Disc type driving integrated joint motor

Abstract

A disc type driving integrated joint motor disclosed by the present invention comprises a rotor, a harmonic reducer, a connecting shaft and a stator, the rotor comprises a rotor upper cover, a rotor magnetic conduction ring and magnetic steels, the rotor upper cover is connected with the rotor magnetic conduction ring, and the magnetic steels are uniformly distributed on the inner circumferential wall of the rotor magnetic conduction ring. The harmonic reducer comprises a wave generator, a flexible gear, an output shaft, a second bearing, an output fixing seat and a gear, the output shaft and the output fixing seat are connected through the second bearing, the output shaft and the connecting shaft are fixedly connected, the connecting shaft and the rotor upper cover are connected through the first bearing, the wave generator is fixedly connected to the rotor upper cover, and the flexible gear is fixedly connected to the output shaft. Outer teeth are arranged on the outer circumferential wall of the flexible gear, inner teeth matched with the outer teeth are arranged on the inner circumferential wall of the gear, the output fixing base is fixedly connected with the gear, the stator is fixedly installed on the outer circumferential walls of the output fixing base and the gear, and a gap is formed between the stator and the magnetic steel. The high-precision servo motor is small in size, light in weight, high in torque output, high in output position control precision and high in power density.

Description

Technical Field

[0001] The present invention relates to the field of motors, and more specifically, to a disc-type drive integrated joint motor. Background Art

[0002] Existing robot joint motors are generally inner rotor cylindrical reduction motors or outer rotor plus planetary gear reduction structure motors. Among them, the former inner rotor cylindrical reduction motor has a large axial length and cannot be installed in robot joints with limited space, which will cause interference with other components or grow out of the robot. It will cause scratches with the outside when walking, causing safety hazards. At the same time, part of the motor protrudes from the outside of the robot, affecting the overall appearance. For the latter outer rotor plus planetary gear reduction structure motor, due to the limited speed ratio of the planetary gear reducer, for joint drive motors that require higher torque and lower speed, the motor diameter and thickness must be large to meet the higher torque output. Therefore, the motor is large in size and heavy in weight, and cannot be used on some portable robots. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and to provide a disc-driven integrated joint motor, which has small external dimensions and light weight, and at the same time has high torque output and high power density, as well as high output position control accuracy. It is suitable for robot joints that have requirements on weight and space and have high torque and control accuracy.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a disc-driven integrated joint motor, comprising a rotor, a harmonic reducer, a connecting shaft, and a stator, wherein the rotor comprises a rotor cover, a rotor magnetic ring and a magnetic steel, wherein the rotor cover is connected to the rotor magnetic ring, and the magnetic steel is circumferentially uniformly distributed on the inner circumferential wall of the rotor magnetic ring, wherein the harmonic reducer comprises a wave generator, a flexible wheel, an output shaft, a second bearing, an output fixed seat, and a gear, wherein the output shaft and the output fixed seat are connected through the second bearing, the output shaft and the connecting shaft are fixedly connected, the connecting shaft and the rotor cover are connected through the first bearing, the wave generator is fixedly connected to the rotor cover, the flexible wheel is fixedly connected to the output shaft, the wave generator is at least partially located inside the flexible wheel, the outer circumferential wall of the flexible wheel is provided with external teeth, the inner circumferential wall of the gear is provided with internal teeth matched with the external teeth, the output fixed seat is fixedly connected to the gear, the stator is fixedly installed on the outer circumferential wall of the output fixed seat and the gear, and a gap is left between the stator and the magnetic steel.

[0005] As a further configuration, a fixing seat step portion is provided on one end face of the output fixing seat facing the gear, and the fixing seat step portion is located at the inner edge of the end face of the output fixing seat. A gear boss is provided on one end face of the gear facing the output fixing seat, and the gear boss is adapted to the fixing seat step portion. The output fixing seat and the gear are connected by bolts, and the bolts are located on the periphery of the gear boss and the fixing seat step portion.

[0006] As a further configuration, the inner circumferential wall of the stator is provided with a stator positioning pin groove, the outer circumferential wall of the output fixed seat is provided with a fixed seat positioning pin groove, and the outer circumferential wall of the gear is provided with a gear positioning pin groove. The fixed seat positioning pin groove and the gear positioning pin groove correspond one to one, and the fixed seat positioning pin groove, the gear positioning pin groove and the stator positioning pin groove are adapted to form a groove for accommodating the positioning pin.

[0007] As a further configuration, it also includes a shell and a drive plate fixing cover, one end of the shell is fixedly connected to the output fixing seat, the other end of the shell is fixedly connected to the drive plate fixing cover, and the drive plate fixing cover is connected to the rotor upper cover through a third bearing.

[0008] As a further configuration, it also includes a wire baffle, which includes a straight sheet body and a first bending head and a second bending head located at both ends of the straight sheet body, the first bending head and the second bending head are both perpendicular to the straight sheet body, the width of the first bending head is smaller than the width of the second bending head, the outer peripheral wall of the shell is provided with a protruding wiring groove, and two relatively close flanges are formed on the inner side of the wiring groove, and the distance between the two flanges is smaller than the width of the straight sheet body, the straight sheet body is located in the wiring groove, the first bending head extends two flanges inward and is clamped to the two flanges, the second bending head is exposed in the wiring groove and abuts against the end faces of the two flanges, the second bending head extends inward, and the outer edge of the drive plate fixing cover is provided with a recessed groove and a hollow portion, and the wiring groove, the recessed groove and the hollow portion located on the periphery of the wire baffle are connected to form a wiring channel.

[0009] As a further configuration, a baffle is fixedly connected to one end of the gear, the outer edge diameter of the baffle is larger than the inner diameter of the stator, the baffle shields the outer end of the flexible wheel inside, and the second bearing is a cross roller bearing.

[0010] As a further configuration, it also includes a first back cover, the rotor upper cover is fixedly mounted with a first magnetic ring, the drive plate fixed cover is fixedly mounted with an encoder circuit board matching the first magnetic ring, one end face of the connecting shaft is closed, the other end face of the connecting shaft is mounted with a second magnetic ring, the drive plate fixed cover is fixedly mounted with a drive circuit board matching the second magnetic ring, the first back cover is fixedly connected to the drive plate fixed cover, and a heat conductive sheet is fitted between the drive circuit board and the first back cover.

[0011] As a further configuration, it also includes a second rear cover, which is fixedly connected to the drive plate fixing cover, the rotor upper cover is fixedly installed with a third magnetic ring, the drive plate fixing cover is fixedly installed with a drive plate matching the third magnetic ring, the connecting shaft is through-through at both ends and a fourth magnetic ring is installed on the outer wall of the connecting shaft, and the fourth magnetic ring is matched with the drive plate.

[0012] As a further configuration, a protective plug with two ends passing through is installed at the center of the second rear cover, and the end surface of the protective plug is spaced apart from the end surface of the connecting shaft.

[0013] As a further configuration, a fourth magnetic ring is installed on the outer wall of the connecting shaft through a magnetic ring fixing seat, and the protective plug includes an integrally formed convex head, a plug ring part, an outer abutment ring, and a plug sealing part, the outer abutment ring, the plug ring part, the convex head and the plug sealing part are axially distributed in sequence, and the convex head is a plurality of circumferentially uniformly distributed parts, the outer diameter of the outer abutment ring is greater than the diameter of the center hole of the second rear cover, the outer abutment ring is located on the outer side of the second rear cover, the diameter of the center hole of the second rear cover is greater than the outer diameter of the plug ring part and the plug ring part at least partially penetrates the center hole of the second rear cover, the outer annular surface of the convex head is a conical surface, the outer diameter of the convex head gradually decreases from one end close to the plug ring part to one end close to the plug sealing part, the outer diameter of the end of the convex head close to the plug ring part is greater than the diameter of the center hole of the second rear cover, and the outer diameter of the end of the convex head close to the plug sealing part is smaller than the diameter of the center hole of the second rear cover, the convex head and the outer abutment ring are respectively located on both sides of the center hole of the second rear cover, the outer diameter of the plug sealing part is smaller than the minimum outer diameter of the convex head, and a sealing ring is installed between the outer peripheral wall of the plug sealing part and the inner peripheral wall of the magnetic ring fixing seat.

[0014] In summary, the present invention has the following beneficial effects: a harmonic reducer with a higher speed ratio is embedded in the middle of the stator core of the motor, and the power is transmitted to the wave generator at the input end of the harmonic reducer through the ingenious design of the motor rotor connection structure, and a connecting shaft is designed on the output shaft of the harmonic reducer to transmit the rotational position of the output shaft to the driving circuit board at the rear end of the motor, and a second magnetic ring is installed on the connecting shaft at the driving circuit board end, and the second magnetic ring corresponds to the encoder chip on the driving circuit board. Therefore, the operating angle of the output shaft after deceleration can be detected (or the rotational position of the output shaft is transmitted to the driving board at the rear end of the motor, and a fourth magnetic ring is installed on the connecting shaft, and the fourth magnetic ring corresponds to the encoder chip on the driving board), so that the repeated positioning accuracy of the output end of the motor after deceleration can be accurately controlled, while the overall volume is reduced and the convenience and reliability of the lead wire routing are taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional diagram of the first embodiment;

[0016] Figure 2 is a first cross-sectional view of Embodiment 1;

[0017] Figure 3 is a second cross-sectional view of the first embodiment;

[0018] Figure 4 It is a partial stereogram of the first embodiment;

[0019] Figure 5 is a three-dimensional diagram of the rotor upper cover of the first embodiment;

[0020] Figure 6 A three-dimensional diagram of the output fixing seat of the first embodiment;

[0021] Figure 7 is a three-dimensional diagram of the gear of the first embodiment;

[0022] Figure 8 is a three-dimensional diagram of the flexible wheel of the first embodiment;

[0023] Fig. 9 is a three-dimensional diagram of the stator of the first embodiment;

[0024] Fig.10 is a three-dimensional diagram of the harmonic reducer of the first embodiment;

[0025] Fig.11 is a cross-sectional view of the harmonic reducer of Embodiment 1;

[0026] Fig.12 is a three-dimensional diagram of the housing of the first embodiment;

[0027] Fig.13 It is a three-dimensional diagram of the wire blocking piece of the first embodiment;

[0028] Fig.14 It is a three-dimensional diagram of the driving plate fixing cover of the first embodiment;

[0029] Fig.15 It is a three-dimensional diagram of the matching of the housing and the wire blocking piece of the first embodiment;

[0030] Fig.16 is a cross-sectional view of the second embodiment;

[0031] Fig.17 for Fig.16 The enlarged view of point A in the middle;

[0032] Fig.18 It is a three-dimensional diagram of the protective plug of the second embodiment.

[0033] Figure numerals: rotor 1, rotor cover 11, convex strip 111, clamping groove 112, rotor magnetic ring 12, magnetic steel 13, first magnetic ring 14, harmonic reducer 2, wave generator 21, flexible wheel 22, external tooth 221, output shaft 23, second bearing 24, output fixed seat 25, fixed seat positioning pin groove 251, fixed seat step 252, gear 26, gear positioning pin groove 261, internal tooth 262, gear boss 263, connecting shaft 3, first bearing 31, second magnetic ring 32, stator 4, baffle 41, stator positioning Pin groove 42, housing 5, wiring groove 51, rib 52, drive plate fixing cover 6, third bearing 61, encoder circuit board 62, drive circuit board 63, heat conductive sheet 64, recessed groove 65, hollow portion 66, first back cover 7, wire blocking piece 8, straight sheet body 81, first bending head 82, second bending head 83, second back cover 9, drive plate 91, third magnetic ring 92, fourth magnetic ring 93, protective plug 94, convex head 941, plug ring portion 942, outer abutment ring 943, plug sealing portion 944, magnetic ring fixing seat 95, sealing ring 96. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Embodiment 1:

[0036] Reference Figure 1-Figure 15 As shown, this embodiment discloses a disc-type drive integrated joint motor, including a rotor 1, a harmonic reducer 2, a connecting shaft 3, a stator 4, a housing 5, a drive plate fixing cover 6, a first rear cover 7, and a wire blocking piece 8. The rotor 1 includes a rotor upper cover 11, a rotor magnetic ring 12 and a magnetic steel 13. Figure 5 , a circumferentially uniformly distributed convex strip 111 extends from one end surface of the rotor upper cover 11, and a clamping groove 112 is formed between two adjacent convex strips 111, referring to Figure 4 One end of the magnetic steel 13 is fitted and extended into the clamping groove 112, the rotor upper cover 11 is connected to the rotor magnetic ring 12, the rotor magnetic ring 12 is annular, the rotor magnetic ring 12 is fitted and located on the periphery of the convex strip 111, the outer diameter of the rotor magnetic ring 12 is basically close to the maximum outer diameter of the rotor upper cover 11, the magnetic steel 13 is evenly distributed on the inner circumferential wall of the rotor magnetic ring 12, and the end of the magnetic steel 13 away from the clamping groove 112 does not exceed the corresponding end of the rotor magnetic ring 12.

[0037] Reference Figure 2 , Fig.10 , Fig.11The harmonic reducer 2 includes a wave generator 21, a flexible wheel 22, an output shaft 23, a second bearing 24, an output fixed seat 25, and a gear 26. The output shaft 23 and the output fixed seat 25 are connected through the second bearing 24, and the second bearing 24 is a cross roller bearing. The output shaft 23 is supported by a cross roller bearing to ensure verticality and concentricity. The use of the cross roller bearing reduces the overall volume of the harmonic reducer 2.

[0038] The output shaft 23 and the connecting shaft 3 are fixedly connected, and the two are connected by bolts and one end surface of the two is substantially flush after the connection ( Figure 2 The left end face is bolted and basically flush).

[0039] Reference Figure 2 The connecting shaft 3 and the rotor upper cover 11 are connected through the first bearing 31. The number of the first bearings 31 is two and they are arranged side by side. The inner ring of the first bearing 31 on the left side abuts against the step of the connecting shaft 3, and the outer ring of the first bearing 31 on the right side abuts against the step of the rotor upper cover 11. The connecting shaft 3 connects the inner rings of the two first bearings 31, and the rotor upper cover 11 connects the outer rings of the two first bearings 31. Both the rotor upper cover 11 and the connecting shaft 3 can rotate along the center.

[0040] Reference Figure 2 The wave generator 21 is fixedly connected to the rotor cover 11. The wave generator 21 is located on the left side of the rotor cover 11 and the two are connected by bolts. The wave generator 21 is located on the periphery of the two first bearings 31 and is separated from the two first bearings 31 by an annular component extending axially to the left of the rotor cover 11. The inner ring of the wave generator 21 is in contact with the outer peripheral wall of the annular component.

[0041] Reference Figure 2 The flexible wheel 22 is fixedly connected to the output shaft 23. The flexible wheel 22 is located on the right side of the output shaft 23 and the two are connected by bolts. The wave generator 21 is at least partially located inside the flexible wheel 22. Figure 8 The outer peripheral wall of the flexible wheel 22 is provided with external teeth 221 .

[0042] Reference Figure 2 , Figure 7 The inner peripheral wall of the gear 26 is provided with inner teeth 262 matched with the outer teeth 221 .

[0043] Reference Figure 2 , Figure 6 , Figure 7 , Fig.11The output fixed seat 25 and the gear 26 are fixedly connected. The output fixed seat 25 is provided with a fixed seat step 252 on one end surface facing the gear 26. The fixed seat step 252 is located at the inner edge of the end surface of the output fixed seat 25. The gear 26 is provided with a gear boss 263 on one end surface facing the output fixed seat 25. The gear boss 263 is adapted to the fixed seat step 252, and the two are inserted and matched. The output fixed seat 25 and the gear 26 are connected by M2 bolts, and the bolts are located on the periphery of the gear boss 263 and the fixed seat step 252, which helps to reduce the overall size of the harmonic reducer 2.

[0044] Reference Figure 2 The stator 4 is fixedly mounted on the gear 26 and the outer peripheral wall of the output fixing seat 25 , and a gap is left between the stator 4 and the magnetic steel 13 .

[0045] Reference Figure 2 , Fig. 9 Here, only the stator core is drawn, and the stator winding is not drawn. The inner peripheral wall of the stator 4 is provided with a stator positioning pin groove 42, referring to Figure 6 , Figure 7 The outer peripheral wall of the output fixed seat 25 is provided with a fixed seat positioning pin groove 251, and the outer peripheral wall of the gear 26 is provided with a gear positioning pin groove 261. The fixed seat positioning pin groove 251 and the gear positioning pin groove 261 correspond to each other one by one, and the fixed seat positioning pin groove 251 and the gear positioning pin groove 261 are adapted to the stator positioning pin groove 42. By inserting the positioning pin into the groove formed by the fixed seat positioning pin groove 251, the gear positioning pin groove 261, and the stator positioning pin groove 42, the gear 26 can be prevented from being displaced and rotated with the output fixed seat 25 after being stressed (because the fixing strength between the output fixed seat 25 and the gear 26 cannot be guaranteed by the small M2 bolt alone).

[0046] Reference Figure 2 One end of the gear 26 is fixedly connected with a baffle 41, and the two are connected by bolts. The outer edge diameter of the baffle 41 is larger than the inner diameter of the stator 4, so that the stator 4 can be prevented from escaping from the right side. The baffle 41 blocks the outer end of the flexible wheel 22 inside to prevent grease from overflowing, and is used to block the grease of the harmonic reducer 2.

[0047] Reference Figure 2 One end of the housing 5 is fixedly connected to the output fixing seat 25, and the other end of the housing 5 is fixedly connected to the driving plate fixing cover 6, both of which are connected by bolts.

[0048] Reference Figure 2 The driving plate fixing cover 6 is connected to the rotor upper cover 11 through the third bearing 61 , the inner ring of the third bearing 61 is connected to the rotor upper cover 11 , and the outer ring of the third bearing 61 is connected to the driving plate fixing cover 6 .

[0049] Reference Figure 2 , one end face of the connecting shaft 3 is closed, the other end face (right end face) of the connecting shaft 3 is installed with a second magnetic ring 32, and the driving board fixing cover 6 is fixedly installed with a driving circuit board 63 matching the second magnetic ring 32. The shaft encoder (the second magnetic ring 32 is at the exact center of the connecting shaft 3, and the encoder detection chip is facing the second magnetic ring 32) can effectively improve the repeat positioning accuracy of the connecting shaft 3, and can achieve higher accuracy and simple structure at a lower encoder cost.

[0050] Reference Figure 2 The rotor upper cover 11 is fixedly mounted with a first magnetic ring 14, the first magnetic ring 14 is located on the right side of the rotor upper cover 11, and the first magnetic ring 14 is located between the rotor upper cover 11 and the drive plate fixed cover 6, and the drive plate fixed cover 6 is fixedly mounted with an encoder circuit board 62 matched with the first magnetic ring 14. The chip on the encoder circuit board 62 corresponds to the first magnetic ring 14, and is used to detect the motor rotor position to accurately control the drive motor to run smoothly.

[0051] Reference Fig.13 The line blocking piece 8 includes a straight sheet body 81 and a first bending head 82 and a second bending head 83 located at both ends of the straight sheet body 81. The first bending head 82 and the second bending head 83 are both perpendicular to the straight sheet body 81. The width of the first bending head 82 is smaller than the width of the second bending head 83. Both ends of the first bending head 82 in the width direction are at a certain distance from both ends of the straight sheet body 81 in the width direction.

[0052] Reference Fig.12 The outer wall of the housing 5 is provided with a protruding wiring groove 51 , and two relatively close ribs 52 are formed on the inner side of the wiring groove 51 , and the distance between the two ribs 52 is smaller than the width of the straight sheet body 81 .

[0053] Reference Fig.14 The outer edge of the driving plate fixing cover 6 is provided with a recessed groove 65 and a hollow portion 66, and the hollow portion 66 is a portion directly penetrating from the inside to the outside.

[0054] Reference Fig.15 The straight sheet 81 is located in the wiring groove 51, the first bending head 82 extends inwardly from the two ribs 52 and is clamped to the two ribs 52, the second bending head 83 is exposed from the wiring groove 51 and abuts against the end faces of the two ribs 52, and the second bending head 83 extends inwardly. The first bending head 82 is at a certain distance from the end face of the housing 5, and the straight sheet 81 blocks the communication channel between the wiring groove 51 and the inside of the housing 5 through the gap between the two ribs 52.

[0055] Reference Figure 3The wire routing groove 51, the concave groove 65, and the hollow portion 66 located on the periphery of the wire blocking piece 8 are connected to form a wiring channel. The lead wire from the stator 4 goes around the first bending head 82 along the left side and enters the wiring groove 51 (i.e., the gap between the first bending head 82 and the end face of the housing 5). Since the gap between the two retaining edges 52 has been blocked by the straight sheet body 81, the lead wire can only go along the straight sheet body 81. Figure 2 The wire is threaded through the wiring groove 51 below the middle straight piece 81, and then reaches the recessed groove 65, and then passes through the hollow part 66 to enter the driving circuit board 63 and other places for connection, ensuring the convenience, safety and reliability of wiring, and the lead-out wire will not rub against the rotor 1.

[0056] Reference Figure 2 The first rear cover 7 is fixedly connected to the driving board fixing cover 6, and the two are connected by bolts. A heat conductive sheet 64 is provided between the driving circuit board 63 and the first rear cover 7, and the heat generated by the driving circuit board 63 can be conducted to the outside through the first rear cover 7 through the heat conductive sheet 64.

[0057] Embodiment 2:

[0058] Reference Figure 16-18 Compared with the first embodiment, the difference is that the connecting shaft 3 with two ends through is used, mainly because the joint needs to be wired, so the wiring of the joint can be passed through the connecting shaft 3 to facilitate the wiring. The installation position of the drive board and the encoder is adjusted, and the second rear cover 9 is used instead of the first rear cover 7 in the first embodiment.

[0059] The second rear cover 9 is fixedly connected to the drive plate fixing cover 6, and the rotor upper cover 11 is fixedly installed with a third magnetic ring 92 (the position of the third magnetic ring 92 has been adjusted compared with the embodiment 1, and the function is equivalent to the first magnetic ring 14 in the embodiment 1). The third magnetic ring 92 is located on the right side of the third bearing 61. The axial length of the rotor upper cover 11 is longer than that of the embodiment 1. The extended portion is for installing the third magnetic ring 92. In order to compensate for the extended length, the encoder circuit board 62 is omitted compared with the embodiment 1, and only one drive board 91 is used (the encoder circuit board 62 and the drive circuit board 63 are used together in the embodiment 1), which compensates for the increased axial length of the rotor upper cover 11, so that the size of the entire motor can be controlled.

[0060] The driving plate fixing cover 6 is fixedly mounted with a driving plate 91 matched with the third magnetic ring 92, and the outer wall of the connecting shaft 3 is mounted with a fourth magnetic ring 93 (the fourth magnetic ring 93 has a function equivalent to the second magnetic ring 32 in the first embodiment) through a magnetic ring fixing seat 95, and the fourth magnetic ring 93 is adapted to the driving plate 91. The third magnetic ring 92 and the fourth magnetic ring 93 are respectively located on both sides of the driving plate 91, that is, the encoders corresponding to the third magnetic ring 92 and the fourth magnetic ring 93 are respectively located on both sides of the driving plate 91.

[0061] A protective plug 94 with two ends passing through is installed in the center of the second rear cover 9. The protective plug 94 is made of plastic material, and the end face of the protective plug 94 is spaced apart from the end face of the connecting shaft 3. The wiring of the joint can pass through the connecting shaft 3 and the protective plug 94. Since the connecting shaft 3 is rotatable and the protective plug 94 is not rotatable, the end face of the protective plug 94 does not contact the end face of the connecting shaft 3.

[0062] The protective plug 94 includes an integrally formed convex head 941, a plug ring 942, an outer abutment ring 943, and a plug sealing portion 944. The outer abutment ring 943, the plug ring 942, the convex head 941, and the plug sealing portion 944 are sequentially distributed axially. The convex head 941 is a plurality of circumferentially uniformly distributed convex heads. The outer diameter of the outer abutment ring 943 is greater than the diameter of the center hole of the second rear cover 9. The outer abutment ring 943 is located on the outer side of the second rear cover 9 ( Fig.17 ), the diameter of the center hole of the second rear cover 9 is larger than the outer diameter of the plug ring portion 942 and the plug ring portion 942 at least partially penetrates into the center hole of the second rear cover 9, the outer ring surface of the convex head portion 941 is a conical surface, and the outer diameter of the convex head portion 941 gradually decreases from the end close to the plug ring portion 942 to the end close to the plug sealing portion 944, the outer diameter of the end of the convex head portion 941 close to the plug ring portion 942 is larger than the diameter of the center hole of the second rear cover 9, and the outer diameter of the end of the convex head portion 941 close to the plug sealing portion 944 is smaller than the diameter of the center hole of the second rear cover 9, the convex head portion 941 and the outer ring 943 are respectively located on both sides of the center hole of the second rear cover 9, so that the protective plug 94 will not fall out after being installed in the center hole of the second rear cover 9.

[0063] The outer diameter of the plug sealing portion 944 is smaller than the minimum outer diameter of the convex portion 941 , and a sealing ring 96 is installed between the outer peripheral wall of the plug sealing portion 944 and the inner peripheral wall of the magnetic ring fixing seat 95 .

[0064] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A disc-type drive integrated joint motor, characterized in that: The invention comprises a rotor (1), a harmonic reducer (2), a connecting shaft (3), and a stator (4); the rotor (1) comprises a rotor upper cover (11), a rotor magnetic ring (12), and a magnetic steel (13); the rotor upper cover (11) and the rotor magnetic ring (12) are connected; the magnetic steel (13) is evenly distributed on the inner circumferential wall of the rotor magnetic ring (12); the harmonic reducer (2) comprises a wave generator (21), a flexible wheel (22), an output shaft (23), a second bearing (24), an output fixing seat (25), and a gear (26); the output shaft (23) and the output fixing seat (25) are connected via the second bearing (24); the output shaft (23) and the connecting shaft (3) are fixedly connected; the The connecting shaft (3) and the rotor upper cover (11) are connected via a first bearing (31); the wave generator (21) is fixedly connected to the rotor upper cover (11); the flexible wheel (22) is fixedly connected to the output shaft (23); the wave generator (21) is at least partially located inside the flexible wheel (22); the outer peripheral wall of the flexible wheel (22) is provided with external teeth (221); the inner peripheral wall of the gear (26) is provided with internal teeth (262) matched with the external teeth (221); the output fixed seat (25) and the gear (26) are fixedly connected; the stator (4) is fixedly mounted on the outer peripheral wall of the output fixed seat (25) and the gear (26); and a gap is left between the stator (4) and the magnetic steel (13).

2. The disc-type drive integrated joint motor according to claim 1, characterized in that: A fixing seat step portion (252) is provided on one end surface of the output fixing seat (25) facing the gear (26), and the fixing seat step portion (252) is located at the inner edge of the end surface of the output fixing seat (25). A gear boss (263) is provided on one end surface of the gear (26) facing the output fixing seat (25), and the gear boss (263) is matched with the fixing seat step portion (252). The output fixing seat (25) and the gear (26) are connected by bolts, and the bolts are located on the periphery of the gear boss (263) and the fixing seat step portion (252).

3. The disc-type drive integrated joint motor according to claim 1, characterized in that: The inner peripheral wall of the stator (4) is provided with a stator positioning pin groove (42), the outer peripheral wall of the output fixed seat (25) is provided with a fixed seat positioning pin groove (251), and the outer peripheral wall of the gear (26) is provided with a gear positioning pin groove (261). The fixed seat positioning pin groove (251) and the gear positioning pin groove (261) correspond to each other one by one, and the fixed seat positioning pin groove (251), the gear positioning pin groove (261) and the stator positioning pin groove (42) are adapted to form a groove for accommodating a positioning pin.

4. The disc-type drive integrated joint motor according to claim 1, characterized in that: It also includes a housing (5) and a drive plate fixing cover (6), wherein one end of the housing (5) is fixedly connected to the output fixing seat (25), and the other end of the housing (5) is fixedly connected to the drive plate fixing cover (6), and the drive plate fixing cover (6) is connected to the rotor upper cover (11) via a third bearing (61).

5. The disc-type drive integrated joint motor according to claim 4, characterized in that: The invention also comprises a wire blocking piece (8), wherein the wire blocking piece (8) comprises a straight piece body (81) and a first bending head (82) and a second bending head (83) located at two ends of the straight piece body (81), wherein the first bending head (82) and the second bending head (83) are both perpendicular to the straight piece body (81), and the width of the first bending head (82) is smaller than the width of the second bending head (83); the outer peripheral wall of the housing (5) is provided with a protruding wiring groove (51), and two relatively close retaining edges (52) are formed on the inner side of the wiring groove (51), and the distance between the two retaining edges (52) is smaller than the distance between the straight piece body (81). The straight sheet body (81) has a width of 1.5 mm, the straight sheet body (81) is located in the wiring groove (51), the first bending head (82) extends inwardly from the two retaining edges (52) and is clamped on the two retaining edges (52), the second bending head (83) is exposed from the wiring groove (51) and abuts against the end faces of the two retaining edges (52), the second bending head (83) extends inwardly, the outer edge of the drive plate fixing cover (6) is provided with a recessed groove (65) and a hollow portion (66), and the wiring groove (51), the recessed groove (65) and the hollow portion (66) located on the periphery of the wire retaining sheet (8) are connected to form a wiring channel.

6. The disc-type drive integrated joint motor according to claim 1, characterized in that: A baffle (41) is fixedly connected to one end of the gear (26); the outer edge diameter of the baffle (41) is larger than the inner diameter of the stator (4); the baffle (41) blocks the outer end of the flex spline (22) inside; and the second bearing (24) is a cross roller bearing.

7. The disc-type drive integrated joint motor according to claim 4, characterized in that: The invention also comprises a first rear cover (7), the rotor upper cover (11) is fixedly mounted with a first magnetic ring (14), the drive plate fixed cover (6) is fixedly mounted with an encoder circuit board (62) matching the first magnetic ring (14), one end face of the connecting shaft (3) is closed, the other end face of the connecting shaft (3) is mounted with a second magnetic ring (32), the drive plate fixed cover (6) is fixedly mounted with a drive circuit board (63) matching the second magnetic ring (32), the first rear cover (7) is fixedly connected to the drive plate fixed cover (6), and a heat conducting sheet (64) is provided between the drive circuit board (63) and the first rear cover (7).

8. The disc-type drive integrated joint motor according to claim 4, characterized in that: The invention also comprises a second rear cover (9), wherein the second rear cover (9) is fixedly connected to the drive plate fixing cover (6), the rotor upper cover (11) is fixedly mounted with a third magnetic ring (92), the drive plate fixing cover (6) is fixedly mounted with a drive plate (91) matching the third magnetic ring (92), the connecting shaft (3) is through-connected at both ends and a fourth magnetic ring (93) is mounted on the outer wall of the connecting shaft (3), and the fourth magnetic ring (93) is matched with the drive plate (91).

9. The disc-type drive integrated joint motor according to claim 8, characterized in that: A protective plug (94) with two through ends is installed at the center of the second rear cover (9), and the end surface of the protective plug (94) is spaced apart from the end surface of the connecting shaft (3).

10. The disc-type drive integrated joint motor according to claim 9, characterized in that: The outer wall of the connecting shaft (3) is provided with a fourth magnetic ring (93) via a magnetic ring fixing seat (95); the protective plug (94) comprises an integrally formed convex head portion (941), a plug ring portion (942), an outer abutment ring (943), and a plug sealing portion (944); the outer abutment ring (943), the plug ring portion (942), the convex head portion (941), and the plug sealing portion (944) are sequentially distributed axially; the convex head portion (941) is a plurality of circumferentially uniformly distributed portions; the outer diameter of the outer abutment ring (943) is greater than the diameter of the center hole of the second rear cover (9); the outer abutment ring (943) is located on the outer side of the second rear cover (9); the diameter of the center hole of the second rear cover (9) is greater than the outer diameter of the plug ring portion (942), and the plug ring portion (942) at least partially penetrates the center hole of the second rear cover (9). The outer ring surface of the convex head (941) is a conical surface. The outer diameter of the convex head (941) gradually decreases from the end close to the plug ring part (942) to the end close to the plug sealing part (944). The outer diameter of the end of the convex head (941) close to the plug ring part (942) is greater than the diameter of the center hole of the second rear cover (9). The outer diameter of the end of the convex head (941) close to the plug sealing part (944) is smaller than the diameter of the center hole of the second rear cover (9). The convex head (941) and the outer abutment ring (943) are respectively located on both sides of the center hole of the second rear cover (9). The outer diameter of the plug sealing part (944) is smaller than the minimum outer diameter of the convex head (941). A sealing ring (96) is installed between the outer peripheral wall of the plug sealing part (944) and the inner peripheral wall of the magnetic ring fixing seat (95).

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