KR101759171B1

KR101759171B1 - Motor module with transmission

Info

Publication number: KR101759171B1
Application number: KR1020150122615A
Authority: KR
Inventors: 정찬우; 강병무
Original assignee: (주)화담알앤알
Priority date: 2015-08-31
Filing date: 2015-08-31
Publication date: 2017-07-19
Also published as: KR20170025734A

Abstract

An object of the present invention is to provide a motor module provided with a speed reducer having a small space and a high space efficiency by arranging a motor and a speed reducer in an annular shape.
According to an aspect of the present invention, there is provided a motor module including a speed reducer, the motor module comprising: a base; A fixing shaft attached to a center of one side of the base; A motor circular end formed on the base in an annular shape about the fixed shaft; A stator having a coil wound thereon and disposed annularly about the fixed shaft and fixed to the base; A cylindrical rotor rotatably coupled to the fixed shaft and the motor circular end, and having a plurality of magnets disposed therein; A pressing portion for engaging with the rotor; A flexible member disposed annularly on an outer periphery of the rotor and having gears formed on an outer surface thereof, one side fixed to the base, and an inner surface contacting the pressing portion; A ring gear rotatably fixed to the ring gear circular end formed in an annular shape on an outer periphery of a motor circular end formed on the fixed shaft and the base, and an inner diameter formed to be larger than an outer diameter of the flexible member; Wherein when the pressing portion rotates, the gear of the flexible member at a portion where the flexible member and the pressing portion come into contact with the gear formed on the inner diameter of the ring gear rotates the ring gear at a reduced speed.

Description

[0001] Motor module with transmission [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a motor module having a speed reducer, and more particularly to a motor module having a reducer which can be manufactured in a small size.

In the whole industry, motors of various structures are used to obtain driving force. The motor is a device that converts electrical energy into mechanical energy, and is simple in structure and easy to control and widely used.

In particular, even in the case of a robot system, a motor is applied to an individual axis for menu plate operation, and a speed reducer is connected in series to the motor rotation axis to further reduce the rotation speed of the motor.

Most of the motors have a rated output, that is, the rotation speed indicating the highest efficiency is determined according to the characteristics of the motor. Since most of the high-efficiency rotation speeds are located in the high rotation speed range, Decelerate and use.

Therefore, when the motor and the speed reducer are preliminarily attached to the motor in a configuration in which the speed reducer is applied to the motor, high space efficiency can be obtained, and various types of motor modules have been proposed.

For example, Japanese Laid-Open Patent Publication No. 2001-0039991 discloses a geared motor comprising a combination of a motor unit and a transmission unit for transmitting the rotational power of the motor unit. The geared motor includes a simple planetary roller mechanism having a sun roller, And a simple planetary roller unit having a casing for accommodating the simple planetary roller mechanism is interposed between the transmission unit and the motor unit and a flange portion extending radially outward of the sun roller is formed on both axial ends of the casing, A geared motor in which one side of a flange portion is connected to a motor unit and the other side is connected to a transmission unit.

In addition, in Japanese Patent No. 1088633, both of the motor casing main body and the reduction gear flange are formed in a square shape, the extension line of the square side of the motor casing main body intersects with the side of the square of the reduction gear flange, A motor connection hole for connecting the motor casing main body and the reducer input side cover is mounted and a mounting hole for mounting the speed reducer on the counterpart machine is provided at a position corresponding to the outside of the square side of the square casing of the motor casing main body in the reduction gear flange, A geared motor is disposed.

In addition, in Japanese Patent No. 334839, there is disclosed an electric motor having an electric base portion in which a drive shaft rotated according to an electrical signal is disposed on a central portion, a deceleration base portion in which a plurality of differential gears decelerate the drive shaft rotational force of the electric base portion, And a cover which is coupled to the mounting groove so as to cover the motor and the reduction gear unit and has a through hole through which the rotation shaft of the reduction gear unit is rotatably inserted is formed, An output gear engaging with the driving gear is rotatably coupled to an output shaft on a center portion of the cover, and an end of the driving gear is rotatably coupled to an end of the mounting groove of the motor case, A finishing cover in which an exposure hole into which an output shaft is inserted is formed, The output shaft, characterized in that configured in combination so as to cover the same gear and the output gear discloses a geared motor located at the center.

Meanwhile, although the above-mentioned patent has an advantage of achieving the overall configuration efficiency, it is considered that the size of the entire module is reduced by including the motor and the speed reducer by arranging the reducer in series with the motor as a reference, There is a drawback that it is somewhat insufficient.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a motor module including a motor and a speed reducer, which can be manufactured in a small size by annularly arranging the motor and the reducer, thereby providing a space reducer.

According to an aspect of the present invention, there is provided a motor module including a speed reducer, the motor module comprising: a base; A fixing shaft attached to a center of one side of the base; A motor circular end formed on the base in an annular shape about the fixed shaft; A stator having a coil wound thereon and disposed annularly about the fixed shaft and fixed to the base; A cylindrical rotor rotatably coupled to the fixed shaft and the motor circular end, and having a plurality of magnets disposed therein; A pressing portion for engaging with the rotor; A flexible member disposed annularly on an outer periphery of the rotor and having gears formed on its outer surface, one side fixed to the base, and an inner surface contacting the pressing portion; A ring gear rotatably coupled to a ring gear circular end formed in an annular shape on an outer periphery of a motor circular end formed on the fixed shaft and the base, Wherein when the pressing portion rotates, a gear of a flexible member at a portion where the flexible member contacts the pressing portion contacts with a gear formed on the inner diameter of the ring gear to rotate the ring gear at a reduced speed .

Preferably, the pressing portion includes a fixing portion attached to the outer surface of the rotor and a pressing roller rotatably coupled to an end of the fixing portion, wherein the pressing roller contacts the inner surface of the flexible member.

More preferably, the fixing portion and the pressure roller are constituted by two, and are arranged at intervals of 180 degrees from each other.

More preferably, the rotor is coupled between the fixed shaft and the motor circular end via a bearing.

Preferably, the ring gear is coupled with the fixed shaft and the ring gear circular end via a bearing.

A motor module including a speed reducer according to the present invention is characterized in that a stator is located at a center, a motor having a rotor at an outer periphery of the stator, and a pressing portion at an outer surface of the rotor, And the ring gear is disposed on the outer surface of the ring gear so that the flexible member is in contact with the inner surface of the ring gear in accordance with the rotation of the rotor to finally rotate the ring gear, It is possible to provide a high space utilization.

1 is an assembled view of a motor module having a speed reducer according to the present invention,
Fig. 2 is a configuration diagram of the motor shown in Fig. 1,
3 is a configuration diagram of the pressing portion shown in Fig. 1,
Fig. 4 is an explanatory view showing the operating state of Fig. 1. Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

A motor module 100 having a speed reducer according to the present invention includes a motor 1 and a harmonic drive 2 disposed on the circumferential surface of the motor 1 as shown in FIG.

2, the motor 1 includes a base 10 vertically disposed on a side surface thereof, a fixed shaft 11 horizontally attached to the center of the base 10, A stator 20 disposed in an annular shape about the fixed shaft 11, a cylindrical shaft 12 rotatably engaged with the fixed shaft 11 and the motor circular end 12, And an electron (30).

At this time, the stator 20 is wound with a coil, and a large number of magnets are disposed inside the rotor 30. [

Therefore, when power is supplied to the stator 20, there is a difference in the arrangement of the stator 20 and the rotor 30 from the normal motor 1 in a manner that the rotor 30 rotates, The outer casing is rotated.

In addition, since the fixed shaft 11 and the motor circular end 12 of the base 10 are configured to support the rotation of the rotor 30, other configurations are also possible.

Also, bearings are attached to the fixed shaft 11 and the motor circular end 12, and the rotor 30 can be configured to be coupled via the bearings.

A pressing portion (40) is attached to the outer surface of the rotor (30). 3, the pressing portion 40 includes two fixing portions 41 which are fixed to the rotor 30 and are arranged at intervals of 180 degrees, and a fixing portion 40 which is rotatably mounted on the fixing portion 41 And a pressing roller (42) for engaging with each other.

If necessary, the pressing portion 40 may be configured to have an elliptical shape, such as a normal harmonic drive, and bearings arranged in the circumferential direction.

Accordingly, when the rotor 30 rotates, the pressing roller 42 revolves around the fixed shaft 11.

The pressing portion 40 is in contact with the harmonic drive 2 and the harmonic drive 2 includes a flexible member 50 and a ring gear 60 in contact with the flexible member 50 as shown in FIG. .

Gears are formed on the outer surface of the flexible member 50, and the inner surface of the flexible member 50 contacts the pressure roller 42.

The side surface of the flexible member 50 is fixed to the base 10.

The ring gear 60 has gears of the same shape as the flexible member 50 on its inner surface, and the number of teeth of the ring gear 60 is large in the total number of gear teeth.

The ring gear 60 is rotatably coupled to the fixed shaft 11 and the ring gear circular end 13 formed on the side of the base 10.

At this time, bearings are attached to the fixed shaft 11 and the ring gear circular end 13, and the ring gear 60 can be coupled through the bearings.

The fixing structure of the ring gear 60 can be changed if necessary.

Therefore, when the rotor 30 is driven, the pressing portion 40 presses the flexible member 50, and the flexible member 50 at the pressed portion is engaged with the gear formed on the inner surface of the ring gear 60 Match.

Since the pressing portion 40 rotates, the contact portion between the flexible member 50 and the ring gear 60 rotates in the circumferential direction, and the ring gear 60 rotates at a reduction ratio associated with the difference in the number of teeth, And the above reduction ratio is the same as that implemented in a conventional harmonic drive.

The motor module 100 provided with the speed reducer according to the present invention includes the stator 20, the rotor 30, the urging member 40, the flexible member 50, and the ring gear 60 around the fixed shaft 11, The length of the motor module 100 can be minimized, and the present invention can be applied to various fields.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, And all of the various forms of embodiments that can be practiced without departing from the technical spirit.

1: Motor 2: Harmonic drive
10: base 11: fixed shaft
12: Motor round end 13: Ring gear round end
20: stator 30: rotor
40: pressing portion 41:
42: pressure roller 50: flexible member
60: ring gear
100: motor module with reducer

Claims

A motor module having a speed reducer,
Base;
A fixing shaft attached to a center of one side of the base;
A motor circular end formed on the base in an annular shape about the fixed shaft;
A stator having a coil wound thereon and disposed annularly about the fixed shaft and fixed to the base;
A cylindrical rotor rotatably coupled to the fixed shaft and the motor circular end, and having a plurality of magnets disposed therein;
A pressing portion for engaging with the rotor; And
A flexible member which is annularly arranged on the outer periphery of the rotor and has gears formed on its outer surface, one side fixed to the base, and an inner surface contacting the pressing portion;
A ring gear rotatably coupled to a ring gear circular end formed in an annular shape on an outer periphery of a motor circular end formed on the fixed shaft and the base, Wherein when the pressing portion rotates, a gear of a flexible member at a portion where the flexible member and the pressing portion are in contact comes into contact with a gear formed in the inner diameter of the ring gear, and the ring gear rotates at a reduced speed Motor module with reducer.

The press machine according to claim 1, wherein the pressing portion includes a fixing portion attached to the outer surface of the rotor and a pressing roller rotatably coupled to an end of the fixing portion, wherein the pressing roller contacts the inner surface of the flexible member Motor module with reducer.

The motor module according to claim 2, wherein the fixing portion and the pressure roller are two, and are disposed at intervals of 180 degrees from each other.

4. The motor module according to claim 3, wherein the rotor engages with the fixed shaft and the motor circular end via a bearing.

4. The motor module according to claim 3, wherein the ring gear is engaged with the fixed shaft and the ring gear circular end via a bearing.