CN209982278U

CN209982278U - Integrated motor with grating encoder

Info

Publication number: CN209982278U
Application number: CN201920979511.0U
Authority: CN
Inventors: 胡有为
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-01-21
Anticipated expiration: 2029-06-24

Abstract

An integrated motor with a grating encoder belongs to the technical field of motors, and is characterized in that the integrated motor is clamped and fixed on a machine body, a solid rotating shaft is arranged on the machine body, the integrated motor comprises a hollow rotating shaft, a stator, a rotor, a shell and an encoder assembly, the hollow rotating shaft is sleeved on the solid rotating shaft, one end of the hollow rotating shaft is sleeved with the rotor, the outer end of the rotor is matched with the stator, the shell is sleeved outside the stator, and the shell is fixedly arranged on the hollow rotating shaft; the other end of hollow rotating shaft sets up the encoder subassembly, the beneficial effects of the utility model are that, this integral type motor overall structure is simple stable, simple to operate is swift, with low costs, and the concentricity of installation is high, and position and angle detection precision are high, long service life.

Description

Integrated motor with grating encoder

Technical Field

The utility model relates to the technical field of electric machines, especially, relate to a take integral type motor of grating encoder.

Background

The grating encoder is a sensor applied to a servo motor, provides accurate position information and rotation speed for motor control, and realizes stable operation of the motor. The grating encoder has many advantages for motor control, can make the motor volume reduce, light in weight, exert oneself greatly, the response is fast, and inertia is little, rotates smoothly, and moment is stable, and torque pulsation is little, and speed control and position accuracy are accurate.

Most of servo motors in the market at present comprise front and rear motor end covers, a solid motor shaft and an encoder, wherein the front and rear motor end covers are connected with the solid motor shaft through bearings, the encoder is installed on the motor end cover, the encoder cover covers the motor end cover, and the solid motor shaft is connected to a rotating shaft of a machine body through a coupling or other modes. The motor of this structure has the following disadvantages: firstly, the bearing, the front end cover, the rear end cover, the coupling and other related accessories are required to be installed, the installation is complicated, and the cost of the motor is high; secondly, the motor rotating shaft and the machine body rotating shaft are solid rotating shafts, the connection concentricity is not high, the jumping performance is large, the operation noise of the motor is large, the smoothness is poor, the resistance is large, the energy consumption is high, the product stability is poor, and the service life is shortened.

Also have in the market and adopt encoder modular motor, encoder module and motor are independent, encoder module subassembly is many, the technology is complicated, and is with high costs, still need install the encoder module in addition after having installed the motor, and the installation step is many, though the encoder module is installed on the motor, nevertheless because split structure, there is the multiple error in the installation, the concentricity of encoder module and motor is poor, grating rotation center is the encoder center of easily deviating for reading of encoder produces the error, has improved the fault rate of product. And the position is random and uncertain for the initial position of the motor rotor when the grating is installed, the motor controller needs to memorize the initial angle after reading, which increases the research and development difficulty of the motor controller, and the initial angle of the motor needs to be read and memorized from the new direction when the motor or the controller is replaced, so the operation process of the motor controller is complex, and the inconvenience is brought to the maintenance of the equipment.

In summary, how to make the motor with the grating encoder more simple to install, reduce the cost, have high installation accuracy, prolong the service life thereof, and reduce the research and development difficulty of the motor controller is a problem to be solved urgently at present.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides an integral motor with a grating encoder, mainly solve the problems of poor installation accuracy and low installation efficiency of the existing motor with the encoder due to unreasonable structural design, the grating encoder is installed in the motor to form an integral structure in the scheme, the integral structure does not need a bearing, a front end cover, a rear end cover, a shaft coupler and other accessories, only a stator, a rotor, a shell and an encoder assembly are installed on a hollow rotating shaft, and then the hollow rotating shaft is matched with a solid rotating shaft on a machine body to complete installation, the integral installation part is few, and the cost is low; because this motor is monolithic structure, will install the complete machine that the installation is good and install on the organism, simple to operate is swift, the concentricity of installation is high, the resistance is little, long service life.

In order to achieve the above object, the present invention provides a technical solution for solving the technical problem: the integrated motor with the grating encoder is clamped and fixed on a machine body, a solid rotating shaft is arranged on the machine body, the integrated motor comprises a hollow rotating shaft, a stator, a rotor, a shell and an encoder assembly, the hollow rotating shaft is sleeved on the solid rotating shaft, one end of the hollow rotating shaft is sleeved on the rotor, the outer end of the rotor is matched with the stator, the shell is sleeved outside the stator, and the shell is fixedly positioned on the hollow rotating shaft; the other end of the hollow rotating shaft is provided with the encoder component.

Furthermore, the end part of the hollow rotating shaft is provided with an annular boss which is abutted against the end part of the rotor.

Further, hollow rotating shaft sets up to the step shaft, including first shaft part, second shaft section and third shaft part, the junction of first shaft part and second shaft section with shell looks joint, the second shaft section is close to first shaft part department and is provided with the annular groove, the joint has the jump ring in the annular groove, the jump ring with shell tip is inconsistent.

Further, the shell includes open end and joint end, the joint end be provided with the second shaft section cup joints the complex joint hole, the circumferencial direction in joint hole is provided with and holds the ring groove of jump ring, stator, rotor with behind the open end cooperation with the organism joint is fixed.

Further, the tip of stator stretches out the open end forms the boss, be provided with on the organism with boss joint complex recess, the middle part of recess sets up solid pivot, the peripheral direction of shell is provided with a plurality of hangers, be provided with the screw in the hanger and link to each other with the organism is fixed through the screw.

Furthermore, an annular stop strip is arranged on the clamping end along the circumferential direction of the clamping end, a protective cover is arranged at one end of the hollow rotating shaft close to the encoder assembly, the protective cover is clamped at the inner side of the annular stop strip, and the protective cover is fixedly connected with the clamping end through a screw; the protective cover is made of transparent materials.

Furthermore, the encoder assembly comprises a grating sheet and an encoding plate, the grating sheet is clamped and fixed at the joint of the second shaft section and the third shaft section through a clamping ring, and the encoding plate is fixed on the shell.

Furthermore, the tip of second axle section is provided with the rectangle draw-in groove, grating inboard be provided with the bayonet socket that the rectangle draw-in groove is relative, be provided with on the snap ring and pass the fixed joint piece of bayonet socket and rectangle draw-in groove joint.

Furthermore, a plurality of support columns are arranged at the end part of the shell along the circumferential direction of the shell, threaded holes I are formed in the support columns, through holes opposite to the support columns are formed in the coding plate, and screws are connected between the through holes and the support columns.

Further, the periphery of the hollow rotating shaft is provided with a plurality of threaded holes II along the radial direction, screws are installed in the threaded holes II, and the hollow rotating shaft is fixedly connected with the solid rotating shaft through the screws.

The utility model has the advantages that:

1. the grating encoder is arranged in the motor to form an integral structure, so that the stator, the rotor, the shell and the encoder assembly are arranged on the hollow rotating shaft without accessories such as a bearing, a front end cover, a rear end cover, a coupling and the like, the integral motor has few integral assembly parts, is convenient and quick to assemble and has low cost; when installing the motor on the organism, because the monolithic structure of motor, the motor is whole cup joints and is fixed in on the organism, simple to operate is swift, and is efficient, and the concentricity of installation is high, and the resistance is little, stable in structure, and motor operation sound is little, long service life.

2. Specifically, the clamping hole on the clamping end of the shell is in sleeve fit with the hollow rotating shaft, so that the movement of the hollow rotating shaft in the radial direction is limited; through the annular boss that the tip of hollow rotating shaft set up, the junction and the shell joint of the first shaft section of hollow rotating shaft and second shaft section are inconsistent through jump ring and shell, and there is corresponding suction force between stator and the rotor and has all restricted the axial float of hollow rotating shaft in addition, make overall structure more stable, can furthest protect encoder subassembly and rotor in transportation, installation and use moreover, have prolonged its life. Meanwhile, the transverse distance between the hollow rotating shaft and the shell is relatively fixed, so that the magnetic fields generated by the rotor and the stator are opposite and do not deviate, the relative position of the hollow rotating shaft and the stator does not need to be adjusted during installation, the installation steps are simplified, and the installation is more convenient and quicker.

3. Specifically, the motor rotating shaft is a hollow rotating shaft, a rotor is sleeved on the hollow rotating shaft, and the hollow rotating shaft and a solid rotating shaft on the machine body are sleeved into an integral structure, so that the hollow rotating shaft, the rotor and the solid rotating shaft are coaxial; and, the tip of stator and rotor stretches out the shell and forms the boss, be provided with on the organism with boss joint complex recess, the middle part of recess sets up solid pivot, the recess is coaxial with solid pivot, boss and recess joint have guaranteed that stator and solid pivot are coaxial, have then guaranteed that stator and rotor are concentric, make motor unit mount's concentricity high, make motor running resistance littleer, the operation sound is light, more smooth-going, improved product stability.

4. Specifically, the grating sheet is clamped and fixed on the hollow rotating shaft through the clamping ring and synchronously rotates with the hollow rotating shaft, the relative positions of the grating sheet and the hollow rotating shaft are fixed, and a motor control system does not need to read the initial angle of a motor or learn, so that the design difficulty of the motor control system is reduced, the response speed of the control system is improved, errors are reduced, and the stability of a product is improved; the tip of shell is provided with a plurality of support columns that contain the screw hole along its circumferencial direction, and the coding board passes through the bolt fastening on the support column, and the position of this support column is accurate, makes the concentricity of encoder and shell higher, and the concentricity of encoder and grating piece is high promptly, has effectively reduced the error that the encoder read, has improved the detection precision of encoder.

5. In addition, the end of the hollow rotating shaft, which is close to the encoder assembly, is provided with a transparent protective cover, and the protective cover is clamped on the inner side of the annular barrier strip on the shell and is fixedly connected with the shell, so that the encoder assembly and the motor assembly are protected, the running condition of the motor is conveniently observed, and the dustproof effect is achieved.

To sum up, this integral type motor overall structure is simple stable, simple to operate is swift, with low costs, and the concentricity of installation is high, and position and angle detection precision are high, long service life.

Drawings

The contents of the various figures of the specification and the labels in the figures are briefly described as follows:

FIG. 1 is a schematic view of the structure of the present invention installed on the machine body;

FIG. 2 is an exploded view of the present invention;

FIG. 3 is an exploded view of the present invention without the housing, the code plate and the protective cover;

fig. 4 is a cross-sectional view of the present invention;

the labels in the above figures are: 1. the novel motor comprises a motor body, 11 grooves, 2 solid rotating shafts, 3 hollow rotating shafts, 31 annular bosses, 32 first shaft sections, 33 second shaft sections, 331 rectangular clamping grooves, 34 third shaft sections, 35 annular grooves, 36 threaded holes II, 4 stators, 5 rotors, 6 shells, 61 opening ends, 62 clamping ends, 63 clamping holes, 64 annular clamping grooves, 65 support lugs, 66 annular stop bars, 67 support columns, 7 encoder assemblies, 71 grating sheets, 711 bayonets, 72 encoding plates, 8 clamp springs, 9 protective covers, 91 mounting holes, 10 clamp rings and 101 clamping blocks.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments, and the following embodiments are used for illustrating the present invention, but do not limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses specific embodiment does: as shown in fig. 1 and 2, an integrated motor with a grating encoder is clamped and fixed on a machine body 1, the machine body 1 can be a sewing machine, a solid rotating shaft 2 is arranged on the machine body 1, the solid rotating shaft 2 rotates to drive the sewing machine to work, the integrated motor comprises a hollow rotating shaft 3, a stator 4, a rotor 5, a shell 6 and an encoder assembly 7, the hollow rotating shaft 3 is sleeved on the solid rotating shaft 2, a plurality of threaded holes ii 36 are radially arranged on the periphery of the hollow rotating shaft 3, threaded holes are also arranged on the solid rotating shaft 2, screws are arranged in the threaded holes ii 36, the hollow rotating shaft 3 is fixedly connected with the threaded holes of the solid rotating shaft 2 through screws, one end of the hollow rotating shaft 3 is sleeved with the rotor 5, the outer end of the rotor 5 is matched with the stator 4, the shell 6 is sleeved outside the stator 4; the other end of the hollow rotating shaft 3 is provided with the encoder component 7, the encoder component 7 is installed in the motor to form an integral structure, accessories such as a bearing, a front end cover, a rear end cover, a coupling and the like are not needed during installation, namely the stator 4, the rotor 5, the shell 6 and the encoder component 7 are installed on the hollow rotating shaft 3, and then the hollow rotating shaft 3 is matched with the solid rotating shaft 2 on the machine body 1 to complete installation, so that the integral installation part is few, the assembly is convenient and rapid, and the cost is low; when installing the motor on the organism, because the monolithic structure of motor, the motor is whole cup joints and is fixed in on the organism, simple to operate is swift, and is efficient, and the concentricity of installation is high, and hollow rotating shaft 3 has restricted holistic rocking after cup jointing with solid pivot 2 and fixes, and motor operation sound is little, and stable in structure has prolonged its life.

Specifically, fig. 4 is a cross-sectional view taken along a direction perpendicular to the central axis of the integrated motor, and as shown in fig. 4, the end of the hollow rotating shaft 3 is provided with an annular boss 31 which abuts against the end of the rotor 5, preventing the rotor 5 from moving along the axial direction of the hollow rotating shaft 3 and separating from the hollow rotating shaft 3; the hollow rotating shaft 3 is arranged as a stepped shaft and comprises a first shaft section 32, a second shaft section 33 and a third shaft section 34, the joint of the first shaft section 32 and the second shaft section 33 is clamped with the shell 6, the specific structure is that the shell 6 comprises an opening end 61 and a clamping end 62, a clamping hole 63 which is in sleeve fit with the second shaft section 33 is arranged on the clamping end 62, an annular groove 35 is arranged at the position of the second shaft section 33, which is close to the first shaft section 32, a clamping spring 8 is clamped in the annular groove 35, the clamping spring 8 is abutted against the end part of the shell 6, so that the axial movement of the shell 6 along the hollow rotating shaft 3 is limited, as the stator 4 is fixed in the shell 6, the position of the stator 4 is fixed, the transverse distance between the hollow rotating shaft 3 and the shell 6 is relatively fixed, the magnetic fields generated by the rotor 5 and the stator 4 are opposite and do not deviate, the relative positions of the hollow rotating shaft 3, the installation is more convenient and faster; further, in order to enable the snap spring 8 not to occupy an installation space, a ring-shaped clamping groove 64 for accommodating the snap spring 8 is arranged in the circumferential direction of the clamping hole 63, and the ring-shaped clamping groove 64 and the clamping hole 63 are concentrically arranged.

Specifically, as shown in fig. 1, fig. 2 and fig. 4, stator 4, rotor 5 and open end 61 cooperate the back fixed with 1 joint of organism, concrete structure is, stator 4's tip stretches out open end 61 and forms the boss, be provided with on the organism 1 with boss joint complex recess 11, recess 11's middle part sets up solid pivot 2, recess 11 is coaxial with solid pivot 2, boss and recess 11 joint, it is coaxial with solid pivot 2 to have guaranteed stator 4, then it is concentric with the rotor to have guaranteed, make motor monolithic erection's concentricity high, it is littleer to make motor running resistance, the operation sound is light, it is more smooth-going, the stability of product has been improved. And the peripheral direction of shell 6 is provided with a plurality of hangers 65, is provided with the screw in the hangers 65 and links to each other with organism 1 is fixed through the screw, makes overall structure more stable.

In addition, as shown in fig. 2 and 4, an annular stop strip 66 is arranged on the clamping end 62 along the circumferential direction, the annular stop strip 66 and the shell are integrally formed by aluminum casting, a protective cover 9 is arranged at one end of the hollow rotating shaft 3 close to the encoder component 7, the protective cover 9 is clamped at the inner side of the annular stop strip 66, the protective cover 9 is fixedly connected with the clamping end 62 through screws, and the protective cover 9 plays a role in protecting the encoder component and the motor component and plays a role in dust prevention; in order to observe the running condition of the motor conveniently, the protective cover 9 is made of transparent materials and can be integrally formed by injection molding through transparent plastics; in addition, as shown in fig. 4, a plurality of mounting holes 91 are formed in the protective cover 9, the mounting holes 91 can be arranged and are opposite to the threaded holes ii 36 at the end portions of the hollow rotating shafts 3, and after a screw mounting tool is used for penetrating through the mounting holes 91, screws are used for penetrating through the threaded holes ii 36 and are fixedly connected with the solid rotating shafts 2 on the machine body 1, so that the protective cover 9 can be mounted to form an integral motor structure, transportation of an integral product can be performed, encoder components and motor components in the integral motor structure are protected from collision, the safety of product transportation is improved, and when the integral motor structure is mounted on the machine body 1, the protective cover 9 does not need to be dismounted, finished products can be directly mounted on the machine body 1, the mounting steps are fewer, and the mounting is more convenient and rapid.

Specifically, as shown in fig. 3, the encoder component 7 includes a grating sheet 71 and an encoding board 72, the grating sheet 71 is fixed at the joint of the second shaft section 33 and the third shaft section 34 by a snap ring 10 in a snap-fit manner, in a specific structure, the end portion of the second shaft section 33 is provided with a rectangular snap groove 331, the inner side of the grating sheet 71 is provided with a bayonet 711 opposite to the rectangular snap groove 331, the snap ring 10 is provided with a snap block 101 which passes through the bayonet 711 and is fixed in the snap-fit manner with the rectangular snap groove 331, the grating sheet 71 is fixed on the hollow rotating shaft 3 by the snap ring 10 in a snap-fit manner, so that the grating sheet 71 and the hollow rotating shaft 3 are fixed in relative positions, the motor control system does not need to read the initial angle of the motor or learn, the design difficulty of the motor control system. As shown in fig. 2 and 4, the tip of shell 6 is provided with a plurality of support columns 67 along its circumferencial direction, this support column 67 and the integrative cast aluminum shaping of shell 6, be provided with screw hole i in the support column 67, be provided with the through-hole relative with support column 67 on the coding board 72, be connected with the screw between through-hole and the support column 67, the position accuracy of this support column 67 is fixed, it is higher to make encoder and shell 6's concentricity, encoder and grating piece 71's concentricity is high promptly, the error that the encoder read has effectively been reduced, the detection precision of encoder has been improved.

The integrated motor comprises the following installation steps: firstly, a rotor 5 is sleeved and mounted at one end of a hollow rotating shaft 3, a stator 4 is installed in a shell 6 in a clamping mode and fixed in position, then the shell 6 provided with the stator 4 is sleeved and mounted on the hollow rotating shaft 3 and clamped at the joint of a first shaft section 32 and a second shaft section 33, the stator 4 and the rotor 5 are positioned in a sleeved mode, then a clamp spring 8 is installed in an annular groove 35 and abuts against the shell 6, axial movement of the shell 6 is limited, and meanwhile axial movement of the hollow rotating shaft 3 relative to the shell 6 is also limited; then, clamping and fixing the grating sheet 71 at the joint of the second shaft section 33 and the third shaft section 34 through a clamping ring 10, installing and fixing the coding plate 72 in the support column 67 through screws, clamping and fixing the protective cover 9 at one end of the hollow rotating shaft 3 where the encoder assembly 7 is installed, clamping and connecting the protective cover 9 at the inner side of the annular stop strip 66, and then fixedly connecting the annular stop strip with the shell 6 through screws; finally, stator 4 will be installed, rotor 5, shell 6, encoder subassembly 7, hollow rotating shaft 3 behind the safety cover 9 cup joints on the solid pivot 2 on organism 1, the one end that stator 4 and rotor 5 stretched out shell 6 simultaneously and the recess 11 joint location on the organism 1, and utilize behind the screw mounting tool fixed screw, pass mounting hole 91 on the safety cover 9, pass screw hole II 36 again and link to each other hollow rotating shaft 3 and solid rotating shaft 2 are fixed, then pass journal stirrup 65 on the shell 6 and fix on organism 1 through the screw, then whole installation has been accomplished.

The foregoing is merely illustrative of some of the principles of the present invention and the description is not intended to limit the invention to the specific constructions and applications shown, so that all modifications and equivalents that may be utilized are within the scope of the invention.

Claims

1. The integrated motor with the grating encoder is characterized in that the integrated motor is clamped and fixed on a machine body (1), a solid rotating shaft (2) is arranged on the machine body (1), the integrated motor comprises a hollow rotating shaft (3), a stator (4), a rotor (5), a shell (6) and an encoder assembly (7), the hollow rotating shaft (3) is sleeved on the solid rotating shaft (2), the rotor (5) is sleeved at one end of the hollow rotating shaft (3), the outer end of the rotor (5) is matched with the stator (4), the shell (6) is sleeved outside the stator (4), and the shell (6) is fixedly arranged on the hollow rotating shaft (3); the other end of the hollow rotating shaft (3) is provided with the encoder component (7).

2. The integrated motor with a grating encoder according to claim 1, wherein: the end part of the hollow rotating shaft (3) is provided with an annular boss (31) which is abutted against the end part of the rotor (5).

3. The integrated motor with a grating encoder according to claim 2, wherein: hollow pivot (3) set up to the step shaft, including first shaft part (32), second shaft part (33) and third shaft part (34), the junction of first shaft part (32) and second shaft part (33) with shell (6) looks joint, second shaft part (33) are close to first shaft part (32) and locate to be provided with annular groove (35), the joint has jump ring (8) in annular groove (35), jump ring (8) with shell (6) tip is inconsistent.

4. The integrated motor with a grating encoder according to claim 3, wherein: shell (6) include open end (61) and joint end (62), be provided with on joint end (62) with second shaft section (33) cup joints complex joint hole (63), the circumferencial direction in joint hole (63) is provided with and holds ring groove (64) of jump ring (8), stator (4), rotor (5) and behind open end (61) the cooperation with organism (1) joint is fixed.

5. The integrated motor with a grating encoder as claimed in claim 4, wherein: the tip of stator (4) stretches out open end (61) forms the boss, be provided with on organism (1) with boss joint complex recess (11), the middle part of recess (11) sets up solid pivot (2), the peripheral direction of shell (6) is provided with a plurality of journal stirrup (65), be provided with the screw in journal stirrup (65) and pass through the screw and fix with organism (1) and link to each other.

6. The integrated motor with a grating encoder as claimed in claim 4, wherein: an annular stop strip (66) is arranged on the clamping end (62) along the circumferential direction of the clamping end, a protective cover (9) is arranged at one end, close to the encoder assembly (7), of the hollow rotating shaft (3), the protective cover (9) is clamped on the inner side of the annular stop strip (66), and the protective cover (9) is fixedly connected with the clamping end (62) through screws; the protective cover (9) is made of transparent materials.

7. The integrated motor with the grating encoder according to any one of claims 3 to 6, wherein: encoder subassembly (7) include grating piece (71) and coding board (72), grating piece (71) are fixed through snap ring (10) joint the junction of second axle section (33) and third axle section (34), coding board (72) are fixed on shell (6).

8. The integrated motor with a grating encoder according to claim 7, wherein: the end part of the second shaft section (33) is provided with a rectangular clamping groove (331), the inner side of the grating sheet (71) is provided with a bayonet (711) opposite to the rectangular clamping groove (331), and the clamping ring (10) is provided with a clamping block (101) which penetrates through the bayonet (711) and the rectangular clamping groove (331) and is clamped and fixed.

9. The integrated motor with a grating encoder according to claim 7, wherein: the end of the shell (6) is provided with a plurality of supporting columns (67) along the circumferential direction of the shell, threaded holes I are formed in the supporting columns (67), through holes opposite to the supporting columns (67) are formed in the coding plate (72), and screws are connected between the through holes and the supporting columns (67).

10. The integrated motor with a grating encoder according to claim 7, wherein: the periphery of the hollow rotating shaft (3) is provided with a plurality of threaded holes II (36) along the radial direction, screws are installed in the threaded holes II (36), and the hollow rotating shaft (3) is fixedly connected with the solid rotating shaft (2) through the screws.