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CN-224233500-U - Built-in torque motor of encoder

CN224233500UCN 224233500 UCN224233500 UCN 224233500UCN-224233500-U

Abstract

The application discloses a torque motor with a built-in encoder, which belongs to the field of torque motors and comprises a stator, a rotor assembly rotating relative to the stator and a PCB fixedly arranged at one end of the stator, wherein the rotor assembly comprises a rotating shaft axially penetrating through the stator and an electromagnet fixedly sleeved at the outer side of the rotating shaft, the torque motor further comprises an encoder circuit welded on the PCB, and one end of the electromagnet penetrates through one end of the stator close to the PCB and at least extends to one surface of the PCB far away from the stator. The torque motor has the advantages of simple structure, convenient use, no need of extra components such as a magnet, a plate of a detection circuit and the like, and capability of effectively shortening the length of the motor, reducing the volume and the weight of the motor, being beneficial to miniaturization and light weight of the motor and being suitable for popularization and use.

Inventors

  • LI ZISHENG
  • LI QI
  • SHENG SHIJIE
  • WU YESHENG
  • LI PENGFEI
  • TANG XUECHEN

Assignees

  • 苏州脉塔智能科技有限公司

Dates

Publication Date
20260512
Application Date
20250519

Claims (6)

  1. 1. The torque motor with the built-in encoder comprises a stator (1), a rotor assembly (2) rotating relative to the stator (1) and a PCB (printed circuit board) fixedly arranged at one end of the stator (1), wherein the rotor assembly (2) comprises a rotating shaft (21) axially penetrating through the stator (1) and an electromagnet (22) fixedly sleeved at the outer side of the rotating shaft (21); The torque motor is characterized by further comprising an encoder circuit (4) welded on the PCB (3), wherein one end of the electromagnet (22) penetrates through one end, close to the PCB (3), of the stator (1) and extends to at least one surface, far away from the stator (1), of the PCB (3).
  2. 2. The built-in torque motor of an encoder according to claim 1, wherein the electromagnet (22) comprises a plurality of permanent magnets distributed outside the rotating shaft (21) in a ring-shaped array.
  3. 3. The built-in torque motor of an encoder according to claim 1 or 2, further comprising a housing (5) fixedly sleeved outside the stator (1), the rotor assembly (2) and the PCB (3), wherein the rotating shaft (21) axially penetrates through the housing (5).
  4. 4. The built-in torque motor of encoder of claim 3, wherein the housing (5) comprises a casing (51) fixedly sleeved at one end of the stator (1) and an end cover (52) arranged at one end of the casing (51) for sealing the stator (1), the rotor assembly (2) and the PCB (3) in the casing (51), and the rotating shaft (21) is rotatably connected with the casing (51) and the end cover (52).
  5. 5. The torque motor with built-in encoder according to claim 3, wherein a first bearing (211) and a second bearing (212) are provided on the rotating shaft (21) at positions corresponding to the housing (51) and the end cover (52), respectively.
  6. 6. The torque motor with built-in encoder according to claim 4, wherein the end cover (52) is provided with a through slot (521) for wire passing.

Description

Built-in torque motor of encoder Technical Field The application relates to the technical field of torque motors, in particular to a torque motor with a built-in encoder. Background With the development of technology, the motor is applied to various fields, and the requirements on the performance, the volume and the weight of the motor are also higher and higher. In the robot joint module, the motor, the encoder and the speed reducer are required to be assembled into a whole, so that the volume of the joint module is further reduced. The Chinese patent application with publication number CN112260487A discloses a novel magnetic encoding motor. The magnetic field detector comprises an output shaft, a stator used for driving the output shaft to rotate, a magnet mechanism used for providing a detection magnetic field along with the rotation of the output shaft, a detection mechanism installed on one side, far away from the output shaft, of the magnet mechanism and used for detecting magnetic field change signals, and a cable connected with the detection mechanism and used for transmitting the signals, wherein the output shaft is of a hollow cylindrical structure, the magnet mechanism comprises a first magnet fixedly sleeved on an outer surface wall of one end of the output shaft and a second magnet installed on the stator and rotating along with the first magnet, and the detection mechanism comprises a control main board installed on one side, far away from the output shaft, of the first magnet and a magnetic inductor installed on the control main board and corresponding to the position of the second magnet. The magnetic encoder motor can integrate the magnetic encoder on the motor, and detect a magnetic field change signal when the output shaft rotates, but the magnetic encoder motor is additionally provided with a magnet mechanism on the output shaft of the motor, and a detection mechanism corresponding to the magnet mechanism is fixedly arranged on one side of the output shaft, so that the length of the motor is increased, the whole volume and the weight of the motor are increased, and the miniaturization and the light weight of the robot joint module are not facilitated. Accordingly, the present application provides a torque motor with built-in encoder to solve the above-mentioned problems. Disclosure of utility model The application provides a torque motor with a built-in encoder, and aims to solve the problems that in the prior art, a magnet is additionally arranged on an output shaft of a motor, and a detection mechanism is additionally arranged on the output shaft of the motor, so that the motor is large in size and is not beneficial to miniaturization and light weight of a robot joint module. The torque motor comprises a stator, a rotor assembly rotating relative to the stator and a PCB fixedly arranged at one end of the stator, wherein the rotor assembly comprises a rotating shaft axially penetrating through the stator and an electromagnet fixedly sleeved outside the rotating shaft, the torque motor further comprises an encoder circuit welded on the PCB, and one end of the electromagnet penetrates through one end of the stator close to the PCB and at least extends to one surface of the PCB far away from the stator. Like this, with encoder circuit welding on the PCB board of motor, drive the magnetic field signal change of electro-magnet when detecting the pivot rotation and detect rotational speed and the pivot position of motor through the magnetic encoder circuit, need not to install magnet and encoder mainboard additional, can effectually shorten the length of motor to reduce the volume and the weight of motor. Preferably, the electromagnet comprises a plurality of permanent magnets distributed on the outer side of the rotating shaft in an annular array. Preferably, the torque motor further comprises a casing fixedly sleeved on the outer sides of the stator, the rotor assembly and the PCB, and the rotating shaft axially penetrates through the casing. Preferably, the casing includes a casing fixedly sleeved at one end of the stator and an end cover disposed at one end of the casing for sealing the stator, the rotor assembly and the PCB board in the casing, and the rotating shaft is rotatably connected with the casing and the end cover. Preferably, a first bearing and a second bearing are respectively arranged on the rotating shaft at positions corresponding to the casing and the end cover. Preferably, the end cover is provided with a through groove for threading. The torque motor is simple in structure and convenient to use, the encoder detection circuit is welded to the PCB of the motor to detect the magnetic field change signal of the rotor electromagnet of the motor, extra components such as a magnet and a plate of the detection circuit are not needed, the rotating speed and the rotating shaft position of the rotating shaft of the motor can be effectively detected, the length of the motor is shor