Patent Publication Number: US-11643306-B1

Title: Winch integrated with permanent magnet brushless motor and controller

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the priority benefit of China application no. 202220649096.4, filed on Mar. 23, 2022, China application no. 202221341188.2 filed on May 30, 2022, China application no. 202221425888.X filed on Jun. 6, 2022, and China application no. 202221503693.2 filed on Jun. 15, 2022. The entirety of each of the above-mentioned patent applications is hereby incorporated by reference herein and made a part of this specification. 
     BACKGROUND 
     Technical Field 
     The disclosure relates to electric traction, and more particularly relates to a winch integrated with a permanent magnet brushless motor and a controller. 
     Description of Related Art 
     A winch is a towing apparatus geared to maneuver an object. The winch is powered by an electric motor to output. Pulling of the winch is realized when the gear train in a reduction gearbox is driven via a coupling and a driving rod to move a drum to rotate and respool the rope wound around the drum. Operating of the winch may be controlled in a wired or wireless mode by a controller. Conventional winches in the market are generally driven by a brushed motor, the commutator carbon brush of which easily get frayed and is inconvenient to change. In addition, a control box assembly for controlling a forward reverse relay needs to be provided, which results in a bulky size and unstable relay contact. The electric motor and the relay are connected via a wire, but if the wire is overly long, electrical energy loss and voltage drop occur. The relay contacts are prone to adhesion or loose contact, potentially causing safety hazards. Moreover, the whole set is inefficient with a high energy consumption. In conventional electric winches powered by a brushless motor, the brushless motor and the controller are generally separately designed, rendering a low integration level. 
     SUMMARY 
     A winch integrated with a permanent magnet brushless motor and a controller is provided, which uses a brushless motor assembly to actuate the winch, thereby rendering a compact structure and a simplified wiring. The disclosure significantly improves the overall efficiency and reduces energy consumption. In addition, the brushless motor assembly integrates the brushless motor and the controller, which reduces the overall cost and enhances reliability. 
     The disclosure is implemented through the following technical solutions: 
     A winch integrated with a permanent magnet brushless motor and a controller comprises a brushless motor and a controller. The brushless motor comprises a stator having a wire coil, and a motor bracket, the stator is fixedly provided in the motor bracket, a rotor and a rotating shaft fixed in a rotor center are provided inside the stator, and the rotating shaft is rotatably connected to the motor bracket. One end of the rotating shaft is fixedly connected with a magnet mount, and a cylinder magnet is mounted in the magnet mount. The controller comprises a control circuit board, and the control circuit board is fixed to one end of the motor bracket proximal to the cylinder magnet. A sensor chip for angle sensing in conjunction with the cylinder magnet is provided on the control circuit board. 
     In some embodiments, the motor bracket comprises a motor tail cap, the controller further comprises a controller end cap, and an accommodation cavity is formed between the motor tail cap and the controller end cap. The cylinder magnet passes through the motor tail cap to extend into the accommodation cavity, and the control circuit board is fixed in the accommodation cavity. The connection between the motor tail cap and the controller end cap renders the overall structure of the brushless motor assembly more compact, and the controller end cap may better protect the circuit board from accidental damages to the control circuit board. 
     In some embodiments, an opening is provided in a sidewall of the accommodation cavity, and a connection wire passes through the opening and is connected to the control circuit board. Or, a wiring lug is provided in the opening, and the control circuit board and the connection wire are electrically connected to the wiring lug respectively. By providing the opening provided in the sidewall of the accommodation cavity or the motor tail cap, the overall mount length required by the brushless motor is effectively reduced such that the brushless motor is adapted to be mounted in a narrower space. 
     In some embodiments, a cross section of the controller end cap has a regular polygonal or round shape, a recessed cavity is provided in the controller end cap, the motor tail cap encloses the recessed cavity to form the accommodation cavity, and the opening is provided in a sidewall of the recessed cavity. Since the cross section of the controller end cap has a regular polygonal or round shape, the controller end cap may be rotated till an appropriate angle along the rotating shaft of the brushless motor so as to reach a better mounting position, allowing the opening to face an appropriate direction. 
     In some embodiments, the stator comprises an iron core and a three-phase wire coil wound around the iron core, and an output wire of the three-phase wire coil is connected to a corresponding contact on the control circuit board. This setting may avoid an overly long wire connection between the electric motor and the relay, whereby to reduce electrical energy loss. 
     In some embodiments, a first fixation hole running along an axis of the rotating shaft is provided in an end surface of the rotating shaft, and one end of the magnet mount is adapted to the first fixation hole. A second fixation hole running co-axially with the rotating shaft is provided at another end of the magnet mount, and the cylinder magnet is fixed in the second fixation hole. This structural setting may ensure co-axial rotation between the cylinder magnet and the rotary shaft, whereby to control rotor rotation more precisely. 
     In some embodiments, the motor bracket comprises a motor end cap, a motor casing, and a motor tail cap, one end of the motor casing is integrally formed with the motor end cap, and another end of the motor casing is detachably connected to the motor tail cap. Or, the motor bracket comprises the motor end cap, the motor casing, and the motor tail cap, the motor end cap is detachably connected to one end of the motor casing, and the another end of the motor casing is detachably connected to the motor tail cap. The motor end cap may be separately or integrally formed with the motor casing. This flexible setting is adapted to different scenarios or different models of winches. 
     In some embodiments, a front end of the rotating shaft is rotatably connected on the motor end cap via a bearing, and a rear end of the rotating shaft is rotatably connected on the motor tail cap via a bearing. With the bearing, the rotating shaft is fitted with the motor end cap and the motor tail cap, realizing a rotatable connection between the rotating shaft and the motor bracket. The bearing renders a higher stability and a lower fault rate, whereby to ensure long-term, stable rotation of the rotating shaft. 
     In some embodiments, the stator comprises an iron core, and the iron core is stamped-out and laminated from a silicon steel sheet. This feature offers a better electric performance to the stator. 
     In some embodiments, the winch further comprises a reduction gearbox, a drum, and a rope wound around the drum. The other end of the rotating shaft actuates the reduction gearbox to rotate via a driving rod, the reduction gearbox drives the drum to rotate, and the drum brings the rope to wind to implement pulling of the winch. 
     Compared with conventional technologies, the disclosure offers the following benefits. 
     By fixing the controller to the end of a motor tail cap proximal to the cylinder magnet, the issue of the overly long distance between the sensor and the cylinder magnet in a conventional brushless motor is resolved, the interval between the control circuit board and the cylinder magnet is reduced, the control box assembly and connection wires are eliminated, and manufacturing and installation are facilitated. In the disclosure, by integrating the brushless motor and the controller, the overall length of the electric winch is reduced, whereby to reduce footprint, facilitate mold making, reduce manufacture cost, enhance reliability, and simplify wiring of the whole set. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a schematic diagram showing a structure of a first implementation of a winch integrated with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  2    is an exploded diagram of the first implementation of the winch integrated with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  3    is a sectional view of the brushless motor and the controller in the first implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  4    is a block diagram showing the controller in the first implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  5    is an exploded view of a second implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  6    is an exploded view of a third implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  7    is a schematic diagram showing a structure of a fourth implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  8    is a stereoscopic view of a fifth implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  9    is a right view of the fifth implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  10    is a stereoscopic view of a sixth implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
         FIG.  11    is a right view of the sixth implementation of the winch with a permanent magnet brushless motor and a controller according to the disclosure. 
     
    
    
     DESCRIPTION OF THE EMBODIMENTS 
     A winch integrated with a permanent magnet brushless motor and a controller is provided. The winch comprises a brushless motor and a controller. The brushless motor comprises a stator having a wire coil, and a motor bracket, and the stator is fixedly provided in the motor bracket. A rotor and a rotating shaft fixed in the rotor center are provided in the stator. The rotating shaft is rotatably connected to the motor bracket, one end of the rotating shaft is fixedly connected with a magnet mount, and a cylinder magnet is mounted in the magnet mount. The controller comprises a control circuit board, and the control circuit board is fixed to one end of the motor bracket proximal to the cylinder magnet. A sensor chip for angle sensing in conjunction with the cylinder magnet is provided on the control circuit board. By fixing the controller to the end of a motor tail cap proximal to the cylinder magnet, the issue of the overly long distance between the sensor and the cylinder magnet in a conventional brushless motor is resolved, the interval between the control circuit board and the cylinder magnet is reduced, the control box assembly and connection wires are eliminated, and manufacturing and installation are facilitated. In the disclosure, by integrating the brushless motor and the controller, the overall length of the electric winch is reduced, whereby to reduce footprint, facilitate mold making, reduce manufacture cost, enhance reliability, and simplify wiring of the whole set. 
     Hereinafter, the implementations of the present disclosure will be described in detail. Examples of the implementations are shown in the drawings. The implementations described with reference to the accompanying drawings are intended to explain the present disclosure, which shall not be construed as limiting the present disclosure. 
     In the description of the present disclosure, it needs to be understood that the orientational or positional relationships indicated by the terms “center,” “longitudinal,” “transverse,” “length,” “width,” “thickness”, “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc. are orientational and positional relationships based on the drawings, which are intended only for facilitating or simplifying description of the present disclosure, not for indicating or implying that the devices or elements have to possess those specific orientations and have to be configured and operated with such specific orientations; therefore, they should not be understood as limitations to the present disclosure. 
     Besides, the terms “first” and “second” are only used for description purposes, which shall not be construed as indicating or implying a relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by “first” and “second” may explicitly or implicitly include at least one of such features. In the description of the present disclosure, “plurality” indicates at least two, for example, two, three, etc., unless otherwise indicated. 
     In the present disclosure, unless otherwise explicitly provided and limited, the terms such as “mount,” “attach,” “connect,” and “fix” should be understood broadly, which, for example, may refer to a secured connection, a detachable connection, or an integral connection; which may be a mechanical connection or an electrical connection; which may be a direct connection or an indirect connection via an intermediate medium; which may also be a communication between the insides of two elements or an interactive relationship between the two elements, unless otherwise explicitly defined. To a person of normal skill in the art, specific meanings of the above terms in the present disclosure may be understood based on specific situations. 
     First Implementation 
       FIG.  1    illustrates a first implementation of a winch integrated with a permanent magnet brushless motor and a controller. This implementation is applicable to an AC (alternate current) electric winch. The winch comprises a brushless motor  100 , a controller  200 , and a reduction gearbox  300 . The reduction gearbox  300  comprises a gear housing formed by a reduction gearbox casing  310  and a reduction gearbox end cap  320  which are connected to each other. One or more stages of a speed reduction mechanism and a clutch assembly may be installed in the gear housing. Types of the speed reduction mechanism include, but are not limited to, a differential gear type, a planetary gear type, or a spur plus planetary gear type. The brushless motor  100  comprises a motor bracket  120 . The motor bracket  120  comprises a motor tail cap  121 , a motor end cap  122  and a motor casing  123  which are integrally formed with each other. The controller  200  comprises a controller end cap  220 . A stator  110  and a rotor  130  of the brushless motor  100  are disposed in a space formed by the motor bracket  120  and the motor tail cap  121  being combined, while the controller  200  is installed in an accommodation cavity  221  formed by the motor tail cap  121  and the controller end cap  220  being combined. The controller  220 , which is configurable for speed control of the brushless motor  100 , may adjust speeds and maintain a constant rotating speed. In some implementations, the motor tail cap  121  may be directly and fixedly connected to the motor bracket  120 , and the controller end cap  220  may be directly and fixedly connected with the motor tail cap  121 . A specific implementation of the fixation may be bolting or otherwise. The motor bracket  120  and the gear housing may be connected via a drum support  430 , and a drum  410  is mounted in the drum support  430 , i.e., the drum  410  is disposed between the motor bracket  120  and the gear housing. 
     The output shaft of the brushless motor  100  drives the reduction gearbox  300  via a coupling and a driving rod to move the drum  410  to rotate about the axial direction (as shown in the arrow of the figure) or rotate about a direction reverse thereto. For example, the brushless motor  100  is driven along the first direction in  FIG.  1   , causing the drum  410  to rotate about the winding mandrel, and the brushless motor  100  may be alternately driven about a direction reverse to the first direction. In this example, a rope  420  may be wound around the outer surface of the drum  410 . The projected end of the rope  420  may be attached to a hook  440  to facilitate connection between the rope  420  and a to-be-towed object, whereby to perform a towing operation. In this implementation, the brushless motor  100  is driven to rotate about the arrow direction in  FIG.  1   , whereby to realize rope extension and retraction. 
     Referring to  FIG.  2    and  FIG.  3   , the winch comprises a wire  230  extending outward from the controller  200  in the interior of the space formed by the motor tail cap  121  and the controller end cap  220  being combined, and the wire  230  may be fixed to an opening  222  at the controller end cap  220  side. One or both of the motor tail cap  121  and the controller end cap  220  are provided with a recessed cavity, and the accommodation cavity  221  is formed by the motor tail cap  121  and the controller end cap  220  being combined, i.e., the opening  222  may be either provided in the motor tail cap  121  or provided in the controller end cap  220 . In this implementation, the wire  230  connected to a receptacle allows the current to flow through a control circuit board  210  to the brushless motor  100 , without a need for a control box assembly an additional wire harness for the connection. 
     The control circuit board  210  is mounted in the space formed by the motor tail cap  121  and the controller end cap  220 . The stator  110  comprises an iron core. A three-phase wire coil  111  is provided on the iron core, and an output wire of the three-phase wire coil  111  is directedly connected to a corresponding contact on the control circuit board  210 . Such configuration can reduce additional harness connectors, shorten the length of the connecting line between the brushless motor  100  and the control circuit board  210 , reduce electrical energy loss to improve efficiency of the brushless motor  100 , and further reduce energy consumption. 
       FIG.  2    is an exploded view of the brushless motor  100  and the controller  200 . The control circuit board  210 , which is integrated with a plurality of components for reading or storage functionalities, is fixed on the motor tail cap  121  via an intermediate medium (e.g., a bolt). The stator  110  is sleeved in the motor bracket  120 , and the rotor  130  with a permanent magnet provided on its outer surface is mounted via a bearing  160  in the space formed by the motor bracket  120  and the motor tail cap  121  being combined. The controller end cap  220  and the motor tail cap  121  are fastened via a fastener (e.g., a screw, which is not shown), thereby rendering the brushless motor  100  and the controller  200  integrated. 
     As illustrated in  FIG.  3   , the iron core of the stator  110  is stamped-out and laminated from a silicon steel sheet. The stator  110  is fixed in the interior of the motor bracket  120 . When energized, the coil of the stator  110  produces a magnetic field. One end of the rotating shaft  131  in the rotor  130  with a permanent magnet is connected on the motor tail cap  121  via the bearing  160 , and the other end of the rotating shaft  131  is connected on the motor bracket  120  via the bearing  160 . One end of the rotating shaft  131  in the rotor  130  is mounted with a magnet mount  140 , and the motor bracket  120  and the motor tail cap  121  are connected by a plurality of fasteners (e.g., screws, not shown). Specifically, a first fixation hole  132  running along the axis of the rotating shaft  131  is provided in the end surface of the rotating shaft  131 , and one end of the magnet mount  140  is adapted to the first fixation hole  132 . A second fixation hole  141  running co-axially with the rotating shaft  131  is provided in the other end of the magnet mount  140 , the cylinder magnet  150  is fixed in the second fixation hole  141 , and in this way, the cylinder magnet  150 , the magnet mount  140 , and the rotor  130  are integrally connected. A position of the rotation angle of the rotor  130  is sensed in real time by a sensor chip  280  on the control circuit board  210  fixed in the plane of the motor tail cap  121 . The coil connector of the stator  110  is connected to each phase terminal of the control circuit board  210 . When a position sensor on the control circuit board  210  is switched on, the corresponding phase coil is energized, causing the stator  110  to produce a rotating magnetic field with uniformly varied directions, and then the rotor  130  may rotate following the magnetic field, which allows the brushless motor  100  to provide a rated torque from zero rotating speed to the rated speed of rotation. The rotating shaft  131  of the rotor  130  is transmitted via the gear train in the reduction gearbox  300  to drive the drum  410  assembly mounted on the drum support  430  to rotate about the first direction of the winding mandrel of the winch as illustrated in  FIG.  1    or about a direction reverse thereto. 
     As mentioned above, the motor tail cap  121  and the controller  200  in the interior of the controller end cap  220  are connected via an outwardly extending wire  230 . The wire  230  may be fixed to a circular opening  222  at the controller end cap  220  side via an intermediate medium (e.g., a water-proof connector), one end of the wire  230  is connected on the control circuit board  210 . In this implementation, the wire  230  connected to a receptacle allows the current to directly flow into the brushless motor  100  through the connecting line between the control circuit board  210  and the brushless motor  100 , which eliminates the need for a control box assembly and an additional harness for connection, thereby reducing loss while achieving a higher electrical efficiency. In addition, a control switch may also be provided on the outwardly extending wire  230 , and the wire  230  connected on the control switch is connected to the respective phase terminals on the control circuit board  210 , whereby to allow for On/Off control. 
       FIG.  4    is a block diagram showing a control structure of the brushless motor  100 . A central processor  213  is further provided on the control circuit board  210  and connected to a status display  214  and a data memory  223 . In addition, the central processor  213  is further connected to a data closed-loop controller  224 . The data closed-loop controller  224  actuates the brushless motor  100  to rotate, the brushless motor  100  drives the reduction gearbox  300  to rotate, the reduction gearbox  300  drives the drum  410  to rotate for rope extension and retraction. A troubleshooting module  225  and a data acquisition module  226  are further connected between the brushless motor  100  and the central processor  213 . An angle sensor chip is a portion of the data acquisition module  226 . The data acquisition module  226  is configured to transmit relevant operating parameters of the brushless motor  100  to the central processor  213 . The central processor  213  is further connected with a wired controller  227  and a wireless controller  228 , which are configured to input a control signal. The wired controller  227  and the wireless controller  228  are both connected with a power supply  229  or a battery pack, which are configured to supply power to the wired controller  227  and the wireless controller  228 . The central processor  213  is further connected with an adaptive power supply  250  so as to be adapted to different power input specifications. 
     The control circuit board  210  has a data storage functionality, for carrying out wired remote control or wireless remote control of the operation of the winch and one or more accessories (e.g., the connected display in the vehicle, automatic stop of the rope  20 , etc.) in response to a wired or wireless control input from an operator of an external power supply or external power pack. In this implementation, the control circuit board  210  may comprise a motor speed sensor, a motor current sensor, a voltage sensor, a motor direction sensor, a motor location sensor, a motor temperature sensor, and a drum  410  rotation sensor. The control circuit board  210  may input a signal for a connected external device to display a status. 
     The control circuit board  210  may be further electrically connected to respective phase terminals of the stator  110 , and the control circuit board  210  is energized by wired remote control or wireless remote control. The data acquisition module  226  on the control circuit board  210  may be configured to read signals from a cylinder magnet  150  disposed on the magnet mount  140  to detect a position of the rotor  130  in real time. The stator  110  produces a rotating magnetic field with a direction uniformly varied, such that the rotor  130  may rotate with the magnetic field. For example, the control circuit board  210  may perform soft start, measure motor rotation speed, and motor revolving direction. 
     The control circuit board  210  may comprise an instruction stored therein. The instruction is configured for instructing one or more sensors (such as temperature sensor, current sensor, and voltage sensor) to correspondingly output and remotely display statuses. In this implementation, the temperature sensor, the current sensor, and the voltage sensor are integrated on the control circuit board  210 . 
     In an implementation, the data acquisition module  226  may be provided with a voltage sensor for measuring the operating voltage of the motor. The data acquisition module  226  may monitor (e.g., measure) an output of the voltage sensor and compare a difference between measured voltages. In the case of an overly large difference, the control circuit board  210  may shut down the motor, thereby eliminating the need for an additional electrical connector or an additional voltage system, whereby to suspend operating of the winch so as to protect the winch or the winched vehicle or object. 
     In an implementation, the data acquisition module  226  may be provided with a soft start functionality. The controller  200  monitors an output of the sensor, enabling the brushless motor  100  to output a stable rotation speed so as to reach the rotation speed required by the rated torque, thereby protecting the winch or the winched vehicle or object. 
     In an implementation, the data acquisition module  226  may be provided with a temperature sensor to measure temperature rise of the control circuit board  210 . The controller  200  may monitor an output of the temperature sensor and compare a difference between measured values. If the difference exceeds a set value, the controller  200  may shut down the motor, eliminating the need for an additional electrical connector or an additional temperature measuring system, whereby to suspend operating of the winch so as to protect the winch or the winched vehicle or object. 
     In an implementation, the data acquisition module  226  may be provided with a current sensor to measure operating current of the motor. The controller  200  may monitor an output of the current sensor and compare a difference between the measured current and the rated current. In the case that if the difference exceeds a set value, the controller  200  may shut down the motor, eliminating the need for an additional electrical connector or an additional current measuring system, so as to suspend operating of the winch so as to protect the winch or the winched vehicle or object. 
     Second Implementation 
     As illustrated in  FIG.  5   , this implementation differs from the first implementation in that the winch is DC (direct current) powered. The outwardly extending wiring lug  240  of the winch and a control line are mounted on a plane of the motor tail cap  121  side, and the controller  200  comprises a power board  260  and a control circuit board  210 . The power board  260  and the control circuit board  210  are connected via an intermediate medium (e.g., a threaded conductive spacer). The wiring lug  240  extends towards the inner cavity of the motor tail cap  121 . The wire  230  and the control circuit board  210  are connected at respective points via an intermediate medium (e.g., connection terminal, etc.), and the wire  230  is mounted at the opening  222  side of the outer surface of the motor tail cap  121 . A wiring lug snap  241  is mounted in a plane of the inner side of the motor tail cap  121 . A circular through-hole is provided on the surface of the wiring lug snap  241 . The wiring lug  240  passes through the wiring lug snap  241  to extend outside the motor tail cap  121 , and the portion of the wiring lug  240  extended outside is sleeved in an O-shaped seal ring. The O-shaped seal ring is squeezed to the plane of the outer surface of the motor tail cap  121  via an intermediate medium and a fastener (e.g., a round insulation pad and a flange nut) to prevent an external detrimental substance from intruding into the controller  200  to damage the controller  200 . The controller  200  is mounted in the inner cavity formed by the motor tail cap  121  and the controller end cap  220  being combined, and the wire  230  extending outward from the controller  200  in the inner cavity formed by the motor tail cap  121  and the controller end cap  220  being combined may be mounted in the opening  222  at the motor tail cap  121  side via an intermediate medium (e.g., a water-proof connector, etc.). 
     Those contents not detailed in this implementation may refer to the first implementation. 
     Third Implementation 
     As illustrated in  FIG.  6   , this implementation differs from the first implementation in that the motor bracket  120  of the brushless motor  100  comprises a motor end cap  122  and a motor casing  123 . In the first implementation, the motor end cap  122  and the motor casing  123  are integrally formed with each other. While in this implementation, the motor end cap  122  and the motor casing  123  are separately provided. The motor casing  123  is a housing with both ends communicating along the axial direction. One end of the motor casing  123  is fastened with the motor end cap  122  via a bolt, and the other end of the motor casing  123  is fastened with the motor tail cap  121  via a bolt; both ends of the motor casing  123  are closed with the motor end cap  122  and the motor tail cap  121 , respectively. 
     Those contents not detailed in this implementation may refer to the first implementation. 
     Fourth Implementation 
     As illustrated in  FIG.  7   , this implementation differs from the first implementation in that the cross section of the accommodation cavity  221  is square, i.e., the controller end cap  220  can all be fastened with the motor tail cap  121  via a bolt after rotating by 90°, 180° or 270°, such that the user may rotate till an appropriate direction for the opening  222  based on the winch mounting position so as to facilitate layout of the wire  230 . Of course, the cross section of the accommodation cavity  221  may also be other shapes such as regular polygonal or round, so as to facilitate adjusting the wire  230  to be mounted from an appropriate position. 
     Those contents not detailed in this implementation may refer to the first implementation. 
     Fifth Implementation 
     As illustrated in  FIG.  8    and  FIG.  9   , this implementation differs from the second implementation in that the motor bracket  120  comprises a motor end cap  122  and a motor casing  123 . The size of the outer profile of the motor casing  123  is smaller than that the size of the motor end cap  122  and the size of the motor tail cap  121 . The motor casing  123  and the motor end cap  122  may be of an integral structure or a separate structure. The motor tail cap  121  and the circuit board in the controller  200  may have a symmetrical or asymmetrical shape. The outwardly extending wiring lug  240  and the connected power supply line may be disposed on different side surfaces of the motor tail cap  121 , while the control line connected to the controller  200  is disposed on a same or different side surface of the motor tail cap  121  with respect to the wiring lug  240 . The motor bracket  120 , the motor tail cap  121 , and the controller end cap  220  are fastened via an intermediate medium such as a fastening bolt (not shown). 
     Those contents not detailed in this implementation may refer to the second implementation. 
     Sixth Implementation 
     As illustrated in  FIG.  10    and  FIG.  11   , this implementation differs from the second implementation in that the controller  200  may be disposed at a position parallel to the motor casing  123 . The controller  200  comprises a power board  260  and a control circuit board  210 . The control circuit board  210  comprises a control main board  211  and an encoder board  212 . The encoder board  212  is connected to the power board  260  and a control main board  211  via an intermediate medium (e.g., wire). In addition to the controller end cap  220 , the controller  200  further comprises a housing  230 . The encoder board  212  is fixed in an accommodation cavity  211  formed by the controller end cap  220  and the motor tail cap  121  being combined, the housing  270  is fixed on the motor casing  123 , and the housing  270  may directly form an enclosed chamber in conjunction with the motor casing  123 . Alternatively, both ends of the housing  270  may be shared with the motor tail cap  121  and the motor end cap  122 , such that the housing  270 , the motor tail cap  121 , the motor end cap  122 , and the motor casing  123  jointly form an enclosed chamber. 
     The power board  260  is disposed in the housing  270 , and the control main board  211  may be disposed in the housing  270 . Alternatively, the control main board  211  may be disposed in the accommodation cavity  211 . The wiring lug  240  may be disposed on the motor casing  123  or the housing  270 . 
     Those contents not detailed in this implementation may refer to the second implementation. 
     What have been described above are only specific examples of the disclosure. However, the technical features of the disclosure are not limited thereto. Any alteration or modification made by those skilled in the art fall within the scope of the disclosure.