Electric motor, harmonic reducer assembly and robot

Abstract

The application relates to the technical field of motors, in particular to a motor, a harmonic reducer assembly and a robot. The motor comprises a casing, an accommodating groove is arranged on the inner side of the casing and extends towards the inside of the casing and is arranged along the circumference of the casing, the accommodating groove is close to the first side end of the casing; a main shaft is arranged in the casing and coaxially arranged with the casing; a stator and a rotor, the rotor is fixed to the main shaft, the stator is sleeved between the rotor and the casing; an expansion ring is arranged between the stator and the casing and located in the accommodating groove, the expansion ring is elastic; an end cover is connected with the first side end surface of the casing, and is configured to: when the end cover is mounted at the first side end of the casing, the end cover applies axial pressure to the expansion ring, so that the radial dimension of the expansion ring changes and is tightly attached to the outer circumferential surface of the stator and the side groove wall of the accommodating groove respectively. The application can reduce the assembly complexity of the motor and improve the concentricity of the stator and the casing.

Description

Technical Field

[0001] This application relates to the field of harmonic reducer technology, and more specifically, to a motor, a harmonic reducer assembly, and a robot. Background Technology

[0002] Currently, the motor stator and housing of harmonic reducer modules are mainly connected by interference fit, adhesive bonding, or keyway positioning. These methods generally suffer from high processing precision requirements, low assembly efficiency (especially limited by adhesive curing time), complex structures, or difficulty in ensuring concentricity. As high-end applications such as robots and servo motors place increasingly stringent demands on structural compactness, assembly efficiency, and operational precision, the aforementioned traditional technologies are no longer sufficient to meet the manufacturing and usage requirements of modern high-performance motors. Utility Model Content

[0003] In view of this, this application provides a motor, a harmonic reducer assembly, and a robot to solve the problems of complex motor assembly structure and low concentricity.

[0004] In a first aspect, this application provides an electric motor, comprising: a housing, wherein an inner surface of the housing is provided with a receiving groove extending toward the interior of the housing and arranged circumferentially thereon, the receiving groove being close to a first side end of the housing; a main shaft disposed within the housing and arranged coaxially with the housing; a stator and a rotor, the rotor being fixed to the main shaft, the stator being sleeved between the rotor and the housing; a tension ring disposed between the stator and the housing and located within the receiving groove, the tension ring being elastic; and an end cap connected to the first side end face of the housing, configured such that when the end cap is installed on the first side end of the housing, the end cap applies axial pressure to the tension ring, causing the radial dimension of the tension ring to change, and thus tightly fitting against the outer peripheral surface of the stator and the side wall of the receiving groove, respectively.

[0005] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap provides axial compression to the tension ring, causing radial elastic deformation. This elastic deformation simultaneously grips both the stator and the housing, eliminating the need for traditional methods such as interference fits, adhesive bonding, or keyway positioning. This simplifies the assembly structure, reduces machining accuracy requirements, improves assembly efficiency, and avoids production delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring adaptively adjusts the relative position of the stator and housing, concentricity is more easily ensured, guaranteeing stator stability.

[0006] In an optional embodiment of the above motor, the radial distance between the outer peripheral surface of the tensioning ring and the main shaft gradually decreases from the first side end toward the second side end of the housing; the second side end is the end that is axially away from the first side end along the housing.

[0007] In an optional embodiment of the motor described above, the side wall of the receiving slot includes a first slot wall facing the stator, and the radial distance between the first slot wall and the main shaft gradually decreases from the first side end toward the second side end.

[0008] In an optional embodiment of the motor described above, when the tension ring is in its natural state, the outer circumferential surface of the tension ring has the same inclination angle as the first groove wall.

[0009] In an optional embodiment of the motor described above, when the tension ring is in its natural state, the protrusion distance of the tension ring relative to the first side end is less than or equal to 0.3 mm.

[0010] In an alternative embodiment of the motor described above, a notch is provided in the circumferential direction of the tensioning ring.

[0011] In an optional embodiment of the above-described motor, an adhesive layer is provided between the tensioning ring and the stator; and / or, an adhesive layer is provided between the tensioning ring and the wall of the receiving groove.

[0012] In an optional embodiment of the motor described above, the end cap is fixedly connected to the housing via a connector to apply axial pressure to the expansion ring.

[0013] In an optional embodiment of the motor described above, the end cap is fixedly connected to the housing via a connector to apply axial pressure to the expansion ring.

[0014] Secondly, this application provides a harmonic reducer assembly, including: a motor as described above; and a harmonic reducer, the harmonic reducer being fixed to a second side end of the housing and being drively connected to the main shaft.

[0015] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap is used to axially compress the tension ring, causing a radial dimensional change—elastic deformation—that allows the tension ring to simultaneously and tightly conform to both the stator and the housing. This simplifies the assembly structure, improves assembly efficiency, and avoids assembly delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring can adaptively adjust the relative position of the stator and the housing, concentricity is more easily ensured, guaranteeing stator stability. This provides a stable power source for the harmonic reducer, thereby ensuring its operational accuracy and stability.

[0016] Thirdly, this application provides a robot that includes a motor as described above, or a harmonic reducer assembly as described above.

[0017] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap is used to axially compress the tension ring, causing a radial dimensional change—elastic deformation—that allows the tension ring to simultaneously and tightly conform to both the stator and the housing. This simplifies the assembly structure, improves assembly efficiency, and avoids assembly delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring can adaptively adjust the relative position of the stator and the housing, concentricity is more easily ensured, guaranteeing stator stability. This results in higher stability and motion accuracy for the motor / harmonic reducer assembly used in robots. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a cross-sectional structural diagram of an electric motor provided in this application; Figure 2 This is a cross-sectional structural schematic diagram of another motor provided in this application; Figure 3 yes Figure 1 A magnified view of a portion of the image; Figure 4 This is a schematic diagram of the structure of an expansion ring provided in this application; Figure 5 This is a cross-sectional schematic diagram of an expansion ring provided in this application.

[0019] Figure label: 100. Housing; 101. First side end; 102. Second side end; 110. Receiving groove; 111. First groove wall; 200. Main shaft; 310. Stator; 320. Rotor; 400. Expansion ring; 410. Outer circumferential surface; 401. Notch; 500. End cover; 610. Connecting piece; 700. Harmonic reducer. Detailed Implementation

[0020] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. “Multiple” generally includes at least two, but does not exclude the inclusion of at least one.

[0022] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0023] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, but should not be construed as limiting this application.

[0025] As mentioned in the background, the motor stator and housing of harmonic reducer modules are mainly connected by interference fit, adhesive bonding, or keyway positioning. These methods generally suffer from high processing precision requirements, low assembly efficiency (especially limited by adhesive curing time), complex structures, or difficulty in ensuring concentricity. With the increasingly stringent requirements for structural compactness, assembly efficiency, and operational precision in high-end applications such as robots and servo motors, the aforementioned traditional technologies are no longer sufficient to meet the manufacturing and usage needs of modern high-performance motors.

[0026] To reduce the complexity of the motor assembly structure and improve concentricity, this disclosure provides a motor. The technical solution of this disclosure is described in detail below through specific embodiments.

[0027] Firstly, combining Figures 1 to 5 As shown, this application provides an electric motor, including a housing 100, a main shaft 200, a stator 310, a rotor 320, a tension ring 400, and an end cover 500.

[0028] The inner surface of the housing 100 is provided with a receiving groove 110 extending toward the interior of the housing 100 and arranged circumferentially along the housing 100. The receiving groove 110 is arranged near the first side end 101 of the housing 100. The main shaft 200 is disposed inside the housing 100 and arranged coaxially with the housing 100. The rotor 320 is fixed to the main shaft 200, and the stator 310 is sleeved between the rotor 320 and the housing 100. The tension ring 400 is disposed between the stator 310 and the housing 100 and is located within the receiving groove 110. The tension ring 400 is elastic. The end cover 500 is connected to the first side end 101 of the housing 100. When the end cover 500 is configured to be installed on the first side end 101 of the housing 100, the end cover 500 applies axial pressure to the expansion ring 400, causing the radial dimension of the expansion ring 400 to change and to fit tightly against the outer peripheral surface of the stator 310 and the circumferential side wall of the receiving groove 110, respectively.

[0029] The housing 100 houses a stator 310 and a rotor 320. When the stator 310 is energized, it drives the rotor 320 to rotate, thereby driving the main shaft 200 to rotate. The rotor is mounted on the main shaft 200. Furthermore, the main shaft 200, rotor 320, stator 310, and housing 100 are arranged coaxially.

[0030] To ensure the connection between the stator 310 and the housing 100, a tension ring 400 is provided between them. Specifically, the tension ring 400 is sleeved on the outer periphery of the stator 310, located between the housing 100 and the stator 310.

[0031] Furthermore, a receiving groove 110 is formed on the inner surface of the housing 100 for the placement and installation of the tension ring 400. Furthermore, an end cap 500 disposed on the first side end 101 of the housing 100 abuts against and is fixedly connected to the housing 100. Under the action of the end cap 500, axial pressure can be provided to the tension ring 400. At this time, since the tension ring 400 is elastic, it can produce elastic deformation in the radial direction, thereby changing the radial dimension of the tension ring. For example, before the end cap 500 is installed, the tension ring 400 is disposed between the stator 310 and the housing 100 and located within the receiving groove 110. Since the tension ring 400 has not yet been compressed, it can protrude from the first side end face of the housing 100. When the end cap 500 is installed on the first side end face of the housing 100, the end cap 500 applies axial pressure to the expansion ring 400, forcing the expansion ring 400 to move axially toward the receiving groove 110. This causes the expansion ring 400 to be squeezed by the space defined by the stator 310 and the receiving groove 110, resulting in a decrease in the radial dimension of the expansion ring 400, such as its diameter, and thus tightening it. Consequently, the expansion ring 400 is tightly fitted to both the outer peripheral surface of the stator 310 and the side wall of the receiving groove 110, achieving a tight connection between the stator 310 and the housing 100. This method simplifies assembly.

[0032] The side wall of the receiving groove 110 mentioned here refers to all the groove walls that make up the receiving groove 110.

[0033] Optionally, the end of the receiving groove 110 facing the end cap 500 is open to facilitate the contact between the end cap 500 and the expansion ring 400.

[0034] Furthermore, the length of the receiving groove 110 from the side away from the end cover 500 to the side facing the end cover 500 is less than or equal to the length of the tension ring 400. Thus, when the end cover 500 abuts against the tension ring 400, it ensures that the tension ring 400 is entirely compressed within the receiving groove 110, which facilitates a more uniform elastic deformation of the tension ring 400 in the radial direction under the axial pressure of the end cover 500. Due to the obstruction of the side walls of the receiving groove 110 and the stator 310, the radial elastic deformation generated by the tension ring 400 can better hold the stator 310 and the housing 100, ensuring the concentricity of the housing 100 and the stator 310.

[0035] Optionally, the thickness of the tension ring 400 is greater than or equal to the distance between the first groove wall 111 of the housing receiving groove 110 and the stator 310. The first groove wall 111 is the side groove wall of the receiving groove 110 facing the stator 310.

[0036] Optionally, the length of the receiving slot 110 and the size of the tension ring 400 can be rationally designed according to the specific size and performance requirements of the motor to achieve the best assembly effect and operating performance. Moreover, by precisely controlling the dimensional fit between the receiving slot 110 and the tension ring 400, the concentricity of the motor can be further improved, providing a more stable and precise power transmission for the harmonic reducer.

[0037] To optimize the performance of the expansion ring 400, highly elastic, wear-resistant, and fatigue-resistant materials, such as certain special alloys or polymer composites, can be selected, which can significantly improve the service life and reliability of the expansion ring. These materials not only have good elastic deformation capabilities but also maintain stable physical and chemical properties during long-term operation, reducing performance degradation caused by material aging.

[0038] Optionally, a corrosion-resistant and wear-resistant coating can be applied to the surface of the expansion ring 400.

[0039] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap provides axial compression to the tension ring, causing radial elastic deformation. This elastic deformation simultaneously grips both the stator and the housing, eliminating the need for traditional methods such as interference fits, adhesive bonding, or keyway positioning. This simplifies the assembly structure, reduces machining accuracy requirements, significantly improves assembly efficiency, and avoids production delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring adaptively adjusts the relative position of the stator and housing, concentricity is more easily ensured, guaranteeing stator stability.

[0040] In the optional embodiment of the above motor, the radial distance between the outer peripheral surface of the tension ring 400 and the main shaft 200 gradually decreases from the first side end 101 toward the second side end 102 of the housing 100; the second side end 102 is the end that is axially away from the first side end 101 along the housing 100.

[0041] In other words, the outer peripheral surface 410 of the tension ring 400 is set as an inclined side, and the outer peripheral surface of the tension ring 400 is conical. Thus, when the end cover 500 applies axial pressure to the tension ring 400, the tension ring 400 will undergo radial elastic deformation along its inclined outer peripheral surface. This design allows the tension ring 400 to more evenly grip the stator 310 and the housing 100 under pressure, thereby further improving assembly stability and concentricity. Furthermore, setting the outer peripheral surface of the tension ring 400 to be conical facilitates its insertion into the space defined by the stator and the receiving groove when the tension ring 400 is axially compressed by the end cover 500, improving assembly efficiency and feasibility.

[0042] Meanwhile, the inclined outer peripheral surface 410 makes it easier to align and place the tension ring 400 during assembly, providing assembly guidance and facilitating quick and accurate positioning and installation of the tension ring 400, thereby reducing assembly errors and improving assembly efficiency. Furthermore, due to the elasticity of the tension ring 400, it also possesses a certain degree of self-adaptation, capable of elastic deformation under the action of the end cover 500, ensuring proper contact between the stator 310 and the housing 100, thus contributing to the reliability and stability of the motor.

[0043] Furthermore, this arrangement allows the circumferential area of ​​the tension ring 400 near the first side end 101 to be larger than that near the second side end 102. In this configuration, when the tension ring 400 is subjected to axial pressure from the end cover 500, the area near the first side end 101 can withstand a greater pressure distribution, thus more effectively converting the pressure into radial elastic deformation to be evenly transmitted to the stator 310 and the housing 100, effectively enhancing the stability of the connection. Simultaneously, this special shape design of the tension ring 400 also helps to disperse stress during operation, preventing premature wear or failure due to localized stress concentration, extending the motor's service life, and reducing maintenance costs.

[0044] Optionally, multiple protrusions are provided on the inner and / or outer peripheral surfaces 410 of the tension ring 400 to increase the friction between the tension ring 400 and the stator 310 and / or the housing 100, so as to more firmly hold the stator 310 and / or the housing 100.

[0045] Alternatively, the protrusions can be evenly distributed on the inner and outer circumferential surfaces 410 of the tension ring 400. In an optional embodiment of the motor described above, the side wall of the receiving groove 110 includes a first groove wall 111 facing the stator 310, and the radial distance between the first groove wall 111 and the main shaft 200 gradually decreases from the first side end 101 toward the second side end 102.

[0046] Specifically, since the first groove wall 111 directly abuts against the outer peripheral surface of the expansion ring 400, the radial distance between the first groove wall 111 and the main shaft 200 gradually decreases from the first side end 101 towards the second side end 102, ensuring that the first groove wall 111 abuts against the outer peripheral surface 410 after being squeezed by the end cover 500.

[0047] Optionally, the first groove wall 111 is provided with multiple protrusions to enhance the friction between the tension ring 400 and the receiving groove 110. Alternatively, multiple protrusions are provided on the side walls of the receiving groove 110.

[0048] Alternatively, no protrusions are provided on the first groove wall 111.

[0049] Alternatively, the sidewalls of the receiving groove 110 are provided with multiple protrusions.

[0050] In an optional embodiment of the motor described above, when the tension ring 400 is in its natural state, the outer peripheral surface of the tension ring 400 has the same inclination angle as the first groove wall 111.

[0051] This arrangement allows the outer circumferential surface 410 of the expansion ring 400 to fit more tightly against the first groove wall 111 when the end cover 500 applies axial pressure to the expansion ring 400. This fitting method helps the expansion ring 400 to produce uniform and sufficient dimensional changes, i.e., elastic deformation, in the radial direction, so that the expansion ring 400 can fit more tightly against both the stator 310 and the housing 100 at the same time, further enhancing the stability and concentricity of the connection between the stator 310 and the housing 100.

[0052] At the same time, this design with the same tilt angle reduces friction and resistance during assembly, making it easier for the tightening ring to be installed smoothly into the receiving groove, improving assembly efficiency, and reducing the risk of motor performance degradation or failure due to improper assembly.

[0053] In an optional embodiment of the motor described above, when the tension ring 400 is in its natural state, the protrusion distance of the tension ring relative to the first side end 101 is less than or equal to 0.3 mm.

[0054] By setting the protrusion distance of the expansion ring 400 relative to the first side end 101 to less than or equal to 0.3 mm, it can be ensured that the expansion ring 400 will not affect the initial assembly of the motor due to excessive protrusion when not subjected to the axial pressure of the end cover 500. At the same time, this small protrusion distance provides sufficient elasticity for the expansion ring 400 after being compressed, allowing the expansion ring 400 to expand evenly and fit tightly against the stator 310 and the housing 100, thereby further improving the stability and reliability of motor operation while ensuring assembly accuracy.

[0055] In an alternative embodiment of the motor described above, a notch 401 is provided in the circumferential direction of the tension ring 400.

[0056] The notch 401 is designed to allow the tension ring 400 to undergo radial elastic deformation, meaning that the tension ring 400 can more flexibly generate radial elastic deformation when subjected to axial pressure from the end cover 500. Simultaneously, the notch 401 design also helps to disperse stress during the deformation of the tension ring 400, preventing premature wear or failure due to localized stress concentration, thus helping to extend the motor's service life. Furthermore, this design also allows the tension ring 400 to have better adaptability and adjustability during assembly, automatically adjusting the degree of deformation according to the actual assembly conditions, thereby ensuring a tight connection between the stator 310 and the housing 100.

[0057] In addition, the notch 401 facilitates the installation and removal of the tension ring 400, improving assembly efficiency and maintenance convenience.

[0058] In an optional embodiment of the motor described above, an adhesive layer is provided between the contact surface of the tension ring 400 and the stator 310; and / or, an adhesive layer is provided between the tension ring 400 and the side wall of the receiving groove 110.

[0059] The adhesion layer further enhances the connection strength and stability between the expansion ring 400 and the stator 310 and / or the housing 100.

[0060] Optionally, the adhesive layer may be provided on the expansion ring 400, and / or on the stator 310.

[0061] Optionally, the adhesive layer may be disposed on the expansion ring 400, and / or on the side wall of the receiving groove 110.

[0062] The adhesive layer can be made of materials with high adhesion and good durability, such as special adhesives or coatings. This forms a strong adhesive film on the contact surface between the tension ring 400 and the stator 310 and / or the housing 100, effectively preventing the tension ring 400 from slipping due to vibration or external forces during motor operation. Simultaneously, the adhesive layer also provides a certain degree of sealing, preventing external impurities from entering the gap between the tension ring 400 and the stator 310 and / or the housing 100, thereby protecting the cleanliness and normal operation of the internal structure.

[0063] In addition, the adhesive layer helps reduce friction and wear between the tension ring 400 and the stator 310 and / or the housing 100, extending service life and reducing maintenance costs.

[0064] In an alternative embodiment of the motor described above, the end cap 500 is fixedly connected to the housing 100 via a connector 610 to apply axial pressure to the expansion ring 400.

[0065] In this way, a stable connection can be achieved between the end cap 500 and the housing 100, ensuring that the end cap 500 applies stable and continuous axial pressure to the expansion ring 400.

[0066] Optionally, the connector 610 can be bolts, screws or other suitable fastening elements, selected and designed according to the actual application scenario and performance requirements, to ensure that the motor can maintain stable performance and accuracy under various working conditions, and provide strong support for the normal operation of robots and other equipment.

[0067] Secondly, this application provides a harmonic reducer assembly, including the aforementioned motor and harmonic reducer 700. The harmonic reducer 700 is fixed to the second side end 102 of the housing 100 and is drive-connected to the main shaft 200.

[0068] Specifically, the harmonic reducer 700 includes at least a shaft-shaped cam, which is connected to the main shaft 200. Furthermore, when the main shaft 200 rotates, the power is transmitted to the harmonic reducer through the shaft-shaped cam, and the harmonic reducer reduces the power before outputting it, thereby achieving the purpose of speed reduction.

[0069] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap is used to axially compress the tension ring, causing a radial dimensional change—elastic deformation—that allows the tension ring to simultaneously and tightly conform to both the stator and the housing. This simplifies the assembly structure, improves assembly efficiency, and avoids assembly delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring can adaptively adjust the relative position of the stator and the housing, concentricity is more easily ensured, guaranteeing stator stability. This provides a stable power source for the harmonic reducer, thereby ensuring its operational accuracy and stability.

[0070] Secondly, this application provides a robot, including: a motor as described above; or, including a harmonic reducer as described above.

[0071] By employing the above technical solution, a tension ring is placed within a receiving groove on the housing, positioned between the housing and the stator. An end cap is used to axially compress the tension ring, causing a radial dimensional change—elastic deformation—that allows the tension ring to simultaneously and tightly conform to both the stator and the housing. This simplifies the assembly structure, improves assembly efficiency, and avoids assembly delays caused by factors such as adhesive curing time. Furthermore, because the elastic deformation of the tension ring can adaptively adjust the relative position of the stator and the housing, concentricity is more easily ensured, guaranteeing stator stability. This provides a stable power source for the harmonic reducer, thereby ensuring its operational accuracy and stability.

[0072] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. An electric motor, characterized in that, include: The housing has an inner side surface provided with a receiving groove extending toward the interior of the housing and arranged circumferentially along the housing, the receiving groove being close to a first side end of the housing; The main shaft is disposed inside the housing and arranged coaxially with the housing; The stator and rotor, wherein the rotor is fixed to the main shaft and the stator is sleeved between the rotor and the housing; An expansion ring is disposed between the stator and the housing and located within the receiving groove; the expansion ring is elastic. An end cap is connected to the first side end of the housing. The end cap is configured such that when the end cap is installed on the first side end of the housing, the end cap applies axial pressure to the expansion ring, causing the radial dimension of the expansion ring to change and fit tightly against the outer peripheral surface of the stator and the side wall of the receiving groove, respectively.

2. The motor according to claim 1, characterized in that, The radial distance between the outer peripheral surface of the expansion ring and the main shaft gradually decreases from the first side end toward the second side end of the housing; The second side end is the end that is axially opposite to the first side end of the housing.

3. The motor according to claim 2, characterized in that, The side wall of the receiving groove includes a first groove wall facing the stator, and the radial distance between the first groove wall and the main shaft gradually decreases from the first side end toward the second side end.

4. The motor according to claim 3, characterized in that, When the tension ring is in its natural state, the outer circumferential surface of the tension ring has the same inclination angle as the first groove wall.

5. The motor according to claim 1, characterized in that, When the tension ring is in its natural state, the protrusion distance of the tension ring relative to the first side end is less than or equal to 0.3 mm.

6. The motor according to claim 1, characterized in that, A notch is provided in the circumferential direction of the tightening ring.

7. The motor according to any one of claims 1 to 6, characterized in that, An adhesive layer is provided between the expansion ring and the stator; and / or, An adhesive layer is provided between the expansion ring and the side wall of the receiving groove.

8. The motor according to any one of claims 1 to 6, characterized in that, The end cap is fixedly connected to the housing via a connector to apply axial pressure to the expansion ring.

9. A harmonic reducer assembly, characterized in that, include: The motor as described in any one of claims 1 to 8; and, Harmonic reducer, the harmonic reducer is fixed to the second side end of the housing and is connected to the main shaft drive; The second side end is the end that is axially opposite to the first side end along the housing.

10. A robot, characterized in that, include: The motor as described in any one of claims 1 to 8; or, The harmonic reducer assembly as described in claim 9.

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