阅读说明：本技术 编码器、电机及驱动系统 (Encoder, motor and driving system ) 是由 左思 蓝维隆 于 2021-09-24 设计创作，主要内容包括：本发明提供了一种编码器、电机及驱动系统,编码器安装在电机上,编码器包括：码盘和磁钢或磁环,码盘和磁钢或磁环安装在电机的转子上并且随转子同步运动；电路板,包括至少一个磁感模块、至少一个光感模块及信号处理模块,磁感模块与磁钢或磁环对应设置,光感模块与码盘对应设置；其中,电路板与设置在编码器底座上的至少一个第一安装部固定连接；或者,电路板与设置在编码器后端盖上的至少一个第二安装部固定连接；或者,电路板与设置在电机的后端盖上的至少一个第三安装部固定连接。本发明的编码器解决了现有技术中的光磁混合编码器的通过三个磁感性芯片来测量位置信息,其生产成本较高的问题。(The invention provides an encoder, a motor and a driving system, wherein the encoder is arranged on the motor and comprises: the coded disc and the magnetic steel or the magnetic ring are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board comprises at least one magnetic induction module, at least one light induction module and a signal processing module, wherein the magnetic induction module is arranged corresponding to the magnetic steel or the magnetic ring, and the light induction module is arranged corresponding to the code disc; the circuit board is fixedly connected with at least one first mounting part arranged on the encoder base; or the circuit board is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor. The encoder solves the problem that the production cost of the magneto-optical hybrid encoder in the prior art is high because the position information is measured by three magnetic-sensitive chips.)

1. An encoder mounted on a motor, the encoder comprising:

the motor comprises a coded disc (1) and a magnetic steel or magnetic ring (2), wherein the coded disc (1) and the magnetic steel or magnetic ring (2) are arranged on a rotor (10) of the motor and synchronously move along with the rotor;

the circuit board (3) comprises at least one magnetic induction module (4), at least one optical induction module (5) and a signal processing module, the magnetic induction module (4) is arranged corresponding to the magnetic steel or the magnetic ring (2), and the optical induction module (5) is arranged corresponding to the coded disc (1);

wherein, the circuit board (3) is fixedly connected with at least one first mounting part arranged on the encoder base (9); or the circuit board (3) is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board (3) is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor.

2. The encoder according to claim 1,

the first mounting part is an annular side wall or an arc-shaped side wall arranged on the encoder base (9); or the like, or, alternatively,

the second mounting part is an annular side wall or an arc-shaped side wall arranged on the rear end cover of the encoder; or the like, or, alternatively,

the third mounting part is an annular side wall or an arc-shaped side wall arranged on a rear end cover of the motor; or the like, or, alternatively,

the first mounting part is at least one first mounting part arranged on the encoder base (9), and the height of the first mounting part is larger than or equal to the distance between the circuit board (3) and the bottom surface of the encoder base (9); or the like, or, alternatively,

the second mounting part is at least one second mounting part arranged on the encoder rear end cover, and the height of the second mounting part is larger than or equal to the distance between the bottom surface of the encoder rear end cover and the circuit board (3); or the like, or, alternatively,

the third installation part is at least one third installation part arranged on the encoder rear end cover, and the height of the third installation part is larger than or equal to the distance between the bottom surface of the encoder rear end cover and the circuit board (3).

3. The encoder of claim 2, wherein the first mount or the second mount or the third mount extends toward a side of an interior of the encoder to form at least one boss.

4. The encoder according to claim 2 or 3,

the circuit board (3) is positioned on one side of the first mounting part, the second mounting part or the third mounting part, and the end faces, close to each other, of the circuit board (3) and the first mounting part, the second mounting part or the third mounting part are bonded through glue; or the like, or, alternatively,

the annular outer side face of the circuit board (3) is embedded with the wall face of one side, facing the interior of the encoder, of the first mounting part, the second mounting part or the third mounting part, and colloid is filled between the annular outer side face of the circuit board (3) and the wall face; or the like, or, alternatively,

the circuit board (3) is fixedly connected with the first installation part or the second installation part or the third installation part through a fixing structure.

5. The encoder according to claim 4, characterized in that the circuit board (3) is fixedly connected with the first mounting portion or the second mounting portion or the third mounting portion by a fixing structure, wherein,

the fixing structure comprises at least one first hole structure arranged on the circuit board (3) and a first fixing piece which is arranged on the first mounting part or the second mounting part or the third mounting part and is matched with the first hole structure; or the like, or, alternatively,

the fixing structure comprises at least one second fixing piece arranged on the circuit board (3) and a second hole structure which is arranged on the first mounting part or the second mounting part or the third mounting part and is matched with the second fixing piece; or the like, or, alternatively,

the fixed knot constructs including setting up at least one third pore structure on circuit board (3) sets up first installation department or the second installation department or be provided with at least one fourth pore structure on the third installation department to and third mounting, third pore structure with fourth pore structure passes through third mounting fixed connection.

6. The encoder according to claim 1, characterized in that the code wheel (1), the magnetic steel or magnetic ring (2) and the circuit board (3) are parallel to each other and perpendicular to the rotation axis of the motor; wherein the content of the first and second substances,

the end surface of one side of the coded disc (1) close to the circuit board (3) is flush with the end surface of one side of the magnetic steel or the magnetic ring (2) close to the circuit board (3); or

The distance between the end face of one side of the coded disc (1) close to the circuit board (3) and the circuit board (3) is larger than the distance between the end face of one side of the magnetic steel or the magnetic ring (2) close to the circuit board (3) and the circuit board (3); or

The distance between the end face of one side of the coded disc (1) close to the circuit board (3) and the circuit board (3) is smaller than the distance between the end face of one side of the magnetic steel or the magnetic ring (2) close to the circuit board (3) and the circuit board (3).

7. The encoder according to claim 6,

the coded disc (1) is positioned above the magnetic steel or magnetic ring (2), and the circuit board (3) is positioned between the coded disc (1) and the magnetic steel or magnetic ring (2); alternatively, the first and second electrodes may be,

the coded disc (1) is positioned above the magnetic steel or magnetic ring (2), and the circuit board (3) is positioned below the magnetic steel or magnetic ring (2); alternatively, the first and second electrodes may be,

the coded disc (1) is positioned above the magnetic steel or the magnetic ring (2), and the circuit board (3) is positioned above the coded disc (1); alternatively, the first and second electrodes may be,

the coded disc (1) is positioned below the magnetic steel or magnetic ring (2), and the circuit board (3) is positioned above the magnetic steel or magnetic ring (2); alternatively, the first and second electrodes may be,

the coded disc (1) is positioned below the magnetic steel or magnetic ring (2), and the circuit board (3) is positioned between the magnetic steel or magnetic ring (2) and the coded disc (1); alternatively, the first and second electrodes may be,

the coded disc (1) is positioned below the magnetic steel or the magnetic ring (2), and the circuit board (3) is positioned below the coded disc (1).

8. The encoder according to claim 7,

when the coded disc (1) is positioned between the magnetic steel or magnetic ring (2) and the circuit board (3), the outer diameter of the circuit board (3) is larger than that of the magnetic steel or magnetic ring (2), and the inner diameter of the coded disc (1) is larger than that of the magnetic steel or magnetic ring (2); or

When the magnetic steel or the magnetic ring (2) is positioned between the coded disc (1) and the circuit board (3), the outer diameter of the circuit board (3) is larger than that of the magnetic steel or the magnetic ring (2), and the outer diameter of the coded disc (1) is larger than that of the magnetic steel or the magnetic ring (2).

9. The encoder according to claim 7,

when the circuit board (3) is positioned between the coded disc (1) and the magnetic steel or the magnetic ring (2), the light sensing module (5) and the magnetic sensing module (4) are respectively positioned at two opposite sides of the circuit board.

10. The encoder according to any of the claim 1,

the encoder further comprises a code disc tray (6), the code disc tray (6) is fixedly connected with the code disc (1) or integrally formed, and the code disc (1) is fixed on a rotating shaft (8) of the motor through the code disc tray (6); wherein the content of the first and second substances,

the code disc tray (6) is positioned above the code disc (1), and the circuit board (3) is positioned below the code disc (1); or the like, or, alternatively,

the code disc tray (6) is located below the code disc (1), and the circuit board (3) is located above the code disc (1).

11. The encoder according to any of the claims 10,

the center of the coded disc (1) is provided with a containing hole for containing the magnetic steel or the magnetic ring (2); or the inner diameter of the magnetic ring is larger than the outer diameter of the coded disc (1).

12. An electric machine comprising an encoder, characterized in that the encoder is according to any one of claims 1 to 11, the encoder base (9) being integrally formed with or detachably connected to a rear end cap of the electric machine.

13. A drive system adapted for use with the motor of claim 12.

Technical Field

The invention relates to the technical field of encoders, in particular to an encoder, a motor and a driving system.

Background

The encoder technology is widely applied to the field of control of precision instruments such as motor rotating speed measurement and position detection, for example, an absolute encoder can be used for detecting the number of rotating circles, the rotating direction and the rotating position of a motor.

With the advancement of science and technology, in order to meet the requirements of precision, stability and better cost of a control system, the requirements on the precision and reliability of an encoder are higher and higher, and the installation conditions of the encoder need to be reduced to reduce the installation cost.

In the high-precision absolute value encoder, two modes of mixed encoding are adopted to obtain a high-precision absolute value, wherein an absolute value code channel is used as a coarse code channel to search sectors, a relative position code channel is used as a high-precision code channel, and the two channels are combined to obtain the high-precision absolute value.

One of the existing absolute value code channel technologies is a photoelectric encoder, which usually adopts gray code or M-sequence code to obtain preliminary absolute position information, and the main architecture of the photoelectric encoder comprises an optical transmitter, an optical receiver, a code disc and a processing circuit, and the photoelectric encoder is simple in structure, high in precision and weak in anti-interference capability; the other type is a magnetoelectric encoder, a magnetic induction chip is adopted to obtain a preliminary absolute position, the main structure of the magnetoelectric encoder comprises three magnetic induction chips, a magnet and a processing circuit, the absolute position of a rotor is generated and provided by utilizing the change of a magnetic field, the defects of the photoelectric encoder are overcome, and the magnetoelectric encoder has the advantages of shock resistance, corrosion resistance, pollution resistance, reliable performance, simple structure and the like, but the precision is poor.

However, since the structure and the encoding method of the photoelectric encoder are very sensitive to the position deviation, the encoder needs to be very accurate in assembly alignment, and as the accuracy requirement of the encoder is increased, the area of the sensing region of the corresponding optical receiver is also greatly reduced, which causes the pollution of external environments such as oil stain, dirt, particles and the like to seriously affect the sensing of the absolute position signal; the mode that three magnetic induction chips are adopted at the same time of the magnetoelectric encoder is too complex, instability is easily brought to a system, and the encoder can be made to make mistakes when any one device goes wrong.

In addition, part photoelectric encoder is the transmission type, and light emitter and photoreceiver are located the relative both sides of code wheel respectively, and on the one hand, the device is too much, leads to the system unstability easily, and on the other hand the type selection of transmission type code wheel has many restrictions, adopts fragile material such as glass more, and system stability is not high, adopts not fragile metal code wheel groove precision again not high to adopt the mode of a plurality of code channels to too high requirement of installation accuracy.

In order to meet the requirements of high precision and interference resistance in the use of an encoder, a photomagnetic hybrid encoder currently exists, which comprises a photomagnetic coding component, a magnetic coding component and a circuit board for outputting coding signals of the photomagnetic coding component and the magnetic coding component; wherein, the magnetic coding subassembly is including setting up the circular magnet steel of putting in pivot tip central point, set up on the circuit board and just to the first magnetism of circular magnet steel border position in order to be used for responding to the magnetic field change of magnet steel border position and set up on the circuit board and just to the second magnetism of circular magnet steel central point in order to be used for responding to the magnetic field change of magnet steel central point, through combining the signal that two kinds of response chips sensed, can calculate more accurate absolute position information, thereby improve the measurement accuracy of encoder, satisfy hybrid encoder's high accuracy high stability's demand.

However, in the above-mentioned photo-magnetic hybrid encoder, the position information is measured by three magnetic-sensitive chips, the number of chips used is large, the structure is complicated, and the required production cost is high.

Disclosure of Invention

The invention mainly aims to provide an encoder, a motor and a driving system, which are used for solving the problem that the production cost of a photomagnetic hybrid encoder in the prior art is higher because position information is measured by three magnetic-sensitive chips.

In order to achieve the above object, according to a first aspect of the present invention, there is provided an encoder mounted on a motor, the encoder including: the coded disc and the magnetic steel or the magnetic ring are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board comprises at least one magnetic induction module, at least one light induction module and a signal processing module, wherein the magnetic induction module is arranged corresponding to the magnetic steel or the magnetic ring, and the light induction module is arranged corresponding to the code disc; the circuit board is fixedly connected with at least one first mounting part arranged on the encoder base; or the circuit board is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor.

Further, the first mounting part is an annular side wall or an arc-shaped side wall arranged on the encoder base; or the second mounting part is an annular side wall or an arc-shaped side wall arranged on the rear end cover of the encoder; or the third mounting part is an annular side wall or an arc-shaped side wall arranged on the rear end cover of the motor; or the first mounting part is at least one first mounting part arranged on the encoder base, and the height of the first mounting part is greater than or equal to the distance between the circuit board and the bottom surface of the encoder base; or the second mounting part is at least one second mounting part arranged on the rear end cover of the encoder, and the height of the second mounting part is greater than or equal to the distance between the bottom surface of the rear end cover of the encoder and the circuit board; or the third mounting part is at least one third mounting part arranged on the rear end cover of the encoder, and the height of the third mounting part is larger than or equal to the distance between the bottom surface of the rear end cover of the encoder and the circuit board.

Further, the first mounting portion or the second mounting portion or the third mounting portion extends toward one side of the interior of the encoder to form at least one boss.

Furthermore, the circuit board is positioned on one side of the first mounting part, the second mounting part or the third mounting part, and the end faces, close to each other, of the circuit board and the first mounting part, the second mounting part or the third mounting part are bonded through glue; or the annular outer side surface of the circuit board is embedded with the wall surface of one side of the first mounting part, the second mounting part or the third mounting part facing the inside of the encoder, and colloid is filled between the annular outer side surface of the circuit board and the wall surface; or the circuit board is fixedly connected with the first mounting part, the second mounting part or the third mounting part through the fixing structure.

Further, the circuit board is fixedly connected with the first mounting part, the second mounting part or the third mounting part through a fixing structure, wherein the fixing structure comprises at least one first hole structure arranged on the circuit board and a first fixing part which is arranged on the first mounting part, the second mounting part or the third mounting part and is matched with the first hole structure; or the fixing structure comprises at least one second fixing piece arranged on the circuit board and a second hole structure which is arranged on the first mounting part, the second mounting part or the third mounting part and matched with the second fixing piece; or the fixing structure comprises at least one third hole structure arranged on the circuit board, at least one fourth hole structure arranged on the first installation part, the second installation part or the third installation part, and a third fixing part, wherein the third hole structure and the fourth hole structure are fixedly connected through the third fixing part.

Furthermore, the code disc, the magnetic steel or the magnetic ring and the circuit board are mutually parallel and vertical to the rotation axis of the motor; the end surface of one side of the coded disc, which is close to the circuit board, is flush with the end surface of one side of the magnetic steel or the magnetic ring, which is close to the circuit board; or the distance between the end surface of one side of the coded disc close to the circuit board and the circuit board is larger than the distance between the end surface of one side of the magnetic steel or the magnetic ring close to the circuit board and the circuit board; or the distance between the end face of one side of the coded disc close to the circuit board and the circuit board is smaller than the distance between the end face of one side of the magnetic steel or the magnetic ring close to the circuit board and the circuit board.

Furthermore, the coded disc is positioned above the magnetic steel or the magnetic ring, and the circuit board is positioned between the coded disc and the magnetic steel or the magnetic ring; or the coded disc is positioned above the magnetic steel or the magnetic ring, and the circuit board is positioned below the magnetic steel or the magnetic ring; or the coded disc is positioned above the magnetic steel or the magnetic ring, and the circuit board is positioned above the coded disc; or the coded disc is positioned below the magnetic steel or the magnetic ring, and the circuit board is positioned above the magnetic steel or the magnetic ring; or the coded disc is positioned below the magnetic steel or the magnetic ring, and the circuit board is positioned between the magnetic steel or the magnetic ring and the coded disc; or the coded disc is positioned below the magnetic steel or the magnetic ring, and the circuit board is positioned below the coded disc.

Further, when the code wheel is positioned between the magnetic steel or the magnetic ring and the circuit board, the outer diameter of the circuit board is larger than that of the magnetic steel or the magnetic ring, and the inner diameter of the code wheel is larger than that of the magnetic steel or the magnetic ring; or when the magnetic steel or the magnetic ring is positioned between the coded disc and the circuit board, the outer diameter of the circuit board is larger than that of the magnetic steel or the magnetic ring, and the outer diameter of the coded disc is larger than that of the magnetic steel or the magnetic ring.

Further, when the circuit board is located between the code wheel and the magnetic steel or the magnetic ring, the light sensing module and the magnetic sensing module are respectively located on two opposite sides of the circuit board.

The encoder further comprises a code disc support, the code disc support and the code disc are fixedly connected or integrally formed, and the code disc is fixed on a rotating shaft of the motor through the code disc support; the coded disc support is positioned above the coded disc, and the circuit board is positioned below the coded disc; or the coded disc support is positioned below the coded disc, and the circuit board is positioned above the coded disc.

Furthermore, the center of the coded disc is provided with an accommodating hole for accommodating the magnetic steel or the magnetic ring; or the inner diameter of the magnetic ring is larger than the outer diameter of the code disc.

According to a second aspect of the present invention, there is provided a motor, comprising an encoder as described above, wherein the encoder base is integrally formed with or detachably connected to a rear end cover of the motor.

According to a third aspect of the present invention, there is provided a drive system adapted for use with the motor described above.

By applying the technical scheme of the invention, the encoder comprises: the coded disc and the magnetic steel or the magnetic ring are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board comprises at least one magnetic induction module, at least one light induction module and a signal processing module, wherein the magnetic induction module is arranged corresponding to the magnetic steel or the magnetic ring, and the light induction module is arranged corresponding to the code disc; the circuit board is fixedly connected with at least one first mounting part arranged on the encoder base; or the circuit board is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor. Compared with the prior art, the encoder can achieve the effect which can be achieved by two magnetic-sensing chips in the prior art only by inducing the change of the magnetic field of the encoder by one magnetic-sensing chip, simplifies the complex procedure of signal processing, improves the efficiency of signal processing, solves the problem that the process of measuring the position information of a photomagnetic hybrid encoder in the prior art is complex, and also solves the problem that the position information of the photomagnetic hybrid encoder in the prior art is measured by three magnetic-sensing chips, and the production cost is high.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural diagram of a first embodiment of an encoder according to the present invention; and

fig. 2 shows a schematic structural diagram of a second embodiment of an encoder according to the present invention.

Wherein the figures include the following reference numerals:

1. code disc; 2. magnetic steel or a magnetic ring; 3. a circuit board; 31. a through hole; 4. a magnetic induction module; 5. a light sensing module; 6. stacking a disc tray; 7. a support; 8. a rotating shaft; 9. an encoder base.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1 and 2, the present invention provides an encoder installed on a motor, the encoder including: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; wherein, the circuit board 3 is fixedly connected with at least one first mounting part arranged on the encoder base 9; or the circuit board 3 is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board 3 is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor.

The encoder of the present invention comprises: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; wherein, the circuit board 3 is fixedly connected with at least one first mounting part arranged on the encoder base 9; or the circuit board 3 is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board 3 is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor. Compared with the prior art, the encoder can achieve the effect which can be achieved by two magnetic-sensing chips in the prior art by only using one magnetic-sensing chip to sense the change of the magnetic field of the encoder, simplifies the complex procedure of signal processing, improves the efficiency of signal processing, solves the problem that the process of measuring the position information of a photomagnetic hybrid encoder in the prior art is complex, and also solves the problem that the position information of the photomagnetic hybrid encoder in the prior art is measured by three magnetic-sensing chips, and the production cost is high.

On one hand, the encoder of the invention obtains an absolute position signal through the magnetic sensing module 4, obtains an incremental position signal through the optical sensing module 5, and is fitted by the signal processing module, so that high-precision absolute position sensing can be realized and high-precision absolute position information of the encoder can be obtained; on the other hand, the light sensing module 5 of the single-chip optical reflection type chip integrating the light emitting element and the light receiving element and the coded disc 1 used for reflecting light are matched with the magnetic sensing module 4 and the magnetic steel or the magnetic ring 2, so that the encoder can be thinned, and meanwhile, the off-axis or on-axis installation design can be realized, so that the encoder has a simpler structure and installation mode and higher environment pollution resistance bearing capacity.

The code channel of the code wheel 1 is a single code channel or a double code channel, so that the installation requirement on the encoder is greatly reduced, and the working stability of the encoder is improved.

The magnetic encoding signal output by the magnetic induction module 4 of the encoder of the present invention can be either an analog quantity or a digital quantity.

In addition, the magnetic induction module 4 of the encoder of the present invention may also use an inductive element or a capacitive element in addition to the magnetic induction chip to determine the first absolute position of the encoder.

As shown in fig. 1 and 2, when the encoder of the present invention is installed on a rotating electrical machine, the encoder includes a circuit board 3, a magnetic sensing module 4, a light sensing module 5, a bracket 7, and an encoder base 9, the rotating electrical machine includes a code wheel 1, a magnetic steel or magnetic ring 2, and a code wheel holder 6, the code wheel 1 and the magnetic steel or magnetic ring 2 are installed on a rotating shaft 8 of the rotating electrical machine through the code wheel holder 6 to rotate along with the rotating shaft, the magnetic sensing module 4 and the light sensing module 5 are both disposed on the circuit board 3 and are respectively opposite to the magnetic steel or magnetic ring 2 and the code wheel 1, and the circuit board 3 is installed on the encoder base 9 through the bracket 7.

The specific embodiment of the encoder of the present invention is as follows:

example one

In this embodiment, the encoder of the present invention includes: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; wherein, the encoder still includes encoder base 9, and encoder base 9 installs on the rear end cover of motor, circuit board 3 and at least one first installation department fixed connection who sets up on encoder base 9.

Example two

The present embodiment differs from the first embodiment in the mounting position of the circuit board 3, and in the present embodiment, the encoder of the present invention includes: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; the encoder further comprises an encoder rear end cover, a containing space for containing the coded disc 1, the magnetic steel or the magnetic ring 2 and the circuit board 3 is formed between the encoder rear end cover and the encoder base 9 or the rear end cover of the motor in a surrounding mode, and the circuit board 3 is fixedly connected with at least one second mounting portion arranged on the encoder rear end cover.

EXAMPLE III

The present embodiment differs from the first and second embodiments in the mounting position of the circuit board 3, and in the present embodiment, the encoder of the present invention includes: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; the encoder is mounted on the rear end cover of the motor, and the circuit board 3 is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor.

Example four

This embodiment is further limited to the first embodiment, in which the encoder base 9 includes a bottom plate and a first mounting portion, and the first mounting portion is an annular sidewall or an arc-shaped sidewall provided on the bottom plate of the encoder base 9.

EXAMPLE five

The present embodiment is further defined by the second embodiment, in which the encoder back end cover includes a bottom plate and a second mounting portion, and the second mounting portion is an annular side wall or an arc-shaped side wall disposed on the bottom plate of the encoder back end cover.

EXAMPLE six

The present embodiment is further limited to the third embodiment, in which the rear end cover of the motor includes a bottom plate and a third mounting portion, and the third mounting portion is an annular side wall or an arc-shaped side wall disposed on the bottom plate of the rear end cover of the motor.

EXAMPLE seven

The present embodiment is further limited to the first embodiment, and the present embodiment is different from the fourth embodiment in a specific structure of the first mounting part, in the present embodiment, the encoder base 9 includes a bottom plate and an annular side wall or an arc-shaped side wall provided on the bottom plate of the encoder base 9, the first mounting part is at least one first mounting part provided on the bottom plate or the annular side wall or the arc-shaped side wall of the encoder base 9, and a height of the first mounting part is greater than or equal to a distance between the circuit board 3 and the bottom surface of the encoder base 9.

Example eight

The present embodiment is further limited to the second embodiment, and the present embodiment is different from the fifth embodiment in a specific structure of a second mounting part, in the present embodiment, the encoder back end cover includes a bottom plate and an annular side wall or an arc-shaped side wall provided on the bottom plate of the encoder back end cover, the second mounting part is at least one second mounting part provided on the bottom plate of the encoder back end cover, the annular side wall or the arc-shaped side wall, and a height of the second mounting part is greater than or equal to a distance between a bottom surface of the encoder back end cover and the circuit board 3.

Example nine

The present embodiment is further limited to the third embodiment, and the present embodiment is different from the sixth embodiment in a specific structure of a third mounting part, in the present embodiment, the rear end cover of the motor includes a bottom plate and an annular side wall or an arc-shaped side wall provided on the bottom plate of the rear end cover of the motor, the third mounting part is at least one third mounting part provided on the bottom plate or the annular side wall or the arc-shaped side wall of the rear end cover of the encoder, and a height of the third mounting part is greater than or equal to a distance between a bottom surface of the rear end cover of the encoder and the circuit board 3.

Example ten

This embodiment is a further limitation on the fourth to sixth embodiments, in this embodiment, the first mounting portion, the second mounting portion, or the third mounting portion extends toward one side of the inside of the encoder to form at least one boss, that is, at least a part of the annular side wall or the arc-shaped side wall of the encoder base 9 projects toward the inside of the encoder, or at least a part of the annular side wall or the arc-shaped side wall of the encoder rear end cover projects toward the inside of the encoder, or at least a part of the annular side wall or the arc-shaped side wall of the rear end cover of the motor projects toward the inside of the encoder, to form a boss for being snapped with the circuit board 3.

EXAMPLE eleven

In this embodiment, the circuit board 3 is located at one side of the first mounting portion, the second mounting portion or the third mounting portion, and the end surfaces of the circuit board 3 and the first mounting portion, the second mounting portion or the third mounting portion, which are close to each other, are bonded through a glue, that is, the end surfaces of the circuit board 3, which are close to the first mounting portion, the second mounting portion or the third mounting portion, and the end surfaces of the first mounting portion, the second mounting portion or the third mounting portion, which are close to the circuit board 3, are bonded through a glue.

Example twelve

In this embodiment, an annular outer side surface of the circuit board 3 is fitted to a wall surface of one side of the first mounting portion, the second mounting portion, or the third mounting portion facing the inside of the encoder, and a glue is filled between the annular outer side surface of the circuit board 3 and the wall surface of one side of the first mounting portion, the second mounting portion, or the third mounting portion facing the inside of the encoder, so as to bond the two by the glue.

EXAMPLE thirteen

This embodiment is a further limitation on any one of the fourth to the ninth embodiments, and differs from the eleventh and twelfth embodiments in the mounting position of the circuit board, and in this embodiment, the circuit board 3 is fixedly connected to the first mounting portion or the second mounting portion or the third mounting portion by a fixing structure.

Example fourteen

The present embodiment is further defined by any one of the fourth to the ninth embodiments, in the present embodiment, the circuit board 3 is fixedly connected with the first mounting portion, the second mounting portion or the third mounting portion through a fixing structure, wherein the fixing structure includes at least one first hole structure disposed on the circuit board 3, and a first fixing member disposed on the first mounting portion, the second mounting portion or the third mounting portion and engaged with the first hole structure.

For example, the first fixing member is a connecting pin, the first hole structure is a pin hole interference-fitted with the connecting pin, and the connecting pin is inserted into the pin hole to fixedly connect the circuit board 3 with the first mounting portion, the second mounting portion, or the third mounting portion.

Example fifteen

This embodiment is a further limitation to the fourteenth embodiment, in which the hole center line of the first hole structure is disposed perpendicular to the end surface of the circuit board 3, that is, the first hole structure is disposed on the end surface of the circuit board 3, and accordingly, the position of the first fixing member is disposed corresponding to the first hole structure.

Example sixteen

This embodiment is a further limitation to the fourteenth embodiment, and the difference between this embodiment and the fifteenth embodiment lies in the specific position of the first hole structure, in this embodiment, the hole center line of the first hole structure is disposed parallel to the end face of the circuit board 3, that is, the first hole structure is disposed on the annular side wall face of the circuit board 3, and accordingly, the position of the first fixing member is disposed corresponding to the first hole structure.

Example seventeen

The present embodiment is further limited to any one of the fourth to the ninth embodiments, and the present embodiment is different from the fourteenth embodiment in specific arrangement of the fixing structure, in the present embodiment, the circuit board 3 is fixedly connected to the first mounting portion, the second mounting portion, or the third mounting portion through the fixing structure, where the fixing structure includes at least one second fixing member disposed on the circuit board 3, and a second hole structure disposed on the first mounting portion, the second mounting portion, or the third mounting portion and engaged with the second fixing member.

For example, the second fixing member is a connecting pin, the second hole structure is a pin hole interference-fitted with the connecting pin, and the connecting pin is inserted into the pin hole to fixedly connect the circuit board 3 with the first mounting portion, the second mounting portion, or the third mounting portion.

EXAMPLE eighteen

This embodiment is further limited to the seventeenth embodiment, in this embodiment, a hole center line of the second hole structure is perpendicular to an end surface of the first mounting portion, the second mounting portion, or the third mounting portion on a side close to the circuit board 3, that is, the second hole structure is located on the end surface of the first mounting portion, the second mounting portion, or the third mounting portion on the side close to the circuit board 3, and accordingly, the second fixing member is located corresponding to the second hole structure.

Example nineteen

The present embodiment is further limited to the seventeenth embodiment, and the present embodiment is different from the eighteenth embodiment in the specific position of the second hole structure, in the present embodiment, the hole center line of the second hole structure is disposed in parallel to the end surface of the first mounting portion, the second mounting portion, or the third mounting portion on the side close to the circuit board 3, that is, the second hole structure is located on the side wall surface of the first mounting portion, the second mounting portion, or the third mounting portion facing the inside of the encoder, and accordingly, the position of the second fixing member is disposed corresponding to the second hole structure.

Example twenty

The present embodiment is further limited to any one of the fourth to the ninth embodiments, and the present embodiment is different from the fourteenth and the seventeenth embodiments in specific arrangement of the fixing structure, in the present embodiment, the circuit board 3 is fixedly connected to the first mounting portion, the second mounting portion or the third mounting portion through the fixing structure, wherein the fixing structure includes at least one third hole structure provided on the circuit board 3, at least one fourth hole structure provided on the first mounting portion, the second mounting portion or the third mounting portion, and a third fixing member, and the third hole structure and the fourth hole structure are fixedly connected through the third fixing member.

For example, the second fixing member is a screw, one of the third hole structure and the fourth hole structure is a through hole for the screw to pass through, the other of the third hole structure and the fourth hole structure is a threaded hole for additional connection with the screw, and one end of the screw is screwed into the threaded hole after passing through the through hole, so as to fixedly connect the circuit board 3 with the first mounting portion or the second mounting portion or the third mounting portion.

Example twenty one

This embodiment is a further limitation of the twenty-first embodiment, in which the hole center line of the third hole structure is disposed perpendicular to the end face of the circuit board 3, that is, the third hole structure is disposed on the end face of the circuit board 3, and accordingly, the position of the fourth hole structure is disposed corresponding to the third hole structure.

Example twenty two

This embodiment is a further limitation to embodiment twenty, and the difference between this embodiment and embodiment twenty-one lies in the specific position of the third hole structure, in this embodiment, the hole center line of the third hole structure is disposed parallel to the end face of the circuit board 3, that is, the third hole structure is disposed on the annular side wall face of the circuit board 3, and accordingly, the position of the fourth hole structure is disposed corresponding to the third hole structure.

Example twenty three

This embodiment is a further limitation to the twenty-first embodiment, in which a hole center line of the fourth hole structure is disposed perpendicular to an end surface of the first mounting portion, the second mounting portion, or the third mounting portion on a side close to the circuit board 3, that is, the fourth hole structure is disposed on the end surface of the first mounting portion, the second mounting portion, or the third mounting portion on the side close to the circuit board 3, and accordingly, the position of the third hole structure is disposed corresponding to the fourth hole structure.

Example twenty-four

The present embodiment is a further limitation to the twenty-third embodiment, and the present embodiment is different from the twenty-third embodiment in the specific position of the fourth hole structure, in the present embodiment, a hole center line of the fourth hole structure is arranged in parallel to an end surface of the first mounting portion, the second mounting portion, or the third mounting portion on the side close to the circuit board 3, that is, the fourth hole structure is located on a side wall surface of the first mounting portion, the second mounting portion, or the third mounting portion facing the inside of the encoder, and accordingly, the position of the third hole structure is arranged corresponding to the fourth hole structure.

Example twenty-five

In the present embodiment, the code wheel 1, the magnetic steel or the magnetic ring 2, and the circuit board 3 are parallel to each other and perpendicular to the rotation axis of the motor; the end face of one side of the coded disc 1 close to the circuit board 3 is flush with the end face of one side of the magnetic steel or the magnetic ring 2 close to the circuit board 3.

Example twenty-six

The present embodiment is further limited to any one of the first to third embodiments, and the difference between the present embodiment and the twenty-fifth embodiment lies in the difference of the relative positions of the code wheel 1 and the magnetic steel or the magnetic ring 2, in the present embodiment, the code wheel 1, the magnetic steel or the magnetic ring 2, and the circuit board 3 are parallel to each other and perpendicular to the rotation axis of the motor; the distance between the end face of one side of the code wheel 1 close to the circuit board 3 and the circuit board 3 is larger than the distance between the end face of one side of the magnetic steel or the magnetic ring 2 close to the circuit board 3 and the circuit board 3.

Example twenty-seven

The present embodiment is further limited to any one of the first to third embodiments, and the difference between the present embodiment and twenty-five and twenty-six embodiments lies in the difference of the relative positions of the code wheel 1 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1, the magnetic steel or magnetic ring 2, and the circuit board 3 are parallel to each other and perpendicular to the rotation axis of the motor; the distance between the end face of one side of the code wheel 1 close to the circuit board 3 and the circuit board 3 is smaller than the distance between the end face of one side of the magnetic steel or the magnetic ring 2 close to the circuit board 3 and the circuit board 3.

Example twenty-eight

In this embodiment, the coded disc 1 is located above the magnetic steel or magnetic ring 2, and the circuit board 3 is located between the coded disc 1 and the magnetic steel or magnetic ring 2.

Example twenty-nine

The present embodiment is further limited to twenty-six or twenty-seven, and the difference between the present embodiment and twenty-eight is the relative positions of the code wheel 1, the circuit board 3 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1 is located above the magnetic steel or magnetic ring 2, and the circuit board 3 is located below the magnetic steel or magnetic ring 2.

Example thirty

The present embodiment is further limited to twenty-six or twenty-seven, and the difference between the present embodiment and the twenty-eight or twenty-nine embodiment lies in the relative positions of the code wheel 1, the circuit board 3 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1 is located above the magnetic steel or magnetic ring 2, and the circuit board 3 is located above the code wheel 1.

Example thirty one

The present embodiment is further limited to twenty-six or twenty-seven, and the difference between the present embodiment and the twenty-eight to thirty embodiments lies in the relative positions of the code wheel 1, the circuit board 3 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1 is located below the magnetic steel or magnetic ring 2, and the circuit board 3 is located above the magnetic steel or magnetic ring 2.

Example thirty-two

The present embodiment is further limited to twenty-six or twenty-seven, and the difference between the present embodiment and the embodiments twenty-eight to thirty-one lies in the relative positions of the code wheel 1, the circuit board 3 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1 is located below the magnetic steel or magnetic ring 2, and the circuit board 3 is located between the magnetic steel or magnetic ring 2 and the code wheel 1.

Example thirty-three

The present embodiment is further limited to twenty-six or twenty-seven, and the difference between the present embodiment and the embodiments twenty-eight to thirty-two lies in the relative positions of the code wheel 1, the circuit board 3 and the magnetic steel or magnetic ring 2, in the present embodiment, the code wheel 1 is located below the magnetic steel or magnetic ring 2, and the circuit board 3 is located below the code wheel 1.

Example thirty-four

In this embodiment, when the code wheel 1 is located between the magnetic steel or magnetic ring 2 and the circuit board 3, the outer diameter of the circuit board 3 is larger than the outer diameter of the magnetic steel or magnetic ring 2 and the inner diameter of the code wheel 1 is larger than the outer diameter of the magnetic steel or magnetic ring 2, so as to ensure that the magnetic induction module 4 on the circuit board 3 can be arranged opposite to the magnetic steel or magnetic ring 2 to induce the generated magnetic signal, and the optical induction module 5 can be arranged opposite to the code track on the code wheel 1 to induce the reflected or transmitted optical signal.

Example thirty-five

In this embodiment, when the magnetic steel or magnetic ring 2 is located between the code wheel 1 and the circuit board 3, the outer diameter of the circuit board 3 is larger than the outer diameter of the magnetic steel or magnetic ring 2, and the outer diameter of the code wheel 1 is larger than the outer diameter of the magnetic steel or magnetic ring 2, so as to ensure that the magnetic sensing module 4 on the circuit board 3 can be arranged opposite to the magnetic steel or magnetic ring 2 to sense the generated magnetic signal, and the optical sensing module 5 can be arranged opposite to the code track on the code wheel 1 to sense the reflected or transmitted optical signal.

Example thirty-six

In this embodiment, when the circuit board 3 is located between the code wheel 1 and the magnetic steel or magnetic ring 2, the light sensing module 5 and the magnetic sensing module 4 are respectively located at two opposite sides of the circuit board to be respectively opposite to the code wheel 1 and the magnetic steel or magnetic ring 2.

Example thirty-seven

In this embodiment, as shown in fig. 2, the encoder further includes a code wheel tray 6, the code wheel tray 6 is fixedly connected to or integrally formed with the code wheel 1, and the code wheel 1 is fixed on the rotating shaft 8 of the motor through the code wheel tray 6; the coded disc support 6 is located above the coded disc 1, the circuit board 3 is located below the coded disc 1, and the circuit board 3 is sleeved on the rotating shaft 8 through the through hole 31 and arranged at intervals with the rotating shaft 8.

Example thirty-eight

The present embodiment is further limited to any one of the first to third embodiments, and the present embodiment differs from the thirty-seventh embodiment in the specific position of the code wheel tray 6, as shown in fig. 1, in the present embodiment, the encoder further includes a code wheel tray 6, the code wheel tray 6 is fixedly connected or integrally formed with the code wheel 1, and the code wheel 1 is fixed on the rotating shaft 8 of the motor through the code wheel tray 6; the coded disc support 6 is located below the coded disc 1, the circuit board 3 is located above the coded disc 1, and the circuit board 3 is sleeved on the rotating shaft 8 through the through hole 31 and arranged at intervals with the rotating shaft 8.

Example thirty-nine

The present embodiment is further limited to thirty-seven or thirty-eight embodiments, and as shown in fig. 1 and fig. 2, in the present embodiment, a receiving hole for receiving the magnetic steel or the magnetic ring 2 is provided at the center of the code wheel 1, and the magnetic steel or the magnetic ring 2 is located in the receiving hole in the code wheel 1.

Example forty

The present embodiment is further limited to thirty-seven or thirty-eight, and the difference between the present embodiment and thirty-nine embodiment lies in the relative positions of the code wheel 1 and the magnetic steel or the magnetic ring 2, in the present embodiment, the inner diameter of the magnetic ring is larger than the outer diameter of the code wheel 1, and the code wheel 1 is located in the central hole of the magnetic ring.

It should be noted that "upper" and "lower" mentioned in the forty embodiments of the present invention are only one description of the positional relationship among the code wheel 1, the magnetic steel or the magnetic ring 2, and the circuit board 3 when the rotation axis of the motor is set as shown in fig. 1 and fig. 2, and when the encoder of the present invention is used in the motor, "upper" is the side of the corresponding component far from the front end cover of the motor, and "lower" is the side of the corresponding component near the front end cover of the motor.

For example, the coded disc 1 is located above the magnetic steel or magnetic ring 2, that is, the coded disc 1 is located on one side of the magnetic steel or magnetic ring 2, which is far away from the front end cover of the motor, and the circuit board 3 is located below the magnetic steel or magnetic ring 2, that is, the circuit board 3 is located on one side of the magnetic steel or magnetic ring 2, which is close to the front end cover of the motor.

The invention provides a motor which comprises an encoder, wherein the encoder is the encoder, and an encoder base 9 is integrally formed with or detachably connected with a rear end cover of the motor.

The invention also provides a driving system which is suitable for the motor.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

the encoder of the present invention comprises: the coded disc 1 and the magnetic steel or the magnetic ring 2 are arranged on a rotor of the motor and synchronously move along with the rotor; the circuit board 3 comprises at least one magnetic induction module 4, at least one light induction module 5 and a signal processing module, wherein the magnetic induction module 4 is arranged corresponding to the magnetic steel or the magnetic ring 2, and the light induction module 5 is arranged corresponding to the coded disc 1; wherein, the circuit board 3 is fixedly connected with at least one first mounting part arranged on the encoder base 9; or the circuit board 3 is fixedly connected with at least one second mounting part arranged on the rear end cover of the encoder; or the circuit board 3 is fixedly connected with at least one third mounting part arranged on the rear end cover of the motor. Compared with the prior art, the encoder can achieve the effect which can be achieved by two magnetic-sensing chips in the prior art by only using one magnetic-sensing chip to sense the change of the magnetic field of the encoder, simplifies the complex procedure of signal processing, improves the efficiency of signal processing, solves the problem that the process of measuring the position information of a photomagnetic hybrid encoder in the prior art is complex, and also solves the problem that the position information of the photomagnetic hybrid encoder in the prior art is measured by three magnetic-sensing chips, and the production cost is high.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.