CN104348296A - Motor with harmonic reducer - Google Patents
Motor with harmonic reducer Download PDFInfo
- Publication number
- CN104348296A CN104348296A CN201410676549.2A CN201410676549A CN104348296A CN 104348296 A CN104348296 A CN 104348296A CN 201410676549 A CN201410676549 A CN 201410676549A CN 104348296 A CN104348296 A CN 104348296A
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- CN
- China
- Prior art keywords
- speed reducer
- harmonic speed
- motor
- motor housing
- machine shaft
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a motor with a harmonic reducer and belongs to the technical field of machines; the problems that the production cost of the assembly of the existing motor and the harmonic reducer is high, and the precision is low are solved by the motor provided by the invention. The motor with the harmonic reducer comprises the harmonic reducer; the harmonic reducer is provided with an input shaft protruding from one end of the harmonic reducer; the end part of the input shaft is fixedly provided with a motor revolving shaft; the motor revolving shaft and the input shaft are connected into a whole through one-time molding; one end of the harmonic reducer is connected with a motor shell through fasteners; the motor revolving shaft is located in the motor shell; the motor revolving shaft is fixedly provided with a rotor core; a stator is arranged between the motor revolving shaft and the inner side wall of the motor shell. The motor with the harmonic reducer has the advantages of being simple to manufacture, low in production cost, high in precision, and the like.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of motor, particularly relate to a kind of motor with harmonic speed reducer.
Background technology
Harmonic speed reducer is a kind of novel, high-precision transmission decelerating device, and primarily of wave producer, flexbile gear and just wheel three basic building blocks compositions, it makes flexbile gear produce controlled elasticity distortion by wave producer, and with firm take turns to be meshed to transmit move and power.This decelerator moment of torsion is large, gearratio is high, lightweight, volume is little, is thus used widely.In production, when using harmonic speed reducer, usually adopting harmonic speed reducer and other component separable assembled, being first assembled in by harmonic speed reducer on decelerator holder, then assembling is used for the servomotor of power input and the output flange for Power output.
Disclosed in Chinese patent, a kind of robot smart arm joint drives and the deceleration device [patent No.: ZL200610155650.9; Notification number: CN101209556A], in the apparatus, motor is fixed on motor fixing frame, the rotor of motor is connected with adpting flange, adpting flange is connected with the harmonic oscillator of harmonic speed reducer, and the firm wheel of harmonic speed reducer is fixed by screws on motor fixing frame, and the flexbile gear of harmonic speed reducer is connected with axis and flange, the rotor of motor and install needle bearing additional between harmonic oscillator and axis, installs deep groove ball bearing additional between flange and motor fixing frame.Motor is connected with harmonic speed reducer by motor fixing frame by it, and by adpting flange, the rotor of motor and harmonic speed reducer is connected, and motor and harmonic speed reducer is integrated, realizes deceleration.
But, in above-mentioned deceleration device, owing to needing to be undertaken being connected (as motor fixing frame, adpting flange etc.) by other intermediate connector between harmonic speed reducer with motor, therefore whole deceleration device is caused to manufacture cumbersome, and owing to adding many intermediate connectors, the production cost that result also in whole deceleration device is higher, transmission accuracy is low simultaneously.
Summary of the invention
The object of the invention is the problems referred to above existed for prior art, propose a kind of motor manufacturing the band harmonic speed reducer simple, precision is high, production cost is low.
Object of the present invention realizes by following technical proposal:
A kind of motor with harmonic speed reducer, comprise harmonic speed reducer, described harmonic speed reducer has the power shaft protruded from harmonic speed reducer one end, the end winding support of described power shaft has machine shaft, it is characterized in that, described machine shaft is connected by disposal molding with above-mentioned power shaft, one end of described harmonic speed reducer is connected with motor housing by securing member, described machine shaft is positioned at motor housing, described machine shaft is fixed with rotor core, between described machine shaft and motor housing madial wall, is provided with stator.
During manufacture, by disposal molding machine shaft on the power shaft of harmonic speed reducer, machine shaft is made to become to be integrated with power shaft, improve the transmission accuracy of power, then fixed rotor iron core on machine shaft, together with machine shaft connects into power shaft, therefore when rotor core is fixed on after on machine shaft, the power shaft of rotor core and harmonic speed reducer just constitutes the rotor of this motor jointly.Then direct one end at harmonic speed reducer connects motor housing, and such incomplete structure original end cap of motor housing, has saved production cost.And in this patent, any change is not done to the internal structure of harmonic speed reducer, therefore the present invention directly overallly from the market can buy harmonic speed reducer use when implementing, without the need to enterprise oneself processing and manufacturing, therefore greatly reduce the production cost of whole motor, simultaneously due to during fabrication, only need the power shaft of machine shaft and harmonic speed reducer to be made of one, again that rotor core, stator etc. is fixing, therefore manufacture also very simple.
In the motor of above-mentioned band harmonic speed reducer, have positioning step outside described machine shaft, described rotor core and machine shaft are by interference fit, and one end of described rotor core is resisted against on positioning step.
When assembling, directly rotor core is fixed on machine shaft by interference fit, without the need to other fixtures, reduce production cost, positioning step on machine shaft and one end of rotor core lean and play position-limiting action, because the power shaft of machine shaft and harmonic speed reducer links into an integrated entity, therefore also just represent that rotor core has directly been fixed on the power shaft of harmonic speed reducer by interference fit, manufactures fairly simple.
In the motor of above-mentioned band harmonic speed reducer, as another kind of technical scheme, described rotor core is connected by disposal molding with machine shaft.
Because machine shaft is connected by disposal molding with the power shaft of harmonic speed reducer, and rotor core and machine shaft are connected by disposal molding, therefore also just represent, by disposal molding, the power shaft of harmonic speed reducer can directly be used as the rotor of motor.
In the motor of above-mentioned band harmonic speed reducer, as another kind of technical scheme, described rotor core and machine shaft are fixed by screw.Utilize screw directly rotor core and machine shaft to be fixed, manufacture simple, stable connection.
In the motor of above-mentioned band harmonic speed reducer, described motor housing cylindrically, the internal diameter of described motor housing is greater than the external diameter of harmonic speed reducer, and described harmonic speed reducer is positioned at motor housing, and described motor housing and harmonic speed reducer are fixed by securing member.
Harmonic speed reducer is arranged in motor housing, eliminates the end cap of motor housing, utilize the port of harmonic speed reducer to motor housing to close, the length of motor housing axial direction can be shortened simultaneously, save the material of motor housing, reduce production cost.
In the motor of above-mentioned band harmonic speed reducer, have tubular installation portion inside described motor housing, described harmonic speed reducer is resisted against on the end face of installation portion, and above-mentioned securing member passes harmonic speed reducer and penetrates the end face of installation portion.
Only need be placed in motor housing by harmonic speed reducer, make it be resisted against on the end face of installation portion, then direct securing member is fixed on the end face of installation portion through harmonic speed reducer.So not only manufacture fairly simple, and harmonic speed reducer is positioned in motor housing and fixes with the installation portion in motor housing, the length of motor housing can be shortened, save material, directly reduce production cost.
In the motor of above-mentioned band harmonic speed reducer, the outside of described installation portion is circumferentially evenly equipped with some location divisions, be connected mutually with the madial wall of motor housing outside described location division, described location division is provided with installing hole, and described securing member passes harmonic speed reducer and penetrates in installing hole.
Harmonic speed reducer is resisted against on installation portion, is circumferentially evenly equipped with some location divisions being provided with installing hole outside installation portion, so when fabricated, only needs securing member to pass harmonic speed reducer, then aims at the installing hole on installation portion and install.
In the motor of above-mentioned band harmonic speed reducer, described harmonic speed reducer is evenly equipped with the connecting hole corresponding with the position of mounting hole on above-mentioned installation portion, described securing member is screw, and described screw passes the connecting hole on harmonic speed reducer and inserts in above-mentioned installing hole.
Compared with prior art, the motor of this band harmonic speed reducer is direct during fabrication to be used market being purchased the part that available harmonic speed reducer brings as motor, eliminate the original end cap of motor housing, only the power shaft of machine shaft and harmonic speed reducer need be made of one during fabrication, then fit on rotor core, stator etc., reduce the production cost of whole motor, and manufacture also more convenient.
Accompanying drawing explanation
Fig. 1 is the cutaway view of the motor of this band harmonic speed reducer.
Fig. 2 is the exploded view of the motor of this band harmonic speed reducer.
Fig. 3 is the cutaway view of harmonic speed reducer in the motor of this band harmonic speed reducer.
Fig. 4 is the schematic diagram of motor housing in the motor of this band harmonic speed reducer.
Fig. 5 is the cutaway view of the integral time-harmonic wave decelerator of machine shaft and rotor core disposal molding.
In figure, 1, harmonic speed reducer; 2, power shaft; 3, machine shaft; 4, securing member; 5, motor housing; 6, rotor core; 7, stator; 8, installation portion; 9, location division; 10, installing hole; 11, positioning step.
Embodiment
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
Embodiment one
As shown in Figure 1-Figure 3, a kind of motor with harmonic speed reducer, comprise harmonic speed reducer 1, harmonic speed reducer 1 has the power shaft 2 protruded from harmonic speed reducer 1 one end, the end of power shaft 2 is connected with machine shaft 3, and machine shaft 3 is connected by disposal molding with power shaft 2, has the positioning step 11 of protrusion outside machine shaft 3, machine shaft 3 is fixed with rotor core 6 by interference fit, and one end of rotor core 6 is resisted against on positioning step 11.It should be noted that the power shaft 2 of machine shaft 3 and harmonic speed reducer 1 is except being connected by disposal molding, can also be integral by being welded to connect.
In addition, as shown in Figure 5, except interference fit, rotor core 6 can also be linked into an integrated entity by disposal molding with machine shaft 3.Or rotor core 6, except above-mentioned two kinds of modes and machine shaft 3 are fixed, directly can also be fixed by screw.
As shown in Figure 1, Figure 2 and Figure 4, one end that harmonic speed reducer 1 protrudes at power shaft 2 is connected with motor housing 5 by securing member 4, and machine shaft 3 is positioned at motor housing 5, is provided with stator 7 between machine shaft 3 and motor housing 5 madial wall.Motor housing 5 cylindrically, the external diameter of motor housing 5 is greater than the internal diameter of harmonic speed reducer 1, there is inside motor housing 5 tubular installation portion 8, harmonic speed reducer 1 is positioned at motor housing 5 and is resisted against on the end face of installation portion 8, the outside of installation portion 8 is circumferentially evenly equipped with some location divisions 9, be connected mutually with the madial wall of motor housing 5 outside location division 9, location division 9 offers installing hole 10, harmonic speed reducer 1 and installation portion 8 pass through through harmonic speed reducer 1 and the securing member 4 penetrated on location division 9 in installing hole 10 fixes.In the present embodiment, securing member 4 is screw, and harmonic speed reducer 1 has connecting hole with corresponding position, installing hole 10 position, and screw passes connecting hole and penetrates in installing hole 10, and in addition, securing member 4 can certainly be bolt etc.
The motor of this band harmonic speed reducer during fabrication, because the power shaft 2 of harmonic speed reducer 1 is one-body molded, like this after on rotor core 6 to be fixed on harmonic speed reducer 1 power shaft 2 by interference fit, just the power shaft 2 of harmonic speed reducer 1 directly can be used as machine shaft 3, also just mean that the harmonic speed reducer 1 being fixed with rotor core 6 directly defines the rotor of motor, then connect motor housing 5 in one end of harmonic speed reducer 1 by securing member 4, and place stator 7 between motor housing 5 and rotor.
Harmonic speed reducer 1 directly can buy use from the market, this motor during fabrication direct on the power shaft 2 of harmonic speed reducer 1 one-body molded machine shaft 3, therefore also just represent that the power shaft 2 of harmonic speed reducer 1 is machine shaft 3, and motor housing 5 is directly connected with harmonic speed reducer by securing member 4, so just eliminate the original end cap of motor housing 5, save the production cost of enterprise.So, after motor manufacturing completes, whole harmonic speed reducer 1 just constitutes a part for motor, and the power shaft 2 of harmonic speed reducer 1 is machine shaft 3, and harmonic speed reducer 1 can use as the end cap of motor housing 5 simultaneously.Because harmonic speed reducer 1 can use by buying, without the need to enterprise's processing and manufacturing voluntarily, and rotor core, stator etc. also can by directly buying without processing and manufacturings, therefore the production cost of whole motor can be reduced well, also only harmonic speed reducer 1 need be fixed on motor housing 5 by securing member 4 during assembling, it is fairly simple, convenient to manufacture simultaneously.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (8)
1. the motor with harmonic speed reducer, comprise harmonic speed reducer (1), described harmonic speed reducer (1) has the power shaft (2) protruded from harmonic speed reducer (1) one end, the end winding support of described power shaft (2) has machine shaft (3), it is characterized in that, described machine shaft (3) is connected by disposal molding with above-mentioned power shaft (2), one end of described harmonic speed reducer (1) is connected with motor housing (5) by securing member (4), described machine shaft (3) is positioned at motor housing (5), described machine shaft (3) is fixed with rotor core (6), stator (7) is provided with between described machine shaft (3) and motor housing (5) madial wall.
2. the motor of band harmonic speed reducer according to claim 1, it is characterized in that, described machine shaft (3) outside has positioning step (11), described rotor core (6) and machine shaft (3) are by interference fit, and one end of described rotor core (6) is resisted against on positioning step (11).
3. the motor of band harmonic speed reducer according to claim 1, is characterized in that, described rotor core (6) is connected by disposal molding with machine shaft (3).
4. the motor of band harmonic speed reducer according to claim 1, is characterized in that, described rotor core (6) and machine shaft (3) are fixed by screw.
5. the motor of the band harmonic speed reducer (1) according to claim 1 or 2 or 3 or 4, it is characterized in that, described motor housing (5) cylindrically, the internal diameter of described motor housing (5) is greater than the external diameter of harmonic speed reducer (1), described harmonic speed reducer (1) is positioned at motor housing (5), and described motor housing (5) is fixed by securing member (4) with harmonic speed reducer (1).
6. the motor of band harmonic speed reducer according to claim 5, it is characterized in that, described motor housing (5) inner side has tubular installation portion (8), described harmonic speed reducer (1) is resisted against on the end face of installation portion (8), and above-mentioned securing member (4) is through harmonic speed reducer (1) and penetrate the end face of installation portion (8).
7. the motor of band harmonic speed reducer according to claim 6, it is characterized in that, the outside of described installation portion (8) is circumferentially evenly equipped with some location divisions (9), described outside, location division (9) is connected mutually with the madial wall of motor housing (5), described location division (9) is provided with installing hole (10), and described securing member (4) is through harmonic speed reducer (1) and penetrate in installing hole (10).
8. the motor of band harmonic speed reducer according to claim 7, it is characterized in that, described harmonic speed reducer (1) is evenly equipped with the connecting hole corresponding with installing hole (10) position on above-mentioned installation portion (8), described securing member (4) is screw, and described screw passes the connecting hole on harmonic speed reducer (1) and inserts in above-mentioned installing hole (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676549.2A CN104348296B (en) | 2014-11-22 | 2014-11-22 | A kind of motor with harmonic speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410676549.2A CN104348296B (en) | 2014-11-22 | 2014-11-22 | A kind of motor with harmonic speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104348296A true CN104348296A (en) | 2015-02-11 |
| CN104348296B CN104348296B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410676549.2A Active CN104348296B (en) | 2014-11-22 | 2014-11-22 | A kind of motor with harmonic speed reducer |
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| Country | Link |
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| CN (1) | CN104348296B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108291612A (en) * | 2015-12-01 | 2018-07-17 | 日本电产新宝株式会社 | Speed reducer with motor |
| CN108656148A (en) * | 2017-03-31 | 2018-10-16 | 沈机（上海）智能***研发设计有限公司 | A kind of cooperation Robot Modular Joint |
| CN108768064A (en) * | 2018-07-13 | 2018-11-06 | 睿尔曼智能科技（北京）有限公司 | A kind of harmonic speed reducer and torque motor integrated apparatus |
| CN109253227A (en) * | 2018-11-15 | 2019-01-22 | 杨庆华 | A kind of harmonic speed reducer that can be directly connected to mechanical arm |
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| CN201247991Y (en) * | 2008-02-14 | 2009-05-27 | 上海翌威科技有限公司 | Dual-harmonic driving machine of electric bicycle |
| CN101734342A (en) * | 2008-11-17 | 2010-06-16 | 王乐琳 | Standard harmonic assembly speed-reducing mechanism of electric bicycle |
| CN102862644A (en) * | 2011-07-06 | 2013-01-09 | 王乐琳 | Drive mechanism of power bicycle |
| WO2014097927A1 (en) * | 2012-12-21 | 2014-06-26 | Ntn株式会社 | In-wheel motor drive device |
| CN203714116U (en) * | 2014-01-17 | 2014-07-16 | 南京信息工程大学 | Driving mechanism for electric moped |
| CN204216719U (en) * | 2014-11-22 | 2015-03-18 | 浙江琦星电子有限公司 | A kind of motor with harmonic speed reducer |
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2014
- 2014-11-22 CN CN201410676549.2A patent/CN104348296B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201247991Y (en) * | 2008-02-14 | 2009-05-27 | 上海翌威科技有限公司 | Dual-harmonic driving machine of electric bicycle |
| CN101734342A (en) * | 2008-11-17 | 2010-06-16 | 王乐琳 | Standard harmonic assembly speed-reducing mechanism of electric bicycle |
| CN102862644A (en) * | 2011-07-06 | 2013-01-09 | 王乐琳 | Drive mechanism of power bicycle |
| WO2014097927A1 (en) * | 2012-12-21 | 2014-06-26 | Ntn株式会社 | In-wheel motor drive device |
| CN203714116U (en) * | 2014-01-17 | 2014-07-16 | 南京信息工程大学 | Driving mechanism for electric moped |
| CN204216719U (en) * | 2014-11-22 | 2015-03-18 | 浙江琦星电子有限公司 | A kind of motor with harmonic speed reducer |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108291612A (en) * | 2015-12-01 | 2018-07-17 | 日本电产新宝株式会社 | Speed reducer with motor |
| CN108656148A (en) * | 2017-03-31 | 2018-10-16 | 沈机（上海）智能***研发设计有限公司 | A kind of cooperation Robot Modular Joint |
| CN108656148B (en) * | 2017-03-31 | 2024-03-08 | 沈机（上海）智能***研发设计有限公司 | Modularized joint of cooperative robot |
| CN108768064A (en) * | 2018-07-13 | 2018-11-06 | 睿尔曼智能科技（北京）有限公司 | A kind of harmonic speed reducer and torque motor integrated apparatus |
| CN109253227A (en) * | 2018-11-15 | 2019-01-22 | 杨庆华 | A kind of harmonic speed reducer that can be directly connected to mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104348296B (en) | 2017-11-21 |
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Address after: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee after: Qixing Intelligent Technology Co., Ltd. Address before: 317604 Nanyou Industrial Zone, Damaiyu Development Zone, Yuhuan County, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG QIXING ELECTRONICS CO., LTD. |
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