Motor incorporating reducer
A motor-incorporating reducer includes a main body, a rotational actuating member, a flex spline, and an circular spline. The rotational actuating member has a rotating shaft, a wave generator, and a motor. The rotating shaft passes through the main body, and the elliptic wheel is integratedly formed around the rotating shaft. The motor has a magnetic motor rotator that is integratedly formed on the rotating shaft. With the integrated structure, the rotating shaft, the elliptic wheel, and the motor rotator can stably perform rotation, thereby eliminating the risk that the three, when formed separated and assembled, would become non-coaxial due to the resultant tolerance after assembly and have eccentric rotation, and in turn preventing adverse effects on the drive's output torque due to non-coaxial rotation and extending the drive's service life.
1. A motor-incorporating reducer, comprising:
a main body;
a rotational actuating member, being installed in the main body and the rotational actuating member having a rotating shaft, a wave generator, and a motor, the rotating shaft passes through main body, rotating shaft having a first end and a second end opposite to the first end, the wave generator comprising an elliptic wheel, the elliptic wheel being integratedly formed around the rotating shaft and close to the first end of the rotating shaft, the motor comprising a motor stator around the rotating shaft and close to the second end, and a motor rotator that is magnetic, and the motor rotator being integrated with the rotating shaft and corresponding to the motor stator, wherein the motor comprises a motor housing enclosing the rotating shaft from outside, the rotating shaft being rotatable with respect to the motor housing, the motor rotator being located inside the motor housing;
a flex spline, being mounted around the elliptic wheel, so that the elliptic wheel drives the flex spline to move;
an circular spline, being mounted around the flex spline so that the flex spline and the circular spline partially engage with each other;
a first detecting set, comprising a first encoder and at least one first sensor, the first encoder being located on a periphery of the second end of the rotating shaft, the at least one first sensor being located on a rear end of the motor housing, and the at least one first sensor corresponding to the first encoder so as to read out a rotary displacement in terms of angle of the rotating shaft;
a roller bearing comprising an inner ring and an outer ring, the inner ring having one end abutting against the circular spline and the outer ring having one end connected to the flex spline; and
a second detecting set comprising a second encoder and the at least one second sensor, the at least one second sensor being located on a front end of the motor housing, the second encoder being located on an end of the outer ring that is opposite to an end of the outer ring connected to flex spline, and the at least one second encoder corresponding to the at least one second sensor.
2. The motor-incorporating reducer of claim 1 , wherein each of the rotating shaft and the motor rotator defines an axial length, and a ratio between the axial length of the magnetic motor rotator and the axial length of the rotating shaft in range of 0.25 and 0.4.
3. The motor-incorporating reducer of claim 1 , wherein an amount of the at least one first sensor is of an even number, and each two said first sensors are arranged symmetrically on a periphery of the rear end of the motor housing.
4. The motor-incorporating reducer of claim 1 , wherein an amount of the at least one second sensor is of an even number, and each two said second sensors are arranged symmetrically on a periphery of the front end of the motor housing.
5. The motor-incorporating reducer of claim 1 , wherein the rotating shaft is axiall formed with a cord channel.
6. The motor-incorporating reducer of claim 1 , wherein the flex spline and the circular spline have an identical modulus, and a tooth number difference between the flex spline and the circular spline is 2.