An integrated harmonic geared motor

Abstract

This utility model relates to the technical field of electromechanical reducers, specifically to an integrated harmonic geared motor, which includes a motor assembly, a harmonic reducer, and a control board integrated sequentially along the axial direction. The control board has a cable passage hole for cables to pass through, and the motor assembly and the harmonic reducer both have through holes that extend along the axial direction. The cable passage hole and the through hole are interconnected along the axial direction, forming a cable passage channel that runs through the entire assembly. This application effectively solves the defects of traditional independent modular design of motor transmission devices in terms of spatial layout and system integration, avoids the need for pre-reserved assembly gaps and wiring channels between components, significantly reduces the overall volume, and saves space. At the same time, the internal cable passage makes the wiring neat and orderly, reduces the risk of cable damage due to mechanical stress, and reduces the possibility of accidental contact during operation and maintenance, thereby significantly improving the stability and safety of system operation.

Description

Technical Field

[0001] This utility model relates to the technical field of electromechanical speed reducers, and in particular to an integrated harmonic speed reducer motor. Background Technology

[0002] In traditional motor drive systems, the motor, reducer, and controller are typically designed as independent functional modules. Electrical signal transmission between these modules relies on external cables, and power transmission is accomplished through mechanical connectors. In fields with high requirements for space utilization and system integration, such as aerospace, robotic joints, and portable medical devices, this independent modular design suffers from significant space utilization deficiencies. Assembly gaps and wiring channels must be reserved between components, resulting in a bulky overall size and reliability issues such as messy wiring, susceptibility to mechanical stress damage to cables, and the risk of accidental contact during operation and maintenance. Ultimately, these factors affect the stability and safety of the system operation. Utility Model Content

[0003] The purpose of this invention is to provide an integrated harmonic geared motor to solve the problems of low space utilization and messy wiring in existing motor transmission devices.

[0004] The technical solution of this utility model is: an integrated harmonic geared motor, including a motor assembly, a harmonic reducer and a control board integrated sequentially along the axial direction. The control board is provided with a cable passage hole for the cable to pass through. The motor assembly and the harmonic reducer are both provided with through holes that run through the axial direction. The cable passage hole and the through hole are interconnected along the axial direction, and together they form a cable passage that runs through the whole.

[0005] Preferably, the motor assembly includes a motor housing, a drive shaft, a stator, and a rotor. The stator is fixed inside the motor housing, and the drive shaft and the rotor rotate synchronously inside the motor housing. A through hole of the motor assembly is axially opened through the drive shaft.

[0006] Preferably, the drive shaft includes a first shaft segment, a second shaft segment, and a third shaft segment arranged sequentially along the axis. The first shaft segment is outside the motor housing and rotatably connected to the control board. The second shaft segment rotates synchronously with the rotor inside the motor housing. The third shaft segment is drively connected to the harmonic reducer.

[0007] Preferably, the control board is fixed to the end face of the motor housing, and a cover is detachably connected to the top of the motor housing. The first shaft segment and the control board are housed in the space formed by the cover and the motor housing, and the cover has a through hole that forms a wire passage.

[0008] Preferably, the harmonic reducer includes a drive section and an output section, the drive shaft is fixedly connected to the drive section, the output section is tractively connected to the end of the drive section away from the motor assembly, and the output section has a clearance hole forming a wire passage.

[0009] Preferably, the motor housing includes an upper housing and a lower housing, which together form a receiving chamber, and the cover is detachably connected to the side of the upper housing opposite to the lower housing.

[0010] Preferably, a clearance cavity is formed on the side of the lower housing opposite to the upper housing, and the harmonic reducer is partially built into the clearance cavity.

[0011] Compared with the prior art, the advantages of this utility model are: This structure integrates the motor assembly, harmonic reducer, and control board sequentially along the axial direction to form a wiring channel. This effectively solves the shortcomings of traditional independent modular designs for motor drives in terms of spatial layout and system integration. It avoids the need for pre-reserved assembly gaps and wiring channels between components, significantly reducing the overall volume and saving space. At the same time, the internal wiring channel keeps the wiring neat and orderly, reducing the risk of cable damage from mechanical stress and lowering the possibility of accidental contact during operation and maintenance, thereby significantly improving the stability and safety of system operation. Attached Figure Description

[0012] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of an integrated harmonic geared motor according to the present invention; Figure 2 This is a cross-sectional view of an integrated harmonic geared motor according to the present invention. Figure 3 This is a schematic diagram of the exploded structure of the upper shell and the cover of the present invention.

[0013] Explanation of reference numerals in the attached figures: 1. Motor assembly; 11. Motor housing; 111. Upper housing; 112. Lower housing; 12. Stator; 13. Rotor; 14. Drive shaft; 141. First shaft section; 142. Second shaft section; 143. Third shaft section; 15. Support cylinder; 16. Receiving chamber; 17. Relief chamber; 2. Harmonic reducer; 21. Drive unit; 22. Output unit; 3. Control board; 4. Wiring channel; 5. Cover. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0015] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0016] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0017] like Figures 1 to 3 As shown, an integrated harmonic geared motor includes a motor assembly 1, a harmonic reducer 2, and a control board 3, sequentially integrated along the axial direction. The control board 3 has a cable passage hole for cables to pass through. Both the motor assembly 1 and the harmonic reducer 2 have through holes extending along the axial direction. The cable passage hole and the through hole are interconnected along the axial direction, forming a through-channel 4 that runs through the entire assembly. This significantly reduces the overall size and axial dimensions of the device, making it suitable for applications in space-constrained environments. Furthermore, all cables requiring internal or external connections can be centrally routed through this common axial through-channel 4. This avoids cables tangling or having complex wiring on the outside of the device, resulting in a neat overall appearance and effectively reducing the risk of damage or signal interference caused by cable bending, friction, or external interference.

[0018] The motor assembly 1 includes a motor housing 11, a stator 12, a rotor 13, and a drive shaft 14. The stator 12 is fixed inside the motor housing 11, and the rotor 13 is rotatably connected to the motor housing 11 relative to the stator 12. The drive shaft 14 is fixedly connected to the rotor 13 so that the drive shaft 14 and the rotor 13 rotate synchronously.

[0019] The motor housing 11 includes an upper housing 111 and a lower housing 112, which together form a receiving chamber 16 in which the stator 12 and rotor 13 are housed. Preferably, the upper housing 111 is constructed as a plate, and the lower housing 112 is recessed to form a space. A first wire hole is provided at the center of the upper housing 111, and a second wire hole is provided at the bottom center of the lower housing 112. The first wire hole and the second wire hole are coaxially arranged. The drive shaft 14 passes through the first wire hole and the second wire hole, and both ends of the drive shaft 14 extend out of the motor housing 11.

[0020] Specifically, the drive shaft 14 is hollow and includes a first shaft segment 141, a second shaft segment 142, and a third shaft segment 143 connected sequentially along its axial direction. Both the first shaft segment 141 and the third shaft segment 143 are located outside the motor housing 11. A hole is provided in the center of the control board 3, allowing the first shaft segment 141 to be movably inserted into the control board 3. Preferably, the first shaft segment 141 is rotatably connected to the control board 3 via a bearing. This eliminates the need for the control board 3 to reserve edge space for cable routing and bending radii, allowing the control board 3 to be installed close to the motor housing 11, thereby greatly optimizing the space utilization and structural compactness of the entire drive unit.

[0021] The control board 3 is fixed to the top end face of the upper housing 111. A cover 5 is detachably connected to the top of the upper housing 111. The first shaft segment 141 and the control board 3 are housed in the space formed by the cover 5 and the motor housing 11. The cover 5 protects the control board 3. The metal motor housing 11 and the cover 5 together form a continuous metal shielding cavity, which can isolate the control board 3 from the internal electromagnetic field. The cover 5 has through holes that form the wiring channel 4. All external cables are routed through the through holes on the cover 5. Preferably, the cables are fixed at the wiring channel 4 to prevent stress from being transmitted to the solder terminals of the control board 3 due to shaking, thereby improving the connection reliability.

[0022] The second shaft section 142 is located inside the motor housing 11. The rotor 13 is coaxially fixed with the second shaft section 142. The rotor 13 and the stator 12 generate an electromagnetic effect, and the rotor 13 drives the transmission shaft 14 to rotate. Specifically, the rotor 13 includes a rotor flange and a rotor yoke. The rotor yoke is constructed into a circular ring structure. The rotor yoke is fixed to the edge of the end face of the rotor flange. The inner wall of the rotor 13 is fixed with a rotor core made of stacked silicon steel sheets and a permanent magnet fixed on the core.

[0023] A support cylinder 15 extends from the lower housing 112 toward the receiving cavity, and the stator 12 is fixed to the outer periphery of the support cylinder 15. Preferably, the support cylinder 15 provides a high-precision, high-rigidity cylindrical surface, and the stator 12 is directly fixed to the outer circumference of the support cylinder 15, thereby ensuring that the inner hole of the stator 12 has good roundness and concentricity. The support cylinder 15 is hollow, and the drive shaft 14 moves through the support cylinder 15. Preferably, the second shaft section 142 is rotatably connected to the support cylinder 15 via a bearing. Under high load or impact load, this reduces the risk of the rotation center of the drive shaft 14 shifting and maintains the performance stability of the drive shaft 14.

[0024] The lower housing 112 has a recessed cavity 17 at the end opposite to the upper housing 111, that is, a space is formed by the indentation of the lower housing 112. The harmonic reducer 2 is partially built into the recessed cavity 17. The overall size of the motor assembly 1 and the reducer is shortened in the axial direction to improve the compactness of the overall structure.

[0025] The harmonic reducer 2 includes a drive unit 21 and an output unit 22. The drive shaft 14 is fixedly connected to the drive unit 21. The output unit 22 is drivenly connected to the end of the drive unit 21 away from the motor assembly 1. The output unit 22 has a clearance hole that forms a wire passage 4.

[0026] Specifically, the drive unit 21 includes a rigid wheel with internal teeth, a flexible wheel with external teeth, and a wave generator. The wave generator is fixed to the outer periphery of the drive shaft 14. The outer contour of the wave generator is elliptical. The wave generator is inserted into the inner hole of the flexible wheel, causing it to elastically deform into an elliptical shape. At both ends of the major axis of the ellipse, the external teeth of the flexible wheel are fully engaged with the internal teeth of the rigid wheel. At both ends of the minor axis of the ellipse, the external teeth of the flexible wheel are completely disengaged from the internal teeth of the rigid wheel. The area between the major and minor axes is in a transitional state of engagement or disengagement. The number of teeth on the flexible wheel is less than that on the rigid wheel. Each high-speed rotation of the drive shaft 14 results in the flexible wheel rotating a few teeth less relative to the rigid wheel. This small displacement is cumulatively added, ultimately converting the high speed and low torque of the motor into the low speed and high torque of the flexible wheel. The output unit 22 includes an output flange, which is fixed to the side of the flexible wheel away from the motor assembly 1. The output flange has a clearance hole for forming the wire passage 4.

[0027] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. An integrated harmonic reduction motor, characterized by, The device includes a motor assembly (1), a harmonic reducer (2), and a control board (3) that are integrated sequentially along the axial direction. The control board (3) is provided with a cable passage hole for the cable to pass through. The motor assembly (1) and the harmonic reducer (2) are both provided with through holes that are axially connected. The cable passage hole and the through hole are interconnected along the axial direction and together form a cable passage (4) that runs through the whole.

2. An integrated harmonic gear motor according to claim 1, characterized in that: The motor assembly (1) includes a motor housing (11), a drive shaft (14), a stator (12) and a rotor (13). The stator (12) is fixed inside the motor housing (11). The drive shaft (14) and the rotor (13) rotate synchronously inside the motor housing (11). The through hole of the motor assembly (1) is axially opened through the drive shaft (14).

3. An integrated harmonic gear motor according to claim 2, characterized in that: The drive shaft (14) includes a first shaft segment (141), a second shaft segment (142) and a third shaft segment (143) arranged sequentially along the axis. The first shaft segment (141) is outside the motor housing (11) and rotatably connected to the control board (3). The second shaft segment (142) rotates synchronously with the rotor (13) inside the motor housing (11). The third shaft segment (143) is drive-connected to the harmonic reducer (2).

4. An integrated harmonic gear motor according to claim 3, characterized in that: The control board (3) is fixed to the end face of the motor housing (11). The top of the motor housing (11) is detachably connected to a cover (5). The first shaft segment (141) and the control board (3) are housed in the space formed by the cover (5) and the motor housing (11). The cover (5) has a through hole that forms a wire channel (4).

5. An integrated harmonic gear motor according to claim 2, wherein: The harmonic reducer (2) includes a drive unit (21) and an output unit (22). The drive shaft (14) is fixedly connected to the drive unit (21). The output unit (22) is driven to the end of the drive unit (21) away from the motor assembly (1). The output unit (22) has a clearance hole that forms a wire passage (4).

6. An integrated harmonic gear motor according to claim 4, characterized in that: The motor housing (11) includes an upper housing (111) and a lower housing (112), which together form a receiving chamber (16). The cover (5) is detachably connected to the side of the upper housing (111) away from the lower housing (112).

7. An integrated harmonic gear motor according to claim 6, characterized in that: The lower housing (112) has a relief cavity (17) on the side opposite to the upper housing (111), and the harmonic reducer (2) is partially built into the relief cavity (17).

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