit board 4 is arranged in a circular shape.

[0078] Specifically, the end of the cover 11 near the end cap 13 has an arc-shaped first groove 111, which is approximately cashew nut shaped.

[0079] Specifically, multiple first grooves 111 are provided, and the multiple first grooves 111 are arranged in a circular distribution.

[0080] The above description provides one or more embodiments in conjunction with specific content, but it is not intended that the specific implementation of this utility model is limited to these descriptions. Any methods or structures that are similar to or identical to those of this utility model, or any technical deductions or substitutions made based on the concept of this utility model, should be considered within the scope of protection of this utility model.

Claims

1. A magnet encoder-embedded motor, comprising a rotor (1) and a stator (2), wherein the rotor (1) is rotatably disposed relative to the stator (2); characterized in that: The rotor (1) is provided with a position sensing element (3); the stator is provided with a control circuit board (4), which is electrically connected to a position detection element (41) for use in conjunction with the position sensing element (3); the position detection element (41) is used to detect the operating parameters of the rotor (1) by triggering the position sensing element (3).

2. The magnet encoder-embedded motor according to claim 1, characterized in that: The position sensing element (3) is a magnet, and the position detection element (41) is a magnetic encoder. The magnetic encoder measures the phase angle or rotational speed of the rotor (1) by detecting the change in the magnetic field generated by the magnet.

3. A magnet encoder-embedded motor according to claim 1, characterized in that: The rotor (1) includes a cover (11) made of metal material and a rotor core (12) made of magnetic material. The rotor core (12) is arranged in a ring on the cover (11). The cover (11) and the rotor core (12) are sleeved on the outside of the stator (2) and rotate relative to the stator (2). The metal material is aluminum or iron.

4. A magnet encoder-embedded motor according to claim 1, characterized in that: The rotor (1) includes a cover (11) made of non-metallic material and a rotor core (12) made of magnetic material. The rotor core (12) is arranged in a ring on the cover (11). The cover (11) and the rotor core (12) are sleeved on the outside of the stator (2) and rotate relative to the stator (2). The non-metallic material is plastic.

5. A magnet encoder-embedded motor according to claim 3 or 4, characterized in that: The position sensing element (3) is disposed on the cover (11), and the cover (11) is provided with a blind groove for accommodating the position sensing element (3).

6. A magnet encoder-embedded motor according to claim 3 or 4, characterized in that: An end cap (13) is provided on the end of the cover (11) away from the stator (2). The position sensing element (3) is provided on the cover (11) via the end cap (13). The end cap (13) is provided with a blind groove for accommodating the position sensing element (3).

7. A magnet encoder-embedded motor according to claim 1, characterized in that: The stator (2) includes a stator inner column (21) and a stator core (22). The stator core (22) is arranged around the stator inner column (21). The stator core (22) has multiple fins. The multiple fins are arranged in a ring array around the central axis of the stator core (22). A coil is wound around the outer side of each fin. The motor also includes a limiting member (5). The stator inner column (21) and the stator core (22) are fixedly arranged on the limiting member (5). The control circuit board (4) is arranged on the stator inner column (21). The control circuit board (4) is located at one end of the stator inner column (21) in the length direction of the stator inner column (21) near the end cover (13). The position detection element (41) is located on the side of the control circuit board (4) near the end cover (13).

8. A magnet encoder-embedded motor according to claim 7, characterized in that: The cover (11) is rotatably mounted on the inner column (21) of the stator. The inner column (21) of the stator is provided with a heat dissipation hole (211) that passes through the inner column (21). The heat dissipation hole (211) is arranged along the central axis of the inner column (21). The control circuit board (4) covers the opening at one end of the heat dissipation hole (211). The inner column (21) of the stator is provided with a bearing (6). The cover (11) is rotatably mounted relative to the inner column (21) of the stator via the bearing (6).

9. A magnet encoder-embedded motor according to claim 8, characterized in that: There are two bearing components (6). The cover (11) has a side plate, a central shaft located at the center of the side plate, multiple reinforcing ribs connecting the central shaft and the side plate, multiple through holes on the side plate, and an outer ring on the edge of the side plate. The multiple through holes are arranged around the central shaft, and the outer ring is arranged around the central shaft. The central shaft has a first shaft hole and a second shaft hole, which are located at both ends of the central shaft. One end of the first bearing component (6) is located in the first shaft hole, and the other end of the first bearing component (6) protrudes out of the central shaft. The second bearing component (6) is inserted into the second shaft hole. The stator inner column (21) is detachably provided with a stopper for blocking the second bearing component (6) in the second shaft hole. The central shaft is provided with a retaining ring for blocking the two bearing components (6) from approaching each other.

10. A magnet encoder-embedded motor according to claim 3 or 4, characterized in that: The position sensing element (3) and the position detection element (41) are arranged coaxially, and both the position sensing element (3) and the position detection element (41) are located on the rotation axis of the cover (11).

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