Disc type driving integrated joint motor

Abstract

The utility model discloses a disc type driving integrated joint motor, which 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 steel, the rotor upper cover is connected with the rotor magnetic conduction ring, and the magnetic steel is 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 utility model relates to motor field, more specifically, relate to a disc type drive integrated joint motor. BACKGROUND

[0002] The existing robot joint motor is generally an inner rotor cylindrical reduction motor or an outer rotor plus planetary gear reduction structure motor, wherein the former inner rotor cylindrical reduction motor has a large axial length, cannot be installed for the robot joint with limited space, causes interference with other components or protrudes outside the robot, causes safety hazards when scratching the outside during walking, and affects the overall appearance because the motor part protrudes outside the robot; for the latter outer rotor plus planetary gear reduction structure motor, because the speed ratio of the planetary gear reducer is limited, for the joint drive motor with high torque and low speed requirement, the motor diameter and thickness have to be large to meet the high torque output, therefore the motor size is large and the weight is heavy, and the motor cannot be used on some portable robots. SUMMARY

[0003] The utility model discloses a disc type drive integrated joint motor, which has a small motor size, a light weight, a high torque output, a high power density, a high output position control precision, and is suitable for robots with high torque and control precision requirements.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme: a disc type drive integrated joint motor, comprising a rotor, a harmonic reducer, a connecting shaft, and a stator, the rotor comprises a rotor upper cover, a rotor magnetic conducting ring and a magnetic steel, the rotor upper cover and the rotor magnetic conducting ring are connected, the magnetic steel is circumferentially distributed on the inner wall of the rotor magnetic conducting ring, the harmonic reducer comprises a wave generator, a flexspline, an output shaft, a second bearing, an output fixed seat and a gear, 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 upper cover are connected through a first bearing, the wave generator is fixedly connected to the rotor upper cover, the flexspline is fixedly connected to the output shaft, the wave generator is at least partially located inside the flexspline, the outer wall of the flexspline is provided with external teeth, the inner wall of the gear is provided with internal teeth matched with the external teeth, the output fixed seat and the gear are fixedly connected, the stator is fixedly installed on the outer 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 arrangement, an end surface of the output fixing seat towards the gear is provided with a fixing seat step portion, the fixing seat step portion is located at an inner edge of the end surface of the output fixing seat, an end surface of the gear towards the output fixing seat is provided with a gear boss, the gear boss is matched with the fixing seat step portion, the output fixing seat and the gear are connected by bolts, and the bolts are located at the periphery of the gear boss and the fixing seat step portion.

[0006] As a further arrangement, an inner circumferential wall of the stator is provided with a stator positioning pin groove, an outer circumferential wall of the output fixing seat is provided with a fixing seat positioning pin groove, and an outer circumferential wall of the gear is provided with a gear positioning pin groove; the fixing seat positioning pin groove and the gear positioning pin groove are one-to-one corresponding; and the fixing seat positioning pin groove, the gear positioning pin groove and the stator positioning pin groove are matched to form a groove accommodating a positioning pin.

[0007] As a further arrangement, a housing and a driving plate fixing cover are further included, one end of the housing is fixedly connected to the output fixing seat, the other end of the housing is fixedly connected to the driving plate fixing cover, and the driving plate fixing cover is connected to the rotor upper cover through a third bearing.

[0008] As a further arrangement, a wire blocking sheet is further included, the wire blocking sheet includes a straight sheet body and first and second bent heads located at two ends of the straight sheet body, the first and second bent heads are perpendicular to the straight sheet body, the width of the first bent head is smaller than the width of the second bent head, an outer circumferential wall of the housing is provided with a protruding wire routing groove, two opposite and close blocking edges are formed on the inner side of the wire routing groove, the distance between the two blocking edges is smaller than the width of the straight sheet body, the straight sheet body is located in the wire routing groove, the first bent head protrudes towards the inside of the two blocking edges and is clamped thereon, the second bent head is exposed to the wire routing groove and abuts against the end surface of the two blocking edges, the second bent head protrudes towards the inside, an outer edge of the driving plate fixing cover is provided with a recessed groove and a hollow portion, and the wire routing groove, the recessed groove and the hollow portion located at the periphery of the wire blocking sheet are connected to form a wire routing channel.

[0009] As a further arrangement, one end of the gear is fixedly connected to a blocking sheet, the outer edge of the blocking sheet has a diameter larger than the inner diameter of the stator, the blocking sheet blocks the outer end of the flexible gear inside, and the second bearing is a crossed roller bearing.

[0010] As a further arrangement, a first back cover is further included, the rotor upper cover is fixedly installed with a first magnetic ring, the driving plate fixing cover is fixedly installed with an encoder circuit board matched with the first magnetic ring, one end surface of the connecting shaft is closed, the other end surface of the connecting shaft is installed with a second magnetic ring, the driving plate fixing cover is fixedly installed with a driving circuit board matched with the second magnetic ring, the first back cover is fixedly connected to the driving plate fixing cover, and a heat conduction sheet is arranged between the driving circuit board and the first back cover.

[0011] As a further setting, the second back cover is fixedly connected with the driving plate fixed cover, the rotor upper cover is fixedly installed with a third magnetic ring, the driving plate fixed cover is fixedly installed with a driving plate matched with the third magnetic ring, and the connecting shaft is through at both ends and is installed with a fourth magnetic ring on the outer wall of the connecting shaft, and the fourth magnetic ring is matched with the driving plate.

[0012] As a further setting, the second back cover is fixedly connected with the driving plate fixed cover, the rotor upper cover is fixedly installed with a third magnetic ring, the driving plate fixed cover is fixedly installed with a driving plate matched with the third magnetic ring, and the connecting shaft is through at both ends and is installed with a fourth magnetic ring on the outer wall of the connecting shaft, and the fourth magnetic ring is matched with the driving plate.

[0013] As a further setting, the second back cover is fixedly connected with the driving plate fixed cover, the rotor upper cover is fixedly installed with a third magnetic ring, the driving plate fixed cover is fixedly installed with a driving plate matched with the third magnetic ring, and the connecting shaft is through at both ends and is installed with a fourth magnetic ring on the outer wall of the connecting shaft, and the fourth magnetic ring is matched with the driving plate. As a further setting, the connecting shaft is installed with the fourth magnetic ring on the outer wall through the magnetic ring fixing seat, and the protective plug is integrally formed with a head portion, a plug ring portion, an outer abutting ring, and a plug sealing portion, and the outer abutting ring, the plug ring portion, the head portion, and the plug sealing portion are distributed in sequence in the axial direction, the head portion is circumferentially distributed with a plurality of head portions, the outer diameter of the outer abutting ring is greater than the diameter of the central hole of the second back cover, the outer abutting ring is located outside the second back cover, the diameter of the central hole of the second back cover is greater than the outer diameter of the plug ring portion, and the plug ring portion at least partially penetrates into the central hole of the second back cover, the outer ring surface of the head portion is a tapered surface, the outer diameter of the head portion gradually decreases from one end close to the plug ring portion to one end close to the plug sealing portion, the outer diameter of the end portion of the head portion close to the plug ring portion is greater than the diameter of the central hole of the second back cover, the outer diameter of the end portion of the head portion close to the plug sealing portion is less than the diameter of the central hole of the second back cover, the head portion and the outer abutting ring are located on both sides of the central hole of the second back cover, the outer diameter of the plug sealing portion is less than the minimum outer diameter of the head portion, and a sealing ring is installed between the outer peripheral wall of the plug sealing portion and the inner peripheral wall of the magnetic ring fixing seat.

[0014] In summary, the utility model has the following beneficial effects: the high-speed harmonic reducer is inserted into the middle of the motor stator core, the power is transmitted to the wave generator of the input end of the harmonic reducer through the ingenious design of the motor rotor connection structure, the rotating position of the output shaft is transmitted to the driving circuit board at the rear end of the motor through the connecting shaft designed on the output shaft of the harmonic reducer, the second magnetic ring is installed on the connecting shaft at the end of the driving circuit board, the second magnetic ring corresponds to the encoder chip on the driving circuit board, therefore, the rotating angle of the output shaft after deceleration can be detected (or the rotating position of the output shaft is transmitted to the driving plate at the rear end of the motor, and the fourth magnetic ring is installed on the connecting shaft, and the fourth magnetic ring corresponds to the encoder chip on the driving plate), so that the repeated positioning accuracy of the output end of the motor after deceleration can be accurately controlled, the overall volume is reduced, and the convenience and reliability of the lead wire are considered. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a perspective view of the embodiment one;

[0016] Figure 2 It is the first sectional view of the embodiment one;

[0017] Figure 3 second cross-sectional view of Example One;

[0018] Figure 4 partial perspective view of Example One;

[0019] Figure 5 perspective view of the rotor top cover of Example One;

[0020] Figure 6 perspective view of the output mount of Example One;

[0021] Figure 7 perspective view of the gear of Example One;

[0022] Figure 8 perspective view of the flexspline of Example One;

[0023] Figure 9 perspective view of the stator of Example One;

[0024] Figure 10 perspective view of the harmonic reducer of Example One;

[0025] Figure 11 cross-sectional view of the harmonic reducer of Example One;

[0026] Figure 12 perspective view of the housing of Example One;

[0027] Figure 13 perspective view of the wiper of Example One;

[0028] Figure 14 perspective view of the drive plate mounting cover of Example One;

[0029] Figure 15 perspective view of the housing and wiper of Example One;

[0030] Figure 16 cross-sectional view of Example Two;

[0031] Figure 17 is Figure 16 close-up view of area A;

[0032] Figure 18 perspective view of the guard plug of Example Two.

[0033] : rotor 1, rotor upper cover 11, convex strip 111, clamping groove 112, rotor magnetic conducting ring 12, magnetic steel 13, first magnetic ring 14, harmonic reducer 2, wave generator 21, flexspline 22, external teeth 221, output shaft 23, second bearing 24, output fixing seat 25, fixing seat positioning pin groove 251, fixing seat step part 252, gear 26, gear positioning pin groove 261, internal teeth 262, gear boss 263, connecting shaft 3, first bearing 31, second magnetic ring 32, stator 4, baffle 41, stator positioning pin groove 42, shell 5, wiring groove 51, baffle 52, driving plate fixing cover 6, third bearing 61, encoder circuit board 62, driving circuit board 63, heat conduction sheet 64, recessed groove 65, hollow part 66, first rear cover 7, wire baffle 8, straight sheet body 81, first bending head 82, second bending head 83, second rear cover 9, driving plate 91, third magnetic ring 92, fourth magnetic ring 93, protection plug 94, convex head part 941, plug ring part 942, outer abutting ring 943, plug sealing part 944, magnetic ring fixing seat 95, sealing ring 96. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0035] Embodiment one:

[0036] Referring to Figures 1-15 The embodiment discloses a disc drive integrated joint motor, which comprises a rotor 1, a harmonic reducer 2, a connecting shaft 3, a stator 4, a shell 5, a driving plate fixing cover 6, a first rear cover 7 and a wire baffle 8. Figure 5 One end surface of the rotor upper cover 11 extends outwards in a circumferential direction and is provided with convex strips 111, and a clamping groove 112 is formed between adjacent two convex strips 111. Figure 4 One end of the magnetic steel 13 is attached to the clamping groove 112, the rotor upper cover 11 is connected with the rotor magnetic conducting ring 12, the rotor magnetic conducting ring 12 is annular, the rotor magnetic conducting ring 12 is attached to the periphery of the convex strip 111, the outer diameter of the rotor magnetic conducting ring 12 is basically close to the maximum outer diameter of the rotor upper cover 11, the magnetic steel 13 is circumferentially and uniformly arranged on the inner circumferential wall of the rotor magnetic conducting ring 12, and the end of the magnetic steel 13, which is away from the clamping groove 112, does not exceed the corresponding end of the rotor magnetic conducting ring 12.

[0037] Referring to Figure 2 , Figure 10 , Figure 11The harmonic reducer 2 comprises a wave generator 21, a flexspline 22, an output shaft 23, a second bearing 24, an output fixed seat 25, 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 the cross roller bearing to ensure the perpendicularity and concentricity, and 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 both are connected through bolts and have substantially flush end faces. Figure 2

[0039] Referring to Figure 2 , the connecting shaft 3 and the rotor upper cover 11 are connected through first bearings 31, the number of the first bearings 31 is two arranged side by side, the inner ring of the left first bearing 31 abuts against the step of the connecting shaft 3, the outer ring of the right first bearing 31 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 around the center.

[0040] Referring to Figure 2 , the wave generator 21 is fixedly connected to the rotor upper cover 11, the wave generator 21 is located on the left side of the rotor upper cover 11 and connected through bolts, the wave generator 21 is located on the periphery of the two first bearings 31 and separated from the two first bearings 31 through a ring-shaped part extending axially leftward of the rotor upper cover 11, and the inner ring of the wave generator 21 is fitted to the outer peripheral wall of the ring-shaped part.

[0041] Referring to Figure 2 , the flexspline 22 is fixedly connected to the output shaft 23, and the flexspline 22 is fitted to the right side of the output shaft 23 and connected through bolts. Figure 8 The outer peripheral wall of the flexspline 22 is provided with external teeth 221.

[0042] Referring to Figure 2 , Figure 7 The inner peripheral wall of the gear 26 is provided with internal teeth 262 matched with the external teeth 221.

[0043] Referring to Figure 2 , Figure 6 , Figure 7 , Figure 11 ​The output fixing base 25 is fixedly connected with the gear 26. The output fixing base 25 is provided with a fixing base step portion 252 on the end face thereof facing the gear 26. The fixing base step portion 252 is located on the inner edge of the end face of the output fixing base 25. The gear 26 is provided with a gear boss 263 on the end face thereof facing the output fixing base 25. The gear boss 263 is matched with the fixing base step portion 252, and the two are inserted and matched. The output fixing base 25 and the gear 26 are connected through the bolts of M2. The bolts are located on the periphery of the gear boss 263 and the fixing base step portion 252, which helps to reduce the overall size of the harmonic reducer 2.

[0044] With reference to Figure 2 The stator 4 is fixedly installed on the outer peripheral wall of the gear 26 and the output fixing base 25. A gap is left between the stator 4 and the magnetic steel 13.

[0045] With reference to Figure 2 , Figure 9 Only the stator core is drawn here, and the stator winding is not drawn. The inner peripheral wall of the stator 4 is provided with a stator positioning pin slot 42. With reference to Figure 6 , Figure 7 The outer peripheral wall of the output fixing base 25 is provided with a fixing base positioning pin slot 251. The outer peripheral wall of the gear 26 is provided with a gear positioning pin slot 261. The fixing base positioning pin slot 251 and the gear positioning pin slot 261 correspond to each other. The fixing base positioning pin slot 251 and the gear positioning pin slot 261 are matched with the stator positioning pin slot 42. The positioning pins are inserted into the slots formed by the fixing base positioning pin slot 251, the gear positioning pin slot 261 and the stator positioning pin slot 42. In this way, the gear 26 can be prevented from being displaced and rotated with the output fixing base 25 (because the fixing strength between the output fixing base 25 and the gear 26 cannot be guaranteed by only the small bolts of M2).

[0046] With reference to Figure 2 One end of the gear 26 is fixedly connected with a baffle 41 through bolts. The outer edge of the baffle 41 is larger in diameter than the inner diameter of the stator 4, so that the stator 4 can be prevented from being pulled out from the right side. The baffle 41 blocks the outer end of the flexspline 22, so that the grease can be prevented from overflowing, and the grease of the harmonic reducer 2 is blocked.

[0047] With reference to Figure 2 One end of the housing 5 is fixedly connected with the output fixing base 25, and the other end of the housing 5 is fixedly connected with the driving plate fixed cover 6, both through bolts.

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

[0049] Referring to Figure 2 , one end surface of the connecting shaft 3 is closed, the other end surface (right end surface) of the connecting shaft 3 is provided with a second magnetic ring 32, and the driving plate fixed cover 6 is fixedly provided with a driving circuit board 63 matched with the second magnetic ring 32. The shaft type encoder (the second magnetic ring 32 is at the center of the connecting shaft 3, and the encoder detection chip is opposite to the second magnetic ring 32) can effectively improve the repeated positioning accuracy of the connecting shaft 3, and high accuracy can be achieved at low encoder cost and simple structure.

[0050] Referring to Figure 2 , the rotor upper cover 11 is fixedly provided with a first magnetic ring 14 located at 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 driving plate fixed cover 6. The driving plate fixed cover 6 is fixedly provided 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, which is used to detect the position of the motor rotor to accurately control the smooth operation of the driving motor.

[0051] Referring to Figure 13 , the blocking piece 8 includes a straight piece body 81 and first and second bending heads 82 and 83 located at both ends of the straight piece body 81, the first and second bending heads 82 and 83 are perpendicular to the straight piece body 81, the width of the first bending head 82 is smaller than that of the second bending head 83, and the two ends of the first bending head 82 in the width direction are both a certain distance away from the two ends of the straight piece body 81 in the width direction.

[0052] Referring to Figure 12 , the outer peripheral wall of the shell 5 is provided with a protruding wiring groove 51, and the inner side of the wiring groove 51 forms two relatively close blocking edges 52, and the distance between the two blocking edges 52 is smaller than the width of the straight piece body 81.

[0053] Referring to Figure 14 , the outer edge of the driving plate fixed cover 6 is provided with a recessed groove 65 and a hollow part 66, and the hollow part 66 is a part directly penetrating in and out.

[0054] Referring to Figure 15 , the straight piece body 81 is located in the wiring groove 51, the first bending head 82 protrudes inward and is clamped between the two blocking edges 52, and the second bending head 83 protrudes inward and abuts against the end surface of the two blocking edges 52. The second bending head 83 protrudes inward. The first bending head 82 is a certain distance away from the end surface of the shell 5, and the straight piece body 81 blocks the communication channel between the wiring groove 51 and the inside of the shell 5 through the gap between the two blocking edges 52.

[0055] Referring to Figure 3The wiring groove 51, the recessed groove 65 and the hollow part 66 located at the periphery of the blocking sheet 8 are communicated to form a wiring channel. The lead-out wire of the stator 4 passes through the wiring groove 51 on the left side, enters the wiring groove 51 (i.e. the gap between the first bending head 82 and the end surface of the housing 5), and then reaches the position of the recessed groove 65, and then passes through the hollow part 66 to the position of the driving circuit board 63 to be connected, so that the wiring is convenient, safe and reliable, and the lead-out wire will not be rubbed with the rotor 1. Figure 2 The wiring groove 51 below the straight sheet body 81 is used for threading the lead-out wire, and then reaches the position of the recessed groove 65, and then passes through the hollow part 66 to the position of the driving circuit board 63 to be connected, so that the wiring is convenient, safe and reliable, and the lead-out wire will not be rubbed with the rotor 1.

[0056] Referring to Figure 2 The first rear cover 7 is fixedly connected with the driving plate fixing cover 6, and the two are connected by bolts. The driving circuit board 63 is attached with the heat conduction sheet 64 between the driving circuit board 63 and the first rear cover 7. The heat conduction sheet 64 can conduct the heat generated by the driving circuit board 63 to the outside through the first rear cover 7.

[0057] Embodiment two:

[0058] Referring to Figures 16-18 Compared with embodiment one, the difference is that a through connection shaft 3 is used. The main reason is that the joint needs to be wired, so the wiring of the joint can pass through the connection shaft 3, which is convenient for wiring. The installation positions of the driving plate and the encoder are adjusted, and the second rear cover 9 is used instead of the first rear cover 7 in embodiment one.

[0059] The second rear cover 9 is fixedly connected with the driving plate fixing cover 6. 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 embodiment one, and the third magnetic ring 92 has the same effect as the first magnetic ring 14 in embodiment one). The third magnetic ring 92 is located on the right side of the third bearing 61. The length of the rotor upper cover 11 in the axial direction is longer than that in embodiment one. The length is increased to install the third magnetic ring 92. In order to compensate for the length, the encoder circuit board 62 is omitted compared with embodiment one, and only one driving plate 91 is used (the encoder circuit board 62 and the driving circuit board 63 are used together in embodiment one). The length of the rotor upper cover 11 in the axial direction is increased, so that the size of the whole motor is controllable.

[0060] The driving plate fixing cover 6 is fixedly installed with a driving plate 91 matched with the third magnetic ring 92. The outer wall of the connection shaft 3 is installed with a fourth magnetic ring 93 (the fourth magnetic ring 93 has the same effect as the second magnetic ring 32 in embodiment one) through a magnetic ring fixing seat 95. The fourth magnetic ring 93 is matched with the driving plate 91. The third magnetic ring 92 and the fourth magnetic ring 93 are respectively located on the two sides of the driving plate 91, i.e. the encoders corresponding to the third magnetic ring 92 and the fourth magnetic ring 93 are respectively located on the two sides of the driving plate 91.

[0061] A protective plug 94, made of plastic, is installed at the center of the second rear cover 9, extending through both ends. The end face of the protective plug 94 is spaced apart from the end face of the connecting shaft 3. The joint's wiring can pass through the connecting shaft 3 and the protective plug 94. Since the connecting shaft 3 is rotatable, the protective plug 94 is stationary, therefore 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 part 944. The outer abutment ring 943, the plug ring 942, the convex head 941, and the plug sealing part 944 are axially distributed sequentially. Multiple convex heads 941 are evenly distributed circumferentially. The outer diameter of the outer abutment ring 943 is larger than the diameter of the central hole of the second rear cover 9, and the outer abutment ring 943 is located on the outer side of the second rear cover 9. Figure 17 (on the right side of the image), the diameter of the central 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 the central 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 near the plug ring portion 942 to the end near the plug sealing portion 944. The outer diameter of the end of the convex head 941 near the plug ring portion 942 is larger than the diameter of the central hole of the second rear cover 9, and the outer diameter of the end of the convex head 941 near the plug sealing portion 944 is smaller than the diameter of the central hole of the second rear cover 9. The convex head 941 and the outer abutment ring 943 are located on both sides of the central hole of the second rear cover 9, so that the protective plug 94 will not fall out after being inserted into the central hole of the second rear cover 9.

[0063] The outer diameter of the plug sealing part 944 is smaller than the minimum outer diameter of the protruding head 941, and 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.

[0064] The above description is merely a preferred embodiment of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are protected. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A disc drive integrated motor joint, characterized by, The application relates to a harmonic drive motor, which comprises a rotor (1), a harmonic reducer (2), a connecting shaft (3) and a stator (4), wherein the rotor (1) comprises a rotor upper cover (11), a rotor magnetic conducting ring (12) and magnetic steels (13), the rotor upper cover (11) is connected with the rotor magnetic conducting ring (12), the magnetic steels (13) are circumferentially distributed on the inner wall of the rotor magnetic conducting ring (12), the harmonic reducer (2) comprises a wave generator (21), a flexspline (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), the output shaft (23) is fixedly connected with the connecting shaft (3), the connecting shaft (3) is connected with the rotor upper cover (11) through a first bearing (31), the wave generator (21) is fixedly connected with the rotor upper cover (11), the flexspline (22) is fixedly connected with the output shaft (23), the wave generator (21) is at least partially located in the flexspline (22), the outer wall of the flexspline (22) is provided with external teeth (221), the inner wall of the gear (26) is provided with internal teeth (262) matched with the external teeth (221), the output fixed seat (25) is fixedly connected with the gear (26), and the stator (4) is fixedly installed on the outer wall of the output fixed seat (25) and the gear (26), and a gap is left between the stator (4) and the magnetic steels (13).

2. The disc drive integrated motor joint according to claim 1, wherein, The end surface of the output fixed seat (25) towards the gear (26) is provided with a fixed seat step portion (252), the fixed seat step portion (252) is located on the inner edge of the end surface of the output fixed seat (25), the end surface of the gear (26) towards the output fixed seat (25) is provided with a gear boss (263), the gear boss (263) is matched with the fixed seat step portion (252), the output fixed seat (25) and the gear (26) are connected through bolts, and the bolts are located on the periphery of the gear boss (263) and the fixed seat step portion (252).

3. The disc drive integrated motor joint according to claim 1, wherein, The inner wall of the stator (4) is provided with a stator positioning pin groove (42), the outer wall of the output fixed seat (25) is provided with a fixed seat positioning pin groove (251), and the outer 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) are one-to-one corresponding, and the fixed seat positioning pin groove (251), the gear positioning pin groove (261) and the stator positioning pin groove (42) are matched to form a groove for accommodating a positioning pin.

4. The disc drive integrated motor joint of claim 1, wherein, The application further comprises an outer shell (5) and a driving plate fixed cover (6), one end of the outer shell (5) is fixedly connected with the output fixed seat (25), the other end of the outer shell (5) is fixedly connected with the driving plate fixed cover (6), and the driving plate fixed cover (6) is connected with the rotor upper cover (11) through a third bearing (61).

5. The disc drive integrated motor joint according to claim 4, wherein, Also include the line blocking piece (8), the line blocking piece (8) includes straight piece body (81) and the first bending head (82) and the second bending head (83) located at both ends of straight piece body (81), the first bending head (82) and the second bending head (83) are perpendicular to straight piece body (81), the width of the first bending head (82) is less than the width of the second bending head (83), the outer peripheral wall of the shell (5) is provided with the protruding wire slot (51), the inner side of the wire slot (51) forms two opposite close blocking edges (52), the distance between the two blocking edges (52) is less than the width of the straight piece body (81), the straight piece body (81) is located in the wire slot (51), the first bending head (82) protrudes towards the inside of the two blocking edges (52) and is clamped in the two blocking edges (52), the second bending head (83) is exposed to the wire slot (51) and abuts against the end face of the two blocking edges (52), the second bending head (83) is protruding towards the inside, the outer edge of the driving plate fixed cover (6) is provided with a recessed groove (65) and a hollow part (66), the wire slot (51), the recessed groove (65) and the hollow part (66) located in the periphery of the line blocking piece (8) are communicated to form a wire channel.

6. The disc drive integrated motor joint of claim 1, wherein, One end of the gear (26) is fixedly connected with a blocking piece (41), the outer edge diameter of the blocking piece (41) is greater than the inner diameter of the stator (4), the blocking piece (41) blocks the outer end of the flexspline (22) inside, and the second bearing (24) is a cross roller bearing.

7. The disc drive integrated motor joint of claim 4, wherein, Also include the first back cover (7), the rotor upper cover (11) is fixedly installed with the first magnetic ring (14), the driving plate fixed cover (6) is fixedly installed with the encoder circuit board (62) matched with 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 installed with the second magnetic ring (32), the driving plate fixed cover (6) is fixedly installed with the driving circuit board (63) matched with the second magnetic ring (32), the first back cover (7) is fixedly connected with the driving plate fixed cover (6), and the driving circuit board (63) is attached with the heat conduction sheet (64) between the first back cover (7).

8. The disc drive integrated motor joint of claim 4, wherein, Also include the second back cover (9), the second back cover (9) is fixedly connected with the driving plate fixed cover (6), the rotor upper cover (11) is fixedly installed with the third magnetic ring (92), the driving plate fixed cover (6) is fixedly installed with the driving plate (91) matched with the third magnetic ring (92), and the connecting shaft (3) is through both ends and the outer wall of the connecting shaft (3) is installed with the fourth magnetic ring (93), the fourth magnetic ring (93) is matched with the driving plate (91).

9. The disc drive integrated motor joint of claim 8, wherein, The center of the second back cover (9) is installed with a protective plug (94) through both ends, and the end face of the protective plug (94) is spaced apart from the end face of the connecting shaft (3).

10. The disc drive integrated joint motor of claim 9, wherein The outer wall of the connecting shaft (3) is provided with a fourth magnetic ring (93) through a magnetic ring fixing seat (95), the protective plug (94) comprises an integral convex head (941), a plug ring (942), an outer abutting ring (943), and a plug sealing portion (944), the outer abutting ring (943), the plug ring (942), the convex head (941), and the plug sealing portion (944) are sequentially and axially distributed, the convex head (941) is circumferentially and uniformly distributed, the outer diameter of the outer abutting ring (943) is greater than the diameter of the center hole of the second rear cover (9), the outer abutting ring (943) is located outside 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 (942), and the plug ring (942) at least partially penetrates into 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 one end close to the plug ring (942) to the other end close to the plug sealing portion (944), the outer diameter of the end of the convex head (941) close to the plug ring (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 portion (944) is less than the diameter of the center hole of the second rear cover (9), the convex head (941) and the outer abutting 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 portion (944) is less than the minimum outer diameter of the convex head (941), and a sealing ring (96) is arranged between the outer peripheral wall of the plug sealing portion (944) and the inner peripheral wall of the magnetic ring fixing seat (95).

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