CN212752060U - 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 cap; the cover body is suitable for being fixedly connected with the end cover, an accommodating cavity is formed between the cover body and the end cover, the cover body is provided with a limiting structure, and the encoder stator is fixed in the accommodating cavity through the limiting structure. According to the utility model discloses a motor utilizes the limit structure of lid self to fix a position the encoder on the end cover, can cancel the screw fastener between encoder and the end cover from this, is favorable to saving the cost, simultaneously, needn't set up special location structure on the end cover and fix a position the encoder, is favorable to reducing the axial length of motor from this.

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, later use the lid to cover the mounting structure of encoder, play the purpose of mechanical protection and IP protection. The encoder is installed and positioned by boss positioning and screw fastening, and the cover body only plays a role in protection. This positioning, however, adds cost due to the use of screw fasteners between the encoder and the end caps.

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 utilizes the limit structure of lid self to fix a position the encoder on the end cover.

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; the motor rotor of the motor is suitable for penetrating through the end cover and is fixedly connected with the encoder rotor; the cover body is suitable for being fixedly connected with the end cover, an accommodating cavity is formed between the cover body and the end cover, the cover body is provided with a limiting structure, and the encoder stator is fixed in the accommodating cavity through the limiting structure.

According to the utility model discloses motor utilizes the limit structure of lid self to fix a position the encoder on the end cover, can cancel the screw fastener between encoder and the end cover from this, is favorable to saving the cost, simultaneously, needn't set up special location structure on the end cover and fix a position the encoder, is favorable to reducing the axial length of motor from this.

According to some embodiments of the invention, the encoder stator has a stator flange, the limiting structure comprises: the cover body axial positioning surface and the cover body radial positioning surface are positioned in the accommodating cavity, the cover body 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 cover body radial positioning surface is suitable for being at least partially attached to the outer peripheral surface of the stator flange, and the stator flange is at least partially attached to the end cover.

Further, the end cover is provided with an end cover bulge, and the radial positioning surface of the cover body is also suitable for at least partially fitting with the peripheral surface of the end cover bulge.

Optionally, a sealing groove is formed in the cover body radial positioning surface and/or the outer circumferential surface of the end cover protrusion, a sealing ring is arranged in the sealing groove, and the sealing ring is suitable for being attached to the cover body radial positioning surface and the end cover protrusion.

According to some embodiments of the invention, the stator flange is equal to the convex outer diameter of the end cover.

According to some embodiments of the invention, the stator flange is adapted for fitting with the end cap protrusion.

According to some embodiments of the invention, the end cap comprises: the end cover comprises an end cover body, the end cover bulge is arranged on the end cover body and protrudes out of the surface of the end cover body, and the cover body is connected with the end cover body through a fastener.

Specifically, the fastener includes: the fastening screw is suitable for penetrating the cover body and is in threaded connection with the adapting screw.

Specifically, the cover body includes: lid roof and lid side bounding wall, lid side bounding wall with the lid roof is fixed, limit structure sets up on the bounding wall of lid side, the lid roof with the end cover is separated, just the lid roof with the confession has been seted up to the junction of lid side bounding wall fastening screw with the roof plate hole that the switching screw wore to establish, the roof plate hole runs through lid side bounding wall.

According to some embodiments of the utility model, the encoder rotor have be suitable for with the rotor connecting portion that electric motor rotor is connected, seted up on the end cover with the just right installation through-hole of rotor connecting portion.

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 an exploded schematic view of an electric machine;

FIG. 2 is an assembled schematic view of the motor;

FIG. 3 is an enlarged partial schematic view at A of FIG. 3;

FIG. 4 is a schematic perspective view of an encoder;

FIG. 5 is a cross-sectional view of an encoder;

FIG. 6 is a perspective view of the cover;

FIG. 7 is a cross-sectional view of the cover;

FIG. 8 is a schematic perspective view of the end cap;

fig. 9 is a cross-sectional view of the end cap.

Reference numerals:

the motor comprises a motor 10, an encoder 1, an encoder stator 11, a stator flange 111, a stator body 112, a stator connecting portion 113, an encoder rotor 12, a rotor screw 121, an end cover 2, an end cover bulge 21, an end cover body 22, an insertion hole 221, a mounting through hole 23, a cover body 3, a limiting structure 31, a cover body axial positioning surface 311, a cover body radial positioning surface 312, a cover body top plate 32, a cover body side enclosing plate 33, a top plate hole 34, a concave portion 35, a wire outlet hole 36, an accommodating cavity 4, a sealing groove 5, a sealing ring 6, a fastening screw 7, a threaded section 71, a screw head 72, a switching screw 8 and a motor rotor 9.

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 motor 10 according to an embodiment of the present invention is described in detail below with reference to fig. 1 to 9.

Referring to fig. 1 to 2, a motor 10 according to an embodiment of the present invention may include: encoder 1, end cover 2, lid 3, motor rotor 9.

Wherein, 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 motor rotor 9 of the motor 10 is adapted to penetrate the end cover 2 and is fixedly connected with the encoder rotor 12. 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 cover body 3 is suitable for being fixedly connected with the end cover 2, and as shown in fig. 2, an accommodating cavity 4 is formed between the cover body 3 and the end cover 2, the cover body 3 is provided with 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 cover body 3 can play a good mechanical protection role for the encoder 1 and the wire harness in the accommodating cavity 4.

Only the cover body 3 and the end cover 2 are fixed, 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 utilizes the limit structure 31 of lid 3 self to fix a position encoder 1 on end cover 2, can cancel the screw fastener between encoder 1 and the end cover 2 from this, is favorable to saving the cost, and simultaneously, needn't set up special location structure on the end cover 2 and fix a position encoder 1, is favorable to reducing motor 10's axial length from this to the structure of end cover 2 can be simplified, is favorable to saving end cover 2's manufacturing cost. In addition, the cover body 3 not only plays a role in mechanical protection and IP protection, but also plays a role in positioning the encoder 1.

Referring to fig. 3-7, the encoder stator 11 has a stator flange 111, and the position restricting structure 31 may include: the cover body axial positioning surface 311 and the cover body radial positioning surface 312 are located in the accommodating cavity 4, the cover body axial positioning surface 311 and the cover body radial positioning surface 312 are perpendicular to each other, the cover body axial positioning surface 311 is suitable for being at least partially attached to an end face, away from the end cover 2, of the stator flange 111, the cover body 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 cover 2. The cover axial positioning surface 311 compresses the encoder stator 11 on the end cover 2 to limit the axial position of the encoder stator 11, and the cover radial positioning surface 312 can limit the radial position of the encoder stator 11, thereby realizing the positioning of the encoder stator 11 in the accommodating cavity 4.

Referring to fig. 5, 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 cover axial locating surface 311 is adapted to engage the stator first axial locating surface 1111, the cover radial locating surface 312 is adapted to engage the stator radial locating surface 1112, and the end cap 2 is adapted to engage the stator second axial locating surface 1113.

Preferably, the cover radial positioning surface 312 and the stator radial positioning surface 1112 are configured as circumferential surfaces, so that the cover radial positioning surface 312 can radially position a complete circle of the stator radial positioning surface 1112, and the positioning is ensured to be more reliable.

Referring to fig. 4 to 5, 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 cover radial positioning surface 312, the stator body 112 is separated from the cover radial positioning surface 312, and therefore, it is not necessary to set the entire outer peripheral surface of the encoder stator 11 to be attached to the cover radial positioning surface 312, and only the stator flange 111 is attached to the cover radial positioning surface 312, so that it is only 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 stator body 112 and the stator flange 111 may be connected by a stator connection portion 113. The outer diameter of the stator connecting portion 113 is smaller than the outer diameter of the stator body 112, whereby the weight of the encoder stator 11 can be further reduced.

Further, referring to fig. 8-9, the end cap 2 has an end cap protrusion 21, and the cap radial positioning surface 312 is further adapted to at least partially engage the outer peripheral surface of the end cap protrusion 21, thereby limiting the relative radial position of the cap 3 and the end cap 2.

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

Optionally, a sealing groove 5 is formed in the cover body radial positioning surface 312 and/or the outer peripheral surface of the end cover protrusion 21, a sealing ring 6 is arranged in the sealing groove 5, and the sealing ring 6 is suitable for being attached to the cover body radial positioning surface 312 and the end cover protrusion 21, so that the sealing performance between the cover body 3 and the end cover 2 is guaranteed, and the cover body 3 has a good IP protection effect. In the embodiments shown in fig. 3, 8-9, the seal groove 5 is provided only on the outer peripheral surface of the end cap boss 21,

in some embodiments, not shown, the sealing groove 5 may be formed on both the cover body radial positioning surface 312 and the outer peripheral surface of the end cover protrusion 21, and in other alternative embodiments, the sealing groove 5 may be formed only on the cover body radial positioning surface 312.

Referring to fig. 3, the stator flange 111 and the end cap protrusion 21 have the same outer diameter, so that the cover radial positioning surface 312 has the same diameter, which is advantageous for simplifying the structure and the manufacturing process of the cover 3.

The stator flange 111 is adapted to be arranged in abutment with the end cap protrusion 21, and in particular, the stator second axial positioning surface 1113 of the stator flange 111 is arranged in abutment with the end cap axial positioning surface 211 of the end cap protrusion 21, thereby ensuring a reliable axial position of the encoder stator 11.

Referring to fig. 8-9, the end cap 2 may include: the end cover comprises an end cover body 22, the end cover bulges 21 are arranged on the end cover body 22, the end cover bulges 21 protrude out of the surface of the end cover body 22, and the cover body 3 is connected with the end cover body 22 through a fastening piece, so that the cover body 3 is fixedly connected with the end cover 2.

Specifically, as shown with reference to fig. 1, 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 cover body 3 and is in threaded connection with the adapting screw 8. Referring to fig. 8 to 9, 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 with reference to fig. 6 to 7, the cover 3 may include: lid roof 32 and lid side bounding wall 33, lid side bounding wall 33 is fixed with lid roof 32, and limit structure 31 sets up on lid side bounding wall 33, and lid roof 32 separates with end cover 2, and offers the roof hole 34 that supplies fastening screw 7 and switching screw 8 to wear to establish on the junction of lid roof 32 and lid side bounding wall 33, and roof hole 34 runs through lid side bounding wall 33. Adapter screw 8 wears to establish in top plate hole 34, and fastening screw 7 wears to establish top plate hole 34 and with the adapter screw 8 spiro union in the top plate hole 34, can make full use of lid 3's height dimension accomplish lid 3 and end cover 2's fixed from this to be favorable to reducing motor 10's axial dimensions.

Referring to fig. 1, the fastening screw 7 includes: the screw thread section 71 and the screw head 72, the 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 recess 35 can accommodate the screw head 72, thereby further reducing the axial size of the motor 10.

Referring to fig. 1-2, the encoder rotor 12 has a rotor connecting portion adapted to be connected to the motor rotor 9, and the end cover 2 is provided with a mounting through hole 23 facing the rotor connecting portion. In some embodiments, the rotor connection portion may be a through hole, a threaded connection hole may be formed in the electric motor rotor 9, and the rotor screw 121 is threaded with the threaded connection hole in the electric motor rotor 9 after penetrating through the through hole, so as to achieve the fixed connection between the encoder rotor 12 and the electric motor rotor 9, and thereby achieve the synchronous rotation between the encoder rotor 12 and the electric motor spindle 9.

Referring to fig. 1 to 2 and 6 to 7, the cover 3 is provided with a wire hole 36, and a wire harness or the like of the encoder 1 may be inserted through the wire hole 36.

According to the motor 10 provided by the embodiment of the utility model, the end cover 2 is not provided with a positioning structure specially used for positioning the encoder stator 11, thereby being beneficial to shortening the axial length of the motor 10, and the length can be shortened by 3-6 mm; 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 cover body 3 is used for positioning the encoder 1, so that the working hours consumed in the assembly process of the motor 10 are reduced, and the manufacturing cost is further reduced.

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 (11)

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);

the motor rotor (9) of the motor (10) is suitable for penetrating through the end cover (2) and is fixedly connected with the encoder rotor (12);

the cover body (3), the cover body (3) be suitable for with end cover (2) are fixed continuous, just cover body (3) with form holding chamber (4) between end cover (2), cover body (3) have limit structure (31), encoder stator (11) pass through limit structure (31) are fixed in holding chamber (4).

2. The electric machine (10) of claim 1, wherein the encoder stator (11) has a stator flange (111), the limit formation (31) comprising: the cover body axial positioning face (311) and the cover body radial positioning face (312) are located in the accommodating cavity (4), the cover body axial positioning face (311) is suitable for being at least partially attached to the end face, away from the end cover (2), of the stator flange (111), the cover body radial positioning face (312) is suitable for being at least partially attached to the outer peripheral face of the stator flange (111), and the stator flange (111) is at least partially attached to the end cover (2).

3. The electric machine (10) of claim 2, wherein the end cap (2) has an end cap boss (21), and the cap radial locating surface (312) is further adapted to at least partially conform to an outer peripheral surface of the end cap boss (21).

4. The electric machine (10) of claim 3, wherein a seal groove (5) is formed in the cover body radial positioning surface (312) and/or the outer peripheral surface of the end cap protrusion (21), a seal ring (6) is disposed in the seal groove (5), and the seal ring (6) is adapted to be attached to both the cover body radial positioning surface (312) and the end cap protrusion (21).

5. The electric machine (10) of claim 3, characterized in that the stator flange (111) and the end cap protrusion (21) have an outer diameter that is equal.

6. The electric machine (10) of claim 3, characterized in that the stator flange (111) is adapted to be arranged flush with the end cover protrusion (21).

7. The electric machine (10) of claim 3, characterized in that the end cap (2) comprises: the end cover comprises an end cover body (22), the end cover bulge (21) is arranged on the end cover body (22) and protrudes out of the surface of the end cover body (22), and the cover body (3) is connected with the end cover body (22) through a fastening piece.

8. The electric machine (10) of claim 7, characterized in that the fastener comprises: the end cover comprises a fastening screw (7) and an adapter screw (8) fixedly arranged on the end cover body (22), wherein the fastening screw (7) is suitable for penetrating through the cover body (3) and is in threaded connection with the adapter screw (8).

9. The electrical machine (10) of claim 8, wherein the cover (3) comprises: lid roof (32) and lid side bounding wall (33), lid side bounding wall (33) with lid roof (32) are fixed, limit structure (31) set up on lid side bounding wall (33), lid roof (32) with end cover (2) are separated, just lid roof (32) with the confession has been seted up to the junction of lid side bounding wall (33) fastening screw (7) with roof hole (34) that switching screw (8) were worn to establish, roof hole (34) run through lid side bounding wall (33).

10. The electrical machine (10) of claim 1, wherein the encoder rotor (12) has a rotor connection portion adapted to be connected to the electrical machine rotor (9), and the end cap (2) defines a mounting through-hole (23) therein opposite the rotor connection portion.

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

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