CN218294337U - Motor reducer, elastic wire harness packing ring and robot - Google Patents

Abstract

The utility model discloses a motor reducer, elasticity pencil packing ring and robot. The motor reducer includes: a housing; the motor comprises a stator and a rotor, the motor is arranged in the shell, the stator is connected with the shell, and the rotor is in driving connection with the driving assembly; the planetary gear train comprises a sun gear, a planetary gear, a planet carrier and an inner gear ring, the sun gear is fixedly connected with the rotor, the planet carrier is fixedly connected with the shell, the planetary gear is respectively in meshing connection with the inner gear ring and the sun gear, and the inner gear ring is used for being connected with the connecting shaft. The utility model discloses a motor reducer, elasticity pencil packing ring and robot can solve the too complicated problem of motor reducer manufacturing assembly process among the prior art.

Description

Motor reducer, elastic wire harness packing ring and robot

Technical Field

The utility model belongs to the technical field of motor reducer is relevant, concretely relates to motor reducer, elasticity pencil packing ring and robot.

Background

At present, the motor reducer is more and more designed to be applied to the joints of biped and quadruped robots. The motor reducer has the advantage of compactness, improves the torque density of a single motor, and mainly takes a planet carrier as an output rotating part in common NGW, NW type planetary transmission and the like. When the planet carrier is used as an output part, the inner gear ring needs to be fixed, and is generally pressed in the shell, or integrally designed with the shell, or fixed by pin shaft screws and the like, so that the process manufacturing and the assembly are complicated.

Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model aims to solve the technical problem that the motor reducer manufacturing and assembling process is too complicated.

In order to solve the technical problem, the utility model provides a motor reducer, include: a housing; the motor comprises a stator and a rotor, the motor is arranged in the shell, the stator is connected with the shell, and the rotor is in driving connection with the driving assembly; the planetary gear train comprises a sun gear, a planetary gear, a planet carrier and an inner gear ring, the sun gear is fixedly connected with the rotor, the planet carrier is fixedly connected with the shell, the planetary gear is respectively in meshing connection with the inner gear ring and the sun gear, and the inner gear ring is used for being connected with the connecting shaft.

Optionally, the motor reducer further comprises an output bearing, the output bearing is sleeved on the inner gear ring, and the outer side surface of the output bearing is connected with the shell.

Optionally, one side of the housing near the coupling shaft has a groove, and the outer side surface of the output bearing abuts against a side wall of the groove.

Optionally, the motor reducer further comprises a baffle plate disposed at the notch of the groove, the baffle plate extending radially toward the center of the notch and stopping the output bearing.

Optionally, the ring gear is provided with a connecting hole, and the motor reducer further comprises a locking piece which penetrates through the connecting hole to be connected with the connecting shaft.

Optionally, the sun gear and the rotor are in any one of threaded connection, key connection, pin connection, riveting, welding or integral forming; and/or the planet carrier and the shell are in any one of threaded connection, key connection, pin connection, riveting, welding or integral forming.

Optionally, the housing is provided with a threading hole, and an electric wire of a stator winding of the motor passes through the threading hole to be electrically connected with the driving assembly.

Optionally, the threading hole is formed in a rib plate of the shell, the rib plate and the motor are arranged at intervals along the axial direction, the threading hole comprises a first section, a second section and a third section which are bent continuously, the first section and the third section extend along the axial direction and are communicated with the surface of one side, close to the motor, of the rib plate, and the second section extends along the radial direction.

Optionally, the motor reducer further comprises a gasket, and the gasket is abutted with the shell and the inner gear ring respectively.

The utility model also provides an elasticity pencil encirclement ring, elasticity pencil encirclement ring set up in foretell motor reducer's casing, the outer peripheral face of elasticity pencil encirclement ring and the inner wall butt of casing.

Optionally, the elastic wire harness tightening ring is provided with an avoidance gap, and the avoidance gap is used for avoiding wires of a stator winding of a motor of the motor reducer.

Optionally, the relief notch is located at an outer edge of the elastic strand cinch ring.

Optionally, the elastic wire harness tightening ring is in a semi-closed ring shape, and an outer diameter of the elastic wire harness tightening ring is larger than an inner diameter of the housing.

Optionally, the elastic wire harness tightening ring is provided with an avoidance notch arranged opposite to the opening of the elastic wire harness tightening ring, and the width between the inner circle and the outer circle of the elastic wire harness tightening ring is gradually reduced from the avoidance notch to the opening of the elastic wire harness tightening ring.

Optionally, the thickness of the elastic wire harness packing ring in the axial direction is larger than the distance between the motor of the motor reducer and the shell in the axial direction.

Optionally, the elastic thread bundle tightening ring is arranged between a motor and a shell of the motor reducer and is provided with a threading hole along the radial direction, and an electric wire of a stator winding of the motor penetrates through the threading hole to be electrically connected with the driving assembly.

The utility model also provides a robot, including foretell motor reducer and foretell elasticity pencil packing ring.

The utility model provides a technical scheme has following advantage:

the utility model provides a motor reducer, the stator and the casing of motor are connected, the rotor is connected with the drive assembly drive, planetary gear train's sun gear and rotor fixed connection, planet carrier and casing fixed connection, planetary gear is connected with ring gear and sun gear meshing respectively, the ring gear is used for being connected with the coupling shaft, the rotor rotates and drives sun gear and planetary gear meshing transmission, then transmit to the ring gear output, the ring gear need not fixedly as the output piece like this, and the planet carrier can conveniently be fixed with the casing, make motor reducer realize that the assembly is simple and easy, overall structure is compact and lightweight.

Drawings

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

Fig. 1 is a schematic structural diagram of a motor reducer according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a motor reducer and a coupling shaft according to an embodiment of the present invention;

fig. 3 is a schematic view of a partial structure of a rib plate of a motor reducer according to an embodiment of the present invention;

fig. 4 is a schematic view of the elastic wire harness tightening ring provided in the motor reducer according to an embodiment of the present invention;

fig. 5 is a schematic structural view of an elastic wire harness tightening ring according to an embodiment of the present invention.

Description of reference numerals:

10-a housing; 11-a groove; 12-threading holes; 121-first section; 122-a second segment; 123-third section; 13-rib plate; 20-a stator; 30-a rotor; 40-a drive assembly; 50-ring gear; 51-connection hole; 60-an output bearing; 70-a baffle plate; 80-elastic thread bundle tightening ring; 81-avoiding the gap; 82-opening; 90-a gasket; 100-sun gear; 110-a planet carrier; 111-central via; 120-a planetary gear; 130-planet axis; 140-an intermediate housing; 150-a rear cover; 160-rotor bearing; 170-sun gear bearing; 180-coupling shaft.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features of the embodiments of the present invention may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

In the present application, where the contrary is not intended, the use of directional terms such as "upper, lower, top, bottom" generally refer to the orientation as shown in the drawings, or to the component itself being oriented in a vertical, perpendicular, or gravitational direction; similarly, "inner and outer" refer to the inner and outer relative to the contours of the components themselves for ease of understanding and description, but the above directional terms are not intended to limit the invention.

The utility model provides a motor reducer among the prior art make the too complicated problem of assembly process.

As shown in fig. 1 to 3, the motor reducer includes a housing 10, a motor, and a planetary gear train. The motor comprises a stator 20 and a rotor 30, the motor is arranged in the shell 10, the stator 20 is connected with the shell 10, and the rotor 30 is in driving connection with the driving assembly 40. The planetary gear train includes a sun gear 100, a planetary gear 120, a carrier 110, and an annular gear 50. The sun gear 100 is fixedly connected with the rotor 30, the planet carrier 110 is fixedly connected with the housing 10, the planet gears 120 are respectively connected with the ring gear 50 and the sun gear 100 in a meshing manner, and the ring gear 50 is used for being connected with the coupling shaft 180.

In this embodiment, the motor is of an outer rotor type. That is, the rotor 30 is located radially outward of the stator 20.

It should be noted that the term fixedly connected means that the two components are connected without relative movement, and includes removable and non-removable connections. Specifically, any one of a threaded connection, a key connection, a pin connection, a riveting connection, a welding connection, and an integral molding may be used between the sun gear 100 and the rotor 30, and between the planet carrier 110 and the housing 10. Of course, the connection mode can be detachable or non-detachable besides the above connection mode, as long as the corresponding fixing function is achieved.

In the present embodiment, the ring gear 50 includes a toothed portion and a non-toothed portion connected in series. Wherein the toothed portion of the inner gear ring 50 is close to the housing 10 relative to the non-toothed portion. The inner wall of the toothed portion of the ring gear 50 has a toothed belt to be engaged with the planetary gears 120. One end of the coupling shaft 180 extends into the non-toothed portion of the ring gear 50 and is closely attached to the inner wall of the non-toothed portion, thereby achieving sealing.

In the present embodiment, the carrier 110 is integrally formed with the casing 10, and the carrier 110 may be a part of the casing 10. One end of the sun gear 100 is located inside the case 10, and the planet gears 120 and the ring gear 50 are located outside the case 10. The planetary gear train further comprises a planet shaft 130. The planet shaft 130 is disposed through the planet carrier 110, and the planet gear 120 is disposed on the planet shaft 130 and rotates around the planet shaft 130.

As shown in fig. 1 to 3, the motor reducer further includes an output bearing 60. The output bearing 60 is sleeved on the annular gear 50 and the outer side surface of the output bearing 60 is connected with the housing 10. Specifically, the housing 10 has a groove 11 on a side thereof adjacent to the coupling shaft 180. That is, the groove 11 is located outside the housing 10. The outer side surface of the output bearing 60 abuts against the side wall of the recess 11. The output bearing 60 supports the ring gear 50 and enables the ring gear 50 to smoothly rotate, thereby reducing friction and securing output efficiency.

In this embodiment, one end of the ring gear 50 close to the housing 10 has a reducing section to form a limiting step, and the output bearing 60 is sleeved on the reducing section hastella to form a limiting stop with the limiting step.

Further, the motor reducer further includes a baffle 70. A baffle 70 is provided at the notch of the groove 11, the baffle 70 extending radially toward the center of the notch and stopping the output bearing 60. In this embodiment, the baffle 70 is annular, the outer diameter of the baffle 70 is equal to or slightly smaller than the outer diameter of the notch of the groove 11, and the inner diameter of the baffle 70 is smaller than the inner diameter of the notch of the groove 11, so that a part of the baffle 70 is located in the notch to stop the output bearing 60, and the output bearing 60 is prevented from being separated from the groove 11, thereby ensuring the normal operation of the ring gear 50. In addition, under the combined action of the limit step and the baffle 70, the inner gear ring 50 is also stopped by the limit, and is prevented from being separated from the groove 11.

As shown in fig. 1 to 3, the motor reducer further includes a spacer 90. The spacer 90 abuts against the housing 10 and the ring gear 50, respectively. In the present embodiment, the spacer 90 is annular and is adapted to the shape and size of the ring gear 50. The gasket 90 is arranged at the bottom of the groove 11, and the annular gear 50 is directly abutted against the gasket 90 without contacting the shell 10, so that axial limit is realized. In this embodiment, the shim 90 is made of a self-lubricating, wear-resistant material, such as a metal + graphite composite material. This makes the spacer 90 not interfere with the normal rotation of the ring gear 50 and has a sufficient life.

As shown in fig. 1 to 3, the ring gear 50 is provided with a coupling hole 51. The motor reducer further includes a locking member which is connected to the coupling shaft 180 through the connection hole 51. Specifically, the attachment hole 51 is located at the non-toothed portion of the ring gear 50. When there are a plurality of the connection holes 51, the plurality of connection holes 51 are provided at intervals in the circumferential direction of the ring gear 50. The coupling shaft 180 has a receiving hole provided corresponding to the coupling hole 51. The connecting holes 51 and the bearing holes are threaded holes, or one of the connecting holes and the bearing holes is a threaded hole, and the locking part is a locking screw, so that the inner gear ring 50 is fixedly connected with the connecting shaft 180 through threaded connection. Of course, the locking member may also be a bolt, the receiving hole penetrates through the coupling shaft 180, the locking member penetrates through the inner gear ring 50 and the rear end of the coupling shaft 180 and extends out of the inner gear ring 50, and then the locking member is screwed and fixed by a nut.

As shown in fig. 1 to 2, the planet carrier 110 is provided with a central through hole 111, the sun gear 100 penetrates through the central through hole 111 and then is meshed with the planet gears 120, specifically, the planet gears 120 are multiple, and the planet gears 120 are arranged at intervals along the circumferential direction of the planet carrier 110 and are respectively meshed with the sun gear 100 and the ring gear 50. Accordingly, there are a plurality of planet shafts 130, and the plurality of planet shafts 130 are disposed in one-to-one correspondence with the plurality of planet gears 120. Further, the motor reducer further includes a sun gear bearing 170, and the sun gear bearing 170 is disposed at the central through hole 111 and sleeved on the sun gear 100, as shown in fig. 1 to 2. The sun gear bearing 170 supports the sun gear 100 and enables the sun gear 100 to smoothly rotate, thereby reducing friction and securing output efficiency.

As shown in fig. 1 to 2, the casing 10 is provided with a threading hole 12. The electric wires of the stator winding of the motor are electrically connected to the driving assembly 40 through the wire passing holes 12. In the present embodiment, the driving assembly 40 is a PCB driving board.

Specifically, the threading holes 12 are formed in rib plates 13 of the shell 10, and the rib plates 13 and the motor are axially arranged at intervals. The threading hole 12 comprises a first section 121, a second section 122 and a third section 123 which are bent continuously, the first section 121 and the third section 123 extend along the axial direction and are communicated with the surface of one side of the rib plate 13 close to the motor, and the second section 122 extends along the radial direction, as shown in fig. 3. Further, the communication part of the third section 123 and the surface of the rib plate 13 is close to the inner wall of the housing 10, so that after the electric wire of the stator winding sequentially passes through the first section 121, the second section 122 and the third section 123 and passes through the rib plate 13, the electric wire can avoid the rotor 30 and be routed along the inner wall of the housing 10, thereby being far away from the rotor 30 as much as possible and avoiding contacting with the rotor 30.

In this embodiment, because the bending and punching cannot be performed due to the limitation of the punching equipment and process, holes are punched in the rib plate 13 along the radial direction to form the second section 122, and then holes are punched in corresponding positions along the axial direction to form the first section 121 and the third section 123, and then the communication opening between the threading hole 12 and the outer surface of the rib plate 13 is blocked.

As shown in fig. 1, the motor reducer further includes a middle case 140 and a rear cover 150. The housing 10, the middle housing 140 and the rear cover 150 are sequentially connected to form an overall housing structure of the motor reducer. The driving assembly 40 is accommodated in an accommodating space formed by the middle case 140 and the rear cover 150.

As shown in fig. 1, the motor reducer further includes a rotor bearing 160. The rotor 30 includes a rotor body and a rotor housing, the rotor housing has a hollow shaft, the hollow shaft protrudes from one side of the rotor housing close to the rear cover 150, the outer side surface of the rotor bearing 160 is connected with the housing 10, and the rotor bearing 160 is sleeved on the hollow shaft. The rotor bearing 160 supports the rotor 30 and enables the rotor 30 to smoothly rotate, thereby reducing friction and ensuring output efficiency.

In an alternative embodiment, the motor may also be of the internal rotor type. That is, the rotor 30 is located radially inward of the stator 20. In this case, the stator 20 is directly connected to the inner wall of the housing 10, and the wires of the stator winding need not avoid the rotor 30, and can be directly routed along the inner wall of the housing 10 to be electrically connected to the driving assembly 40.

As shown in fig. 1 to 5, the present application further provides an elastic wire harness tightening ring, wherein the elastic wire harness tightening ring 80 is disposed in the casing 10 of the motor reducer, and an outer circumferential surface of the elastic wire harness tightening ring 80 abuts against an inner wall of the casing 10.

In the present embodiment, the elastic thread bundle tightening ring 80 is made of an elastic material. The elastic strand gripping ring 80 is a semi-closed loop, that is, the elastic strand gripping ring 80 has an opening 82. The outer diameter of the elastic thread bundle-tightening ring 80 is larger than the inner diameter of the housing 10. Thus, the elastic thread bundle tightening ring 80 can enter the casing 10 after contracting to a certain degree and can be always tightly attached to the inner wall of the casing 10 under the action of the diastolic restoring force.

As shown in fig. 4 to 5, the elastic thread bundle-tightening ring 80 is provided with an escape notch 81 disposed opposite to the opening 82. The avoidance gap 81 is used to avoid the wires of the stator winding of the motor reducer. In this embodiment, when there are one or more avoidance notches 81 and there are a plurality of avoidance notches 81, the plurality of avoidance notches 81 are provided at intervals in the circumferential direction of the elastic wire harness wrapping ring 80. In particular, the number of relief notches 81 is determined by the wire being sufficient to accommodate the stator windings.

In the present embodiment, the width between the inner and outer circles of the elastic wire harness wrapping ring 80 gradually decreases from the escape notch 81 toward the opening 82. That is, the inner and outer circles of the elastic thread bundle tightening ring 80 are arranged as eccentric circles, and the width of the elastic thread bundle tightening ring 80 is largest at the escape notch 81 and smallest at the opening 82. Therefore, the avoiding notch 81 can have enough caliber and the structural strength of the avoiding notch 81 can be ensured, the avoiding notch 81 is prevented from being easily broken, and the elastic wire harness packing ring 80 has good elasticity as a whole.

Specifically, the escape notch 81 is located at the outer edge of the elastic thread bundle tightening ring 80. That is, the relief notch 81 communicates with the outer edge of the elastic wire harness-packing ring 80, so that the electric wires of the stator winding can be fixed at a position as far as possible from the rotor 30, avoiding contact with the rotor 30.

In the present embodiment, the thickness of the elastic wire harness packing ring 80 in the axial direction is greater than the distance between the motor of the motor reducer and the housing 10 in the axial direction.

In the present embodiment, since the elastic harness gripping ring 80 has a limited thickness in the axial direction, a plurality of elastic harness gripping rings 80 may be provided in one motor reducer. A plurality of elastic wire harness packing rings 80 are sequentially provided at the inner wall of the housing 10 in the axial direction, thereby fixing the electric wires of the stator winding.

In an alternative embodiment, the elastic thread bundle tightening ring 80 is disposed between the motor of the motor reducer and the housing 10 and is radially opened with a threading hole 12, and the electric wires of the stator winding of the motor pass through the threading hole 12 to be electrically connected with the driving assembly 40. That is to say, the rib plate 13 is not provided with the threading hole 12, and a sufficient distance is provided between the motor and the rib plate 13 to accommodate the elastic thread bundle tightening ring 80, so that the electric wire of the stator winding can reach the inner wall of the casing 10 and be routed along the inner wall of the casing 10 by directly passing through the threading hole 12 in the elastic thread bundle tightening ring 80. Of course, when there are a plurality of elastic thread bundle tightening rings 80, only one elastic thread bundle tightening ring 80 is disposed between the motor of the motor reducer and the housing 10 and is provided with the thread holes 12 along the radial direction.

The application also provides a robot, which comprises the motor reducer and the elastic wire harness tightening ring. Specifically, the motor reducer is arranged on a joint of the robot and is used for being connected with a connecting shaft 180 of the next joint so as to drive the next joint to move.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

1. the ring gear 50 as an output member does not need to be fixed, and the carrier 110 can be easily fixed with the case 10, so that the motor reducer can be easily manufactured and assembled, and has a compact and lightweight overall structure.

2. The elastic wire harness packing ring 80 can be closely attached to the inner wall of the casing 10 and fix the electric wire of the stator winding of the motor reducer, thereby preventing the electric wire from contacting the rotor 30 and ensuring the normal operation of the motor reducer.

It is obvious that the above described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, a person skilled in the art can make changes or changes in other different forms without creative work, and all should belong to the protection scope of the present invention.

Claims (17)

1. A motor reducer, comprising:

a housing (10);

the motor comprises a stator (20) and a rotor (30), the motor is arranged in the shell (10), the stator (20) is connected with the shell (10), and the rotor (30) is in driving connection with a driving assembly (40);

the planetary gear train comprises a sun gear (100), a planetary gear (120), a planet carrier (110) and an inner gear ring (50), wherein the sun gear (100) is fixedly connected with the rotor (30), the planet carrier (110) is fixedly connected with the shell (10), the planetary gear (120) is respectively in meshing connection with the inner gear ring (50) and the sun gear (100), and the inner gear ring (50) is used for being connected with a connecting shaft (180).

2. The motor reducer according to claim 1, further comprising an output bearing (60), wherein the output bearing (60) is sleeved on the annular gear (50) and an outer side surface of the output bearing (60) is connected with the housing (10).

3. Motor reducer according to claim 2, in which the side of the housing (10) close to the coupling shaft (180) has a groove (11), the outer lateral surface of the output bearing (60) abutting against the lateral wall of the groove (11).

4. Motor reducer according to claim 3, characterized in that it further comprises a baffle (70), said baffle (70) being arranged at the notch of said groove (11), said baffle (70) extending radially towards the centre of said notch and stopping said output bearing (60).

5. The motor reducer according to claim 1, wherein the ring gear (50) is provided with a connecting hole (51), and the motor reducer further comprises a locking member which passes through the connecting hole (51) to be connected with the coupling shaft (180).

6. Motor reducer according to claim 1,

the sun gear (100) and the rotor (30) are in any one of threaded connection, key connection, pin connection, riveting, welding or integral forming; and/or

The planet carrier (110) and the shell (10) are in any one of threaded connection, key connection, pin connection, riveting, welding or integrated forming.

7. Motor reducer according to claim 1, in which the casing (10) is provided with a threading hole (12), through which (12) the electric wires of the stator winding of the motor pass to be electrically connected to the drive assembly (40).

8. The motor reducer according to claim 7, wherein the threading hole (12) is formed in a rib plate (13) of the housing (10), the rib plate (13) and the motor are axially spaced, the threading hole (12) comprises a first section (121), a second section (122) and a third section (123) which are continuously bent, the first section (121) and the third section (123) axially extend and are communicated with the surface of one side, close to the motor, of the rib plate (13), and the second section (122) radially extends.

9. Motor reducer according to any of claims 1 to 8, characterized in that it further comprises a spacer (90), said spacer (90) abutting against the housing (10) and the ring gear (50), respectively.

10. An elastic wire harness tightening ring, characterized in that the elastic wire harness tightening ring (80) is provided in the housing (10) of the motor reducer of any one of claims 1 to 9, and the outer peripheral surface of the elastic wire harness tightening ring (80) abuts against the inner wall of the housing (10).

11. The elastic wire harness tightening ring according to claim 10, wherein the elastic wire harness tightening ring (80) is provided with an avoidance gap (81), and the avoidance gap (81) is used for avoiding wires of a stator winding of a motor of the motor reducer.

12. The elastic strand cinch ring of claim 11, wherein the relief notch (81) is located at an outer edge of the elastic strand cinch ring (80).

13. The elastic wire harness tightening ring according to claim 10, wherein the elastic wire harness tightening ring (80) has a semi-closed ring shape, and an outer diameter of the elastic wire harness tightening ring (80) is larger than an inner diameter of the housing (10).

14. The elastic thread bundle tightening ring according to claim 13, wherein the elastic thread bundle tightening ring (80) is provided with an escape notch (81) provided opposite to the opening (82) of the elastic thread bundle tightening ring (80), and a width between an inner circle and an outer circle of the elastic thread bundle tightening ring (80) is gradually reduced from the escape notch (81) toward the opening (82) of the elastic thread bundle tightening ring (80).

15. The elastic wire harness tightening ring according to claim 10, wherein the thickness of the elastic wire harness tightening ring (80) in the axial direction is larger than the distance between the motor of the motor reducer and the housing (10) in the axial direction.

16. The elastic wire harness packing ring according to any one of claims 10 to 15, wherein the elastic wire harness packing ring (80) is disposed between a motor of the motor reducer and the housing (10) and has a threading hole (12) bored in a radial direction, and an electric wire of a stator winding of the motor is electrically connected to the driving assembly (40) through the threading hole (12).

17. A robot comprising a motor reducer according to any of claims 1 to 9 or an elastic harness wrap ring according to any of claims 10 to 16.

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