TWI687656B - Encoder and servomotor - Google Patents

Abstract

Provided is an encoder and a servomotor, wherein the encoder includes a detection unit (26); a support unit (24) supporting a substrate (23); a stand (21); a cover body (22) forming an accommodation space (25) for accommodating the substrate (23) and the support unit (24); and a motor cable (16) which is guided into the accommodation space (25). A partition wall (24b) which forms a wiring path (28) for the passage of the motor cable (16) within the accommodation space (25) is formed at the support unit (24). A guiding unit (21a) which guides the motor cable (16) into the wiring path (28) is formed at the stand (21).

Description

Encoder and servo motor

The invention relates to an encoder and a servomotor for detecting the rotation position of a rotor.

Among servo motors, there are requirements for miniaturization and wiring saving. The general servo motor is equipped with a motor and an encoder. The motor system has a rotor that rotates around a rotating shaft. The encoder has an encoder substrate, and the encoder substrate is equipped with a detection unit that detects the rotational position of the rotor. The servo motor includes: an encoder wire extending from the encoder substrate; and a motor wire extending from the motor. The encoder wire and the motor wire are connected to a servo amplifier (servo amplifier) provided separately from the servo motor. Motor wire refers to the wiring that transfers power from the servo amplifier to the motor. The encoder wire refers to the wiring that transmits the power from the servo amplifier to the encoder and the signal between the servo amplifier and the encoder.

From the viewpoint of saving the wiring of the servo motor, there are cases where the encoder wire and the motor wire are integrated and exported, and connected to the servo amplifier as a cable. In order to integrate the lead wire of the encoder and the lead wire of the motor, it is necessary to wind the wiring so that the lead wire of the motor is close to the lead wire of the encoder. By bringing the motor lead closer to the encoder lead, the motor lead will also be closer to the encoder substrate. When the motor wire is close to the encoder substrate, the radiation noise caused by the electromagnetic wave from the motor wire to the encoder substrate increases, which may cause the detection accuracy of the rotation position of the rotor to decrease.

In the servo motor disclosed in Patent Document 1, the support wire that supports the encoder substrate inside the encoder and the bracket between the motor and the encoder are sandwiched between the motor wires. To prevent the motor wires from approaching the encoder substrate, integrate the encoder wires and motor wires on one side and export them from the encoder. [Prior Technical Literature] [Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. 11-55903

[Problems to be solved by the invention]

However, according to the above-mentioned prior art, when a portion that is not sandwiched between the support portion and the bracket is bent on the motor wire, the bent portion will be close to the encoder substrate, and in some cases, noise may be radiated to the encoder Will increase. For this reason, during the assembly process of the servo motor, it is necessary to perform the work while paying attention, so as not to bend the motor wires and reduce the work efficiency. In addition, the bending of the motor wire is not limited to the assembly process, and there is a possibility that a load may be applied to the motor wire during use of the servo motor.

The present invention was developed in view of the above-mentioned problems, and its object is to obtain an encoder that can improve the working efficiency in the assembly process and reduce the radiation noise from the motor wire to the encoder substrate. [Means to solve the problem]

In order to solve the above-mentioned problems and achieve the object, the present invention is provided with: a detection section that detects the rotation position of the rotation section that rotates about the rotation axis; a substrate on which the detection section is mounted; a support section from the first surface of the substrate The side supports the substrate; the bracket is provided with a support portion spaced from the first surface of the substrate; a cover forms a receiving space for the substrate and the support portion between the bracket and the motor wire, which passes through the bracket It was introduced into the containment space. A first partition wall is formed in the support portion. The first partition wall partitions the substrate and the motor wire inside the storage space and forms a wiring path through which the motor wire passes. In the bracket, an introduction portion for introducing the motor wire into the wiring path is formed; in the support portion, a portion of the wall surface constituting the wiring path is formed with a groove that is recessed radially inward with the rotation axis as the center And it extends along the circumferential direction with the rotation axis as the center. [Effect of the invention]

The encoder of the present invention achieves the effect of improving the working efficiency in the assembly process and reducing the radiation noise from the motor wire to the encoder substrate.

[Embodiment 1] FIG. 1 is a cross-sectional view of a servomotor according to Embodiment 1 of the present invention. Figure 2 is a cross-sectional view taken along line II-II shown in Figure 1. The servo motor 50 includes a motor unit 10 and an encoder 20. The motor unit 10 includes a case 11, a stator 12, a rotor 13, a shaft 14, and bearings 15a and 15b.

A stator 12 and a rotor 13 are provided inside the casing 11. The stator 12 has a cylindrical shape and is fixed inside the casing 11. The rotor 13 is provided inside the cylindrical stator 12. The rotor 13 has a cylindrical shape. The shaft 14 is embedded inside the rotor 13. The shaft 14 has a rod shape. The stator 12, the rotor 13, and the shaft 14 are provided so that their central axes coincide with each other.

The shaft 14 is rotatably supported by two bearings 15a and 15b with the central axis as the rotation axis C. One of the two bearings 15a is supported by the housing 11, and the other bearing 15b is supported by the bracket 21 described later. Since the shaft 14 is embedded inside the rotor 13, the rotor 13 rotates together with the shaft 14. The shaft 14 and the rotor 13 are rotating parts that rotate around the rotation axis C. In the motor unit 10, the bearing 15a side in the direction along the rotation axis C is referred to as the load side, and the bearing 15b side is referred to as the counter-load side. In addition, the radial direction centered on the rotation axis C is simply referred to as the radial direction, and the circumferential direction centered on the rotation axis C is simply referred to as the circumferential direction. The casing 11 is formed with an opening 11 a penetrating the end of the shaft 14 on the load side. In the casing 11, when the stator 12 and the rotor 13 are incorporated inside, an opening 11 b through which the stator 12 and the rotor 13 pass is formed on the counter-load side.

In the motor unit 10, the rotor 13 and the shaft 14 are rotated around the rotation axis C by energizing a coil provided on the stator 12. In addition, illustration and description of the detailed structure of the coils, magnets, etc. provided in the stator 12 and the rotor 13 are omitted.

The motor part 10 is provided with a motor lead 16. The motor lead 16 is connected to a servo amplifier (not shown). The motor lead 16 refers to wiring that transmits power from the servo amplifier to the motor unit 10. In addition, for easy understanding of the drawings, there may be a case where the motor wire 16 is displayed, or a case where a plurality of bars are displayed.

The encoder 20 includes a holder 21, a cover 22, a substrate 23, and a support 24. The bracket 21 covers the opening 11b on the counter-load side of the cabinet 11. In addition, the bracket 21 supports the bearing 15b. Furthermore, the bearing 15b may be supported by structures other than the bracket 21.

The cover 22 is provided on the opposite side of the motor unit 10 with the bracket 21 interposed therebetween. The cover 22 is fixed to the bracket 21 with screws. The cover 22 covers the back surface of the bracket 21 that becomes the motor portion 10 side. Between the lid 22 and the bracket 21, a storage space 25 for storing the substrate 23 and the support portion 24 is formed. The lid 22 is formed with an opening 22a that allows the storage space 25 to communicate with the outside. In addition, the bracket 21 is formed with a through hole 21 a that communicates the inside of the casing 11 of the motor unit 10 with the accommodating space 25 of the encoder 20. The cover 22 protects the substrate 23 and the like provided in the storage space 25 from foreign matter from the outside. The cover 22 may also have a function of protecting the substrate 23 and the like provided in the storage space 25 from the intrusion of external magnetic fields.

The substrate 23 is accommodated in the accommodating space 25 with the first surface 23a facing the holder 21 side. On the first surface 23 a of the substrate 23, a detection unit 26 that detects the rotation angle of the shaft 14 of the motor unit 10 and the rotor 13 is mounted. The detection method of the rotation angle by the detection unit 26 is not limited. For example, if a magnetic detection method is used, a magnetic detection element can be used in the detection unit 26. In addition, if an optical detection method is used, the detection unit 26 can use a light-receiving element and a light-emitting element. The substrate 23 has a circular shape when viewed along the rotation axis C.

The encoder 20 is provided with an encoder wire 27 extending from the substrate 23. The encoder wire 27 is connected to a servo amplifier (not shown). The encoder wire 27 refers to wiring that transmits power from the servo amplifier to the encoder 20 and signals from the servo amplifier and the encoder 20. In addition, for easy understanding of the drawings, there may be a case where the encoder wire 27 is displayed with one bar, or a case where a plurality of bars are displayed.

The supporting portion 24 is provided inside the receiving space 25 and fixed to the bracket 21. The support portion 24 is preferably detachably fixed to the bracket 21, for example, using screws. The support portion 24 is formed as a resin molded product, whereby even a complicated shape can be manufactured at low cost. The support portion 24 supports the substrate 23 from the first surface 23a side and maintains the distance between the substrate 23 and the holder 21. The support portion 24 has a support surface 24a that abuts on the first surface 23a of the substrate 23. In this embodiment, the support surface 24a is in contact with the outer periphery of the first surface 23a of the substrate 23. The substrate 23 is attached to the supporting surface 24a. For this reason, as shown in FIG. 2, when viewed along the rotation axis C, the support surface 24 a has a ring shape. In other words, the support portion 24 is a cylindrical body 30 having an annular support surface 24a formed at the end. In addition, the portion where the support portion 24 supports the substrate 23 may be appropriately changed according to the shape of the substrate or the like.

A gap is provided between the support portion 24 in the radial direction and the cover. The motor wire 16 can be wound in this gap. A flange part 29 that expands radially outward is formed at the end of the support part 24 on the side of the bracket 21. The flange portion 29 is formed with a through-hole 29a as a communicating portion communicating with the through-hole 21a.

From the support surface 24a of the support portion 24, a first partition wall 24b is formed parallel to the rotation axis C and protruding in a direction opposite to the motor portion 10 side. The gap between the front end of the first partition wall 24b and the cover 22 becomes narrower than the diameter of the motor wire 16.

Here, the winding of the motor wire 16 and the encoder wire 27 inside the storage space 25 will be described. The motor wire 16 extending from the inside of the housing 11 of the motor unit 10 passes through the through hole 21 a formed in the bracket 21 and the through hole 29 a formed in the flange 29 and is introduced into the housing space 25. Here, the through hole 21 a is formed at a position radially outward of the support portion 24. The through hole 21a refers to an introduction portion that introduces the motor wire 16 into the accommodation space 25. Furthermore, instead of the through hole 21a, a connector may be provided on the bracket 21 and the motor lead 16 may be introduced into the accommodating space 25 through the connector. In this case, the connector serves as an introduction portion for introducing the motor wire 16 into the storage space.

The motor wire 16 introduced into the accommodation space 25 is wound inside the accommodation space 25 and is radially outward of the support portion 24, and is pulled out to the accommodation through the opening 22a formed in the cover 22 Outside of space 25. In other words, in the receiving space 25, the motor wire 16 is wound between the support portion 24 and the cover 22.

The encoder wire 27 extending from the substrate 23 is wound inside the receiving space 25 and passes through the opening 22a formed in the cover 22 to be drawn out of the receiving space 25. As shown in FIG. 2, the encoder wire 27 is wound so as to avoid the first partition wall 24b during reaching the opening 22a. The motor wire 16 and the encoder wire 27 are integrated into a cable before passing through the opening 22a or after passing through the opening 22a and are wound around the servo amplifier (not shown), and are respectively connected to the servo amplifier.

The first partition wall 24 b formed in the support portion 24 is located in the area where the motor wire 16 is wound, and partitions the substrate 23 and the motor wire 16 inside the receiving space 25. Inside the storage space 25, a wiring path 28 through which the motor wires are passed is formed. The wiring path 28 is formed radially outward with the rotation axis C as the center with respect to the support portion 24. More specifically, it is formed radially outward with the rotation axis C as the center relative to the cylindrical body 30 of the support portion 24. In the first embodiment, the wiring path 28 is surrounded by the support portion 24, the first partition wall 24b, the cover 22, and the flange portion 29. The flange portion 29 becomes a covering portion that covers the bracket 21 in the entire area of the wiring path 28.

According to the servo motor 50 described above, since the motor wire 16 passing through the wiring path 28 is separated from the substrate 23 by the first partition wall 24b, even if the motor wire 16 is bent, it does not It will cross the first partition wall 24b and approach the substrate 23. Therefore, it is possible to suppress the influence of the noise from the motor lead 16 on the detection section 26 mounted on the substrate 23 because the motor lead 16 is too close to the substrate 23. That is, it is possible to prevent the detection accuracy of the rotation position of the rotor 13 by the detection unit 26 from being reduced due to noise from the motor wire 16.

In addition, since the gap between the front end of the first partition wall 24b and the cover 22 is narrower than the diameter of the motor wire 16, it is possible to more reliably prevent the motor wire 16 from passing over the first partition wall 24b and approaching the substrate 23. Furthermore, even in the case where the gap between the front end of the first partition wall 24b and the cover 22 is wider than the diameter of the motor wire 16, as long as the bending does not occur to the extent that it crosses the first partition wall 24b, it is not likely to occur The motor wire 16 is too close to the substrate 23. Therefore, even when the gap between the front end of the first partition wall 24 b and the cover 22 is wider than the diameter of the motor wire 16, the effect of preventing the motor wire 16 from being too close to the substrate 23 can be obtained.

In addition, even if the motor wire 16 is bent, it is possible to prevent the detection accuracy of the rotational position of the rotor 13 by the detection unit 26 from being lowered, so it is not necessary to pay attention to the assembly process of the servo motor 50 Work on one side to avoid bending on the motor wire 16. Therefore, it is possible to improve the work efficiency of the assembly operation of the servo motor 50.

In addition, even in the case where the motor wire 16 is bent due to the load applied during the use of the servo motor 50, it is possible to prevent a decrease in the detection accuracy of the rotational position of the rotor 13 by the detection unit 26.

In addition, although it has been shown that the encoder wire 27 avoids the first partition wall 24b and is wound to the opening 22a, it may be wound across the first partition wall 24b to the opening 22a. Even if the diameter of the encoder wire 27 is smaller than the diameter of the motor wire 16, the gap between the front end of the first partition wall 24b and the cover 22 is narrower than the diameter of the motor wire 16, as long as it is If the diameter of the wire 27 is larger, the encoder wire 27 can still be wound over the first partition wall 24b.

FIG. 3 is a diagram showing a servo motor according to the first modification of the first embodiment, and corresponds to the cross-sectional view shown in FIG. 2. In the example shown in FIGS. 1 and 2, the first partition wall 24b is formed in the area where the motor wire 16 passes, so the first partition wall 24b is formed by a circular arc as viewed from the direction along the rotation axis C Shape. On the other hand, as in Variation 1 shown in FIG. 3, the first partition wall 24b may be formed in a ring shape as viewed from the direction along the rotation axis C. Since the first partition wall 24b is formed in a ring shape, the portion of the motor wire 16 that avoids the first partition wall 24b and is close to the substrate 23 is eliminated, so that the space between the support portion 24 and the cover 22 can be increased Degrees of freedom of the path of the motor wire 16.

Fig. 4 is a partially enlarged cross-sectional view of a servo motor according to a second modification of the first embodiment, and is a view corresponding to part A shown in Fig. 1. In this modification 2, the wiring connection portion 31 is fitted into the opening 22a of the cover 22. The portion of the wiring connection portion 31 that becomes the wiring path 28 side is provided with: a first connector 31a as a first connection portion for connecting the motor wire 16; and a second connection portion as a connection for the encoder wire 27的second connector 31b. From the portion of the wiring connection portion 31 that becomes the outer side of the storage space 25, a cable 32 that integrates the motor wire 16 and the encoder wire 27 is extended.

Since the position of the motor lead 16 and the position of the encoder lead 27 in the opening 22a can be fixed by the wiring connection portion 31, the motor lead 16 can be prevented from being too close to the encoder lead 27 inside the housing space 25. Thereby, it is possible to prevent the noise from the motor wire 16 from affecting the encoder wire 27 and reduce the detection accuracy of the rotation position detected by the detection unit 26.

Fig. 5 is a partially enlarged cross-sectional view of a servo motor according to a third modification of the first embodiment, and is a view corresponding to part A shown in Fig. 1. In the present modification 3, the second partition wall 31c partitioning the first connector 31a and the second connector 31b is formed in the wiring connection portion 31. Since the first connector 31a and the second connector 31b are separated by the second partition wall 31c, it is possible to more reliably prevent the motor wire 16 from being too close to the encoder wire 27. Furthermore, in the present modification 3, the first connector 31a and the second connector 31b are arranged side by side along the direction of the rotation axis C.

FIG. 6 is a partially enlarged cross-sectional view of a servo motor according to Variation 4 of Embodiment 1, and corresponds to the view shown in FIG. 2. In this modification 4, the first connector 31a and the second connector 31b are arranged side by side along the circumferential direction. In addition, in the fourth modification, the second partition wall 31 c that partitions the first connector 31 a and the second connector 31 b is formed in the wiring connection portion 31. Since the first connector 31a and the second connector 31b are separated by the second partition wall 31c, it is possible to more reliably prevent the motor wire 16 from being too close to the encoder wire 27.

FIG. 7 is a partially enlarged cross-sectional view showing a servomotor according to Modification 5 of Embodiment 1, and is a schematic diagram corresponding to part A shown in FIG. 1. In the fifth modification, the support portion 24 is not formed with a flange portion, but the bracket 21 is exposed in the wiring path 28. For this reason, the motor wire 16 can be directly introduced into the wiring path 28 through the through hole 21 a of the bracket 21. Since it is possible to omit the formation of the through hole in the flange portion or to save time for aligning the through hole of the flange portion with the through hole 21a of the holder 21, it is possible to suppress the manufacturing cost of the servo motor 50.

As in the fifth modification, when it is not necessary to align the through hole of the flange portion with the through hole 21a of the holder 21, it is only necessary to form the first partition wall 24b into an annular shape as shown in FIG. Even if the support portion 24 is not provided with a deviation in the circumferential direction, the motor lead 16 and the substrate 23 can still be separated by the first partition wall 24b, so that the working efficiency of the assembly operation can be further improved.

FIG. 8 is a partially enlarged cross-sectional view of a servo motor according to Modification 6 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. Figure 9 is a cross-sectional view taken along line IX-IX shown in Figure 8. In the sixth modification, the first partition wall 24b protrudes from the support portion 24 toward the outside in the radial direction. The gap between the front end of the first partition wall 24b and the cover 22 becomes smaller than the diameter of the motor wire 16. In the sixth modification, the concave portion 21 b into which the support portion 24 enters is formed in the bracket 21. The wiring path 28 is constituted by the bracket 21, the support portion 24, and the first partition wall 24b. In the sixth modification, when viewed along the rotation axis C, the first partition wall 24b is formed in an arc shape. As shown in FIG. 9, the motor wire 16 that has passed through the wiring path 28 is wound from the portion not covered by the first partition wall 24 b to the cover 22 side and connected to the first connector of the wiring connection portion 31 31a. In addition, the wiring connection portion 31 may not be provided, and the motor lead 16 may be pulled out to the outside of the cover 22 through the opening formed in the cover 22.

FIG. 10 is a partially enlarged cross-sectional view of a servo motor according to Modification 7 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. In this modification 7, a groove 24c recessed toward the inner side in the circumferential direction and extending in the circumferential direction is formed on the outer circumferential surface of the support portion 24. Since the motor wire 16 can be passed even inside the groove 24c, the gap between the support portion 24 and the cover 22 can be narrowed in the radial direction. With this, the servo motor 50 can be miniaturized.

FIG. 11 is a partially enlarged cross-sectional view of a servo motor according to Modification 8 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. Fig. 12 is an exploded perspective view schematically showing an encoder of a servo motor according to a modification 8 of the first embodiment. In this modification 8, the first partition wall 24b protrudes radially outward. In addition, the gap between the support portion 24 and the cover 22 in the radial direction is narrower than the diameter of the motor wire 16. In addition, the shape of such a supporting portion 24 may also be said to mean that a groove 24 c recessed toward the inner side in the circumferential direction and extending along the circumferential direction is formed on the outer peripheral surface of the supporting portion 24. The wiring path 28 may be surrounded by the support portion 24 and the first partition wall 24 b, the cover 22 and the bracket 21.

The outer peripheral portion of the substrate 23 extends above the trench 24c. When viewed along the rotation axis C, the substrate 23 is formed so as to overlap the first partition wall 24b. In other words, the cover 22 in the radial direction is adjacent to the outer periphery of the base plate 23. Therefore, by bringing the cover 22 closer to the outer periphery of the substrate 23, the servo motor 50 can be miniaturized.

Furthermore, the servo motor 50 may be constituted by appropriately combining the above-mentioned configurations. For example, the wiring connection portion 31 shown in FIGS. 4 to 6 can also be applied to other configuration examples that do not have the wiring connection portion 31. For example, the trench 24c shown in FIG. 10 may be applied to another configuration example that does not have the trench 24c.

The configuration shown in the above embodiment shows an example of the content of the present invention, which can be combined with other well-known technologies and can omit or modify a part of the configuration without departing from the gist of the present invention.

10‧‧‧Motor Department 11‧‧‧Chassis 11a, 11b, 22a‧‧‧ opening 12‧‧‧ Stator 13‧‧‧Rotor 14‧‧‧axis 15a, 15b ‧‧‧ bearing 16‧‧‧Motor wire 20‧‧‧Encoder 21‧‧‧Bracket 21a, 29a‧‧‧through hole 21b‧‧‧recess 22‧‧‧cover 23‧‧‧ substrate 23a‧‧‧The first side 24‧‧‧Support 24a‧‧‧Supporting surface 24b‧‧‧The first dividing wall 24c‧‧‧groove 25‧‧‧ containment space 26‧‧‧Detection Department 27‧‧‧Encoder wire 28‧‧‧Wiring path 29‧‧‧Flange 30‧‧‧Cylinder 31‧‧‧Wiring connection 31a‧‧‧First connector 31b‧‧‧Second connector 31c‧‧‧Second dividing wall 32‧‧‧Cable 50‧‧‧Servo motor C‧‧‧rotation axis

Fig. 1 is a cross-sectional view of a servo motor according to Embodiment 1 of the present invention. Figure 2 is a cross-sectional view taken along line II-II shown in Figure 1. FIG. 3 is a schematic diagram showing a servomotor according to the first modification of the first embodiment, and corresponds to the cross-sectional view shown in FIG. 2. Fig. 4 is a partially enlarged cross-sectional view of a servo motor according to a second modification of the first embodiment, and is a view corresponding to part A shown in Fig. 1. Fig. 5 is a partially enlarged cross-sectional view of a servo motor according to a third modification of the first embodiment, and is a view corresponding to part A shown in Fig. 1. FIG. 6 is a partially enlarged cross-sectional view of a servo motor according to Variation 4 of Embodiment 1, and corresponds to the view shown in FIG. 2. FIG. 7 is a partially enlarged cross-sectional view of a servomotor according to Modification 5 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. FIG. 8 is a partially enlarged cross-sectional view showing a servo motor according to Modification 6 of Embodiment 1, and corresponds to a schematic view of part A shown in FIG. 1. Figure 9 is a cross-sectional view taken along line IX-IX shown in Figure 8. FIG. 10 is a partially enlarged cross-sectional view of a servo motor according to Modification 7 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. FIG. 11 is a partially enlarged cross-sectional view of a servo motor according to Modification 8 of Embodiment 1, and is a diagram corresponding to part A shown in FIG. 1. Fig. 12 is an exploded perspective view schematically showing an encoder of a servo motor according to a modification 8 of the first embodiment.

10‧‧‧Motor Department

11‧‧‧Chassis

11a, 11b‧‧‧ opening

12‧‧‧ Stator

13‧‧‧Rotor

14‧‧‧axis

15a, 15b ‧‧‧ bearing

16‧‧‧Motor wire

20‧‧‧Encoder

21‧‧‧Bracket

21a, 29a‧‧‧through hole

22‧‧‧cover

23‧‧‧ substrate

23a‧‧‧The first side

24‧‧‧Support

24a‧‧‧Supporting surface

24b‧‧‧The first dividing wall

25‧‧‧ containment space

26‧‧‧Detection Department

27‧‧‧Encoder wire

28‧‧‧Wiring path

29‧‧‧Flange

30‧‧‧Cylinder

50‧‧‧Servo motor

C‧‧‧rotation axis

Claims (22)

An encoder is provided with: a detection section that detects the rotation position of a rotation section that rotates about a rotation axis; a substrate on which the detection section is mounted; a support section that supports the substrate from the first surface side of the substrate; a bracket, The support portion is provided at a distance from the first surface of the substrate; the cover body forms a receiving space for accommodating the substrate and the support portion between the support; and the motor lead wire is introduced through the support to The accommodating space; wherein, the support portion is formed with a first partition wall that partitions the substrate and the motor wire inside the accommodating space and forms a wiring path for the motor wire to pass through; The bracket is formed with an introduction portion through which the motor wire is introduced into the wiring path; a groove is formed in a portion of the support portion that constitutes a wall surface of the wiring path, the groove is oriented with the rotation axis as a center Is recessed radially inward and extends in the circumferential direction centered on the aforementioned rotation axis. An encoder is provided with: a detection section that detects the rotation position of a rotation section that rotates about a rotation axis; a substrate on which the detection section is mounted; a support section that supports the substrate from the first surface side of the substrate; a bracket, The support portion is provided between the first surface of the substrate and the support portion; The cover body forms a storage space for storing the substrate and the support portion between the cover and the support; and a motor wire is introduced into the storage space through the support and the first partition wall is formed in the support portion The first partition wall partitions the substrate and the motor wire inside the housing space and forms a wiring path for the motor wire to pass through; the bracket is formed with an introduction for the motor wire to be introduced into the wiring path An opening connected to the wiring path is formed in the cover system; the encoder further includes: an encoder wire extending from the substrate; and a wiring connection portion having a first connection portion and a second connection portion, the first The connecting portion is provided in the opening and connects the motor wire, the second connecting portion connects the encoder wire; the wiring connecting portion is formed to separate the first connecting portion and the second connecting portion Second dividing wall. The encoder according to item 1 of the patent application scope, wherein the support portion is formed with a covering portion that covers the bracket in the wiring path; the covering portion is formed with the wiring path communicating with the introduction Department of communication. The encoder according to item 2 of the patent application scope, wherein the support portion is formed with a covering portion that covers the bracket in the wiring path; and the covering portion is formed with the wiring path communicating with the introduction Department of communication. The encoder according to item 1 of the patent application scope, wherein the bracket is exposed in the entire area of the wiring path when viewed along the rotation axis. The encoder according to item 2 of the patent application scope, wherein the bracket is exposed in the entire area of the wiring path when viewed along the rotation axis. The encoder according to item 3 of the patent application scope, wherein the bracket is exposed in the entire area of the wiring path when viewed along the rotation axis. The encoder according to item 4 of the patent application scope, wherein the bracket is exposed in the entire area of the wiring path when viewed along the rotation axis. The encoder according to item 1 of the patent application scope, wherein the cover system is formed with an opening that communicates with the wiring path; the encoder further includes: an encoder wire extending from the substrate; and a wiring connection portion, It has a first connection part and a second connection part. The first connection part is provided in the opening and connects the motor wire. The second connection part connects the encoder wire. The encoder as described in claim 9 of the patent application, wherein a second partition wall partitioning the first connection portion and the second connection portion is formed in the wiring connection portion. The encoder according to any one of claims 1 to 10, wherein the first partition wall protrudes radially outward with the rotation axis as the center. The encoder according to item 7 of the patent application scope, wherein the substrate is formed with a size overlapping the first partition wall when viewed along the rotation axis. The encoder according to any one of claims 1 to 10, wherein the gap between the front end of the first partition wall and the cover is narrower than the diameter of the motor wire. The encoder as described in item 11 of the patent application range, wherein the gap between the front end of the first partition wall and the cover body is narrower than the diameter of the motor wire. The encoder as described in item 12 of the patent application range, wherein the gap between the front end of the first partition wall and the cover body is narrower than the diameter of the motor wire. The encoder according to any one of claims 1 to 10, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. The encoder according to item 11 of the patent application range, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. The encoder according to item 12 of the patent application range, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. The encoder according to item 13 of the patent application range, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. The encoder according to item 14 of the patent application range, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. The encoder according to item 15 of the patent application range, wherein the wiring path is formed radially outward with the rotation axis as a center with respect to the support portion. A servo motor equipped with: the encoder described in any one of patent application items 1 to 21; A rotor, which is the rotating part; and a cylindrical stator surrounding the rotor.

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