CN104348296B - A kind of motor with harmonic speed reducer - Google Patents
A kind of motor with harmonic speed reducer Download PDFInfo
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- CN104348296B CN104348296B CN201410676549.2A CN201410676549A CN104348296B CN 104348296 B CN104348296 B CN 104348296B CN 201410676549 A CN201410676549 A CN 201410676549A CN 104348296 B CN104348296 B CN 104348296B
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- 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 kind of motor with harmonic speed reducer, belong to field of mechanical technique.It solves the problems, such as that existing motor is high with the combination production cost of harmonic speed reducer, precision is low.This motor with harmonic speed reducer includes harmonic speed reducer, harmonic speed reducer has the input shaft from harmonic speed reducer one end protrusion, the end of input shaft is fixed with machine shaft, machine shaft is connected with input shaft by disposal molding, one end of harmonic speed reducer is connected with motor housing by fastener, machine shaft is located in motor housing, and rotor core is fixed with machine shaft, and stator is provided between machine shaft and motor housing madial wall.This motor with harmonic speed reducer has the advantages that to be simple to manufacture, production cost is low, precision is high.
Description
Technical field
The invention belongs to field of mechanical technique, is related to a kind of motor, more particularly to a kind of motor with harmonic speed reducer.
Background technology
Harmonic speed reducer is a kind of new, high-precision transmission decelerating device, mainly by wave producer, flexbile gear and firm gear
Three basic building block compositions, it makes flexbile gear produce controlled elasticity deformation by wave producer, and is meshed with firm gear to transmit motion
And power.This decelerator moment of torsion is big, gearratio is high, in light weight, small volume, thus is used widely.In production, when using
During harmonic speed reducer, generally use harmonic speed reducer and other component separable assembleds, harmonic speed reducer is first assembled in decelerator
In fixed seat, the output flange for the servomotor of power input and for power output is then assembled.
A kind of robot smart arm joint driving and its deceleration device [patent No. as disclosed in Chinese patent：
ZL200610155650.9；Notification number：CN101209556A], in the apparatus, motor is fixed on motor fixing frame, motor
Rotor be connected with adpting flange, adpting flange is connected with the harmonic oscillator of harmonic speed reducer, and the firm gear of harmonic speed reducer is led to
Screw is crossed to be fixed on motor fixing frame, the flexbile gear of harmonic speed reducer is connected with axis and flange, the rotor of motor and
Install needle bearing between harmonic oscillator and axis additional, install deep groove ball bearing between flange and motor fixing frame additional.It passes through electricity
Motor is connected by machine fixed mount with harmonic speed reducer, and the rotor of motor and harmonic speed reducer is connected by adpting flange,
So that motor integrates with harmonic speed reducer, deceleration is realized.
However, in above-mentioned deceleration device, due to being needed between harmonic speed reducer and motor by being connected among others
Part is attached (such as motor fixing frame, adpting flange), therefore it is cumbersome to cause whole deceleration device to manufacture, and
Due to adding many intermediate connectors, while the production cost for also resulting in whole deceleration device is higher, transmission accuracy is low.
The content of the invention
The purpose of the present invention is in view of the above-mentioned problems existing in the prior art, it is proposed that one kind is simple to manufacture, precision is high, raw
Produce the low motor with harmonic speed reducer of cost.
The purpose of the present invention can be realized by following technical proposal：
A kind of motor with harmonic speed reducer, including harmonic speed reducer, described harmonic speed reducer have from harmonic reduction
The input shaft of device one end protrusion, the end of the input shaft is fixed with machine shaft, it is characterised in that described machine shaft with
Above-mentioned input shaft is connected by disposal molding, and one end of described harmonic speed reducer is connected with outside motor by fastener
Shell, described machine shaft are located in motor housing, and rotor core, described machine shaft are fixed with described machine shaft
Stator is provided between motor housing madial wall.
During manufacture, by disposal molding machine shaft on the input shaft of harmonic speed reducer, make machine shaft and input
Axle is integrally formed, and improves the transmission accuracy of power, then the fixed rotor iron core on machine shaft, due to machine shaft with it is defeated
Enter axis connection into together, therefore after rotor core is fixed on machine shaft, the input shaft of rotor core and harmonic speed reducer
Just the rotor of this motor has been collectively constituted.Then motor housing is directly connected in one end of harmonic speed reducer, such structure saves
The original end cap of motor housing has been omited, has saved production cost.And in this patent, not to the internal junction of harmonic speed reducer
Structure does any change, therefore the present invention directly overall from the market can buy harmonic speed reducer use when implementing, without enterprise
Industry oneself fabricates, therefore greatly reduces the production cost of whole motor, simultaneously because during fabrication, it is only necessary to by motor
The input shaft of rotating shaft and harmonic speed reducer is made of one, then rotor core, stator etc. is fixed, therefore manufactures also ten
Divide simple.
In the above-mentioned motor with harmonic speed reducer, there is positioning step on the outside of described machine shaft, described turns
With machine shaft by interference fit, one end of described rotor core is resisted against on positioning step iron core.
In assembling, directly rotor core is fixed on machine shaft by interference fit, without other fixtures, drop
Low production cost, one end of positioning step and rotor core on machine shaft leans and plays position-limiting action, due to electricity
The input shaft of machine rotating shaft and harmonic speed reducer links into an integrated entity, therefore also means that rotor core is directly fixed by being interference fitted
On the input shaft of harmonic speed reducer, manufacture fairly simple.
In the above-mentioned motor with harmonic speed reducer, as another technical solution, described rotor core and motor
Rotating shaft is connected by disposal molding.
Because machine shaft is connected with the input shaft of harmonic speed reducer by disposal molding, and rotor core with
Machine shaft is connected by disposal molding, therefore is also meant that, passes through the defeated of disposal molding harmonic speed reducer
Entering axle can use directly as the rotor of motor.
In the above-mentioned motor with harmonic speed reducer, as another technical solution, described rotor core and motor
Rotating shaft is mutually fixed by screw.Directly rotor core and machine shaft are fixed using screw, are simple to manufacture, stable connection.
In the above-mentioned motor with harmonic speed reducer, described motor housing is cylindrical, described motor housing
Internal diameter is more than the external diameter of harmonic speed reducer, and described harmonic speed reducer is located in motor housing, described motor housing and harmonic wave
Decelerator is fixed by fastener.
Harmonic speed reducer is arranged in motor housing, the end cap of motor housing is eliminated, using harmonic speed reducer to electricity
The port of machine shell is closed, while can shorten the length of motor housing axial direction, saves the material of motor housing, drop
Low production cost.
In the above-mentioned motor with harmonic speed reducer, there is tubular installation portion, institute on the inside of described motor housing
The harmonic speed reducer stated is resisted against on the end face of installation portion, and above-mentioned fastener is through harmonic speed reducer and penetrates the end of installation portion
Face.
Harmonic speed reducer need to be only placed in motor housing, be brought to abutment against on the end face of installation portion, then directly with tight
Firmware is fixed on the end face of installation portion through harmonic speed reducer.So not only manufacture it is fairly simple, and
Harmonic speed reducer is positioned in motor housing and fixed with the installation portion in motor housing, the length of motor housing can be shortened,
Material is saved, directly reduces production cost.
In the above-mentioned motor with harmonic speed reducer, some positioning have been evenly distributed on the outside of described installation portion
Portion, described location division outside and the madial wall of motor housing are fixedly connected with, and described location division is provided with mounting hole, and described is tight
Firmware is through harmonic speed reducer and penetrates in mounting hole.
Harmonic speed reducer is resisted against on installation portion, and some positioning provided with mounting hole are evenly distributed on the outside of installation portion
Portion, so when fabricated, it is only necessary to fastener is passed through into harmonic speed reducer, is then directed at installation i.e. with the mounting hole on installation portion
Can.
In the above-mentioned motor with harmonic speed reducer, be evenly equipped with described harmonic speed reducer with above-mentioned installation portion
The corresponding connecting hole of position of mounting hole, described fastener are screw, and described screw passes through the connection on harmonic speed reducer
Hole is simultaneously inserted in above-mentioned mounting hole.
Compared with prior art, the harmonic wave that in the market is directly commercially available by this motor with harmonic speed reducer during fabrication
Decelerator is brought to be used as the part of motor, eliminates the original end cap of motor housing, during fabrication only need to be by motor
The input shaft of rotating shaft and harmonic speed reducer is made of one, then fit on rotor core, stator etc., reduces whole motor
Production cost, and manufacture also more convenient.
Brief description of the drawings
Fig. 1 is the sectional view of this motor with harmonic speed reducer.
Fig. 2 is the exploded view of this motor with harmonic speed reducer.
Fig. 3 is the sectional view of harmonic speed reducer in this motor with harmonic speed reducer.
Fig. 4 is the schematic diagram of motor housing in this motor with harmonic speed reducer.
Fig. 5 is the sectional view of machine shaft and the integral time-harmonic wave decelerator of rotor core disposal molding.
In figure, 1, harmonic speed reducer；2nd, input shaft；3rd, machine shaft；4th, fastener；5th, motor housing；6th, rotor core；
7th, stator；8th, installation portion；9th, location division；10th, mounting hole；11st, positioning step.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment one
As shown in Figure 1-Figure 3, a kind of motor with harmonic speed reducer, including harmonic speed reducer 1, harmonic speed reducer 1 have
From the input shaft 2 of the one end of harmonic speed reducer 1 protrusion, the end of input shaft 2 is connected with machine shaft 3, machine shaft 3 and input shaft
2 are connected by disposal molding, and the outside of machine shaft 3 has the positioning step 11 of protrusion, passes through interference on machine shaft 3
Cooperation is fixed with rotor core 6, and one end of rotor core 6 is resisted against on positioning step 11.It should be noted that machine shaft 3
Input shaft 2 with harmonic speed reducer 1, can also be integral by being welded to connect except being connected by disposal molding.
In addition, as shown in figure 5, except interference fit in addition to, rotor core 6 can also with machine shaft 3 by disposably into
Type links into an integrated entity.Or rotor core 6 can also be entered in addition to above two mode and machine shaft 3 are fixed by screw
Row is directly fixed.
As shown in Figure 1, Figure 2 and Figure 4, harmonic speed reducer 1 is connected with electricity in one end that input shaft 2 protrudes by fastener 4
Machine shell 5, machine shaft 3 are located in motor housing 5, and stator 7 is provided between machine shaft 3 and the madial wall of motor housing 5.Motor
Shell 5 is cylindrical, and the external diameter of motor housing 5 is more than the internal diameter of harmonic speed reducer 1, and the inner side of motor housing 5 has tubular
Installation portion 8, harmonic speed reducer 1 are located in motor housing 5 and are resisted against on the end face of installation portion 8, and the outside of installation portion 8 is circumferentially
Some location divisions 9 are evenly equipped with, the outside of location division 9 and the madial wall of motor housing 5 are fixedly connected with, and mounting hole is offered on location division 9
10, harmonic speed reducer 1 and installation portion 8 are by through harmonic speed reducer 1 and the fastener 4 that penetrates in the upper installing hole 10 of location division 9
It is mutually fixed.In the present embodiment, fastener 4 is screw, is connected on harmonic speed reducer 1 with having at the position correspondence of mounting hole 10
Hole, screw is through connecting hole and penetrates in mounting hole 10, in addition, fastener 4 can certainly be bolt etc..
This motor with harmonic speed reducer during fabrication, because the input shaft 2 of harmonic speed reducer 1 is integrally formed, so when
After rotor core 6 is fixed on the input shaft 2 of harmonic speed reducer 1 by interference fit, it is possible to by the input of harmonic speed reducer 1
Axle 2 uses directly as machine shaft 3, also implies that the harmonic speed reducer 1 for being fixed with rotor core 6 directly forms motor
Rotor, then in one end of harmonic speed reducer 1 by motor housing 5 in the connection of fastener 4, and in motor housing 5 and motor
Stator 7 is placed between rotor.
Harmonic speed reducer 1 can directly buy use from the market, and this motor is during fabrication directly in harmonic speed reducer 1
Machine shaft 3 is integrally formed on input shaft 2, therefore also means that the as machine shaft 3 of input shaft 2 of harmonic speed reducer 1, and
Motor housing 5 is directly connected by fastener 4 with harmonic speed reducer, thus eliminates 5 original end cap of motor housing,
Save the production cost of enterprise.So, after the completion of motor manufacturing, whole harmonic speed reducer 1 just constitutes the one of motor
Part, the as machine shaft 3 of input shaft 2 of harmonic speed reducer 1, the end that harmonic speed reducer 1 then can simultaneously as motor housing 5
Lid uses.Because harmonic speed reducer 1 can be used by buying, voluntarily fabricated without enterprise, and rotor core, stator
Etc., without processing and manufacturing, therefore can also well reducing the production cost of whole motor, simultaneously by directly buying
Also harmonic speed reducer 1 need to be only fixed on during assembling on motor housing 5 by fastener 4, manufactures fairly simple, side
Just.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (6)
1. a kind of motor with harmonic speed reducer, including harmonic speed reducer (1), described harmonic speed reducer (1) has from harmonic wave
The input shaft (2) of decelerator (1) one end protrusion, the end of the input shaft (2) are fixed with machine shaft (3), it is characterised in that
Described machine shaft (3) is connected with above-mentioned input shaft (2) by disposal molding, described harmonic speed reducer (1)
One end is connected with motor housing (5) by fastener (4), and described machine shaft (3) is located in motor housing (5), described
Rotor core (6) is fixed with machine shaft (3), it is fixed to be provided between described machine shaft (3) and motor housing (5) madial wall
Sub (7), motor housing (5) inner side have cylindrical installation portion (8), and harmonic speed reducer (1) is located in motor housing (5) simultaneously
Be resisted against on the end face of installation portion (8), be evenly distributed some location divisions (9) on the outside of installation portion (8), location division (9) outside
The madial wall of side and motor housing (5) is fixedly connected with, and location division (9) are provided with mounting hole (10), and fastener (4) passes through harmonic reduction
Device (1) is simultaneously penetrated in mounting hole (10).
2. the motor according to claim 1 with harmonic speed reducer, it is characterised in that on the outside of described machine shaft (3)
With positioning step (11), described rotor core (6) passes through interference fit, described rotor core (6) with machine shaft (3)
One end be resisted against on positioning step (11).
3. the motor according to claim 1 with harmonic speed reducer, it is characterised in that described rotor core (6) and electricity
Machine rotating shaft (3) is connected by disposal molding.
4. the motor according to claim 1 with harmonic speed reducer, it is characterised in that described rotor core (6) and electricity
Machine rotating shaft (3) is mutually 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 characterised in that described motor
Shell (5) is cylindrical, and the internal diameter of described motor housing (5) is more than the external diameter of harmonic speed reducer (1).
6. the motor according to claim 1 with harmonic speed reducer, it is characterised in that on described harmonic speed reducer (1)
The connecting hole corresponding with mounting hole (10) position on above-mentioned installation portion (8) is evenly equipped with, described fastener (4) is screw,
Described screw is through the connecting hole on harmonic speed reducer (1) and inserts in above-mentioned mounting 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 |
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| Publication Number | Publication Date |
|---|---|
| CN104348296A CN104348296A (en) | 2015-02-11 |
| CN104348296B true 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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| CN (1) | CN104348296B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6599220B2 (en) * | 2015-12-01 | 2019-10-30 | 日本電産シンポ株式会社 | Reducer with electric motor |
| CN108656148B (en) * | 2017-03-31 | 2024-03-08 | 沈机（上海）智能系统研发设计有限公司 | 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734342A (en) * | 2008-11-17 | 2010-06-16 | 王乐琳 | Standard harmonic assembly speed-reducing mechanism of electric bicycle |
Family Cites Families (5)
| 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 |
| CN102862644A (en) * | 2011-07-06 | 2013-01-09 | 王乐琳 | Drive mechanism of power bicycle |
| JP6099965B2 (en) * | 2012-12-21 | 2017-03-22 | 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 (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734342A (en) * | 2008-11-17 | 2010-06-16 | 王乐琳 | Standard harmonic assembly speed-reducing mechanism of electric bicycle |
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| CN104348296A (en) | 2015-02-11 |
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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. |