JP6948872B2 - motor - Google Patents

Description

The present invention relates to a motor including an encoder that detects rotation of a rotor by a magnetic sensitive element.

Patent Document 1 discloses a motor including an encoder that detects rotation of the rotor. In the motor of Patent Document 1, the encoder includes a magnetic sensitive element mounted on a substrate and a magnet that rotates integrally with the output shaft of the motor. The substrate is supported by a holder fixed to the motor case. The substrate and magnet on which the magnetic sensitive element is mounted are covered with a cover member. The cover member is fixed to the inner surface of the encoder case which is fixed to the motor case.

Japanese Unexamined Patent Publication No. 2016-3888

Since the encoder mounted on the motor is affected by various noises, the output may change depending on the usage environment of the product, and the occurrence status of the angle error may change. For example, the output of the magnetic sensing element changes due to the influence of magnetic noise and electromagnetic wave noise caused by a disturbance magnetic field. In addition, the output of the magnetically sensitive element and the amplification value of the output of the magnetically sensitive element by the encoder circuit mounted on the board are affected by electrical noise such as frame ground noise and power supply noise of the motor body to which the encoder is fixed. There is a risk of receiving it.

As a countermeasure against such electromagnetic noise, Patent Document 1 uses a cover member made of a magnetic material such as iron as a cover member for covering the substrate, and the cover member functions as a magnetic shield. However, the encoder cable is connected to the board, and the encoder cable carries electrical noise such as ESD (electrostatic discharge) and EFT / B (electrical first transient burst), so electricity is applied around the encoder circuit. Noise invades, but the countermeasures were not sufficient.

Therefore, it has been proposed to reduce the electrical noise on the encoder cable by electrically connecting the encoder cable to the frame ground of the motor case. For example, when the frame ground wire is pulled out from the end of the encoder cable and the encoder holder that supports the board is screwed to the end face of the motor case, the terminals of the frame ground wire are screwed together with a conductive fixing screw. It is proposed to do.

However, the work of screwing the frame ground wire drawn out from the encoder cable has a problem that the workability is poor when the space around the substrate and the encoder holder is narrow. For example, if the outer shape of the motor is small, the size of the encoder holder must be reduced, and fixing holes for screwing must be provided in a narrow space. Therefore, the screwing work was difficult. In addition, the space for routing the frame ground wire drawn from the encoder cable to the screwing position is narrow, and it may be necessary to deform the terminal provided at the end of the frame ground wire after screwing.

In view of the above problems, an object of the present invention is to improve workability when connecting an encoder cable to a frame ground of a motor in a motor including an encoder.

In order to solve the above problems, the motor of the present invention has a motor body provided with a rotating shaft and an encoder for detecting the rotation of the rotating shaft, and the encoder is a magnet that rotates integrally with the rotating shaft. A board on which a magnetic sensitive element facing the magnet and a board-side connector are mounted, an encoder cable having a signal line and a frame ground line, and a pattern and electricity provided on the board so as to be insulated from an encoder circuit. The board is provided with a terminal member to be specifically connected and an encoder holder arranged between the board and the motor body, and the board is fixed to the motor body via the encoder holder to form the terminal member. One end is electrically connected to the frame ground wire of the encoder cable connected to the substrate side connector via the pattern, and the other end fixes the encoder holder and the terminal member to the motor body. It is electrically connected to the frame ground of the motor body via a conductive fixing member , the encoder holder is provided with a magnet arrangement hole in which the magnet is arranged, and the fixing member is provided on the outer peripheral side of the magnet arrangement hole. A fixing hole for passing is provided, the other end of the terminal member is arranged at a portion of the encoder holder where the fixing hole opens, and the one end of the terminal member is the substrate facing the magnet arrangement hole. The substrate comprises a first through hole into which the other end is inserted, and the pattern is electrically connected to the terminal member through the one end inserted into the first through hole. It is characterized by being connected to.

In the present invention, as described above, in the motor including the encoder, the encoder has a magnetic sensitive element facing the magnet mounted on the substrate, and the encoder cable is connected to the substrate. The encoder cable includes a frame ground wire, and when the connector on the board and the encoder cable are connected, the frame ground wire is connected to one end of the terminal member via a pattern insulated from the encoder circuit. The other end of the terminal member is electrically connected to the frame ground of the motor body via a conductive fixing member. Therefore, as the work of electrically connecting the encoder cable to the frame ground of the motor body, it is only necessary to connect the encoder cable to the connector on the board, so that the workability is good and the connection can be reliably performed.

Further, in the present invention, the encoder includes an encoder holder arranged between the substrate and the motor body, the substrate is fixed to the motor body via the encoder holder, and the fixing member is a fixed member. to affix the encoder holder and said terminal member to said motor body. In this way, the encoder holder and the terminal member can be fixed by a common fixing member, and the motor body and the terminal member can be electrically conducted through the fixing member. Therefore, the number of parts can be reduced and the manufacturing cost can be reduced.

Furthermore, in the present invention, the encoder holder includes a magnet disposed hole in which the magnet is placed, fixing hole for passing said fixing member on the outer periphery side of the magnet arrangement hole is provided, the other of said terminal member The end is arranged at a portion of the encoder holder where the fixing hole opens, the one end of the terminal member extends toward the substrate facing the magnet arrangement hole, and the other end of the substrate is the other end. comprising a first through hole to be inserted, the pattern through the other end which is inserted into the first through hole, the terminal member and electrically connected to Ru. By doing so, it is possible to shorten the path for conducting the pattern to which the frame ground wire is connected and the motor body, and it is not necessary to wrap the terminal member around the surface on which the pattern is formed from the outer peripheral side of the substrate. Therefore, the shape of the terminal member can be simplified and miniaturized. Further, since the terminal member is not easily affected by noise, noise immunity can be improved.

In the present invention, it is preferable that the encoder holder is provided with a notch in which the outer peripheral portion thereof is cut out on the inner peripheral side, and the fixing member and the terminal member are arranged in the notch. In this way, the fixing member and the terminal member can be arranged on the inner peripheral side of the encoder holder when viewed from the axial direction, and space efficiency is good. Therefore, the motor can be miniaturized.

In the present invention, a substrate holder facing the magnet is provided, the substrate is fixed to the substrate holder from the side opposite to the magnet, the substrate holder is electrically connected to the signal ground of the substrate, and the substrate holder is described. It is preferable that a second through hole larger than the first through hole is formed at a position overlapping the first through hole when viewed from the direction of the central axis of the rotation axis. In this way, since the substrate can be covered from the side of the magnet by the substrate holder of the signal ground potential, the influence of electromagnetic noise on the output of the magnetic sensitive element provided on the substrate and its amplification value can be reduced. Further, it is possible to prevent the terminal member having the frame ground potential from coming into contact with the substrate holder.

In the present invention, the encoder holder is fixed to the motor body at a plurality of locations, the pattern is electrically connected to a land provided on the substrate, and the fixing member is the said among the plurality of locations. It is preferable to fix one location closest to the land to the motor body. By doing so, the distance between the fixing member and the land can be shortened, so that the terminal member can be miniaturized. Therefore, since the terminal member is low in cost, the manufacturing cost can be reduced.

In the present invention, it is preferable that the land is arranged on the substrate at a position closer to the substrate-side connector than the magnetic-sensitive element. In this way, the magnetic sensitive element can be separated from the pattern and land of the frame ground potential, and the influence on the encoder circuit and the magnetic sensitive element can be reduced.

In the present invention, the board-side connector includes a plurality of terminal connection portions connected to each of the signal line and the frame ground wire of the encoder cable, and is connected to the frame ground wire among the plurality of terminal connection portions. It is preferable that one location is closer to the land than the other terminal connection portions. In this way, the pattern of the frame ground potential can be reduced, so that the pattern layout on the substrate is less likely to be restricted, and the degree of freedom in design is increased. Further, the pattern connected to the signal line of the encoder cable can be separated from the pattern and land of the frame ground potential, and the influence on the encoder circuit and the magnetic sensitive element can be reduced.

In the present invention, the encoder includes an outer cover that covers the substrate and the magnet, the encoder cable is held by a wiring take-out portion provided on the outer cover, and the substrate-side connector is located at the center of the substrate. On the other hand, it is preferable that the wiring is arranged on the opposite side of the wiring take-out portion. In this way, since the distance from the wiring extraction portion to the connector on the board side is long, the connector can be easily connected and the workability is good. In addition, since it is not necessary to bend the encoder cable significantly when connecting the connector, the encoder cable is less likely to be loaded.

In this case, it is preferable that the insertion port of the board-side connector faces the side opposite to the wiring extraction portion. In this way, since the cable-side connector is connected from the side opposite to the board, it is not necessary to take a large space for arranging the cable-side connector and the space for routing the encoder cable on the board. As a result, the pattern layout on the substrate is less likely to be restricted, and the degree of freedom in design is increased. Further, since the encoder cable is folded back in the opposite direction and routed, the distance between the board and the encoder cable can be increased. Therefore, the influence of noise on the magnetic sensing element and the encoder circuit can be suppressed.

In the present invention, it is preferable that the fixing member overlaps at least a part of the substrate when viewed from the direction of the central axis of the rotation axis. In this way, it is not necessary to take a large space for arranging the fixing member on the outer peripheral side of the substrate, so that the size of the encoder in the radial direction can be reduced.

According to the present invention, in a motor including an encoder, in the encoder, a magnetic sensitive element facing a magnet is mounted on a substrate, and an encoder cable is connected to the substrate. The encoder cable includes a frame ground wire, and when the connector on the board and the encoder cable are connected, the frame ground wire is connected to one end of the terminal member via a pattern insulated from the encoder circuit. The other end of the terminal member is electrically connected to the frame ground of the motor body via a conductive fixing member. Therefore, as the work of electrically connecting the encoder cable to the frame ground of the motor body, it is only necessary to connect the encoder cable to the connector on the board, so that the workability is good and the connection can be reliably performed. Further, the encoder holder and the terminal member can be fixed by a common fixing member, and the motor body and the terminal member can be electrically conducted through the fixing member. Therefore, the number of parts can be reduced and the manufacturing cost can be reduced. Further, the path for conducting the pattern to which the frame ground wire is connected and the motor body can be shortened, and it is not necessary to wrap the terminal member around the surface on which the pattern is formed from the outer peripheral side of the substrate. Therefore, the shape of the terminal member can be simplified and miniaturized. Further, since the terminal member is not easily affected by noise, noise immunity can be improved.

It is an external perspective view of the motor to which this invention is applied. It is an exploded perspective view which looked at the encoder and the 1st bearing holder from the non-output side. It is an exploded perspective view which looked at the encoder and the 1st bearing holder from the output side. It is sectional drawing of the encoder, the 1st bearing holder, and a rotating shaft. It is an exploded perspective view which looked at the substrate unit from the non-output side. It is an exploded perspective view of the board unit seen from the output side. It is a perspective view of the encoder and the 1st bearing holder which removed the outer cover. It is an exploded perspective view which looked at the encoder and the 1st bearing holder which removed the outer cover from the non-output side. It is an exploded perspective view which looked at the encoder and the 1st bearing holder which removed the outer cover from the non-output side. It is an exploded perspective view of an encoder holder and a terminal member.

Hereinafter, embodiments of a motor to which the present invention is applied will be described with reference to the drawings. FIG. 1 is an external perspective view of a motor 1 to which the present invention is applied. 2 and 3 are exploded perspective views of the encoder 10 and the first bearing holder 42A, FIG. 2 is an exploded perspective view seen from the non-output side, and FIG. 3 is an exploded perspective view seen from the output side. FIG. 4 is a cross-sectional view of the encoder 10, the first bearing holder 42A, and the rotating shaft 2.

(overall structure)
As shown in FIG. 1, the motor 1 includes a motor body 3 having a rotating shaft 2 and an encoder 10 for detecting the rotation of the rotating shaft 2. The motor body 3 includes a motor case 4 that houses a rotor and a stator (not shown). The rotor rotates integrally with the rotating shaft 2. One end of the rotating shaft 2 is an output shaft 2a protruding outward from the motor case 4. In the present specification, the central axis of the rotating shaft 2 is indicated by reference numeral L. Further, the direction in which the output shaft 2a protrudes from the motor case 4 is defined as the output side L1, and the opposite side of the output side L1 is defined as the counter-output side L2. The encoder 10 is fixed to the end of the motor body 3 on the opposite output side L2. Further, in the present specification, the three directions of XYZ are directions orthogonal to each other, and one side of these three directions is X1, Y1, Z1, respectively, and the other side is X2, Y2, Z2, respectively. The Z direction is parallel to the central axis L, and the X and Y directions are orthogonal to the central axis L.

(Motor case)
As shown in FIG. 1, the motor case 4 includes a cylindrical case 41 extending in the central axis L direction, a first bearing holder 42A fixed to the end of the non-output side L2 of the cylindrical case 41, and a cylindrical case. A second bearing holder 42B fixed to the end of the output side L1 of 41 is provided. The tubular case 41, the first bearing holder 42A, and the second bearing holder 42B are substantially rectangular when viewed in the central axis L direction. A wiring take-out portion 30 is provided on the side surface of the cylindrical case 41 facing one side X1 in the X direction. The wiring take-out portion 30 includes a notch (not shown) formed on the side surface of the tubular case 41, and a cable holder 31 fixed to the side surface at a position covering the notch. A motor cable for power supply (not shown) is connected to the motor body 3. The motor cable is pulled out from the inside of the motor case 4 through the notch of the tubular case 41 to the inside of the cable holder 31, and is taken out from the end of the output side L1 of the cable holder 31 to the outside. At the tip of the motor cable, a connector (not shown) connected to a control device such as a motor amplifier is provided.

(1st bearing holder)
The encoder 10 is fixed to the first bearing holder 42A from the counter-output side L2. As shown in FIG. 2, a circular recess 44 recessed in the output side L1 is formed on the surface of the first bearing holder 42A on the opposite output side L2, and a flange 45 is formed on the outer peripheral side of the circular recess 44. On the inner peripheral surface of the circular recess 44, recesses 441 recessed on the outer peripheral side are formed at three points at equal angular intervals. The recess 441 extends from the upper end surface of the flange 45 to the bottom surface of the circular recess 44. Further, on the inner peripheral edge of the flange 45, an annular wall 46 is formed so as to project to the counter-output side L2 along the edge of the circular recess 44 in a range excluding the circumferential position where the recess 441 is formed.

As shown in FIGS. 2 and 3, the bearing 43 is held in the center of the bottom of the circular recess 44. The bearing 43 rotatably supports the end of the counter-output side L2 of the rotating shaft 2. Further, an annular plate 47 is attached to the bottom of the circular recess 44 so as to press the outer peripheral portion of the bearing 43 from the counter-output side L2. The rotating shaft 2 projects to the counter-output side L2 through the through hole 48 provided in the center of the plate 47. Protrusions 49 are formed on the outer peripheral edge of the plate 47 at three equiangular intervals, and each protrusion 49 is arranged in a recess 441 of the first bearing holder 42A. The plate 47 has three protrusions 49 fixed to the bottom of the circular recess 44 by fixing screws 116.

(Encoder)
As shown in FIGS. 2 to 4, the encoder 10 is arranged inside the outer cover 11 fixed to the first bearing holder 42A, the encoder cover 12 arranged inside the outer cover 11, and the encoder cover 12. The board unit 13, the encoder holder 14 that supports the board unit 13, the magnet holder 15 arranged on the inner peripheral side of the encoder holder 14, and the magnet 16 held by the magnet holder 15 are provided. As shown in FIG. 4, the magnet holder 15 is fixed to the tip of the counter-output side L2 of the rotating shaft 2. Therefore, the magnet 16 rotates integrally with the rotation shaft 2. The substrate unit 13 includes a substrate holder 50 and a substrate 60 fixed to the substrate holder 50, and the substrate 60 has a magnetic sensitive element 17 mounted on a surface facing the magnet 16. In this embodiment, an MR element is used as the magnetic sensing element 17.

(Outer cover)
The outer cover 11 includes a substantially rectangular end plate portion 111 when viewed in the central axis L direction, and a cylindrical side plate portion 112 that rises from the outer peripheral edge of the end plate portion 111 to the output side L1. As shown in FIG. 1, a wiring take-out portion 113 for passing the encoder cable 5 connected to the substrate unit 13 is provided on the side surface of the side plate portion 112 facing one side X1 in the X direction. As shown in FIGS. 2 and 3, the wiring take-out portion 113 includes a notch 117 formed in the side plate portion 112, a holding member 118 attached to the notch 117, and an encoder cable that covers the holding member 118 and the notch 117. A holder 119 is provided. The holding member 118 and the encoder cable holder 119 are respectively formed with circular holding holes 118a and 119a for drawing the encoder cable 5 into the outer cover 11 inside. The portion of the encoder cable 5 to which the tube is mounted is held in the holding holes 118a and 119a. Outside the encoder 10, a connector 34 connected to a control device such as a motor amplifier (not shown) is provided at the tip of the encoder cable 5.

In the outer cover 11 and the first bearing holder 42A, a sealing member 114 is interposed between the end surface of the output side L1 of the side plate portion 112 and the flange 45, and fixing screws (not shown) are tightened at three corners. It is fixed by. In this embodiment, the outer cover 11 and the motor case 4 are made of a non-magnetic material such as aluminum.

(Encoder holder)
As shown in FIGS. 2 and 3, the encoder holder 14 is a cylindrical member having a predetermined thickness (height) in the central axis L direction, and is arranged so as to surround the outer peripheral side of the magnet 16. On the outer peripheral surface of the encoder holder 14, the portion of the counter-output side L2 is a tapered surface, and the portion of the output side L1 is a cylindrical surface. The encoder holder 14 is circular when viewed from the central axis L direction, and a circular magnet arrangement hole 141 is formed in the center thereof. The encoder holder 14 is positioned so that the central axis L of the rotating shaft 2 and the magnet arrangement hole 141, which are rotatably held in the center of the first bearing holder 42A in the radial direction, are arranged coaxially with the first bearing. The annular convex portion 442 provided on the outer peripheral side of the circular concave portion 44 of the holder 42A is in contact with the annular convex portion 442 from the counter-output side L2, and is screwed to the annular convex portion 442 by three fixing screws 145. The annular convex portion 442 extends continuously in the circumferential direction except for one side X1 in the X direction in which the wiring take-out portion 113 of the outer cover 11 is formed.

The substrate unit 13 is fixed to the end surface 143 of the counter output side L2 of the encoder holder 14. Fixing holes 144 are formed in the end face 143 at three positions at equal angle intervals. The fixing hole 144 is formed at an angle position different from the angle position of the fixing screw 145 that fixes the encoder holder 14 to the first bearing holder 42A. The fixing screw (not shown) for fixing the board unit 13 to the encoder holder 14 is screwed into the fixing hole 144.

(magnet)
As shown in FIGS. 2 to 4, the magnet holder 15 includes a substantially disk-shaped magnet holding portion 151 and a cylindrical fixing portion 152 projecting from the center of the magnet holding portion 151 to the output side L1. The tip of the rotating shaft 2 is fixed to the fixing portion 152 by press fitting, an adhesive, a set screw, or a combination thereof. In this embodiment, a set screw is tightened into a screw hole that penetrates the fixing portion 152 in the radial direction, and the rotating shaft 2 is fixed from the side surface. As shown in FIGS. 2 and 4, the magnet 16 includes a circular first magnet 161 that fits into a recess formed in the center of the magnet holding portion 151, and a step portion formed on the outer peripheral edge of the first magnet. It is provided with an annular second magnet 162 that fits into. The first magnet 161 is magnetized with one north pole and one south pole in the circumferential direction. On the other hand, in the second magnet 162, the north pole and the south pole are alternately magnetized in the circumferential direction by a plurality of poles.

As shown in FIG. 4, when the encoder holder 14 is fixed to the first bearing holder 42A, the tip of the rotating shaft 2 is arranged at the center of the magnet arrangement hole 141 of the encoder holder 14. Therefore, the magnet holder 15 fixed to the tip of the rotating shaft 2 is arranged at the center of the magnet arrangement hole 141. The first magnet 161 and the second magnet 162 are arranged in the magnet arrangement hole 141 so as to face the counter-output side L2, and are arranged coaxially with the central axis L of the rotating shaft 2 as the center.

(Encoder cover)
As shown in FIGS. 2 and 3, the encoder cover 12 is formed from the end plate portion 121 facing the substrate unit 13 from the side opposite to the magnet 16 (counter-output side L2) and the outer peripheral edge of the end plate portion 121. A tubular portion 122 that rises to the output side L1 is provided. The tubular portion 122 is formed with a notch 123 for passing the encoder cable 5 at a position overlapping the notch 117 of the outer cover 11 when viewed from the radial direction. The encoder cover 12 is assembled so that the end portion of the output side L1 of the cylindrical portion 122 is fitted to the outside of the outer peripheral end portion of the encoder holder 14. Therefore, the end of the output side L1 of the cylindrical portion 122 of the encoder cover 12 is closed by the encoder holder 14 and the substrate unit 13 except for the notch 123.

The encoder cover 12 is made of a conductive magnetic material. For example, the encoder cover 12 is made of iron, permalloy, or the like. In this embodiment, the encoder cover 12 is formed by pressing a magnetic metal plate such as SPCC or SPCE. In this way, by covering the substrate unit 13 that holds the magnetic sensitive element 17 with the encoder cover 12 formed of the magnetic material, the magnetic material absorbs magnetic noise such as a disturbance magnetic field and electromagnetic wave noise, and the magnetic sensitive element 17 and the electromagnetic wave noise are absorbed. The encoder circuit can be shielded from magnetic noise and electromagnetic noise.

(Board unit)
FIG. 5 is an exploded perspective view of the substrate unit 13 viewed from the non-output side L2, and FIG. 6 is an exploded perspective view of the substrate unit 13 viewed from the output side L1. As shown in FIGS. 5 and 6, the substrate unit 13 is conductive in that the substrate holder 50, the substrate 60 that abuts on the substrate holder 50 from the counter-output side L2, and the substrate 60 are fixed to the substrate holder 50. 70, and a shield member 80 fixed to the substrate holder 50 from the output side L1. The substrate 60 has a substantially circular shape when viewed in the central axis L direction, and the substrate side connector 18 is mounted on the edge of the other side X2 in the X direction. The board-side connector 18 is arranged along a notch 61 in which the edge of the board 60 is cut out in a straight line (see FIG. 4). The substrate holder 50 has substantially the same shape as the substrate 60 when viewed in the central axis L direction, and the substrate 60 and the substrate holder 50 abut in the central axis L direction. As shown in FIG. 4, the substrate 60 has a magnetic sensitive element 17 mounted on the surface on the magnet 16 side, and the substrate side connector 18 mounted on the surface opposite to the magnet 16. The shield member 80 is attached so as to cover the magnetic sensing element 17 from the side of the magnet 16. Therefore, the magnetic sensing element 17 faces the magnet 16 via the shield member 80.

The substrate 60 is formed with fixing holes 62 for fixing to the substrate holder 50 at two locations. The two fixing holes 62 are arranged on opposite sides of the center of the substrate holder 50. Further, one of the two fixing holes 62 is a ground through hole 621 electrically connected to the signal ground of the encoder circuit mounted on the substrate 60. Either of the two fixing holes may be the ground through hole 621. Further, the substrate 60 and the substrate holder 50 may be fixed at three or more fixing holes 62.

The substrate holder 50 includes an end plate portion 53 facing the substrate 60 and a side plate portion 54 rising from the outer peripheral edge of the end plate portion 53 to the counter-output side L2. The substrate holder 50 has a shape in which the end plate portion 53 is linearly cut at a portion overlapping the notch 61 of the substrate 60 in the central axis L direction, and the side plate portion 54 extends linearly. The end plate portion 53 is formed with two boss portions 51 corresponding to the fixing holes 62 of the substrate 60. The substrate 60 is fixed to the substrate holder 50 by inserting the fixing member 70 into the fixing hole 62 and the boss portion 51. The fixing member 70 is a spring pin. By using the spring pin as the fixing member 70, rattling of the substrate 60 with respect to the substrate holder 50 is prevented. Further, the fixing member 70 is made of a conductive metal such as SUS, and the substrate holder 50 is made of a conductive metal such as aluminum. Therefore, when the substrate 60 is attached to the substrate holder 50 via the fixing member 70, the substrate holder 50 is electrically connected to the signal ground of the encoder circuit mounted on the substrate 60 via the fixing member 70 and the ground through hole 621. Be connected.

The substrate holder 50 is formed with boss portions 52 for passing fixing screws (not shown) at three locations corresponding to the fixing holes 144 formed in the end surface 143 of the encoder holder 14. The boss portion 52 is connected to the side plate portion 54. In this embodiment, the tip surface of the boss portion 52 is a contact surface that comes into contact with the substrate 60. Further, the substrate 60 is formed with fixing holes 63 for passing fixing screws (not shown) at three places corresponding to the boss portion 52 and the fixing holes 144.

The board unit 13 is formed by passing three fixing screws (not shown) through the fixing holes 63 of the board 60 and the boss portion 52 of the board holder 50, respectively, and screwing the tips thereof into the fixing holes 144 of the encoder holder 14. , Fixed to the encoder holder 14. In this embodiment, the encoder holder 14 is made of an insulating material such as resin. Therefore, when the substrate unit 13 is fixed to the first bearing holder 42A via the encoder holder 14, the substrate holder 50 is insulated from the first bearing holder 42A.

The substrate 60 includes an anti-output side substrate surface 60a facing the anti-output side L2 and an output side substrate surface 60b facing the output side L1. As shown in FIG. 5, a circuit element constituting an encoder circuit, a board-side connector 18 for connecting an encoder cable 5, a connection terminal 173, and the like are mounted on the non-output side board surface 60a. The connection terminal 173 is arranged on the outer peripheral edge of the substrate 60, and is arranged on the side opposite to the substrate side connector 18 with the center of the substrate 60 interposed therebetween. A notch 64 is formed on the outer peripheral edge of the substrate 60 on the outer side in the radial direction of the connection terminal 173. As shown in FIG. 6, the magnetic sensing element 17 is connected to the connection terminal 173 via the first magnetic sensing element 171 arranged in the center of the output side substrate surface 60b and the flexible wiring board 174. A magnetic element 172 is provided. The flexible wiring board 174 passes through the notch 64 of the board 60 and is routed to the output side L1 of the board 60. Each of the first magnetic sensing element 171 and the second magnetic sensing element 172 includes a ground terminal (not shown) connected to a signal ground of an encoder circuit configured on the substrate 60. Further, on the output side substrate surface 60b, two Hall elements 175 are mounted in the vicinity of the first magnetic sensing element 171. The two Hall elements 175 are arranged at an angle position 90 degrees apart from the position of the magnetic sensing element 17.

In the substrate holder 50, a circular through hole 56 is formed in the center of the end plate portion 53. Further, in the substrate holder 50, a step portion 57 projecting to the output side L1 is formed on the surface of the end plate portion 53 on the output side L1. The step portion 57 includes a portion formed in an annular shape around the through hole 56 and a portion extending in a strip shape with a constant width to the outer peripheral edge of the end plate portion 53. A substantially rectangular through hole 58 is formed in a portion of the step portion 57 near the outer circumference. When the substrate 60 is fixed to the substrate holder 50, the first magnetic sensing element 171 and the Hall element 175 are arranged in the through hole 56. Further, in the through hole 58, a second magnetic sensitive element 172 connected to the connection terminal 173 on the substrate 60 via the flexible wiring board 174 is arranged.

When the substrate unit 13 is fixed to the encoder holder 14, the first magnetic sensing element 171 arranged in the through hole 56 of the substrate holder 50 and the first magnet 161 face each other (see FIG. 4). Further, the second magnetic sensing element 172 and the second magnet 162 arranged in the through hole 58 of the substrate holder 50 face each other. The encoder 10 has a predetermined gap between the surface of the output side L1 of the first magnetic sensing element and the first magnet 161 and between the surface of the output side L1 of the second magnetic sensing element 172 and the second magnet 162. It is formed.

The first magnetic sensor 171 and the two Hall elements 175 and the first magnet 161 arranged in the vicinity thereof determine the output cycle of the first magnetic sensor 171 obtained by one rotation by the two Hall elements 175. By doing so, it functions as an absolute encoder. On the other hand, the second magnetic sensing element 172 and the second magnet 162 function as an incremental encoder because an output having a plurality of cycles can be obtained in one rotation. By processing the outputs of these two sets of encoders, the encoder 10 can perform position detection with high resolution and high accuracy.

(Shield member)
The shield member 80 is attached to the stepped portion 57 of the substrate holder 50 from the counter-output side L2. The shield member 80 is a flexible sheet material, and has a size that completely closes the through holes 56 and the through holes 58 formed in the step portion 57. The step portion 57 includes a shield mounting surface 59 facing the counter-output side L2, and the shield member 80 comes into contact with the shield mounting surface 59. Like the substrate holder 50, the shield member 80 is made of a conductive non-magnetic metal, for example, aluminum. The shield member 80 is adhered to the shield mounting surface 59 via a conductive adhesive. Therefore, the shield member 80 is electrically connected to the signal ground of the encoder circuit mounted on the substrate 60 via the substrate holder 50.

The shield member 80 is attached to the substrate holder 50 so as to cover the first magnetic sensing element 171 arranged in the through hole 56 and the second magnetic sensing element 172 arranged in the through hole 58. By attaching the shield member 80 to the substrate holder 50, the first magnetic sensing element 171 and the second magnetic sensing element 172 are shielded from the motor body 3 by the signal ground potential members (board holder 50 and shield member 80). .. Therefore, it is possible to effectively shield frame ground noise, power supply noise, etc. that wrap around from the gap between the first magnet 161 and the second magnet 162. The first magnetic sensing element 171 and the second magnetic sensing element 172 face the first magnet 161 and the second magnet via the shield member 80, but since the shield member 80 is a non-magnetic metal, electromagnetic noise Can shield well and not impair its function as a magnetic encoder.

(Encoder cable connection structure)
As shown in FIG. 4, the board-side connector 18 is arranged on the side opposite to the wiring take-out portion 113 of the outer cover 11 in the radial direction (the other side X2 in the X direction) with the center of the board 60 in between, and is on the board side. The insertion port 181 of the connector 18 faces the side opposite to the wiring take-out portion 113. The encoder cable 5 is routed to the notch 123 through between the encoder cover 12 and the substrate 60. The encoder cable 5 is bent so as to be inverted on the outer peripheral side of the board-side connector 18, and the cable-side connector 6 provided at the tip of the encoder cable 5 is a board-side connector 18 from the side opposite to the wiring take-out portion 113. It is connected to the insertion port 181.

(Grounding structure of frame ground wire by terminal member)
FIG. 7 is a perspective view of the encoder 10 and the first bearing holder 42A from which the outer cover 11 has been removed. 8 and 9 are exploded perspective views of the encoder 10 and the first bearing holder 42A from which the outer cover 11 is removed, FIG. 8 is an exploded perspective view seen from the non-output side L2, and FIG. 9 is an exploded perspective view from the output side L1. It is an exploded perspective view as seen. FIG. 10 is an exploded perspective view of the encoder holder and the terminal member. As shown in FIG. 10, in the encoder holder 14, fixing holes 147 are formed on the outer peripheral side of the magnet placement holes 141 at three positions at equal angular intervals at different angle positions from the fixing holes 144 for fixing the substrate unit. There is. On the outer peripheral portion of the encoder holder 14, recesses 142 recessed on the output side L1 are formed at two locations separated in the circumferential direction, and fixing holes 147 are formed on the bottom surface of each recess 142. Therefore, two of the fixing screws 145 are arranged in the recess 142. Further, on the outer peripheral portion of the encoder holder 14, notches 148 and 149 are formed on one side X1 in the X direction and on the other side. The third fixing screw 145 is arranged in the notch 149 located on the other side X2 in the X direction.

As shown in FIGS. 7 to 10, one of the three fixing screws 145 for fixing the encoder holder 14 to the first bearing holder 42A is a terminal fixing for fixing the encoder holder 14 and the terminal member 9 in an overlapping manner. The screw is 145A. The terminal fixing screw 145A is arranged at the center of the notch 61 of the substrate 60 in the circumferential direction, and is arranged at the notch 149 of the encoder holder 14. The terminal member 9 and the terminal fixing screw 145A are conductive. Therefore, since the terminal member 9 is electrically connected to the first bearing holder 42A via the terminal fixing screw 145A, the terminal member 9 is electrically connected to the frame ground of the motor case 4.

As shown in FIGS. 5 to 9, the substrate 60 is formed with a first through hole 7 at a position aligned with the substrate side connector 18 in the circumferential direction. Further, the substrate holder 50 is formed with a second through hole 8 at a position where it overlaps with the first through hole 7 of the substrate 60 in the central axis L direction. The notch portions 148 and 149 formed in the outer peripheral portion of the encoder holder 14 are formed by notching a part of the outer peripheral portion of the encoder holder 14 in the circumferential direction in a plane intersecting the radial direction. The notch portion 149 in which the terminal fixing screw 145A is arranged is adjacent to the first notch surface 149a extending in parallel with the notch 61 of the substrate 60 and the substrate side connector 18 and the first notch surface 149a in the circumferential direction. A matching second notch surface 149b is provided, and the second notch surface 149b is connected to the first notch surface 149a at an obtuse angle.

The first notch surface 149a is arranged at a position closer to the central axis L than the notch 61 of the substrate 60. Therefore, the terminal fixing screw 145A arranged in the notch 149 is provided at a position where a part thereof overlaps the outer peripheral portion of the substrate 60 and the substrate holder 50 with respect to the central axis L, and the terminal fixing screw 145A is one of them. The portion is covered from the counter-output side L2 by the outer peripheral portions of the substrate 60 and the substrate holder 50. Similarly, the other two fixing screws 145 arranged in the recess 142 of the encoder holder 14 are covered from the counter-output side L2 by the outer peripheral portions of the substrate 60 and the substrate holder 50. Further, the second notch surface 149b is formed at a position in the circumferential direction in which the first through hole 7 and the second through hole 8 are formed, and is formed on the central axis L more than the first through hole 7 and the second through hole 8. It is located close to. That is, the encoder holder 14 is notched at a portion that closes the first through hole 7 and the second through hole 8 from the output side L1.

The terminal member 9 is conductive and is made of copper in this embodiment. The terminal member 9 has an annular crimp terminal 91, a first portion 92 extending linearly on the same surface as the crimp terminal 91, and a substantially right angle from the end of the first portion 92 opposite to the crimp terminal 91. A second portion 93 that bends and extends to the counter-output side L2 is provided. The first portion 92 and the second portion 93 are formed by bending one linear plate material. The portion of the second portion 93 connected to the first portion 92 has the same width as the first portion 92, and the tip portion 94 of the counter-output side L2 of the second portion 93 is narrower than the first portion 92. The tip portion 94 is formed to be thin enough to be inserted into the first through hole 7.

The notch 149 of the encoder holder 14 includes a flange 149c extending to the outer peripheral side of the first notch surface 149a and the second notch surface 149b. The fixing hole 147 through which the terminal fixing screw 145A is passed is formed in the flange 149c. When fixing the encoder holder 14 to the motor case 4, the crimp terminal 91 of the terminal member 9 is placed so as to overlap the fixing hole 147 of the flange 149c, and one of the fixing screws 145 (terminal fixing screw 145A) is used to place the encoder. The crimp terminal 91 is fixed to the first bearing holder 42A together with the holder 14. As a result, the crimp terminal 91 is sandwiched and fixed between the flange 149c and the head of the terminal fixing screw 145A. Further, the first portion 92 of the terminal member 9 extends from the crimp terminal 91 along the second notch surface 149b, and the second portion 93 of the terminal member 9 extends along the L2 direction of the second notch surface 149b. It extends to the substrate 60 side and is positioned at a position corresponding to the first through hole 7 and the second through hole 8. In this state, when the substrate unit 13 is positioned in the circumferential direction and the substrate unit 13 is fixed to the end surface 143 of the counter-output side L2 of the encoder holder 14, the tip portion 94 of the second portion 93 of the terminal member 9 becomes the substrate unit 13. It is in a state of protruding from the substrate 60 to the counter-output side L2 through the first through hole 7 and the second through hole 8.

The substrate 60 includes a land 7a formed on the edge of the first through hole 7. In this embodiment, the land 7a is formed on the counter-output side substrate surface 60a, which is a surface of the substrate 60 facing the side opposite to the encoder holder 14, and is formed in an annular shape along the edge of the first through hole 7. When the tip of the second portion 93 of the terminal member 9 is soldered to the first through hole 7, the terminal member 9 is electrically connected to the land 7a provided on the edge of the first through hole 7.

The encoder cable 5 is a shielded cable in which a plurality of signal lines 5a are covered with a metal mesh shield. As shown in FIGS. 7 to 9, a plurality of signal lines 5a are drawn out from the end of the encoder cable 5 in a state of being insulated from each other. Further, at the end of the encoder cable 5, a frame ground line 5b, which is insulated from the signal line 5a and connected to a shield covering the signal line 5a, is drawn out side by side with the plurality of signal lines 5a. The plurality of signal lines 5a and the frame ground line 5b are connected to the cable-side connector 6. The cable-side connector 6 includes terminals corresponding to each of the plurality of signal lines 5a and the frame ground line 5b, and these terminals are provided side by side in a row in the width direction of the cable-side connector 6. The terminal 6b corresponding to the frame ground wire 5b is arranged at one end of the cable-side connector 6 in the width direction.

As shown in FIG. 5, the board-side connector 18 is provided with a plurality of terminal connection portions 182 arranged in a row in the width direction of the board-side connector 18 corresponding to the plurality of terminals provided on the cable-side connector 6. Has been done. The terminal connection portion 182b at one of the plurality of terminal connection portions 182 is electrically connected to the land 7a provided at the edge of the first through hole 7 via a pattern provided on the substrate 60. .. Further, a part or all of the other terminal connection portion 182a is connected to an encoder circuit provided on the substrate 60. Here, the pattern connecting the land 7a and the terminal connection portion 182b is insulated from the encoder circuit and other terminal connection portions 182a, and is insulated from the signal ground of the encoder circuit. The first through hole 7 may be a through hole electrically connected to the pattern.

The terminal connection portion 182b electrically connected to the land 7a is provided at one end of the board-side connector 18 in the width direction, and is arranged at a position closer to the land 7a than the other terminal connection portions 182a. ing. As shown in FIG. 7, in the present embodiment, the board-side connector 18 extends in the Y direction, and the terminal connection portions 182 of the board-side connector 18 are arranged in the Y direction. The first through hole 7 and the land 7a are arranged at positions adjacent to the board side connector 18 on one side Y1 in the Y direction, and the terminal connection portion 182b connected to the land 7a via a pattern is a board. It is arranged at the end of Y1 on one side of the side connector 18 in the Y direction.

When the cable-side connector 6 is connected to the board-side connector 18, the terminal 6b corresponding to the frame ground wire 5b of the encoder cable 5 is a terminal connection portion 182b arranged at the end of one side Y1 of the board-side connector 18 in the Y direction. Is connected with. Therefore, the frame ground wire 5b of the encoder cable 5 is electrically connected to the terminal member 9 soldered to the first through hole 7 via the land 7a and the pattern on the substrate 60, and is electrically connected to the terminal member 9 via the terminal member 9. , Connected to the frame ground of the motor case 4. On the other hand, the second through hole 8 formed in the substrate holder 50 is one size larger than the first through hole 7 of the substrate 60, and the terminal member 9 does not come into contact with the edge of the second through hole 8. Therefore, the substrate holder 50 is not electrically connected to the frame ground of the motor case 4 via the terminal member 9.

As described above, in this embodiment, when the encoder cable 5 is connected to the board unit 13, the encoder cable 5 is electrically connected to the frame ground of the motor case 4 simply by inserting the cable side connector 6 into the board side connector 18. Will be done. By electrically connecting the encoder cable 5 to the frame ground of the motor case 4, it is possible to enhance the shielding effect of electrical noise entering from the outside of the encoder cable 5. Therefore, the noise immunity of the encoder 10 can be improved.

(Main action and effect of this form)
As described above, in the motor 1 of the present embodiment, the frame ground line 5b is pulled out together with the signal line 5a at the end of the encoder cable 5 connected to the board 60 of the encoder 10, and the cable side connector 6 is the signal line. It is provided with terminals corresponding to each of the 5a and the frame ground wire 5b. Further, the substrate 60 is formed with a pattern for connecting one end of the conductive terminal member 9 and the substrate side connector 18, and the other end of the terminal member 9 is electrically connected to the frame ground of the motor body 3. .. Therefore, as the work of electrically connecting the encoder cable 5 to the frame ground of the motor body 3, it is only necessary to connect the encoder cable 5 to the board-side connector 18, so that the workability is good and the connection can be reliably performed. can. Further, since it is not necessary to provide a connection terminal other than the connector, space efficiency is good and it is advantageous for miniaturization of the motor 1.

In this embodiment, the substrate 60 of the encoder 10 is fixed to the motor case 4 via the substrate holder 50 and the encoder holder 14, and the substrate holder 50 is insulated from the motor case 4 by the insulating encoder holder 14. Then, one of the fixing screws 145 (terminal fixing screw 145A) for fixing the encoder holder 14 to the motor case 4 is also used for fixing the terminal member 9, and the terminal member 9 is connected via the terminal fixing screw 145A. It is conducting with the frame ground. Therefore, the number of parts can be reduced and the manufacturing cost can be reduced. Further, the terminal fixing screw 145A is the screw closest to the land 7a to which the terminal member 9 is soldered among the three fixing screws 145. Therefore, the distance between the terminal fixing screw 145A and the land 7a can be shortened, and the terminal member 9 can be miniaturized. Therefore, since the terminal member 9 is low in cost, the manufacturing cost can be reduced.

In this embodiment, the land 7a to which the terminal member 9 is soldered is arranged on the substrate 60 at a position closer to the substrate side connector 18 than the magnetic sensitive element 17. That is, the first magnetic sensitive element 171 is arranged in the center of the substrate 60, and the second magnetic sensitive element 172 is arranged on the edge of one side X1 of the substrate 60 in the X direction, but the substrate side connector 18 and the land 7a are arranged. , Is arranged on the edge of the substrate 60 on the other side X2 in the X direction. Therefore, since the magnetic sensing element 17 can be separated from the frame ground potential pattern and the land 7a, the influence of the frame ground potential pattern on the magnetic sensing element 17 can be reduced.

In this embodiment, among the plurality of terminal connection portions 182 provided on the board-side connector 18, one terminal connection portion 182b connected to the frame ground wire 5b of the encoder cable 5 is larger than the other terminal connection portions 182a. It is located near the land 7a. As a result, the pattern of the frame ground potential provided on the substrate 60 can be reduced. Therefore, the pattern layout on the substrate 60 is less likely to be restricted, and the degree of freedom in design is increased. Further, since the pattern connected to the signal line 5a of the encoder cable 5 can be separated from the frame ground potential pattern and the land 7a, the influence of the frame ground potential pattern on the encoder circuit can be reduced.

In this embodiment, the encoder holder 14 is provided with a notch 149 on the outer peripheral side of the magnet arrangement hole 141, and the terminal fixing screw 145A and the terminal member 9 are arranged in the notch 149. The cutout portion 149 is located on the inner peripheral side of the outer peripheral edge of the substrate 60, and at least a part of the terminal member 9 and the terminal fixing screw 145A overlaps with the substrate 60 when viewed from the central axis L direction. Further, since the other two fixing screws 145 are also arranged in the recess 142, at least a part thereof overlaps with the substrate 60 when viewed from the central axis L direction. Therefore, since it is not necessary to take a large space for arranging the fixing screw 145 and the terminal member 9 on the outer peripheral side of the substrate 60, the size of the encoder 10 in the radial direction can be reduced, and the motor 1 can be miniaturized.

Further, the cutout portion 149 of the encoder holder 14 includes a flange 149c in which a fixing hole 147 is formed, and the terminal member 9 has a crimp terminal 91 and a first portion 92 extending on the flange 149c, and the first portion. The second portion 93 that bends and connects to 92 extends along the L2 direction of the second cutout surface 149b, and extends through the second through hole 8 of the substrate holder 50 and the first through hole of the substrate 60. It is inserted in 7. In this way, the terminal member 9 is arranged along the outer surface of the encoder holder 14, and the terminal member 9 is extended toward the substrate 60 arranged so as to face the magnet arrangement hole 141 of the encoder holder 14 to extend the substrate 60. Since it is not necessary to wrap the terminal member 9 from the outer peripheral side of the substrate 60 to the surface of the counter-output side L2, the motor case 4 and the pattern provided on the surface of the anti-output side L2 of the substrate 60 are made conductive. The route can be shortened. Therefore, the shape of the terminal member 9 can be simplified and downsized. Further, since the terminal member 9 is not easily affected by noise, noise immunity can be improved.

In this embodiment, the substrate 60 on which the magnetic sensing element 17 is mounted is covered from the magnet 16 side by the substrate holder 50 electrically connected to the signal ground of the encoder circuit on the substrate 60. Therefore, the influence of magnetic noise and electromagnetic noise from the magnet 16 side and the influence of electrical noise on the frame ground of the motor 1 and the power cable can be reduced. Further, since the substrate holder 50 is formed with the second through hole 8 which is one size larger than the first through hole 7 of the substrate 60, the terminal member 9 having the frame ground potential comes into contact with the substrate holder 50 having the signal ground potential. You can prevent it from happening.

In this embodiment, the encoder cable 5 is held by the wiring take-out portion 113 provided on the outer cover 11, and the board-side connector 18 is arranged on the side opposite to the wiring take-out portion 113 with respect to the center of the board 60. .. Further, since the insertion port 181 of the board-side connector 18 faces the side opposite to the wiring take-out portion 113 (X2 direction), the cable-side connector 6 of the encoder cable 5 is from the side opposite to the wiring take-out portion 113 to the board side. It is connected to the connector 18. Therefore, since the distance from the wiring take-out portion 113 to the board-side connector 18 is long, the connectors can be easily connected to each other and the workability is good. Further, since it is not necessary to bend the encoder cable 5 significantly when the connectors are connected to each other, the encoder cable 5 is less likely to be loaded. Further, since the insertion port 181 faces the outer peripheral side of the board 60, the cable-side connector 6 is connected in a state of protruding to the outer peripheral side of the board 60. Therefore, since it is not necessary to take a large space for routing the cable-side connector 6 and the encoder cable 5 on the substrate 60, the pattern layout on the substrate is not easily restricted, and the degree of freedom in design is increased. Further, since the encoder cable 5 is folded back and routed in the opposite direction, the distance between the substrate 60 and the encoder cable 5 can be increased. Therefore, the influence of noise on the magnetic sensing element 17 and the encoder circuit can be suppressed.

1 ... motor, 2 ... rotating shaft, 2a ... output shaft, 3 ... motor body, 4 ... motor case, 5 ... encoder cable, 5a ... signal line, 5b ... frame ground wire, 6 ... cable side connector, 6b ... terminal, 7 ... 1st through hole, 7a ... Land, 8 ... 2nd through hole, 9 ... Terminal member, 10 ... Encoder, 11 ... Outer cover, 12 ... Encoder cover, 13 ... Board unit, 14 ... Encoder holder, 15 ... Magnet Holder, 16 ... Magnet, 17 ... Magnetic element, 18 ... Board side connector, 30 ... Wiring outlet, 31 ... Cable holder, 34 ... Connector, 41 ... Cylindrical case, 42A ... First bearing holder, 42B ... Second Bearing holder, 43 ... bearing, 44 ... circular recess, 45 ... flange, 46 ... annular wall, 47 ... plate, 48 ... through hole, 49 ... protruding part, 50 ... substrate holder, 51, 52 ... boss part, 53 ... end Plate part, 54 ... Side plate part, 56 ... Through hole, 57 ... Step part, 58 ... Through hole, 59 ... Shield mounting surface, 60 ... Board, 60a ... Non-output side board surface, 60b ... Output side board surface, 61 ... Notch, 62 ... Fixing hole, 63 ... Fixing hole, 64 ... Notch, 70 ... Fixing member, 80 ... Shield member, 91 ... Crimping terminal, 92 ... First part, 93 ... Second part, 94 ... Tip part, 111 ... end plate part, 112 ... side plate part, 113 ... wiring take-out part, 114 ... seal member, 116 ... fixing screw, 117 ... notch, 118 ... holding member, 118a ... holding hole, 119 ... encoder cable holder, 119a ... Holding hole, 121 ... end plate part, 122 ... tubular part, 123 ... notch, 141 ... magnet placement hole, 142 ... recess, 143 ... end face, 144 ... fixing hole, 145 ... fixing screw, 145A ... terminal fixing screw, 147 ... fixing hole, 148, 149 ... notch, 149a ... first notch surface, 149b ... second notch surface, 149c ... flange, 151 ... magnet holding part, 152 ... fixed part, 161 ... first magnet, 162 ... 2nd magnet, 171 ... 1st magnetic sensitive element, 172 ... 2nd magnetic sensitive element, 173 ... Connection terminal, 174 ... Flexible wiring board, 175 ... Hall element, 181 ... Insertion port, 182, 182a, 182b ... Terminal Connection part, 441 ... concave part, 442 ... annular convex part, 621 ... ground through hole, L ... central axis, L1 ... output side, L2 ... anti-output side

Claims (9)

It has a motor body provided with a rotating shaft and an encoder that detects the rotation of the rotating shaft.
The encoder
A magnet that rotates integrally with the rotating shaft,
A substrate on which a magnetic sensitive element facing the magnet and a connector on the substrate side are mounted,
Encoder cables with signal and frame ground lines,
A terminal member that is electrically connected to a pattern provided on the substrate so as to be insulated from the encoder circuit.
An encoder holder arranged between the substrate and the motor body is provided.
The substrate is fixed to the motor body via the encoder holder.
One end of the terminal member is electrically connected to the frame ground wire of the encoder cable connected to the board-side connector via the pattern, and the other end connects the encoder holder and the terminal member to the motor. It is electrically connected to the frame ground of the motor body via a conductive fixing member that is fixed to the body.
The encoder holder is provided with a magnet arrangement hole in which the magnet is arranged, and a fixing hole for passing the fixing member is provided on the outer peripheral side of the magnet arrangement hole.
The other end of the terminal member is arranged at a portion of the encoder holder where the fixing hole opens, and the one end of the terminal member extends toward the substrate facing the magnet arrangement hole.
The substrate includes a first through hole into which the other end is inserted.
The motor is characterized in that the pattern is electrically connected to the terminal member via the one end inserted into the first through hole. A notch is provided so as to cut out the outer peripheral portion of the encoder holder on the inner peripheral side.
The motor according to claim 1 , wherein the fixing member and the terminal member are arranged in the notch. A substrate holder facing the magnet is provided, and the substrate is fixed to the substrate holder from the side opposite to the magnet.
The substrate holder is second larger than the first through hole at a position where it is electrically connected to the signal ground of the substrate and overlaps with the first through hole when viewed from the central axis direction of the rotation axis.
The motor according to claim 1 or 2 , wherein a through hole is formed. The encoder holder is fixed to the motor body at a plurality of places, and is fixed to the motor body.
The pattern is electrically connected to a land provided on the substrate.
The motor according to any one of claims 1 to 3 , wherein the fixing member fixes one of the plurality of locations closest to the land to the motor body. The motor according to claim 4 , wherein the land is arranged on the substrate at a position closer to the substrate-side connector than the magnetic-sensitive element. The board-side connector includes a plurality of terminal connections connected to each of the signal line and the frame ground line of the encoder cable.
The motor according to claim 4 or 5 , wherein one of the plurality of terminal connection portions connected to the frame ground wire is closer to the land than the other terminal connection portions. The encoder includes an outer cover that covers the substrate and the magnet.
The encoder cable is held by a wiring take-out portion provided on the outer cover.
The motor according to any one of claims 1 to 6 , wherein the board-side connector is arranged on the side opposite to the wiring extraction portion with respect to the center of the board. The motor according to claim 7 , wherein the insertion port of the board-side connector faces the side opposite to the wiring extraction portion. The motor according to any one of claims 1 to 8 , wherein the fixing member overlaps at least a part of the substrate when viewed from the direction of the central axis of the rotation axis.

Images