CN212677033U - Motor and servo control system with same - Google Patents

Abstract

The utility model discloses a motor and have its servo control system. 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 cover having a rotor cavity, the encoder rotor being at least partially located within the rotor cavity. According to the utility model discloses a motor through set up the rotor chamber that is used for installing the encoder rotor in the end cover, can show the length that shortens encoder position to shorten the total length of motor.

Description

Motor and servo control system with same

Technical Field

The utility model relates to the technical field of motors, particularly, relate to a motor and have its servo control system.

Background

Encoders are typically provided inside the motor for measuring the angular displacement of the motor rotor. Traditional encoder passes through the screw fastening on the end cover to be provided with the boss for the encoder location on the end cover, the mounting structure of encoder is being covered to the back of later reuse, plays the purpose of mechanical protection and IP protection. The encoder is installed and positioned by the boss and fastened by the screw, and the rear cover only plays a role in protection. And for the motor as a whole, the size of the whole encoder structure part is very long, and the requirement of compactness cannot be met, so that the competitiveness of the motor in the application market is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the above-mentioned technical problem among the prior art to a certain extent at least. Therefore, the utility model provides a motor can make the length of motor show and shorten.

The utility model also provides a servo control system who has above-mentioned motor.

According to the utility model discloses 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 cover having a rotor cavity, the encoder rotor being at least partially located within the rotor cavity.

According to the utility model discloses motor through set up the rotor chamber that is used for installing the encoder rotor in the end cover, can show the length that shortens encoder position to shorten the total length of motor.

According to some embodiments of the invention, the motor further comprises: motor casing, electric motor rotor and motor stator, electric motor rotor wear to establish the end cover and with the encoder rotor is fixed continuous, motor stator with motor casing is fixed.

Specifically, the end cap includes: the rotor cavity extends into the end cover body from the first protrusion of the end cover, the second protrusion of the end cover is arranged at the second end of the end cover body, and the second protrusion of the end cover extends into the central area surrounded by the motor stator.

Further, the length of the end cover second protrusion extending into the central area surrounded by the motor stator is not less than half of the length of the end cover second protrusion.

Optionally, a potting adhesive for fixing the motor stator and the motor housing is disposed at one end of the motor stator facing the end cover, and the second protrusion of the end cover extends into a central area surrounded by the potting adhesive.

According to some embodiments of the utility model, the protruding department of end cover second is provided with to this internal extending bearing chamber of end cover, be provided with the bearing in the bearing chamber, the inner circle of bearing with electric motor rotor relatively fixed, the outer lane of bearing with the chamber wall relatively fixed in bearing chamber, just the inner circle and the outer lane of bearing can rotate relatively.

Furthermore, a stop positioning wall is arranged between the bearing cavity and the rotor cavity, and a mounting through hole for connecting the motor rotor and the encoder rotor is formed in the stop positioning wall.

According to some embodiments of the invention, the motor further comprises: the rear cover is suitable for being fixedly connected with the end cover, an accommodating cavity is formed between the rear cover and the end cover, the rear cover is provided with a limiting structure, and the encoder stator is fixed in the accommodating cavity through the limiting structure.

Specifically, the encoder stator has a stator flange, and the limit structure includes: the rear cover axial positioning surface and the rear cover radial positioning surface are positioned in the accommodating cavity, the rear cover axial positioning surface is suitable for being at least partially attached to the end face, deviating from the end cover, of the stator flange, the rear cover radial positioning surface is suitable for being at least partially attached to the outer peripheral face of the stator flange, the rear cover radial positioning surface is also suitable for being at least partially attached to the first raised outer peripheral face of the end cover, and the stator flange is at least partially attached to the first raised end face of the end cover.

Furthermore, 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 back cover radial location face comprises: the stator positioning section and the end cover positioning section, the end cover positioning section is at least partially constructed into an elastic positioning section made of elastic materials.

According to some embodiments of the utility model, the end cover second arch with be provided with the end cover third arch between the end cover body, the bellied external diameter of end cover third is greater than the bellied external diameter of end cover second, just the second seal groove has been seted up on the bellied outer peripheral face of end cover third, be provided with the second sealing washer in the second seal groove, the second sealing washer be suitable for with motor casing's inner peripheral surface the protruding equal laminating of end cover second.

According to another aspect of the present invention, a servo control system includes the above-mentioned motor.

The servo control system has the same advantages as the motor in the prior art, and is not described herein again.

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 cross-sectional assembly schematic of an electric machine;

FIG. 2 is an enlarged partial schematic view at A of FIG. 1;

FIG. 3 is a cross-sectional exploded schematic view of the motor;

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 the end cap;

FIG. 11 is a cross-sectional view of the end cap of the first embodiment;

FIG. 12 is a cross-sectional assembly view of another embodiment of an electric machine;

FIG. 13 is an enlarged partial schematic view at B of FIG. 12;

FIG. 14 is a cross-sectional view of the end cap of the second embodiment;

FIG. 15 is a cross-sectional view of the end cap of the third embodiment;

FIG. 16 is a cross-sectional view of the fourth embodiment endcap.

Reference numerals:

the motor comprises a motor 10, an encoder 1, an encoder stator 11, a stator flange 111, a stator body 112, an encoder rotor 12, a rotor screw 121, an end cover 2, an end cover first bulge 21, an end cover body 22, an insertion hole 221, an installation through hole 23, an end cover second bulge 24, a rotor cavity 25, a bearing cavity 26, a stop positioning wall 27, an end cover third bulge 28, a rear cover 3, a limiting structure 31, a rear cover axial positioning surface 311, a rear cover radial positioning surface 312, a rear cover top plate 32, a rear cover side wall plate 33, a top plate hole 34, a concave part 35, a wire outlet hole 36, an elastic positioning section 37, an accommodating cavity 4, a first sealing groove 5, a second sealing groove 51, a first sealing ring 6, a second sealing ring 61, a fastening screw 7, a thread section 71, a screw head 72, a switching screw 8, a motor rotor 9, a motor stator 91, a motor shell 92 and pouring sealant 93.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected or can communicate with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The following describes the electric machine 10 according to an embodiment of the present invention in detail with reference to fig. 1 to 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 cover 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, with the encoder rotor 12 being located completely 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 utility model discloses motor 10 through set up the rotor chamber 25 that is used for installing encoder rotor 12 in end cover 2, can show the total length that shortens encoder 1 and end cover 2 to shorten the length of encoder 1 position, and then shorten motor 10's total length.

Referring to fig. 1 to 4 and 12 to 13, the motor 10 further includes: motor casing 92, electric motor rotor 9 and electric motor stator 91, electric motor rotor 9 wears to establish end cover 2, and electric motor rotor 9 and encoder rotor 12 are fixed continuous, in some embodiments, can set up the through-hole on encoder rotor 12, can open threaded connection hole on electric motor rotor 9, rotor screw 121 wears to establish the through-hole after with the threaded connection hole spiro union on electric motor rotor 9, realize the fixed connection of encoder rotor 12 and electric motor rotor 9 from this. Like this, when electric motor rotor 9 rotated, encoder rotor 12 rotated with electric motor rotor 9 synchronous, and relative motion took place for encoder stator 11 for encoder rotor 12, can know electric motor rotor 9's rotation parameter through the rotation parameter that detects encoder rotor 12, and rotation parameter can be angle displacement, rotational speed etc..

The motor stator 91 is suitable for being fixed to the motor housing 92, as shown in fig. 1 to 3 and 12 to 13, a potting adhesive 93 for fixing the motor stator 91 to the motor housing 92 is disposed at one end of the motor stator 91 facing the end cover 2, and the potting adhesive 93 can further enhance the fixing effect of the motor stator 91 to the motor housing 92, that is, the motor stator 91 and the motor housing 92 can be fixed by using other fixing methods besides the potting adhesive 93, or can be fixed by using a method in which the potting adhesive 93 is used in cooperation with other methods. Moreover, the potting adhesive 93 is usually made of resin, which can improve the heat dissipation performance of the motor 10.

Referring to fig. 7-9, the end cap 2 may include: the rotor end cover comprises an end cover body 22, first end cover bulges 21 and second end cover bulges 24, wherein the first end cover bulges 21 are arranged at the first end of the end cover body 22, the first end cover bulges 21 protrude out of the first end surface of the end cover body 22, a rotor cavity 25 extends into the end cover body 22 from the first end cover bulges 21, the second end cover bulges 24 are arranged at the second end of the end cover body 22, and the second end cover bulges 24 protrude out of the second end surface of the end cover body 22. Referring to fig. 1-3, 12-13, the second end cap protrusion 24 extends into a central region surrounded by the stator 91 of the motor. In other words, the central region 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, the axial length of the motor 10 is further shortened, and the internal structure of the motor 10 is more compact.

Further, the length of the end cover second projection 24 extending into the central area surrounded by the motor stator 91 is not less than half of the length of the end cover second projection 24 itself. This ensures that the second end cap projection 24 projects into the central region enclosed by the motor stator 91 as much as possible, thereby significantly reducing the length of the motor 10.

Referring to fig. 1-3 and 12-13, the potting adhesive 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 potting adhesive 93.

Referring to fig. 1-3, 7-9, and 12-13, a bearing cavity 26 extending into the end cover body 22 is disposed at the end cover second protrusion 24, a bearing 94 is disposed in the bearing cavity 26, an inner ring of the bearing 94 is fixed relative to the motor rotor 9, an outer ring of the bearing 94 is fixed relative to a cavity wall of the bearing cavity 26, and the inner ring and the outer ring of the bearing 94 are rotatable relative to each other. Thus, when the motor rotor 9 and the encoder rotor 12 rotate synchronously, the inner ring of the bearing 94 can rotate synchronously with the motor rotor 9, and the outer ring of the bearing 94 is fixed, so that the bearing 94 can support the motor rotor 9 to rotate, and the rotation of the motor rotor 9 is more stable.

Further, referring to fig. 7 to 9, a stopper positioning wall 27 is provided between the bearing cavity 26 and the rotor cavity 25, and the stopper positioning wall 27 is provided with a mounting through hole 23 for connecting the motor rotor 9 and the encoder rotor 12. As shown in fig. 1-3 and 12-13, the motor rotor 9 is adapted to be inserted into the mounting through hole 23, so as to facilitate the rotor screw 121 to be fixedly connected, thereby achieving the fixed connection between the motor rotor 9 and the encoder rotor 12.

Referring to fig. 1-4, 12-13, the motor 10 may further include: the rear cover 3 is suitable for being fixedly connected with the end cover 2, and as shown in fig. 1 and 12, an accommodating cavity 4 is formed between the rear cover 3 and the end cover 2, as shown in fig. 1-2 and 10-16, the rear cover 3 has a limiting structure 31, and the encoder stator 11 is fixed in the accommodating cavity 4 through the limiting structure 31, so that the encoder 1 is fixedly installed in the motor 10. The rear cover 3 can play a good mechanical protection role for 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 fixing structure is not arranged between the encoder 1 and the end cover 2, so that a fastening piece between the encoder 1 and the end cover 2 can be omitted, the weight of the motor 10 is reduced, and the manufacturing cost of the motor 10 is saved.

According to the utility model discloses motor 10, utilize limit structure 31 of back lid 3 self to fix a position encoder stator 11 on end cover 2, can cancel the screw fastener between encoder stator 11 and the end cover 2 from this, be favorable to saving the cost, and simultaneously, needn't set up special location structure on the end cover 2 and fix a position encoder stator 11, be favorable to further reducing motor 10's axial length from this, and end cover 2's structure can be simplified, is favorable to saving end cover 2's manufacturing cost. 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 stopper structure 31 includes: the rear cover axial positioning surface 311 and the rear cover radial positioning surface 312 are located in the accommodating cavity 4, the rear cover axial positioning surface 311 and the rear cover radial positioning surface 312 are perpendicular to each other, the rear cover axial positioning surface 311 is suitable for being at least partially attached to the end surface, away from the end cover 2, of the stator flange 111, the rear cover radial positioning surface 312 is suitable for being at least partially attached to the outer peripheral surface of the stator flange 111, and the stator flange 111 is at least partially attached to the end surface of the first end cover protrusion 21. The back cover axial positioning surface 311 presses the encoder stator 11 onto the end cover 2 to limit the axial position of the encoder stator 11, and the back cover radial positioning surface 312 can limit the radial position of the encoder stator 11, so that the encoder stator 11 is positioned in the accommodating cavity 4.

Referring to fig. 6, the stator flange 111 has a first stator axial positioning surface 1111, a radial stator positioning surface 1112, and a second stator axial positioning surface 1113, the first stator axial positioning surface 1111 is perpendicular to the radial stator positioning surface 1112, and the first stator axial positioning surface 1111 is parallel to the second stator 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 abut against the stator second axial positioning surface 1113, in particular the stator second axial positioning surface 1113 of the stator flange 111 is arranged to abut against the end cap axial positioning surface 211 of the end cap first protrusion 21, thereby ensuring a reliable axial position of the encoder stator 11.

Preferably, the aft-cover radial locating surface 312 and the stator radial locating surface 1112 are each configured as a circumferential surface, whereby the aft-cover radial locating surface 312 radially locates a full turn of the stator radial locating surface 1112, ensuring more reliable location.

Referring to fig. 1-2 and 12-13, the stator flange 111 and the first end cover protrusion 21 have the same outer diameter, so that the rear cover radial positioning surface 312 may have the same diameter, which is advantageous for simplifying the structure and the processing 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 that 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, it is not necessary to attach the entire outer peripheral surface of the encoder stator 11 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 it can only be ensured that the manufacturing accuracy of the stator flange 111 is high, and the manufacturing accuracy of the stator body 112 can be properly reduced, thereby being beneficial to saving the manufacturing cost of the encoder stator 11.

The back cover radial locating surface 312 is also adapted to at least partially engage the outer peripheral surface of the end cover first projection 21, thereby limiting the relative radial position of the back cover 3 and the end cover 2.

The first end cover projection 21 has an end cover axial positioning surface 211, and an end cover first radial positioning surface 212, and the stator second axial positioning surface 1113 is adapted to engage with the end cover axial positioning surface 211, whereby the end cover 2 can limit the axial position of the encoder stator 11, and the back cover radial positioning surface 312 is adapted to engage with the end cover first radial positioning surface 212, whereby the end cover 2 can limit the radial position of the back cover 3.

Further, a first sealing groove 5 is formed in the outer peripheral surface of the first protrusion 21 of the end cover, a 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 can play a good IP protection role.

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. Specifically, as shown with reference to fig. 3-4, the fastener may include: a fastening screw 7 and an 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 is in threaded connection with the adapting screw 8. Referring to fig. 7 to 8, an insertion hole 221 for inserting the adapting screw 8 is formed in the end cover body 22, and at least a portion of the adapting screw 8 is adapted to be inserted and fixed in the insertion hole 221, thereby fixing the adapting screw 8 on the end cover body 22.

Specifically, as shown in fig. 10 to 11, and 14 to 16, the rear cover 3 may include: rear cover top plate 32 and rear cover side bounding wall 33, rear cover side bounding wall 33 is fixed with rear cover top plate 32, and limit structure 31 sets up on rear cover side bounding wall 33, and rear cover top plate 32 separates with end cover 2, and offers the top plate hole 34 that supplies fastening screw 7 and switching screw 8 to wear to establish on rear cover top plate 32 and the junction of rear cover side bounding wall 33, and top plate hole 34 runs through rear cover side bounding wall 33. Switching screw 8 wears to establish in top plate hole 34, and fastening screw 7 wears to establish top plate hole 34 and with the switching screw 8 spiro union in the top plate hole 34, and lid 3 and end cover 2's fixed after the high dimension that can make full use of back lid 3 accomplishes from this to be favorable to reducing motor 10's axial dimensions.

Referring to fig. 3 to 4, the fastening screw 7 includes: the screw thread section 71 and the screw head 72, the rear cover top plate 32 is provided with the recess 35, 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 the screw head 72 can be accommodated in the recess 35, thereby further reducing the axial size 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 of the encoder 1 or the like can be inserted through the wire hole 36.

In a particular embodiment, aft cover radial locating surface 312 includes: the stator positioning section is used for radially positioning the encoder stator 11, and the end cover positioning section is used for radially positioning the first protrusion 21 of the end cover, and as shown in fig. 12 to 16, the end cover positioning section is at least partially configured to be an elastic positioning section 37 made of an elastic material, so that damage to the first seal ring 6 on the first protrusion 21 of the end cover by the radial positioning surface 312 of the rear cover is reduced.

Particularly, the first sealing ring 6 is easily scratched by the rear cover 2 in the installation process, the rear cover 2 is improved for this reason, the elastic positioning section 37 is added, the elastic positioning section 37 can ensure that the acute angle of the rear cover 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, and after the installation is completed, the elastic positioning section 37 can be just opposite to the first sealing ring 6, and the elastic positioning section 37 can elastically deform, so that the sealing effect of the joint of the rear cover 3 and the end cover 2 is further promoted.

Alternatively, the elastic positioning section 37 may be a soft gel structure.

The configuration of the resilient locating section 37 can take many forms as shown in figures 14-16. As shown in fig. 14, the resilient positioning segments 37 may be configured in 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 section 37 may be configured in an "I" shape.

Referring to fig. 7 to 9, an end cover third protrusion 28 is disposed between the end cover second protrusion 24 and the end cover body 22, an outer diameter of the end cover third protrusion 28 is larger than an outer diameter of the end cover second protrusion 24, and referring to fig. 1 to 2 and 12 to 13, a second seal groove 51 is disposed on an outer circumferential surface of the end cover third protrusion 28, a second seal ring 61 is disposed in the second seal groove 51, and the second seal ring 61 is adapted to be attached to both an inner circumferential surface of the motor housing 92 and the end cover second protrusion 24, so as to achieve sealing between the end cover 2 and the motor housing 92.

Further, referring to fig. 1-2, 9, 12-13, the third end cap bulge 28 has a second end cap radial positioning surface 218, and the second end cap radial positioning surface 218 is adapted to be attached to the inner circumferential surface of the motor housing 92, thereby accurately positioning the end cap 2 and the motor housing 92 in the radial direction. In addition, the end cover body 22 can axially limit 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 a photoelectric encoder.

According to the embodiment of the utility model, the motor 10 is provided with the rotor cavity 25 for installing the encoder rotor 12 in the end cover 2, and the end cover 2 is not provided with a positioning structure specially used for positioning the encoder stator 11, so that the axial length of the motor 10 can be shortened, and the length can be shortened by 6-15mm, thereby the motor 10 can reach the same dimension specification of a Japanese standard pole product in length dimension; 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 rear cover 3 is used for positioning the encoder 1, so that the working time consumed in the assembly process of the motor 10 is reduced, and the manufacturing cost is further reduced; through setting up elastic positioning section 37, can reduce the scratch to first sealing washer 6, promote first sealing washer 6's life, be favorable to further promoting the sealed effect of back lid 3 and end cover 2 junction simultaneously.

The motor 10 of the present invention may be a servo motor, and the motor 10 may be applied to various machines using the servo motor.

According to another aspect of the present invention, the servo control system includes the motor 10 of the above embodiment. The servo control system may be: six-axis or four-axis robot systems (such as Delta and Scara robots) and automatic control production systems (mostly customized products meeting specific requirements, such as textile production lines, automatic packaging production lines, sorting systems, automatic welding systems, medical mechanical systems and the like) needing to control the displacement position precision of an object.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean 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 invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer 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. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (13)

1. An electric machine (10), 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 cover (2), the end cover (2) having a rotor cavity (25), the encoder rotor (12) being located at least partially within the rotor cavity (25).

2. The electric machine (10) of claim 1, wherein the electric machine (10) further comprises: the motor comprises a motor shell (92), a motor rotor (9) and a motor stator (91), wherein the motor rotor (9) penetrates through the end cover (2) and is fixedly connected with the encoder rotor (12), and the motor stator (91) is fixed with the motor shell (92).

3. The electric machine (10) of claim 2, characterized in that the end cap (2) comprises:

an end cap body (22);

an end cover first protrusion (21), the end cover first protrusion (21) being disposed at a first end of the end cover body (22), the rotor cavity (25) extending from the end cover first protrusion (21) into the end cover body (22);

the end cover second bulge (24), the end cover second bulge (24) sets up in the second end of end cover body (22), end cover second bulge (24) stretch into in the central area that motor stator (91) enclose.

4. The electric machine (10) of claim 3, wherein the end cap second projection (24) extends into a central region surrounded by the motor stator (91) by no less than half the length of the end cap second projection (24) itself.

5. The electrical machine (10) according to claim 3 or 4, characterized in that an end of the electrical machine stator (91) facing the end cap (2) is provided with a potting compound (93) for fixing the electrical machine stator (91) to the electrical machine housing (92), and the end cap second protrusion (24) protrudes into a central region surrounded by the potting compound (93).

6. The electric machine (10) of claim 3, wherein the end cover second protrusion (24) is provided with a bearing cavity (26) extending into the end cover body (22), a bearing (94) is arranged in the bearing cavity (26), an inner ring of the bearing (94) is fixed relative to the electric machine rotor (9), an outer ring of the bearing (94) is fixed relative to a cavity wall of the bearing cavity (26), and the inner ring and the outer ring of the bearing (94) can rotate relative to each other.

7. The motor (10) according to claim 6, wherein a stop positioning wall (27) is formed between the bearing cavity (26) and the rotor cavity (25), and a mounting through hole (23) for connecting the motor rotor (9) and the encoder rotor (12) is formed in the stop positioning wall (27).

8. The electric machine (10) of claim 3, wherein the electric machine (10) further comprises: the rear cover (3), the rear cover (3) be suitable for with end cover (2) are fixed continuous, just rear cover (3) with form holding chamber (4) between end cover (2), rear cover (3) have limit structure (31), encoder stator (11) pass through limit structure (31) are fixed in holding chamber (4).

9. The electric machine (10) of claim 8, wherein the encoder stator (11) has a stator flange (111), the limit formation (31) comprising: the rear cover axial positioning face (311) and the rear cover radial positioning face (312) are located in the accommodating cavity (4), the rear cover axial positioning face (311) is suitable for being at least partially attached to the end face, deviating from the end cover (2), of the stator flange (111), the rear cover radial positioning face (312) is suitable for being at least partially attached to the outer peripheral face of the stator flange (111), the rear cover radial positioning face (312) is further suitable for being at least partially attached to the outer peripheral face of the first end cover protrusion (21), and the stator flange (111) is at least partially attached to the end face of the first end cover protrusion (21).

10. The electric machine (10) of claim 9, wherein the first end cap protrusion (21) has a first seal groove (5) formed on an outer peripheral surface thereof, a first seal ring (6) is disposed in the first seal groove (5), and the first seal ring (6) is adapted to be attached to both the rear cap radial positioning surface (312) and the first end cap protrusion (21).

11. The electric machine (10) of claim 9 or 10, wherein the back cover radial locating surface (312) comprises: a stator positioning section and an end cap positioning section, which is at least partially designed as an elastic positioning section (37) made of an elastic material.

12. The electric machine (10) of claim 3, wherein an end cover third protrusion (28) is disposed between the end cover second protrusion (24) and the end cover body (22), an outer diameter of the end cover third protrusion (28) is greater than an outer diameter of the end cover second protrusion (24), a second seal groove (51) is disposed on an outer circumferential surface of the end cover third protrusion (28), a second seal ring (61) is disposed in the second seal groove (51), and the second seal ring (61) is suitable for being attached to both an inner circumferential surface of the motor housing (92) and the end cover second protrusion (24).

13. A servo control system, characterized by comprising an electric machine (10) according to any of claims 1-12.

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