A series integrated motor device

Abstract

The utility model belongs to motor technical field discloses a kind of series integrated motor device, the series integrated motor device includes multiple motor units, each motor unit includes motor body and control assembly, motor body includes motor stator and motor rotor, motor stator includes casing and stator assembly, stator assembly is installed in casing, motor rotor is rotatably connected in casing, control assembly includes encoder, control panel, shell and cover plate, shell is installed in casing, cover plate is installed in shell and is enclosed with shell to form mounting space, encoder is set in mounting space and is installed in casing, control panel is installed in mounting space, in multiple motor units, the output connecting line of one of adjacent two motor units is connected with the input connector of another. The utility model provides a kind of series integrated motor device, and the degree of integration is high, and multi-motor synchronous control precision is high, and synchronous response speed is fast.

Description

Technical Field

[0001] This utility model relates to the field of motor technology, and in particular to a series integrated motor device. Background Technology

[0002] With the rapid development of new energy vehicles, industrial automation, and intelligent equipment, higher demands are being placed on the integration, space utilization, and power output efficiency of drive systems. In traditional motor systems, the motor body and control components such as controllers and sensors are mostly designed separately, requiring complex wiring harnesses for connection. This results in large system size, cumbersome assembly processes, and significant issues with signal transmission delay and energy loss. Especially in multi-motor collaborative drive scenarios (such as electric vehicle powertrains and robot joint drives), the arrangement of multiple independent motors further exacerbates the challenges of space occupation and control synchronization, hindering the development of equipment towards miniaturization and high efficiency.

[0003] In related technologies, some integrated motor solutions attempt to integrate the motor and controller, with the controller integrated into the second end cover of the motor. The control components are connected to the motor through an independent housing, but most are limited to a single motor structure and do not involve the collaborative design of multiple motors in series. Some modular motor units use dual-shaft extended-end motors connected in series with the motors through couplings, sharing a base and top cover to achieve integrated integration of multiple motor units. However, each unit is still controlled independently, lacking a unified series integration architecture, resulting in low accuracy of multi-motor synchronous control and slow synchronous response speed.

[0004] Therefore, there is an urgent need to develop a highly integrated drive device that supports multiple motors connected in series to overcome the shortcomings of existing technologies. Utility Model Content

[0005] The purpose of this invention is to provide a series integrated motor device with high integration, high precision in multi-motor synchronous control, and fast synchronous response speed.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A series-connected integrated motor device is provided, comprising multiple motor units, each motor unit including a motor body and a control component mounted on the motor body;

[0008] The motor body includes a motor stator and a motor rotor. The motor stator includes a housing and a stator assembly, and the stator assembly is installed inside the housing. The motor rotor is rotatably connected to the housing.

[0009] The control components include an encoder, a control board, a housing, and a cover plate. The housing is mounted on the machine casing, and the cover plate is mounted on the housing and together with the housing to form an installation space. The encoder is located within the installation space and is mounted on the machine casing. The control board is also mounted within the installation space. The stator assembly is connected to the control board via a power line. The encoder is connected to the encoding port of the control board via a connecting line. The housing is equipped with input connectors and output connecting lines. Among the multiple motor units, the output connecting line of one of two adjacent motor units is connected to the input connector of the other.

[0010] As one possible implementation of the above-mentioned series integrated motor device, the housing includes a housing body and a first end cover and a second end cover. The first end cover and the second end cover are installed on both sides of the housing body along a first direction, and the two ends of the motor rotor are respectively rotatably connected to the first end cover and the second end cover.

[0011] As one possible implementation of the above-mentioned series integrated motor device, multiple stator assemblies are provided, and the multiple stator assemblies are distributed along a preset direction and enclosed to form a clearance space. The motor rotor is located in the clearance space, and the preset direction is the circumferential direction of the motor rotor.

[0012] As one possible implementation of the above-mentioned series integrated motor device, the second end cover is provided with a first wire passage hole for the power line of the stator assembly to pass through.

[0013] As one possible implementation of the above-mentioned series integrated motor device, the housing is provided with a second wire passage hole, which is arranged opposite to the first wire passage hole, so that the power line of the stator assembly passes through the first wire passage hole and the second wire passage hole in sequence and is connected to the control board.

[0014] And / or, the housing is provided with a third wire pass hole for the encoder's connection wire to pass through.

[0015] As one possible implementation of the aforementioned series-connected integrated motor device, the series-connected integrated motor device also includes a heat sink, which is disposed on the side of the control board opposite to the second end cover.

[0016] As one possible implementation of the aforementioned series-connected integrated motor device, the heat sink is a heat-dissipating silicone pad.

[0017] As one possible implementation of the above-mentioned series integrated motor device, the thickness of the heat sink is greater than the distance between the control plate and the cover plate, and the heat sink can be sandwiched between the control plate and the cover plate.

[0018] As one possible implementation of the aforementioned series-connected integrated motor device, the series-connected integrated motor device also includes heat dissipation fins, which are disposed on the outside of the cover plate.

[0019] As one possible implementation of the aforementioned series-connected integrated motor device, the series-connected integrated motor device also includes an indicator light, which is installed in the housing and electrically connected to the control board to indicate the operating status of the corresponding motor unit.

[0020] The beneficial effects of this utility model are:

[0021] This utility model provides a series-connected integrated motor device that deeply integrates the motor body and control components. The stator assembly is directly built into the housing, and core components such as the control board and encoder are enclosed in a sealed installation space through the housing and cover plate. The power lines and encoder connection lines are all routed orderly inside, avoiding cluttered external wiring. Multiple motor units are connected in series through a standardized interface of "input connector-output connection line," eliminating the need for external control cabinets, complex wiring terminals, and independent mounting brackets required by traditional multi-motor systems. The overall size is reduced by more than 40% compared to a split structure.

[0022] By integrating the control board and encoder at close range, the encoder is directly mounted on the housing and connected to the control board's encoding port via a short-distance connection cable. This eliminates signal delay and interference caused by long transmission lines in traditional split systems, keeping encoder feedback signal transmission delay within 5μs. Each motor unit's control board is directly connected to the next-level input connector via output cables, forming a distributed synchronous control network. Combined with a dedicated synchronization algorithm, this improves the position synchronization accuracy and response speed of multiple series-connected motor units. Furthermore, the device supports independent replacement of individual motor units, eliminating the need to disassemble the entire series structure during maintenance, significantly improving maintenance efficiency. Attached Figure Description

[0023] Figure 1 This is a first structural schematic diagram of the series integrated motor device provided in this embodiment of the utility model;

[0024] Figure 2 This is a second structural schematic diagram of the series integrated motor device provided in this embodiment of the utility model;

[0025] Figure 3 This is a first structural schematic diagram of the motor body provided in this embodiment of the utility model;

[0026] Figure 4 This is a schematic diagram of the second structure of the motor body provided in this embodiment of the utility model;

[0027] Figure 5 This is a first structural schematic diagram of the control component provided in this embodiment of the utility model;

[0028] Figure 6 This is a second structural schematic diagram of the control component provided in this embodiment of the utility model.

[0029] In the diagram: 1. Motor body; 11. Housing; 111. Housing body; 112. First end cover; 113. Second end cover; 12. Stator assembly; 13. Power line; 14. Motor rotor;

[0030] 2. Control components; 21. Encoder; 22. Control board; 23. Housing; 24. Cover plate; 25. Input connector; 26. Output connection cable; 27. Heat sink; 28. Indicator light. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] like Figure 1-5As shown, an embodiment of this utility model provides a series integrated motor device, including multiple motor units. Each motor unit includes a motor body 1 and a control component 2 installed on the motor body 1. The motor body 1 includes a motor stator and a motor rotor 14. The motor stator includes a housing 11 and a stator assembly 12, with the stator assembly 12 installed inside the housing 11. The motor rotor 14 is rotatably connected to the housing 11. The control component 2 includes an encoder 21, a control board 22, a housing 23, and a cover plate 24. The housing 23 is installed on the housing 11, and the cover plate 24 is installed on the housing 23 and forms an installation space with the housing 23. The encoder 21 is disposed in the installation space and installed on the housing 11. The control board 22 is installed in the installation space. The stator assembly 12 is connected to the control board 22 via a power line 13. The encoder 21 is connected to the encoding port of the control board 22 via a connecting line. The housing 23 is equipped with an input connector 25 and an output connector 26. In the multiple motor units, the output connector 26 of one of two adjacent motor units is connected to the input connector 25 of the other.

[0036] This device deeply integrates the motor body 1 with the control components 2. The stator assembly 12 is directly built into the housing 11. Core components such as the control board 22 and encoder 21 are enclosed in a sealed installation space through the outer shell 23 and the cover plate 24. The power line 13 and the encoder 21 connection lines are all routed in an orderly manner inside, avoiding messy external wiring. Multiple motor units are connected in series through a standardized interface of "input connector-output connection line", eliminating the need for external control cabinets, complex wiring terminals and independent mounting brackets required by traditional multi-motor systems. The overall size is reduced by more than 40% compared to the split structure.

[0037] By integrating the control board 22 and encoder 21 closely, the encoder 21 is directly mounted on the housing 11 and connected to the encoding port of the control board 21 via a short-distance connection cable. This eliminates the signal delay and interference caused by long transmission lines in traditional split systems, and the transmission delay of the encoder 21 feedback signal is controlled within 5μs. The control board 22 of each motor unit is directly connected to the next-level input connector 25 via the output connection cable 26, forming a distributed synchronous control network. With the help of a dedicated synchronization algorithm, the position synchronization accuracy of multiple series-connected motor units can be improved, and the synchronization response speed can be increased. In addition, the device supports the independent replacement of individual motor units, and the entire series structure does not need to be disassembled during maintenance, greatly improving maintenance efficiency.

[0038] Optionally, the input connector 25 adopts a reverse insertion protection and self-locking structure to ensure the mechanical strength and electrical contact reliability of the series connection and avoid the risk of signal interruption under vibration environment.

[0039] Furthermore, such as Figure 3As shown, the housing 11 includes a housing body 111 and a first end cover 112 and a second end cover 113. The first end cover 112 and the second end cover 113 are installed on both sides of the housing body 111 along a first direction. The two ends of the motor rotor 14 are rotatably connected to the first end cover 112 and the second end cover 113, respectively.

[0040] The first end cover 112 and the second end cover 113 respectively form axial positioning of the two ends of the motor rotor 14 through bearings (such as angular contact ball bearings or cylindrical roller bearings). Together with the rigid frame of the housing body 111, the radial runout of the motor rotor 14 is controlled within 0.01mm, improving rotor stability. This "fixed at both ends + rigid constraint in the middle" layout effectively suppresses rotor eccentric vibration during high-speed rotation, ensures that the air gap uniformity error between the stator assembly 12 and the rotor magnetic poles is ≤0.02mm, reduces torque pulsation caused by electromagnetic force fluctuations, and effectively reduces motor operating noise.

[0041] Furthermore, such as Figure 4 As shown, the stator assembly 12 includes multiple single-lobed stators, which are distributed along a preset direction and enclose a clearance space. The motor rotor 14 is disposed within the clearance space, and the preset direction is the circumferential direction of the motor rotor 14.

[0042] Multiple single-lobe stators are evenly distributed along the rotor circumference (such as 6-lobe, 8-lobe, and 12-lobe structures). Each lobe stator independently constitutes a complete magnetic pole unit. Precision tooling ensures that the air gap deviation between adjacent lobes is ≤0.02mm, so that the fluctuation of the rotating magnetic field strength on the outer circumference of the rotor is controlled within ±3%, which significantly reduces the vibration and noise during motor operation, effectively avoids trajectory deviation caused by torque fluctuations, and improves the motion stability of the end effector.

[0043] Furthermore, the second end cap 113 is provided with a first wire passage hole for the power line 13 of the stator assembly 12 to pass through.

[0044] The first through hole allows the power lines 13 of the stator assembly 12 to be directly led out through the internal channel of the end cover, shortening the path of the power lines 13 from the stator assembly 12 to the control board 22 and reducing electromagnetic interference and power loss. In addition, the orderly arrangement of the power lines 13 within the enclosed space formed by the housing body 111 and the end cover can reduce the risk of damage to the lines from the external environment (such as dust, oil, and mechanical impact). At the same time, the concealed design eliminates the risk of tangling of exposed cables, making the overall layout more compact when multiple motor units are connected in series.

[0045] Furthermore, the housing 23 is provided with a second wire passage hole, which is arranged opposite to the first wire passage hole, so that the power line 13 of the stator assembly 12 passes through the first wire passage hole and the second wire passage hole in sequence and is connected to the control board 22.

[0046] With precise alignment of the first and second wiring holes, the power line 13 can pass directly from the stator assembly 12 into the control assembly 2 along the motor axis, completely enclosed within the independent space formed by the housing 11 and the outer casing 23, thus completely eliminating the risk of exposed external wiring. Simultaneously, the concealed path avoids interference between cables and external structures, resulting in a more organized overall layout when multiple motor units are connected in series, and solving the problems of "cable tangling and signal crosstalk" caused by traditional exposed wiring.

[0047] Furthermore, the housing 23 is provided with a third wire hole for the encoder 21 connection wire to pass through.

[0048] The encoder connection cable is directly connected to the control board's encoder port through the third cable guide hole, shortening the transmission path and controlling the signal delay to below 2μs, thereby improving response speed and ensuring real-time rotor position feedback. Simultaneously, the encoder connection cable is arranged in an orderly manner within the housing 23, reducing the risk of damage to the wiring from the external environment, eliminating the hazard of exposed cables becoming tangled, and making the overall layout more compact when multiple motor units are connected in series.

[0049] Furthermore, such as Figure 5 As shown, the series-connected integrated motor device also includes a heat sink 27, which is disposed on the side of the control board 22 opposite to the second end cover 113. Specifically, the heat sink 27 is a thermal silicone pad.

[0050] The thermal pad has a good thermal conductivity and a compression ratio of 30%-50%, which can tightly fill the gap between the control board 22 surface (such as heat-generating components like chips and capacitors) and the cover plate 24. When the control board 22 generates heat due to the driving power devices, the heat is quickly conducted to the outside through the thermal pad, keeping the operating temperature of the core components of the control board 22 below 70℃, thus ensuring the stable operation of the multi-motor unit synchronous control algorithm.

[0051] The flexible properties of the thermal pad can adapt to the uneven structure of the control board 22 surface, achieving "dead-angle" thermal contact. It can evenly transfer heat through the deformation of the silicone pad, avoiding localized overheating. At the same time, the damping properties of the silicone pad can absorb the vibration energy of the motor during operation, reduce rigid collisions between the control board 22 and the housing 23, protect solder joints and component pins, and ensure the stability of key parameter acquisition such as encoder 21 signal and power line 13 current, providing a reliable hardware foundation for synchronous control of multiple motor units.

[0052] Furthermore, the thickness of the heat sink 27 is greater than the distance between the control board 22 and the cover plate 24, and the heat sink 27 can be sandwiched between the control board 22 and the cover plate 24.

[0053] When the cover plate 24 is installed, the heat dissipation silicone pad is compressed between the control board 22 and the cover plate 24. The heat dissipation silicone pad will undergo slight deformation, so that the heat dissipation silicone pad can make full contact with the control board 22 and the cover plate 24, maximizing the transfer of the temperature of the control board 22 to the cover plate 24.

[0054] Furthermore, the series-connected integrated motor device also includes heat dissipation fins, which are located on the outside of the cover plate 24.

[0055] Heat dissipation fins are provided on the outer side of the cover plate 24. These fins rapidly dissipate the heat transferred from the heat dissipation silicone pad to the cover plate 24 into the outside air, greatly improving heat dissipation efficiency and preventing abnormalities in the control board 22 caused by high temperatures generated by the motor body 1 and the control board 22 during motor operation. In high-power scenarios with multiple motor units connected in series, this effectively prevents performance degradation of the control component 2 due to heat accumulation, ensuring the continuous and stable operation of the synchronous control algorithm.

[0056] Furthermore, such as Figure 6 As shown, the series integrated motor device also includes an indicator light 28, which is mounted on the housing 23 and electrically connected to the control board 22, and is used to indicate the operating status of the corresponding motor unit.

[0057] The indicator lights 28 provide real-time feedback on the operating status of the motor units through different colors (such as green, yellow, and red) and flashing patterns (such as constant light, slow flashing, and fast flashing). For example, a constant green light indicates normal operation, a slow yellow light indicates standby or derating operation, and a fast red light indicates a fault (such as overcurrent, overtemperature, or encoder 21 malfunction). Users can quickly identify the operating status of each series-connected motor unit by observing the indicator lights 28 without connecting to a host computer or oscilloscope. This is especially useful in production lines with densely packed multiple motors, allowing for rapid location of abnormal units and improving work efficiency.

[0058] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A series-connected integrated motor device, characterized in that, It includes multiple motor units, each of which includes a motor body (1) and a control component (2) mounted on the motor body (1); The motor body (1) includes a motor stator and a motor rotor (14). The motor stator includes a housing (11) and a stator assembly (12). The stator assembly (12) is installed inside the housing (11). The motor rotor (14) is rotatably connected to the housing (11). The control component (2) includes an encoder (21), a control board (22), a housing (23), and a cover plate (24). The housing (23) is installed on the casing (11), and the cover plate (24) is installed on the housing (23) and together with the housing (23) forms an installation space. The encoder (21) is disposed in the installation space and installed on the casing (11). The control board (22) is installed in the installation space. The stator assembly (12) is connected to the control board (22) via a power line (13). The encoder (21) is connected to the encoding port of the control board (22) via a connecting line. The housing (23) is equipped with an input connector (25) and an output connector (26). Among the multiple motor units, the output connector (26) of one of two adjacent motor units is connected to the input connector (25) of the other.

2. The series-connected integrated motor device according to claim 1, characterized in that, The housing (11) includes a housing body (111) and a first end cover (112) and a second end cover (113). The first end cover (112) and the second end cover (113) are installed on both sides of the housing body (111) along a first direction. The two ends of the motor rotor (14) are rotatably connected to the first end cover (112) and the second end cover (113) respectively.

3. The series-connected integrated motor device according to claim 1, characterized in that, The stator assembly (12) includes multiple single-lobed stators, which are distributed along a preset direction and enclose a clearance space. The motor rotor (14) is disposed within the clearance space, and the preset direction is the circumferential direction of the motor rotor (14).

4. The series-connected integrated motor device according to claim 2, characterized in that, The second end cap (113) is provided with a first wire passage hole for the power line (13) of the stator assembly (12) to pass through.

5. The series-connected integrated motor device according to claim 4, characterized in that, The outer casing (23) is provided with a second wire passage hole, which is arranged opposite to the first wire passage hole, so that the power line (13) of the stator assembly (12) passes through the first wire passage hole and the second wire passage hole in sequence and is connected to the control board (22); And / or, the housing (23) is provided with a third wire hole for the connection wire of the encoder (21) to pass through.

6. The series-connected integrated motor device according to claim 2, characterized in that, The series integrated motor device also includes a heat sink (27), which is disposed on the side of the control board (22) opposite to the second end cover (113).

7. A series integrated motor device according to claim 6, characterized in that, The heat sink (27) is a heat-dissipating silicone pad.

8. A series integrated motor device according to claim 6, characterized in that, The thickness of the heat sink (27) is greater than the distance between the control plate (22) and the cover plate (24), and the heat sink (27) can be sandwiched between the control plate (22) and the cover plate (24).

9. A series integrated motor device according to any one of claims 1 to 8, characterized in that, The series integrated motor device also includes heat dissipation fins, which are disposed on the outside of the cover plate (24).

10. A series integrated motor device according to claim 1, characterized in that, The series integrated motor device also includes a signal light (28), which is installed on the housing (23) and electrically connected to the control board (22) to indicate the operating status of the corresponding motor unit.

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