CN114629303B - Motor and servo control system with same - Google Patents
Motor and servo control system with same Download PDFInfo
- Publication number
- CN114629303B CN114629303B CN202210262130.7A CN202210262130A CN114629303B CN 114629303 B CN114629303 B CN 114629303B CN 202210262130 A CN202210262130 A CN 202210262130A CN 114629303 B CN114629303 B CN 114629303B
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- motor
- encoder
- end cover
- stator
- rotor
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- 238000007789 sealing Methods 0.000 claims description 28
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 230000004308 accommodation Effects 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 8
- 239000000565 sealant Substances 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000004323 axial length Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004382 potting Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Motor Or Generator Frames (AREA)
Abstract
The invention discloses a motor and a servo control system with the motor. The motor includes: an encoder, the encoder comprising: an encoder stator and an encoder rotor, the encoder rotor being rotatable relative to the encoder stator; an end cap having a rotor cavity within which the encoder rotor is at least partially located. According to the motor provided by the invention, the length of the position of the encoder can be obviously shortened by arranging the rotor cavity for installing the encoder rotor in the end cover, so that the total length of the motor is shortened.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a motor and a servo control system with the motor.
Background
An encoder is typically provided inside the motor for measuring the angular displacement of the motor rotor. The traditional encoder is fastened on the end cover through the screw, and be provided with the boss that gives the encoder location on the end cover, later use the mounting structure that the back lid covers the encoder, play mechanical protection and IP protection's purpose. The encoder is installed and positioned by boss positioning and screw fastening, and the rear cover only plays a role in protection. And for the whole motor, the whole encoder structure part is very long in size and cannot meet the requirement of compactness, so that the motor has lower competitiveness in the application market.
Disclosure of Invention
The present invention aims to solve, at least to some extent, one of the above technical problems in the prior art. To this end, the invention proposes a motor which enables the length of the motor to be significantly shortened.
The invention further provides a servo control system with the motor.
The motor according to the embodiment of the invention comprises: an encoder, the encoder comprising: an encoder stator and an encoder rotor, the encoder rotor being rotatable relative to the encoder stator; an end cap having a rotor cavity within which the encoder rotor is at least partially located.
According to the motor provided by the embodiment of the invention, the length of the position of the encoder can be obviously shortened by arranging the rotor cavity for installing the encoder rotor in the end cover, so that the total length of the motor is shortened.
According to some embodiments of the invention, the motor further comprises: the motor rotor penetrates through the end cover and is fixedly connected with the encoder rotor, and the motor stator is fixed with the motor housing.
Specifically, the end cap includes: the motor rotor comprises an end cover body, an end cover first protrusion and an end cover second protrusion, wherein the end cover first protrusion is arranged at the first end of the end cover body, the rotor cavity is arranged on the inner side of the end cover first protrusion and penetrates deep into the end cover body, the end cover second protrusion is arranged at the second end of the end cover body, and the end cover second protrusion extends into a central area surrounded by the motor stator.
Further, the length of the second protrusion of the end cover extending into the central area surrounded by the motor stator is not less than half of the length of the second protrusion of the end cover.
Optionally, one end of the motor stator facing the end cover is provided with pouring sealant for fixing the motor stator and the motor housing, and the second protrusion of the end cover extends into a central area surrounded by the pouring sealant.
According to some embodiments of the invention, a bearing cavity extending into the end cover body is arranged at the second bulge of the end cover, a bearing is arranged in the bearing cavity, an inner ring of the bearing is relatively fixed with the motor rotor, an outer ring of the bearing is relatively fixed with a cavity wall of the bearing cavity, and the inner ring and the outer ring of the bearing can relatively rotate.
Further, a stop positioning wall is arranged between the bearing cavity and the rotor cavity, and a mounting through hole for connecting the motor rotor with the encoder rotor is formed in the stop positioning wall.
According to some embodiments of the invention, the motor further comprises: the back cover is suitable for being fixedly connected with the end cover, a containing cavity is formed between the back cover and the end cover, the back cover is provided with a limiting structure, and the encoder stator is fixed in the containing cavity through the limiting structure.
Specifically, the encoder stator has a stator flange, and the limit structure includes: the rear cover axial positioning surface is suitable for being at least partially jointed with the end face of the stator flange, which is away from the end cover, and the rear cover radial positioning surface is suitable for being at least partially jointed with the outer peripheral surface of the stator flange, and is also suitable for being at least partially jointed with the outer peripheral surface of the first protrusion of the end cover, and the stator flange is at least partially jointed with the end face of the first protrusion of the end cover.
Further, a first sealing groove is formed in the outer peripheral surface of the first protrusion of the end cover, a first sealing ring is arranged in the first sealing groove, and the first sealing ring is suitable for being attached to the radial positioning surface of the rear cover and the first protrusion of the end cover.
According to some embodiments of the invention, the rear cover radial positioning surface comprises: the stator positioning section and the end cover positioning section are at least partially constructed as elastic positioning sections made of elastic materials.
According to some embodiments of the invention, an end cover third protrusion is arranged between the end cover second protrusion and the end cover body, the outer diameter of the end cover third protrusion is larger than that of the end cover second protrusion, a second sealing groove is formed in the outer circumferential surface of the end cover third protrusion, and a second sealing ring is arranged in the second sealing groove and is suitable for being attached to the inner circumferential surface of the motor shell and the end cover third protrusion.
According to another embodiment of the present invention, a servo control system includes the motor described above.
The servo control system has the same advantages as the motor described above with respect to the prior art, and will not be described in detail here.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic cross-sectional assembly of an electric machine;
FIG. 2 is an enlarged schematic view of a portion of FIG. 1 at A;
FIG. 3 is a schematic exploded view of a motor in cross section;
FIG. 4 is an exploded schematic view of the motor;
FIG. 5 is a schematic perspective view of an encoder;
FIG. 6 is a cross-sectional view of an encoder;
fig. 7 is a first perspective view of the rear cover;
fig. 8 is a second perspective view of the rear cover;
FIG. 9 is a cross-sectional view of the rear cover;
FIG. 10 is a schematic perspective view of an end cap;
FIG. 11 is a cross-sectional view of the first embodiment end cap;
FIG. 12 is a schematic cross-sectional assembly of another embodiment of an electric motor;
FIG. 13 is an enlarged partial schematic view at B in FIG. 12;
FIG. 14 is a cross-sectional view of a second embodiment end cap;
FIG. 15 is a cross-sectional view of a third embodiment end cap;
fig. 16 is a cross-sectional view of a fourth embodiment end cap.
Reference numerals:
the motor 10, the encoder 1, the encoder stator 11, the stator flange 111, the stator body 112, the encoder rotor 12, the rotor screw 121, the end cover 2, the end cover first protrusion 21, the end cover body 22, the insertion hole 221, the mounting through hole 23, the end cover second protrusion 24, the rotor cavity 25, the bearing cavity 26, the stopper positioning wall 27, the end cover third protrusion 28, the rear cover 3, the limiting structure 31, the rear cover axial positioning surface 311, the rear cover radial positioning surface 312, the rear cover top plate 32, the rear cover side wall plate 33, the top plate hole 34, the recess 35, the wire outlet hole 36, the elastic positioning section 37, the accommodation cavity 4, the first seal groove 5, the second seal groove 51, the first seal ring 6, the second seal ring 61, the fastening screw 7, the screw section 71, the screw head 72, the adapter screw 8, the motor rotor 9, the motor stator 91, the motor housing 92, and the potting adhesive 93.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
An electric machine 10 according to an embodiment of the present invention is described in detail below in conjunction with fig. 1-16.
Referring to fig. 1 to 4 and 12 to 13, a motor 10 according to an embodiment of the present invention may include: an encoder 1 and an end cap 2. As shown in fig. 5 to 6, the encoder 1 includes: an encoder stator 11 and an encoder rotor 12, the encoder rotor 12 being rotatable relative to the encoder stator 11, the end cap 2 having a rotor cavity 25, the encoder rotor 12 being located at least partially within the rotor cavity 25.
In the axial direction, the encoder stator 11 and the encoder rotor 12 may be arranged separately, the encoder rotor 12 being located entirely within the rotor cavity 25, as shown in fig. 1-2, 12-13.
In other embodiments, not shown, it is also possible that a part of the encoder rotor 12 is located inside the encoder stator 11 and another part of the encoder rotor 12 is located inside the rotor cavity 25.
According to the motor 10 of the embodiment of the invention, by arranging the rotor cavity 25 for installing the encoder rotor 12 in the end cover 2, the total length of the encoder 1 and the end cover 2 can be obviously shortened, so that the length of the position where the encoder 1 is located is shortened, and the total length of the motor 10 is shortened.
Referring to fig. 1 to 4 and 12 to 13, the motor 10 further includes: the motor housing 92, the motor rotor 9 and the motor stator 91, the motor rotor 9 penetrates through the end cover 2, and the motor rotor 9 is fixedly connected with the encoder rotor 12, in some embodiments, a through hole can be formed in the encoder rotor 12, a threaded connection hole can be formed in the motor rotor 9, and the rotor screw 121 penetrates through the through hole and is in threaded connection with the threaded connection hole in the motor rotor 9, so that the encoder rotor 12 and the motor rotor 9 are fixedly connected. Thus, when the motor rotor 9 rotates, the encoder rotor 12 rotates synchronously with the motor rotor 9, the encoder rotor 12 moves relatively to the encoder stator 11, and the rotation parameter of the motor rotor 9 can be known by detecting the rotation parameter of the encoder rotor 12, and the rotation parameter can be angular displacement, rotation speed, and the like.
The motor stator 91 is suitable for being fixed with the motor housing 92, referring to fig. 1-3 and 12-13, one end of the motor stator 91 facing the end cover 2 is provided with a pouring sealant 93 for fixing the motor stator 91 with the motor housing 92, and the pouring sealant 93 can further strengthen the fixing effect of the motor stator 91 and the motor housing 92, that is, other fixing modes can be used for fixing the motor stator 91 and the motor housing 92 except the pouring sealant 93, or the pouring sealant 93 is matched with other modes for use for fixing. And the potting adhesive 93 is usually made of resin, so that the heat dissipation performance of the motor 10 can be improved.
Referring to fig. 7-9, the end cap 2 may include: the end cover body 22, the first protruding 21 of end cover, the second protruding 24 of end cover, the first protruding 21 of end cover sets up in the first end of end cover body 22, and the first protruding 21 of end cover is protruding in the first end surface of end cover body 22, and rotor chamber 25 locates the first protruding 21 inboard of end cover and deep into end cover body 22, and the second protruding 24 of end cover sets up the second end at end cover body 22, and the second protruding 24 of end cover is protruding in the second end surface of end cover body 22. Referring to fig. 1-3 and 12-13, the end cap second projection 24 extends into the central region enclosed by the motor stator 91. In other words, the central area surrounded by the motor stator 91 is an annular space, and the end cover second protrusion 24 extends into the annular space, so that the distance between the end cover 2 and the motor stator 91 can be shortened, and the axial length of the motor 10 can be further shortened, so that the internal structure of the motor 10 is more compact.
Further, the length of the end cap second projection 24 extending into the center area surrounded by the motor stator 91 is not less than half the length of the end cap second projection 24 itself. It is thereby ensured that the second projection 24 of the end cap extends as much as possible into the central region enclosed by the motor stator 91, so that the length of the motor 10 is significantly shortened.
Referring to fig. 1 to 3 and 12 to 13, the pouring sealant 93 is disposed at an end of the motor stator 91 facing the end cap 2, and the end cap second protrusion 24 extends into a central area surrounded by the pouring sealant 93.
Referring to fig. 1-3, 7-9 and 12-13, a bearing cavity 26 extending into the end cover body 22 is arranged at the second protrusion 24 of the end cover, a bearing 94 is arranged in the bearing cavity 26, an inner ring of the bearing 94 is relatively fixed with the motor rotor 9, an outer ring of the bearing 94 is relatively fixed with a cavity wall of the bearing cavity 26, and the inner ring and the outer ring of the bearing 94 can relatively rotate. Thus, when the motor rotor 9 and the encoder rotor 12 synchronously rotate, the inner ring of the bearing 94 can synchronously rotate along with the motor rotor 9, and the outer ring of the bearing 94 is fixed, so that the bearing 94 can play a role in supporting and rotating the motor rotor 9, and the motor rotor 9 rotates more stably.
Further, referring to fig. 7 to 9, a stop positioning wall 27 is provided between the bearing chamber 26 and the rotor chamber 25, and a mounting through hole 23 for connecting the motor rotor 9 and the encoder rotor 12 is provided in the stop positioning wall 27. As shown in fig. 1-3 and 12-13, the motor rotor 9 is adapted to be penetrated by the mounting through hole 23 so as to facilitate the fixed connection of the rotor screw 121, thereby realizing the fixed connection of the motor rotor 9 and the encoder rotor 12.
Referring to fig. 1-4 and 12-13, the motor 10 may further include: the back cover 3, the back cover 3 is suitable for fixedly connecting with the end cover 2, and referring to fig. 1 and 12, a containing cavity 4 is formed between the back cover 3 and the end cover 2, referring to fig. 1-2 and 10-16, the back cover 3 is provided with a limit structure 31, and the encoder stator 11 is fixed in the containing cavity 4 through the limit structure 31, thereby realizing the installation and fixation of the encoder 1 in the motor 10. The rear cover 3 can play a good mechanical protection role on the encoder 1 and the wire harness in the accommodating cavity 4.
Only the rear cover 3 is fixed with the end cover 2, and a fixed structure is not arranged between the encoder 1 and the end cover 2 any more, so that a fastener between the encoder 1 and the end cover 2 can be omitted, thereby reducing the weight of the motor 10 and saving the manufacturing cost of the motor 10.
According to the motor 10 of the embodiment of the invention, the encoder stator 11 is positioned on the end cover 2 by utilizing the limiting structure 31 of the rear cover 3, so that screw fasteners between the encoder stator 11 and the end cover 2 can be omitted, thereby being beneficial to saving cost, meanwhile, a special positioning structure is not needed to be arranged on the end cover 2 for positioning the encoder stator 11, thereby being beneficial to further reducing the axial length of the motor 10, simplifying the structure of the end cover 2 and being beneficial to saving the manufacturing cost of the end cover 2. In addition, the rear cover 3 not only plays a role in mechanical protection and IP protection, but also plays a role in positioning the encoder stator 11.
Referring to fig. 1 to 2, 5 to 6, and 10 to 16, the encoder stator 11 has a stator flange 111, and the limit structure 31 includes: the rear cover axial positioning surface 311 and the rear cover radial positioning surface 312 are positioned in the accommodating cavity 4, the rear cover axial positioning surface 311 and the rear cover radial positioning surface 312 are mutually perpendicular, the rear cover axial positioning surface 311 is suitable for being at least partially jointed with the end surface of the stator flange 111 facing away from the end cover 2, the rear cover radial positioning surface 312 is suitable for being at least partially jointed with the outer peripheral surface of the stator flange 111, and the stator flange 111 is at least partially jointed with the end surface of the end cover first protrusion 21. The rear cover axial positioning surface 311 presses the encoder stator 11 against the end cover 2 to limit the axial position of the encoder stator 11, and the rear cover radial positioning surface 312 can limit the radial position of the encoder stator 11, thereby achieving positioning of the encoder stator 11 within the housing cavity 4.
Referring to fig. 6, the stator flange 111 has a stator first axial positioning surface 1111, a stator radial positioning surface 1112, and a stator second axial positioning surface 1113, the stator first axial positioning surface 1111 being perpendicular to the stator radial positioning surface 1112, and the stator first axial positioning surface 1111 being parallel to the stator second axial positioning surface 1113. The aft cover axial locating surface 311 is adapted to engage the stator first axial locating surface 1111 and the aft cover radial locating surface 312 is adapted to engage the stator radial locating surface 1112. The end cap 2 is adapted to be in abutment with the stator second axial positioning surface 1113, in particular, the stator second axial positioning surface 1113 of the stator flange 111 is in abutment with the end cap axial positioning surface 211 of the end cap first projection 21, thereby ensuring a reliable axial position of the encoder stator 11.
Preferably, the rear cover radial positioning surface 312 and the stator radial positioning surface 1112 are both configured as circumferential surfaces, so that the rear cover radial positioning surface 312 can radially position the whole circle of the stator radial positioning surface 1112, and positioning is ensured to be more reliable.
Referring to fig. 1-2 and 12-13, the outer diameters of the stator flange 111 and the first protrusion 21 of the end cover are equal, so that the radial positioning surface 312 of the rear cover can have the same diameter, which is beneficial to simplifying the structure and the processing procedure of the rear cover 3.
Referring to fig. 5 to 6, the encoder stator 11 further includes: the outer diameter of the stator body 112 is smaller than the outer diameter of the stator flange 111, so that when the stator flange 111 is attached to the rear cover radial positioning surface 312, the stator body 112 is separated from the rear cover radial positioning surface 312, and therefore, the whole outer circumferential surface of the encoder stator 11 does not need to be attached to the rear cover radial positioning surface 312, and only the stator flange 111 is attached to the rear cover radial positioning surface 312, so that the manufacturing accuracy of the stator flange 111 is ensured to be high, and the manufacturing accuracy of the stator body 112 is reduced appropriately, thereby being beneficial to saving the manufacturing cost of the encoder stator 11.
The rear cover radial positioning surface 312 is further adapted to at least partially engage the outer circumferential surface of the end cover first projection 21, whereby the relative radial position of the rear cover 3 and the end cover 2 can be limited.
The end cap first projection 21 has an end cap axial positioning surface 211, an end cap first radial positioning surface 212, and a stator second axial positioning surface 1113 adapted to engage the end cap axial positioning surface 211, whereby the end cap 2 can limit the axial position of the encoder stator 11, and the rear cap radial positioning surface 312 is adapted to engage the end cap first radial positioning surface 212, whereby the end cap 2 can limit the radial position of the rear cap 3.
Further, the first sealing groove 5 is formed in the outer peripheral surface of the first protrusion 21 of the end cover, the first sealing ring 6 is arranged in the first sealing groove 5, and the first sealing ring 6 is suitable for being attached to the radial positioning surface 312 of the rear cover and the first protrusion 21 of the end cover, so that the sealing performance between the rear cover 3 and the end cover 2 is guaranteed, and the rear cover 3 has a good IP protection effect.
The rear cover 3 is connected with the end cover body 22 through a fastener, thereby realizing the fixed connection of the rear cover 3 and the end cover 2. In particular, referring to fig. 3-4, the fastener may include: the fastening screw 7 and the adapting screw 8 fixedly arranged on the end cover body 22, wherein the fastening screw 7 is suitable for penetrating the rear cover 3 and being in threaded connection with the adapting screw 8. Referring to fig. 7-8, the end cover body 22 is provided with a plugging hole 221 for plugging the adapting screw 8, and at least a part of the adapting screw 8 is suitable for plugging and fixing in the plugging hole 221, thereby fixing the adapting screw 8 on the end cover body 22.
Specifically, referring to fig. 10 to 11 and 14 to 16, the rear cover 3 may include: the rear cover top plate 32 and the rear cover side coaming 33, the rear cover side coaming 33 is fixed with the rear cover top plate 32, the limiting structure 31 is arranged on the rear cover side coaming 33, the rear cover top plate 32 is separated from the end cover 2, a top plate hole 34 for the fastening screw 7 and the adapting screw 8 to penetrate is formed in the joint of the rear cover top plate 32 and the rear cover side coaming 33, and the top plate hole 34 penetrates through the rear cover side coaming 33. The adapting screw 8 is penetrated in the top plate hole 34, the fastening screw 7 penetrates through the top plate hole 34 and is in threaded connection with the adapting screw 8 in the top plate hole 34, so that the height dimension of the rear cover 3 can be fully utilized to finish the fixation of the rear cover 3 and the end cover 2, and the axial dimension of the motor 10 is reduced.
Referring to fig. 3 to 4, the fastening screw 7 includes: the threaded section 71 and the screw head 72 are provided with a recess 35 in the rear cover top plate 32, and the top plate hole 34 is opened at the position of the recess 35, so that the screw head 72 is left outside the top plate hole 34, and thus the recess 35 can accommodate the screw head 72, thereby further reducing the axial dimension of the motor 10.
Referring to fig. 1, 4, 10 to 12, and 14 to 16, the rear cover 3 is provided with a wire hole 36, and a wire harness or the like of the encoder 1 may be passed through the wire hole 36.
In a particular embodiment, the aft cover radial locating surface 312 includes: a stator positioning section for radially positioning the encoder stator 11, and an end cap positioning section for radially positioning the end cap first protrusion 21, as shown with reference to fig. 12 to 16, the end cap positioning section is at least partially configured as an elastic positioning section 37 made of an elastic material, thereby reducing damage to the first seal ring 6 on the end cap first protrusion 21 by the rear cap radial positioning surface 312.
Specifically, the first sealing ring 6 is easy to scratch in the installation process of the rear cover 2, so that the rear cover 2 is improved, the elastic positioning section 37 is added, the elastic positioning section 37 can ensure that the acute angle of the radial positioning surface 312 of the rear cover 2 does not scratch the first sealing ring 6 in the installation process, the installation quality is convenient to be high, the elastic positioning section 37 can be opposite to the first sealing ring 6 after the installation is finished, and the elastic positioning section 37 can be elastically deformed, so that the sealing effect of the joint of the rear cover 3 and the end cover 2 is further improved.
Alternatively, the resilient positioning segments 37 may be soft gel structures.
The structure of the resilient positioning segment 37 may take a variety of forms as shown in fig. 14-16. As shown in fig. 14, the elastic positioning section 37 may be configured as a wedge shape; as shown in fig. 15, the elastic positioning section 37 may be configured in an "L" shape; as shown in fig. 16, the resilient positioning segment 37 may be configured in an "I" shape.
Referring to fig. 7-9, an end cover third protrusion 28 is disposed between the end cover second protrusion 24 and the end cover body 22, the outer diameter of the end cover third protrusion 28 is larger than the outer diameter of the end cover second protrusion 24, and referring to fig. 1-2 and 12-13, a second sealing groove 51 is formed on the outer circumferential surface of the end cover third protrusion 28, a second sealing ring 61 is disposed in the second sealing groove 51, and the second sealing ring 61 is suitable for being attached to the inner circumferential surface of the motor housing 92 and the end cover third protrusion 28, so that sealing between the end cover 2 and the motor housing 92 is achieved.
Further, referring to fig. 1-2, 9, and 12-13, the end cap third projection 28 has an end cap second radial positioning surface 218, and the end cap second radial positioning surface 218 is adapted to engage with the inner peripheral surface of the motor housing 92, thereby enabling accurate relative radial positioning of the end cap 2 and the motor housing 92. In addition, the end cover body 22 can play an axial limiting role on the motor housing 92, so that the relative axial positions of the end cover 2 and the motor housing 92 are accurate.
Alternatively, the encoder 1 may be a magnetic encoder or an optoelectronic encoder.
According to the motor 10 of the embodiment of the invention, the rotor cavity 25 for installing the encoder rotor 12 is arranged in the end cover 2, and the end cover 2 is not provided with a positioning structure special for positioning the encoder stator 11, so that the axial length of the motor 10 is shortened, the length can be shortened by 6-15mm, and the motor 10 reaches the same dimension specification of a solar standard rod product in length dimension at one time; screws between the end cover 2 and the encoder 1 are reduced, for example, the use of 2-6 screws is reduced, the number of threaded holes on the end cover 2 and the encoder 1 is reduced, and the manufacturing cost of parts is reduced; the encoder 1 is positioned by using the rear cover 3, so that the working hours consumed in the assembly process of the motor 10 are reduced, and the manufacturing cost is further reduced; by arranging the elastic positioning section 37, the scratch to the first sealing ring 6 can be reduced, the service life of the first sealing ring 6 is prolonged, and the sealing effect of the joint of the rear cover 3 and the end cover 2 is improved.
The motor 10 of the present invention may be a servo motor, and the motor 10 may be applied to various machines using a servo motor.
A servo control system according to another embodiment of the present invention includes the motor 10 of the above embodiment. The servo control system may be: six-axis or four-axis robotic systems (e.g., delta, scara robots) and automated control production systems (most of which are customized to meet specific needs, such as textile lines, automated packaging lines, sorting systems, automated welding systems, medical machinery systems, and the like) that require control of the accuracy of the displacement position of the object.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (10)
1. An electric machine (10), characterized by comprising:
an encoder (1), the encoder (1) comprising: an encoder stator (11) and an encoder rotor (12), the encoder rotor (12) being rotatable relative to the encoder stator (11);
an end cap (2), the end cap (2) having a rotor cavity (25), the encoder rotor (12) being located at least partially within the rotor cavity (25),
wherein the motor (10) further comprises: a motor shell (92), a motor rotor (9) and a motor stator (91), wherein the motor rotor (9) is fixedly connected with the encoder rotor (12), the motor stator (91) is fixed with the motor shell (92),
the end cover (2) comprises an end cover body (22) and an end cover second bulge (24), the end cover second bulge (24) is arranged at the second end of the end cover body (22), the end cover second bulge (24) stretches into the central area surrounded by the motor stator (91),
the motor is characterized in that an end cover third protrusion (28) is arranged between the end cover second protrusion (24) and the end cover body (22), the outer diameter of the end cover third protrusion (28) is larger than that of the end cover second protrusion (24), a second sealing groove (51) is formed in the outer peripheral surface of the end cover third protrusion (28), a second sealing ring (61) is arranged in the second sealing groove (51), and the second sealing ring (61) is suitable for being attached to the inner peripheral surface of the motor shell (92) and the end cover third protrusion (28).
2. The electric machine (10) according to claim 1, characterized in that the electric machine rotor (9) is provided through the end cap (2).
3. The electric machine (10) of claim 1, wherein the length of the end cap second protrusion (24) extending into the central region enclosed by the motor stator (91) is not less than half the length of the end cap second protrusion (24) itself.
4. The motor (10) according to claim 1, wherein a bearing cavity (26) extending into the end cover body (22) is arranged at the second protrusion (24) of the end cover, a bearing (94) is arranged in the bearing cavity (26), an inner ring of the bearing (94) is relatively fixed with the motor rotor (9), an outer ring of the bearing (94) is relatively fixed with a cavity wall of the bearing cavity (26), and an inner ring and an outer ring of the bearing (94) can relatively rotate.
5. The electric machine (10) according to claim 4, characterized in that a stop positioning wall (27) is provided between the bearing chamber (26) and the rotor chamber (25), said stop positioning wall (27) being provided with a mounting through hole (23) for connecting the electric machine rotor (9) with the encoder rotor (12).
6. The electric machine (10) of claim 1, wherein the electric machine (10) further comprises: the back cover (3), back cover (3) be suitable for with end cover (2) fixed link to each other, just back cover (3) with form accommodation chamber (4) between end cover (2), encoder stator (11) are fixed in accommodation chamber (4).
7. The electric machine (10) according to claim 6, characterized in that the rear cover (3) has a limit structure (31), the encoder stator (11) being fixed in the housing cavity (4) by means of the limit structure (31).
8. The electric machine (10) of claim 7, wherein the encoder stator (11) has a stator flange (111), the limit structure (31) comprising: a rear cover axial positioning surface (311) and a rear cover radial positioning surface (312) located in the accommodating cavity (4), wherein the rear cover axial positioning surface (311) is suitable for being at least partially jointed with an end surface of the stator flange (111) facing away from the end cover (2), and the rear cover radial positioning surface (312) is suitable for being at least partially jointed with the outer peripheral surface of the stator flange (111).
9. The electric machine (10) of claim 8, wherein the rear cover radial locating surface (312) comprises: a stator positioning section and an end cap positioning section configured at least in part as an elastic positioning section (37) made of an elastic material.
10. A servo control system, characterized by comprising a motor (10) according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210262130.7A CN114629303B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210262130.7A CN114629303B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
| CN202010895528.5A CN111884432A (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
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| CN202010895528.5A Division CN111884432A (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
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| CN114629303A CN114629303A (en) | 2022-06-14 |
| CN114629303B true CN114629303B (en) | 2023-12-01 |
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| CN202210262128.XA Active CN114629302B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
| CN202210262127.5A Active CN114629301B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
| CN202210262130.7A Active CN114629303B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
| CN202010895528.5A Pending CN111884432A (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
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| CN202210262128.XA Active CN114629302B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
| CN202210262127.5A Active CN114629301B (en) | 2020-08-31 | 2020-08-31 | Motor and servo control system with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112737178A (en) * | 2021-01-06 | 2021-04-30 | 杭州微光技术有限公司 | High-speed rotor and high-speed drive and control integrated servo motor with same |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN114629302A (en) | 2022-06-14 |
| CN114629301A (en) | 2022-06-14 |
| CN114629302B (en) | 2024-03-19 |
| CN114629301B (en) | 2023-12-01 |
| CN114629300A (en) | 2022-06-14 |
| CN114629300B (en) | 2023-12-22 |
| CN111884432A (en) | 2020-11-03 |
| CN114629303A (en) | 2022-06-14 |
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