CN111342617A

CN111342617A - Magnetic encoding servo controller and hub motor integrated structure

Info

Publication number: CN111342617A
Application number: CN202010284737.6A
Authority: CN
Inventors: 邓光华
Original assignee: Shenzhen Times Ark Intelligent Technology Co ltd
Current assignee: Shenzhen Times Ark Intelligent Technology Co ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-06-26

Abstract

The invention discloses an integrated structure of a magnetic coding servo controller and a hub motor, which comprises a main shaft, a stator component and a rotor component, wherein the stator component comprises an iron core and a coil winding; a bracket is arranged on the end face of the main shaft penetrating out of the rear end cover, and a controller circuit board integrated with a magnetic encoder is arranged on the bracket; a magnet mounting cover is further arranged on the outer side of the rear end cover, and a heat insulation cavity which is separated from the stator assembly and used for accommodating a controller circuit board is formed between the magnet mounting cover and the rear end cover in a surrounding mode; and an induction magnet is arranged in the magnet mounting cover and at a position opposite to the magnetic encoder on the controller circuit board. The invention improves the universality of the hub motor, is easy to install and is not easy to overheat.

Description

Magnetic encoding servo controller and hub motor integrated structure

Technical Field

The invention relates to the technical field of hub motors, in particular to an integrated structure of a magnetic coding servo controller and a hub motor.

Background

Traditional magnetic encoding servo in-wheel motor is provided with independent magnetic encoder circuit board and controller circuit board usually to there are two kinds of structural layout, the first kind: place the magnetic encoder circuit board in the motor, place the controller circuit board of control in-wheel motor outside the motor, the controller circuit board is external promptly, the second kind: the magnetic encoder circuit board and the controller circuit board are separately placed in the motor, wherein the controller circuit board is directly placed on the upper portion of the coil and is in a cavity with a stator assembly of the motor.

For the first layout, its versatility is poor:

because the magnetic coding servo controller circuit board of in-wheel motor installs outside the in-wheel motor alone, will certainly need giving the solitary installation space of controller, lead to whole in-wheel motor's installation loaded down with trivial details for in-wheel motor's commonality is poor, can cause simultaneously and need integrate different functions below every different application, increases machine motion control's the degree of difficulty and compatibility, is unfavorable for this kind of magnetic coding servo in-wheel motor's popularization.

For the second topology, it is prone to overheating affecting controller life:

because the circuit board of the magnetic coding servo motor controller is arranged on the upper part of the coil and is in the same cavity with the coil of the motor, the controller or the motor is easy to damage or the service life of the controller or the motor is not long due to the problems of heating of the coil and the heating of the circuit board in the running process of the motor. Meanwhile, in the layout, a magnetic encoder circuit board and a controller circuit board need to be independently installed in the motor, so that the space in the motor is insufficient, and the installation is complicated.

The hub motor in the prior art has the following defects: the universality is poor, the installation is complicated, or the service life is not long due to easy overheating.

Therefore, the prior art has yet to be improved.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide an integrated structure of a magnetic coding servo controller and an in-wheel motor, aiming at improving the universality of the in-wheel motor, and being easy to install and not easy to overheat.

In order to realize the purpose, the invention adopts the following technical scheme:

a magnetic coding servo controller and hub motor integrated structure comprises a main shaft, a stator assembly sleeved outside the main shaft and fixed on the main shaft, and a rotor assembly rotatably connected with the main shaft and sleeved outside the stator assembly, wherein the stator assembly comprises an iron core arranged on the main shaft and a coil winding wound on the iron core; wherein the content of the first and second substances,

two ends of the main shaft penetrate through the front end cover and the rear end cover, a bracket is installed on the end face of the main shaft penetrating through the rear end cover, a controller circuit board is installed on the bracket, and a magnetic encoder is arranged on the controller circuit board;

a magnet mounting cover is further arranged on the outer side of the rear end cover, a heat insulation cavity separated from the stator assembly is defined between the magnet mounting cover and the rear end cover, and the controller circuit board is accommodated in the heat insulation cavity;

an induction magnet is further arranged in the magnet mounting cover and opposite to the magnetic encoder on the controller circuit board, and the induction magnet is spaced from the magnetic encoder;

the main shaft axially penetrates through a through hole, the coil winding and the controller circuit board are connected with a lead, and the lead penetrates out of the through hole of the main shaft.

The magnet mounting cover is characterized in that a shielding base is further arranged in the magnet mounting cover and opposite to the magnetic encoder on the controller circuit board, and the shielding base is provided with the induction magnet.

Wherein the magnet mounting cap is of a SPEC electrolyte sheet material structure.

The inner side of the rear end cover is provided with a positioning boss for positioning the permanent magnets, and one end face of each permanent magnet is abutted to the end face of the positioning boss.

The end face of the positioning boss is also provided with a plurality of positioning teeth at intervals in the circumferential direction, and each permanent magnet is embedded into two adjacent positioning teeth to enable the two adjacent permanent magnets to be arranged at intervals.

Wherein, the upper and lower surfaces of each permanent magnet are convex cambered surfaces.

The bracket is hollow and is sleeved at one end of the main shaft to be in interference fit with the main shaft, the bracket is further provided with a wire passing hole, and the main shaft is provided with a wire passing groove opposite to the wire passing hole.

The controller circuit board is further provided with a lead socket, and the lead is provided with a plug which is connected with the lead socket in an inserting mode.

The magnet installation cover is provided with a mistake proofing groove, and the mistake proofing protrusion is clamped with the mistake proofing groove.

Wherein, the front end cover is also provided with an oil seal at the outer side of the front bearing;

one end of the lead penetrating out of the main shaft is provided with waterproof glue;

the connection parts of the front end cover, the rear end cover and the rotor shell are provided with grooves, the connection parts of the rear end cover and the magnet mounting cover are provided with grooves, and sealing rings are arranged in the grooves.

According to the integrated structure of the magnetic coding servo controller and the hub motor, a controller circuit and a magnetic coder are integrated on a circuit board, and the integrated circuit board is arranged in a heat insulation cavity of the hub motor and is isolated from a coil of a stator component. The controller is integrated in the motor, so that the hub motor does not need to be externally connected with the controller, the universality of the hub motor is improved, the controller and the magnetic encoder do not need to be respectively arranged on the two circuit boards, the installation space in the motor is saved, and meanwhile, the integrated circuit board is arranged in the motor in an isolated mode from the coil winding, so that the problem that the service life of the circuit board is influenced due to overheating is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a first embodiment of an integrated structure of a magnetic encoding servo controller and a hub motor according to the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic cross-sectional view of the structure of FIG. 1;

FIG. 4 is an exploded view of the structure of FIG. 1;

FIG. 5 is an exploded view of the magnet mounting cover, shield base, induction magnet, and controller circuit board of the present invention;

FIG. 6 is a schematic view of the structure of FIG. 1 with the tire, rotor housing, and front end cap removed;

FIG. 7 is an exploded view of the rear end cap and permanent magnet of the present invention;

FIG. 8 is a schematic view of the arrangement of permanent magnets at intervals according to the present invention;

FIG. 9 is a schematic view of the connection structure of the bracket and the spindle according to the present invention;

FIG. 10 is an exploded view of the structure of FIG. 9;

fig. 11 is an exploded view of the magnet mounting cap and the rear end cap of the present invention.

Description of reference numerals:

100-integrated structure, 1-spindle, 11-through hole, 12-wire-passing groove, 2-rotor assembly, 21-front end cover, 22-rear end cover, 221-positioning boss, 2211-end face, 2212-positioning tooth, 222-error-proofing projection, 23-rotor housing, 24-tire, 25-permanent magnet, 26-front bearing, 27-rear bearing, 28-sealing ring, 3-stator assembly, 31-iron core, 32-coil winding, 4-bracket, 41-wire-passing hole, 42-connecting column, 5-controller circuit board, 51-magnetic encoder, 52-lead wire socket, 6-magnet mounting cover, 61-heat insulation cavity, 62-error-proofing groove, 63-mounting blind hole, 7-induction magnet, 8-lead, 81-plug, 82-waterproof glue, 9-shielding base and 10-oil seal.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "connected" may be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Referring to fig. 1 to 5, the present invention provides an integrated structure 100 of a magnetic encoding servo controller and a hub motor, including a main shaft 1, a stator assembly 3 sleeved outside the main shaft 1 and fixed to the main shaft 1, and a rotor assembly 2 rotatably connected to the main shaft 1 and sleeved outside the stator assembly 3, wherein the stator assembly 3 includes an iron core 31 mounted on the main shaft 1 and a coil winding 32 wound around the iron core 31. The coil winding 32 is wound with a copper wire having a surface insulation treatment. The rotor assembly 2 comprises a front end cover 21 and a rear end cover 22 which are arranged on two sides of an iron core 31, a rotor shell 23 which is arranged on the peripheries of the front end cover 21 and the rear end cover 22, a tire 24 which is sleeved outside the rotor shell 23, and a plurality of permanent magnets 25 which are arranged around a coil winding 32 on the iron core 31 in an annular mode and located below the rotor shell 23, wherein the front end cover 21 and the rear end cover 22 are respectively connected with the main shaft 1 in a rotating mode through a front bearing 26 and a rear bearing 27. That is, the main shaft 1 is sequentially sleeved with a front bearing 26, an iron core 31, and a rear bearing 27. The iron core 31 is fixed on the main shaft 1, the iron core 31 is connected with the main shaft 1 through a key, the iron core 31 and the coil winding 32 of the iron core 31 do not rotate, and the front end cover 21, the rear end cover 22, the rotor shell 23, the permanent magnet 25 and the tire 24 all rotate around the main shaft 1.

Two ends of a main shaft 1 penetrate through a front end cover 21 and a rear end cover 22, a bracket 4 is installed on the end face of the main shaft 1 penetrating through the rear end cover 22, a controller circuit board 5 is installed on the bracket 4, and a magnetic encoder 51 is arranged on the controller circuit board 5; the end face of the main shaft 1 is provided with a bracket 4, and the bracket 4 is provided with a controller circuit board 5, so that the bracket 4 and the controller circuit board 5 can not rotate. In the embodiment of the present invention, the bracket 4 is provided with a connection post 42 to connect with the controller circuit board 5 by a screw. Because the controller circuit board 5 is internally arranged and the magnetic encoder 51 is integrated on the same circuit board, the hub motor of the invention does not need an external controller, the controller circuit board 5 of the invention can complete the position and rotating speed detection of the rotor assembly 2 in the hub motor after the power is switched on, and directly carry out servo control of rotating speed, rotating direction and the like. Meanwhile, the controller circuit and the magnetic encoder 51 are integrated on the same circuit board, so that the installation space in the motor is saved, the motor is easy to install, and the controller circuit board and the magnetic encoder circuit board do not need to be installed respectively in the prior art.

The outer side of the rear end cover 22 is also provided with a magnet mounting cover 6, a heat insulation cavity 61 spaced from the stator assembly 3 is defined between the magnet mounting cover 6 and the rear end cover 22, and the controller circuit board 5 is accommodated in the heat insulation cavity 61. The magnet mounting cover 6 of the invention is in a bowl shape with an opening at one end, the bowl-shaped structure enables the magnet mounting cover to be provided with a cavity for accommodating objects, the opening end of the bowl-shaped structure is connected with the rear end cover 22 to form a heat insulation cavity 61, and the magnet mounting cover 6 and the rear end cover 22 rotate around the main shaft 1 together.

The controller circuit board 5 is isolated from the coil winding 32 of the stator assembly 3 by the arrangement of the heat insulation cavity 61, so that the controller circuit board 5 is prevented from being overheated due to the influence of heat generated by the coil winding 32 on the controller circuit board 5 in the working process of the hub motor. Compared with the structure that the controller circuit board and the stator assembly are arranged in the same cavity and the controller circuit board is arranged on the upper portion of the coil in the prior art, the structure provided by the invention overcomes the problem that the controller circuit board 5 is easy to overheat, and greatly prolongs the service life of the product.

As shown in fig. 3 and 5, an induction magnet 7 is further disposed in the magnet mounting cover 6 at a position opposite to the magnetic encoder 51 on the controller circuit board 5, and the induction magnet 7 is spaced apart from the magnetic encoder 51. The induction magnet 7 rotates along with the magnet mounting cover 6, the change of the angle or displacement of the induction magnet 7 can cause the change of the resistance or voltage of the magnetic encoder 51, and the magnetic encoder 51 sends the change to a main control chip on a controller circuit board to process signals so as to complete the detection of the rotor.

The main shaft 1 is axially provided with a through hole 11 in a penetrating manner, the coil winding 32 and the controller circuit board 5 are connected with a lead 8, and the lead 8 penetrates out of the through hole 11 of the main shaft 1. The through hole 11 is axially formed in the main shaft 1, so that the lead wire 8 can directly penetrate from one end of the main shaft 1 to the other end, and compared with the prior art that the lead wire is bent and penetrated through a hole formed in the side wall of the main shaft 1, the lead wire 8 is linearly penetrated through, and therefore the threading efficiency of the lead wire 8 is greatly improved.

Preferably, as shown in fig. 3 to 5, a shielding base 9 is further disposed in the magnet mounting cover 6 at a position opposite to the magnetic encoder 51 on the controller circuit board 5, and the induction magnet 7 is disposed on the shielding base 9. Preferably, the magnet mounting cover 6 is provided with a mounting blind hole 63 at a middle position, that is, the sensing magnet 7 is mounted in the shielding base 9, and then the shielding base 9 is mounted in the mounting blind hole 63 in the magnet mounting cover 6, so that the shielding base 9 can prevent the magnetic field interference of the outside to the sensing magnet 7, and the accuracy of detection is improved.

Further, the magnet mounting cover 6 is made of a SPEC electrolyte sheet material. The magnet mounting cover 6 made of SPEC electrolyte sheet material can play a role in shielding the induction magnet 7 and the controller circuit board 5 from external electromagnetic interference. So as to ensure the working stability of the hub motor.

As shown in fig. 6 to 8, the inner side of the rear end cover 22 is provided with positioning bosses 221 for positioning the permanent magnets 25, and one end face of each permanent magnet 25 abuts against the end face 2211 of the positioning boss 221. The positioning boss 221 is provided to facilitate positioning and installation of the permanent magnet 25, and the positioning boss 221 is provided to the rear end cover 22 to facilitate disassembly and maintenance of the motor.

Furthermore, a plurality of positioning teeth 2212 are circumferentially arranged on the end face 2211 of the positioning boss 221 at intervals, and each permanent magnet 25 is embedded into two adjacent positioning teeth 2212, so that the two adjacent permanent magnets 25 are arranged at intervals. The positioning teeth 2212 further improve the positioning effect of the permanent magnets 25 during installation, and on the other hand, the permanent magnets 25 are arranged at intervals, while the permanent magnets 25 in the prior art are arranged in a close manner, no interval exists between the adjacent permanent magnets 25, the arrangement manner is not easy to install and position the permanent magnets 25, and the number of the used permanent magnets 25 is large. The arrangement mode of the permanent magnets 25 is very easy to position at intervals and install, and meanwhile, the arrangement number of the permanent magnets can be reduced, and the use cost of the permanent magnets 25 is reduced.

Preferably, the upper and lower surfaces of each permanent magnet 25 of the present invention are convex cambered surfaces. The permanent magnet 25 is arranged on the double arc surfaces, so that the air gap can be reduced by using the double-surface arc permanent magnet 25, and the efficiency of the hub motor is improved.

As shown in fig. 9 and 10, the bracket 4 of the present invention is hollow and is sleeved at one end of the main shaft 1 to be in interference fit with the main shaft 1, the bracket 4 is further provided with a wire passing hole 41, and the main shaft 1 is provided with a wire passing groove 12 at a position opposite to the wire passing hole 41. In this way, the lead-out wires of the coil winding 32 can be connected to the controller circuit board 5 from the wire passing grooves 12 and the wire passing holes 41, and the controller circuit board 5 is connected to the lead wires 8 in the through holes 11 of the spindle 1. The rear bearing 27 is installed at the position of the wire passing groove 12 of the main shaft 1, so that the interference of the rear bearing 27 on the outgoing line of the coil winding 32 is avoided ingeniously, and meanwhile, the phenomenon that a hole is formed in the side wall of the main shaft 1 in the prior art is avoided.

In the prior art, holes are formed in the side wall of the main shaft 1, so that outgoing lines of coil windings are difficult to wire, and meanwhile, the holes easily influence the strength of the main shaft 1, and the structure of the invention is characterized in that the holes are not needed in the side wall of the main shaft 1, only wiring is carried out from a wire passing groove of the main shaft 1, and meanwhile, the mutual interference with the rear bearing 27 can be guaranteed.

With continued reference to fig. 5, preferably, the controller circuit board 5 of the present invention is further provided with a lead jack 52, and the lead 8 is provided with a plug 81 to be plugged into the lead jack 52, so that when the lead 8 is connected to the controller circuit board 5, the plug 81 is directly plugged into the lead jack 52, which is fast to install and convenient to maintain.

Preferably, as shown in fig. 11, the rear end cap 22 of the present invention is provided with an error-proof protrusion 222 on the outer side, the magnet mounting cap 6 is provided with an error-proof groove 62, and the error-proof protrusion 222 is engaged with the error-proof groove 62. The mistake proofing protrusion 222 and the mistake proofing groove 62 form a mistake proofing structure, and after the induction magnet 7 is installed and debugged, even if the magnet installation cover 6 is disassembled and installed, the debugging and the alignment are not required to be carried out again.

Preferably, the main shaft 1 of the present invention is further provided with an oil seal 10 at the outer side of the front bearing 26, and the oil seal 10 can protect the front bearing 26.

One end of the lead 8 penetrating out of the main shaft 1 is provided with waterproof glue 82; the waterproof adhesive 82 can prevent water from entering the motor from the through hole 11 of the spindle 1 to protect the internal circuit and the mechanical mechanism.

The connection parts of the front end cover 21, the rear end cover 22 and the rotor shell 23 are provided with grooves, the connection parts of the rear end cover 22 and the magnet installation cover 6 are provided with grooves, and sealing rings 28 are arranged in the grooves. The sealing rings 28 are provided to make the joints between the front end cover 21, the rear end cover 22 and the rotor housing 23, and between the rear end cover 22 and the magnet mounting cover 6 waterproof and dustproof.

The installation process of the integrated structure 100 of the present invention is as follows:

a stator assembly: the iron core 31 is wound by a winding machine, the wound iron core 31 and the spindle 1 are pressed by a press machine, the rear bearing 27 is pressed into the spindle 1 (before the three-phase line of the motor passes through the wire passing groove 12 of the spindle 1 and is stabilized by a ribbon), and the bracket 4 is pressed into the spindle 1.

The tire assembly is as follows: the tyre 24 is pressed into the rotor housing 23.

Front end cover assembly: the front bearing 26 is pressed into the bearing chamber of the front end cap 21 and the sealing ring 28 is placed in the corresponding groove.

Magnet installation lid assembly: the shield base 9 and the induction magnet 7 are sequentially pressed into the mounting blind hole 63 in the middle of the magnet mounting cover 6.

Rear end cover assembly: the sealing rings 28 on both sides of the rear end cover are respectively sleeved in the grooves on both sides of the rear end cover 22.

The assembly sequence is as follows: connecting a front end cover assembly, a tire assembly, a stator assembly and a rear end cover assembly through screws, penetrating a lead 8 through a main shaft 1, locking a binding belt after adjusting to a proper length, locking a controller circuit board 5 on a bracket 4 through screws, inserting a plug 81 on the lead 8 into a lead socket 52 of the controller circuit board 5, and welding three-phase lines on corresponding welding points of the controller circuit board 5 respectively; the magnet mounting cover 6 is then screwed onto the rear end cap 22 and finally the lead 8 is secured and sealed by means of a waterproof glue 82.

In the integrated structure 100 of the magnetic encoding servo controller and the hub motor provided by the embodiment of the invention, the controller circuit and the magnetic encoder are integrated on a circuit board, and the integrated circuit board is arranged in the heat insulation cavity 61 of the hub motor and is isolated from the coil 32 of the stator assembly 3. The controller is integrated in the hub motor, so that the hub motor does not need an external controller, the universality of the hub motor is improved, the controller and the magnetic encoder are integrated on one circuit board, the installation space in the motor is saved, and meanwhile, the integrated circuit board is arranged in the motor in an isolated mode from the coil winding, so that the influence on the service life of the circuit board due to overheating is avoided.

The above description is only for clearly illustrating the invention and is not therefore to be considered as limiting the scope of the invention, and all embodiments are not intended to be exhaustive, and all equivalent structural changes made by using the technical solutions of the present invention or other related technical fields directly/indirectly applied under the concept of the present invention are included in the scope of the present invention.

Claims

1. A magnetic coding servo controller and hub motor integrated structure comprises a main shaft, a stator assembly sleeved outside the main shaft and fixed on the main shaft, and a rotor assembly rotatably connected with the main shaft and sleeved outside the stator assembly, wherein the stator assembly comprises an iron core arranged on the main shaft and a coil winding wound on the iron core;

it is characterized in that the preparation method is characterized in that,

2. The integrated structure of a magnetic coding servo controller and an in-wheel motor as claimed in claim 1, wherein a shielding base is further arranged in the magnet mounting cover opposite to the magnetic encoder on the controller circuit board, and the induction magnet is arranged on the shielding base.

3. The integrated magnetically encoded servo controller and in-wheel motor structure of claim 1 or 2, wherein the magnet mounting cap is of SPEC electrolyte sheet material construction.

4. The integrated structure of a magnetic coding servo controller and an in-wheel motor as claimed in claim 1, wherein a positioning boss for positioning the permanent magnets is arranged on the inner side of the rear end cover, and one end face of each permanent magnet abuts against the end face of the positioning boss.

5. The integrated structure of the magnetic coding servo controller and the hub motor as claimed in claim 4, wherein a plurality of positioning teeth are further arranged on the end face of the positioning boss at intervals in the circumferential direction, and each permanent magnet is embedded into two adjacent positioning teeth so that the two adjacent permanent magnets are arranged at intervals.

6. The integrated structure of a magnetic encoding servo controller and a hub motor as claimed in claim 1, wherein the upper and lower surfaces of each permanent magnet are convex cambered surfaces.

7. The integrated structure of the magnetic coding servo controller and the hub motor as claimed in claim 1, wherein the bracket is hollow and is sleeved at one end of the spindle to be in interference fit with the spindle, the bracket is further provided with a wire passing hole, and the spindle is provided with a wire passing groove corresponding to the wire passing hole.

8. The integrated structure of the magnetic coding servo controller and the hub motor as claimed in claim 1, wherein the controller circuit board is further provided with a lead socket, and the lead is provided with a plug which is connected with the lead socket in a plugging manner.

9. The integrated structure of a magnetic coding servo controller and an in-wheel motor as claimed in claim 1, wherein an error-proof protrusion is arranged on the outer side of the rear end cover, an error-proof groove is arranged on the magnet mounting cover, and the error-proof protrusion is clamped with the error-proof groove.

10. The integrated structure of the magnetic coding servo controller and the hub motor as claimed in claim 1, wherein an oil seal is further mounted on the outer side of the front bearing of the front end cover;