Torque control integrated stepping motor and assembly method thereof

Abstract

The present invention discloses a torque control integrated stepper motor and an assembly method thereof, comprising a motor body, a motor back cover, a circuit board and a potentiometer, wherein the upper rear side and the lower front side of the motor body are provided with a first mounting hole and a second mounting hole in the left-right direction through the motor body, the upper side and the lower front side of the motor back cover are provided with a third mounting hole and a fourth mounting hole corresponding to the first mounting hole and the second mounting hole, the third mounting hole and the fourth mounting hole are respectively inserted with a first screw and a second screw, the motor back cover is fixed to the motor body by the first screw and the second screw, a fifth mounting hole is provided in the middle of the motor back cover, the circuit board is clamped in the motor back cover and the circuit board is located between the motor body and the motor back cover, and the potentiometer is assembled in the fifth mounting hole. The present invention has the advantages of small space occupation and convenient assembly and use.

Description

Technical Field

[0001] The invention belongs to the technical field of motors, and in particular relates to a torque-controlled integrated stepping motor and an assembly method thereof. Background Art

[0002] Currently, stepper motors on the market are generally used in a separate motor and driver combination. The motor is connected to the driver through four motor power lines, which makes wiring complicated and inefficient. In addition, the driver takes up a large space and is inconvenient to assemble and use. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a torque control integrated stepping motor which occupies a small space and is easy to assemble and use, and an assembly method thereof.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] Torque control integrated stepper motor, including:

[0006] A motor body, wherein a first mounting hole and a second mounting hole are formed in an upper rear portion and a lower front portion of the motor body and penetrate the motor body in a left-right direction;

[0007] A motor rear cover, wherein a third mounting hole and a fourth mounting hole are provided at the upper rear side and the lower front side of the motor rear cover, which are arranged corresponding to the first mounting hole and the second mounting hole on the left and right sides, and a first screw and a second screw are inserted into the third mounting hole and the fourth mounting hole respectively, and the motor rear cover is fixed to the motor body by the first screw and the second screw, and a fifth mounting hole is opened in the middle of the motor rear cover;

[0008] A circuit board, the circuit board is clamped in the motor rear cover and is located between the motor body and the motor rear cover, the circuit board is configured to receive an external control signal and drive and control the motor body according to the external control signal;

[0009] A potentiometer is installed in the fifth mounting hole and an end of the potentiometer close to one end of the motor body is inserted on the circuit board.

[0010] Preferably, the motor body includes a front end cover, a rotating shaft, a rear end cover and a stator, the rear upper part and the front lower part of the rear end cover penetrate the rear end cover in the left-right direction and are provided with a first mounting hole and a second mounting hole, the rear upper part and the front lower part of the stator penetrate the stator in the left-right direction and are provided with a sixth mounting hole and a seventh mounting hole, the rear upper part and the front lower part of the front end cover penetrate the front end cover in the left-right direction and are provided with an eighth mounting hole and a ninth mounting hole, the first mounting hole, the sixth mounting hole and the eighth mounting hole are correspondingly arranged on the left and right, the second mounting hole, the seventh mounting hole and the ninth mounting hole are correspondingly arranged on the left and right, and the first screw passes through the third mounting hole from right to left in sequence. The mounting hole, the upper rear part of the circuit board, the first mounting hole, the sixth mounting hole and the eighth mounting hole are fixed to the front end cover, the second screw passes through the fourth mounting hole, the lower front part of the circuit board, the second mounting hole, the seventh mounting hole and the ninth mounting hole from right to left in sequence and is fixed to the front end cover, the lower rear part and the upper front part of the rear end cover penetrate the rear end cover in the left-right direction and are provided with a first through hole and a second through hole, the lower rear part and the upper front part of the stator penetrate the stator in the left-right direction and are provided with a third through hole and a fourth through hole, the lower rear part and the upper front part of the front end cover penetrate the front end cover in the left-right direction and are provided with a fifth through hole and a sixth through hole, the first through hole and the sixth through hole are provided A third screw and a fourth screw are respectively inserted in the second through holes, the third screw passes through the first through hole, the third through hole and the fifth through hole in sequence from right to left and is fixed to the front end cover, the fourth screw passes through the second through hole, the fourth through hole and the sixth through hole in sequence from right to left and is fixed to the front end cover, the rotating shaft rotates in the left and right directions and is inserted in the front end cover, the stator and the rear end cover, and the left end of the rotating shaft extends to the left to the left side of the front end cover, the left part of the rotating shaft on the right side of the front end cover is provided with a first bearing and a first sleeve, the first sleeve is located on the right side of the first bearing, the right part of the rotating shaft is provided with a second bearing and a second sleeve, the second sleeve is located on the left side of the second bearing, the A rotor assembly is sleeved on the rotating shaft between the first sleeve and the second sleeve, and a first frame and a second frame are sleeved on the rotor assembly. The first frame is located on the left side of the second frame, and the right side of the first frame is in contact with the left side of the second frame. The middle right side portion of the front end cover is sleeved on the first bearing, the right side outer portion of the front end cover is sleeved on the left portion of the first frame, the middle left side portion of the rear end cover is sleeved on the second bearing, and the left side outer portion of the rear end cover is sleeved on the right portion of the second frame. The stator is sleeved on the first frame and the second frame, and the left side wall of the stator is in contact with the right side of the front end cover, and the right side wall of the stator is in contact with the left side of the rear end cover.

[0011] Preferably, the rotor assembly includes a first rotor core, a first magnetic steel, a second rotor core, a second magnetic steel and a third rotor core, the first rotor core, the first magnetic steel, the second rotor core, the second magnetic steel and the third rotor core are all sleeved on the rotating shaft, the left side wall of the first rotor core is in contact with the first shaft sleeve, the right side wall of the third rotor core is in contact with the second shaft sleeve, the right side wall of the first rotor core is in contact with the first magnetic steel, the right side wall of the first magnetic steel is in contact with the left side wall of the second rotor core, the right side wall of the second rotor core is in contact with the left side wall of the second magnetic steel, and the right side wall of the second magnetic steel is in contact with the left side wall of the third rotor core, the first skeleton is sleeved on the left middle part of the first rotor core, the first magnetic steel and the second rotor core, and the second skeleton is sleeved on the right middle part of the third rotor core, the second magnetic steel and the second rotor core.

[0012] Preferably, a corrugated gasket is provided between the second bearing and the rear end cover.

[0013] The present invention also discloses an assembly method of a torque-controlled integrated stepping motor, comprising the following steps:

[0014] S1. Take the rotating shaft and then sequentially install the first rotor core, the first magnetic steel, the second rotor core, the second magnetic steel and the third rotor core on the middle part of the rotating shaft from left to right, then install the first sleeve on the rotating shaft on the left side of the first rotor core, and install the first bearing on the rotating shaft on the left side of the first sleeve, and then sequentially install the second sleeve and the second bearing on the rotating shaft on the right side of the third rotor core from left to right;

[0015] S2, take the first frame and the second frame, and sleeve the first frame on the first rotor core, the first magnetic steel and the left middle part of the second rotor core, and sleeve the second frame on the third rotor core, the second magnetic steel and the right middle part of the second rotor core;

[0016] S3, insert the rotating shaft with the first frame and the second frame assembled in S2 into the stator in the left-right direction, then set the corrugated gasket on the right end of the rotating shaft and sleeve the rear end cover on the right end of the rotating shaft from right to left, sleeve the left middle part of the rear end cover on the second bearing, and sleeve the left outer part of the rear end cover on the right part of the second frame;

[0017] S4, take the front end cover and put it on the left part of the rotating shaft from the left side, and put the right middle part of the front end cover on the first bearing, and put the right outer part of the front end cover on the left part of the first frame;

[0018] S5, take the third screw and the fourth screw, and fix the third screw on the front end cover after passing through the first through hole, the third through hole and the fifth through hole from right to left in sequence, and fix the fourth screw on the front end cover after passing through the second through hole, the fourth through hole and the sixth through hole from right to left in sequence;

[0019] S6, take the potentiometer and the motor rear cover, and then install the potentiometer in the fifth mounting hole of the motor rear cover;

[0020] S7, take the circuit board, and then clamp the circuit board into the rear cover of the motor and insert the end of the potentiometer close to the motor body into the circuit board;

[0021] S8, aligning the third mounting hole and the fourth mounting hole on the rear cover of the motor on which the circuit board is mounted in S7 with the first mounting hole and the second mounting hole of the rear end cover in S5 respectively;

[0022] S9. Take the first screw and the second screw, and fix the first screw on the front cover by passing through the third mounting hole, the upper rear part of the circuit board, the first mounting hole, the sixth mounting hole and the eighth mounting hole from right to left in sequence, and fix the second screw on the front cover by passing through the fourth mounting hole, the lower front part of the circuit board, the second mounting hole, the seventh mounting hole and the ninth mounting hole in sequence from right to left.

[0023] By adopting the above technical solution, the present invention has the following beneficial effects:

[0024] (1) The present invention includes components such as a motor body, a circuit board and a potentiometer. When in use, the potentiometer can be adjusted to send a signal to the circuit board, and the circuit board can receive the signal and drive and control the motor body according to the signal. The present invention integrates the circuit board, the motor body and the potentiometer together, which is different from the prior art that integrates the circuit board and the driver that were originally external or needed to be connected to the motor body through wiring with the motor body. The integrated circuit board receives the signal and then drives and controls the motor body according to the signal to achieve control of the motor. In addition, due to the integrated design, compared with the traditional method of connecting the motor and the driver through four motor power lines, the motor wiring is simplified, and interference in the signal transmission process caused by long wiring can be avoided. At the same time, through the integrated design, it is also simpler and more convenient to use, saves space, and is easier to assemble.

[0025] (2) The present invention integrates the motor body, potentiometer, circuit board and other components together, so that the product is compact in appearance, saves the structural space for assembly on other automation equipment, reduces the cost, and facilitates wiring connection;

[0026] In summary, the present invention has the advantages of small space occupation and easy assembly and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention;

[0028] Figure 2 yes Figure 1 Exploded diagram. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0030] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0031] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] like Figure 1 and Figure 2 As shown, the torque control integrated stepping motor of the present invention comprises:

[0035] A motor body, wherein a first mounting hole 1 and a second mounting hole 2 are formed in an upper rear portion and a lower front portion of the motor body and penetrate the motor body in a left-right direction;

[0036] A motor rear cover 3, wherein a third mounting hole 4 and a fourth mounting hole 5 are arranged on the upper rear side and the lower front side of the motor rear cover 3 in correspondence with the first mounting hole 1 and the second mounting hole 2, and a first screw 6 and a second screw 7 are inserted into the third mounting hole 4 and the fourth mounting hole 5, respectively, and the motor rear cover 3 is fixed to the motor body by the first screw 6 and the second screw 7, and a fifth mounting hole 8 is opened in the middle of the motor rear cover 3;

[0037] A circuit board 9, wherein the circuit board 9 is clamped in the motor rear cover 3 and is located between the motor body and the motor rear cover 3, and the circuit board 9 is configured to receive an external control signal and drive and control the motor body according to the external control signal;

[0038] The potentiometer 10 is mounted in the fifth mounting hole 8 and the end of the potentiometer 10 close to the motor body is inserted on the circuit board 9. The potentiometer 10 of the present invention is mounted on the motor back cover 3 and is detachably connected to the circuit board 9. Then the circuit board 9, the motor back cover 3 and the motor body are integrated and installed, which saves assembly space and is easy to assemble.

[0039] The motor body includes a front cover 11, a rotating shaft 12, a rear cover 13 and a stator 14. The upper rear part and the lower front part of the rear cover 13 penetrate the rear cover 13 in the left-right direction to form a first mounting hole 1 and a second mounting hole 2. The upper rear part and the lower front part of the stator 14 penetrate the stator 14 in the left-right direction to form a sixth mounting hole 15 and a seventh mounting hole 16. The upper rear part and the lower front part of the front cover 11 penetrate the front cover 11 in the left-right direction to form an eighth mounting hole 17 and a ninth mounting hole 18. The first mounting hole 1, the sixth mounting hole 15 and the eighth mounting hole 17 are correspondingly arranged on the left and right, the second mounting hole 2, the seventh mounting hole 16 and the ninth mounting hole 18 are correspondingly arranged on the left and right, and the first screw 6 passes through the third mounting hole 4, the circuit board 9 in sequence from right to left. The rear upper part, the first mounting hole 1, the sixth mounting hole 15 and the eighth mounting hole 17 of the circuit board 9 are fixed to the front end cover 11, and the second screw 7 passes through the fourth mounting hole 5, the front lower part, the second mounting hole 2, the seventh mounting hole 16 and the ninth mounting hole 18 from right to left in sequence, and is fixed to the front end cover 11. The rear lower part and the front upper part of the rear end cover 13 penetrate the rear end cover 13 in the left-right direction and are provided with a first through hole 19 and a second through hole 20. The rear lower part and the front upper part of the stator 14 penetrate the stator 14 in the left-right direction and are provided with a third through hole and a fourth through hole 21. The rear lower part and the front upper part of the front end cover 11 penetrate the front end cover 11 in the left-right direction and are provided with a fifth through hole and a sixth through hole 22. The first through hole 19 and the second through hole 20 are respectively inserted with a third through hole Screw 23 and fourth screw 24, the third screw 23 passes through the first through hole 19, the third through hole and the fifth through hole from right to left in sequence and is fixed to the front end cover 11, the fourth screw 24 passes through the second through hole 20, the fourth through hole 21 and the sixth through hole 22 from right to left in sequence and is fixed to the front end cover 11, the rotating shaft 12 is inserted in the front end cover 11, the stator 14 and the rear end cover 13 to rotate along the left and right directions, and the left end of the rotating shaft 12 extends to the left to the left side of the front end cover 11, the left part of the rotating shaft 12 on the right side of the front end cover 11 is sleeved with a first bearing 25 and a first shaft sleeve 26, the first shaft sleeve 26 is located on the right side of the first bearing 25, the right part of the rotating shaft 12 is sleeved with a second bearing 27 and a second shaft sleeve 28, the second shaft sleeve 28 is located on the left side of the second bearing 27, the first shaft A rotor assembly is sleeved on the rotating shaft 12 between the sleeve 26 and the second shaft sleeve 28, and a first frame 29 and a second frame 30 are sleeved on the rotor assembly. The first frame 29 is located on the left side of the second frame 30 and the right side of the first frame 29 is in contact with the left side of the second frame 30. The middle right side portion of the front end cover 11 is sleeved on the first bearing 25, and the right side outer portion of the front end cover 11 is sleeved on the left portion of the first frame 29. The middle left side portion of the rear end cover 13 is sleeved on the second bearing 27, and the left side outer portion of the rear end cover 13 is sleeved on the right portion of the second frame 30. The stator 14 is sleeved on the first frame 29 and the second frame 30, and the left side wall of the stator 14 is in contact with the right side of the front end cover 11, and the right side wall of the stator 14 is in contact with the left side of the rear end cover 13.

[0040] The rotor assembly includes a first rotor core 31, a first magnetic steel 32, a second rotor core 33, a second magnetic steel 34 and a third rotor core 35. The first rotor core 31, the first magnetic steel 32, the second rotor core 33, the second magnetic steel 34 and the third rotor core 35 are all sleeved on the rotating shaft 12. The left side wall of the first rotor core 31 is in contact with the first sleeve 26, the right side wall of the third rotor core 35 is in contact with the second sleeve 28, and the right side wall of the first rotor core 31 is in contact with the first magnetic steel 32. The right side wall of the first magnetic steel 32 is in contact with the left side wall of the second rotor core 33, the right side wall of the second rotor core 33 is in contact with the left side wall of the second magnetic steel 34, the right side wall of the second magnetic steel 34 is in contact with the left side wall of the third rotor core 35, the first skeleton 29 is sleeved on the left middle part of the first rotor core 31, the first magnetic steel 32 and the second rotor core 33, and the second skeleton 30 is sleeved on the right middle part of the third rotor core 35, the second magnetic steel 34 and the second rotor core 33.

[0041] A corrugated gasket 36 is provided between the second bearing 27 and the rear end cover 13 .

[0042] The present invention also discloses an assembly method of a torque-controlled integrated stepping motor, comprising the following steps:

[0043] S1, take the rotating shaft 12 and then sequentially install the first rotor core 31, the first magnetic steel 32, the second rotor core 33, the second magnetic steel 34 and the third rotor core 35 on the middle part of the rotating shaft 12 from left to right, then install the first sleeve 26 on the rotating shaft 12 on the left side of the first rotor core 31, and install the first bearing 25 on the rotating shaft 12 on the left side of the first sleeve 26, and then sequentially install the second sleeve 28 and the second bearing 27 on the rotating shaft 12 on the right side of the third rotor core 35 from left to right;

[0044] S2, take the first frame 29 and the second frame 30, and sleeve the first frame 29 on the left middle part of the first rotor core 31, the first magnetic steel 32 and the second rotor core 33, and sleeve the second frame 30 on the right middle part of the third rotor core 35, the second magnetic steel 34 and the second rotor core 33;

[0045] S3, insert the rotating shaft 12 with the first frame 29 and the second frame 30 assembled in S2 into the stator 14 in the left-right direction, then set the corrugated gasket 36 on the right end of the rotating shaft 12 and sleeve the rear end cover 13 on the right end of the rotating shaft 12 from right to left, sleeve the left middle part of the rear end cover 13 on the second bearing 27, and sleeve the left outer part of the rear end cover 13 on the right part of the second frame 30;

[0046] S4, take the front end cover 11 and sleeve it on the left part of the rotating shaft 12 from the left side, and sleeve the right middle part of the front end cover 11 on the first bearing 25, and sleeve the right outer part of the front end cover 11 on the left part of the first frame 29;

[0047] S5, take the third screw 23 and the fourth screw 24, and fix the third screw 23 on the front end cover 11 after passing through the first through hole 19, the third through hole and the fifth through hole from right to left in sequence, and fix the fourth screw 24 on the front end cover 11 after passing through the second through hole 20, the fourth through hole 21 and the sixth through hole 22 from right to left in sequence;

[0048] S6, take the potentiometer 10 and the motor rear cover 3, and then install the potentiometer 10 in the fifth mounting hole 8 of the motor rear cover 3;

[0049] S7, take the circuit board 9, then clamp the circuit board 9 into the motor rear cover 3 and insert the end of the potentiometer 10 close to the motor body into the circuit board 9;

[0050] S8, aligning the third mounting hole 4 and the fourth mounting hole 5 on the motor rear cover 3 on which the circuit board 9 is mounted in S7 with the first mounting hole 1 and the second mounting hole 2 of the rear end cover 13 in S5 respectively;

[0051] S9. Take the first screw 6 and the second screw 7, and pass the first screw 6 from right to left through the third mounting hole 4, the upper rear part of the circuit board 9, the first mounting hole 1, the sixth mounting hole 15 and the eighth mounting hole 17 in sequence, and then fix it on the front end cover 11. Pass the second screw 7 from right to left through the fourth mounting hole 5, the lower front part of the circuit board 9, the second mounting hole 2, the seventh mounting hole 16 and the ninth mounting hole 18 in sequence, and then fix it on the front end cover 11.

[0052] This embodiment does not impose any formal limitation on the shape, material, structure, etc. of the present invention. Any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. Torque control integrated stepper motor, characterized in that: include: A motor body, wherein a first mounting hole and a second mounting hole are formed in an upper rear portion and a lower front portion of the motor body and penetrate the motor body in a left-right direction; A motor rear cover, wherein a third mounting hole and a fourth mounting hole are provided at the upper rear side and the lower front side of the motor rear cover, which are arranged corresponding to the first mounting hole and the second mounting hole on the left and right sides, and a first screw and a second screw are inserted into the third mounting hole and the fourth mounting hole respectively, and the motor rear cover is fixed to the motor body by the first screw and the second screw, and a fifth mounting hole is opened in the middle of the motor rear cover; A circuit board, the circuit board is clamped in the motor rear cover and is located between the motor body and the motor rear cover, the circuit board is configured to receive an external control signal and drive and control the motor body according to the external control signal; A potentiometer, wherein the potentiometer is mounted in the fifth mounting hole and an end of the potentiometer close to one end of the motor body is inserted on the circuit board; The motor body includes a front end cover, a rotating shaft, a rear end cover and a stator. The upper rear part and the lower front part of the rear end cover penetrate the rear end cover in the left-right direction and are provided with a first mounting hole and a second mounting hole. The upper rear part and the lower front part of the stator penetrate the stator in the left-right direction and are provided with a sixth mounting hole and a seventh mounting hole. The upper rear part and the lower front part of the front end cover penetrate the front end cover in the left-right direction and are provided with an eighth mounting hole and a ninth mounting hole. The first mounting hole, the sixth mounting hole and the eighth mounting hole are correspondingly arranged on the left and right, the second mounting hole, the seventh mounting hole and the ninth mounting hole are correspondingly arranged on the left and right, and the first screw passes through the third mounting hole from right to left in sequence , the upper rear part of the circuit board, the first mounting hole, the sixth mounting hole and the eighth mounting hole are fixed to the front end cover, the second screw passes through the fourth mounting hole, the lower front part of the circuit board, the second mounting hole, the seventh mounting hole and the ninth mounting hole from right to left in sequence and is fixed to the front end cover, the lower rear part and the upper front part of the rear end cover penetrate the rear end cover in the left-right direction and are provided with a first through hole and a second through hole, the lower rear part and the upper front part of the stator penetrate the stator in the left-right direction and are provided with a third through hole and a fourth through hole, the lower rear part and the upper front part of the front end cover penetrate the front end cover in the left-right direction and are provided with a fifth through hole and a sixth through hole, the first through hole and the second through hole A third screw and a fourth screw are respectively inserted in the holes, the third screw passes through the first through hole, the third through hole and the fifth through hole from right to left in sequence and is fixed to the front end cover, the fourth screw passes through the second through hole, the fourth through hole and the sixth through hole from right to left in sequence and is fixed to the front end cover, the rotating shaft is rotated in the left and right directions and is inserted in the front end cover, the stator and the rear end cover, and the left end of the rotating shaft extends to the left to the left side of the front end cover, the left part of the rotating shaft on the right side of the front end cover is provided with a first bearing and a first sleeve, the first sleeve is located on the right side of the first bearing, the right part of the rotating shaft is provided with a second bearing and a second sleeve, the second sleeve is located on the left side of the second bearing, the first A rotor assembly is sleeved on the rotating shaft between the shaft sleeve and the second shaft sleeve, and a first frame and a second frame are sleeved on the rotor assembly. The first frame is located on the left side of the second frame and the right side of the first frame is in contact with the left side of the second frame. The middle right side portion of the front end cover is sleeved on the first bearing, the right side outer portion of the front end cover is sleeved on the left portion of the first frame, the middle left side portion of the rear end cover is sleeved on the second bearing, and the left side outer portion of the rear end cover is sleeved on the right portion of the second frame. The stator is sleeved on the first frame and the second frame, and the left side wall of the stator is in contact with the right side of the front end cover, and the right side wall of the stator is in contact with the left side of the rear end cover.

2. The torque control integrated stepping motor according to claim 1, characterized in that: The rotor assembly includes a first rotor core, a first magnetic steel, a second rotor core, a second magnetic steel and a third rotor core. The first rotor core, the first magnetic steel, the second rotor core, the second magnetic steel and the third rotor core are all sleeved on the rotating shaft. The left side wall of the first rotor core is in contact with the first shaft sleeve, the right side wall of the third rotor core is in contact with the second shaft sleeve, the right side wall of the first rotor core is in contact with the first magnetic steel, the right side wall of the first magnetic steel is in contact with the left side wall of the second rotor core, the right side wall of the second rotor core is in contact with the left side wall of the second magnetic steel, and the right side wall of the second magnetic steel is in contact with the left side wall of the third rotor core. The first skeleton is sleeved on the left middle part of the first rotor core, the first magnetic steel and the second rotor core, and the second skeleton is sleeved on the right middle part of the third rotor core, the second magnetic steel and the second rotor core.

3. The torque control integrated stepping motor according to claim 2, characterized in that: A corrugated gasket is provided between the second bearing and the rear end cover.

4. The method for assembling a torque-controlled integrated stepping motor according to claim 3, characterized in that: The following steps are involved: S1. Take the rotating shaft and then sequentially install the first rotor core, the first magnetic steel, the second rotor core, the second magnetic steel and the third rotor core on the middle part of the rotating shaft from left to right, then install the first sleeve on the rotating shaft on the left side of the first rotor core, and install the first bearing on the rotating shaft on the left side of the first sleeve, and then sequentially install the second sleeve and the second bearing on the rotating shaft on the right side of the third rotor core from left to right; S2, take the first frame and the second frame, and sleeve the first frame on the first rotor core, the first magnetic steel and the left middle part of the second rotor core, and sleeve the second frame on the third rotor core, the second magnetic steel and the right middle part of the second rotor core; S3, insert the rotating shaft with the first frame and the second frame assembled in S2 into the stator in the left-right direction, then set the corrugated gasket on the right end of the rotating shaft and sleeve the rear end cover on the right end of the rotating shaft from right to left, sleeve the left middle part of the rear end cover on the second bearing, and sleeve the left outer part of the rear end cover on the right part of the second frame; S4, take the front end cover and put it on the left part of the rotating shaft from the left side, and put the right middle part of the front end cover on the first bearing, and put the right outer part of the front end cover on the left part of the first frame; S5, take the third screw and the fourth screw, and fix the third screw on the front end cover after passing through the first through hole, the third through hole and the fifth through hole from right to left in sequence, and fix the fourth screw on the front end cover after passing through the second through hole, the fourth through hole and the sixth through hole from right to left in sequence; S6, take the potentiometer and the motor rear cover, and then install the potentiometer in the fifth mounting hole of the motor rear cover; S7, take the circuit board, and then clamp the circuit board into the rear cover of the motor and insert the end of the potentiometer close to the motor body into the circuit board; S8, aligning the third mounting hole and the fourth mounting hole on the rear cover of the motor on which the circuit board is mounted in S7 with the first mounting hole and the second mounting hole of the rear end cover in S5 respectively; S9. Take the first screw and the second screw, and fix the first screw on the front cover by passing through the third mounting hole, the upper rear part of the circuit board, the first mounting hole, the sixth mounting hole and the eighth mounting hole from right to left in sequence, and fix the second screw on the front cover by passing through the fourth mounting hole, the lower front part of the circuit board, the second mounting hole, the seventh mounting hole and the ninth mounting hole in sequence from right to left.

Images