Harmonic Drive motor, German Harmonic Drive model, Harmonic Drive price

The Harmonic Drive motor is a rotating motor containing a brush assembly that converts DC electrical energy into mechanical energy (DC motor) or converts mechanical energy into DC electrical energy (DC generator). Unlike brushless DC motors, the brush assembly is used to introduce or extract DC voltage and DC current. The DC brushed motor is the foundation of all motors; it features fast starting, timely braking, smooth speed regulation over a wide range, and a relatively simple control circuit.

Harmonic Drive motor installation

Motor installation: 1. Preparation before installation: Before unpacking the motor, check whether the packaging is intact and undamaged, and whether there is any sign of moisture. After removing the cover, carefully remove dust and anti-rust coating from the motor. Carefully inspect for deformation and damage during transportation, check whether fasteners are loose or detached, verify whether the rotor rotates flexibly, and confirm that nameplate data meets requirements. Use a 500VMQ meter to measure insulation resistance; the insulation resistance should not be lower than 1MQ; otherwise, the windings must be dried, but the treatment temperature must not exceed 120 °C. 2. Motor installation site and foundation: The altitude of the motor installation site should not exceed 1000m; the installation site for general-purpose motors should be dry and clean, with good ventilation around the motor. Maintain adequate spacing from other equipment to facilitate inspection, monitoring, and cleaning. The ambient temperature should be below 40 °C, and strong radiation must be prevented. The installation foundation must be firm, solid, and have sufficient rigidity; the mounting surface should be flat to ensure balanced motor operation. 3. Motor wiring: The motor must be properly grounded. Grounding devices are located at the bottom right of the terminal box and on the frame housing. If necessary, grounding can also be achieved using the motor foot or flange mounting bolts to ensure safe motor operation. 4. Connection between motor and mechanical load: The motor can be connected to the load machinery using couplings, spur gears, or belts. For double-shaft extension motors, only coupling transmission is allowed on the fan end. When using coupling connection, the centerline of the motor shaft must align with the centerline of the load machinery shaft to avoid strong vibration, coupling issues, and abnormal noise during operation.

Harmonic Drive motor structure

The motor armature core is the main part of the main magnetic circuit and is used to embed the armature winding. Generally, the armature core is made by stacking laminations punched from silicon steel sheets with a thickness of 0.5mm, to reduce eddy current losses and hysteresis losses generated in the armature core during motor operation. The stacked core is fixed on the shaft or rotor bracket. Armature slots are opened on the outer circumference of the core, and the armature winding is embedded in the slots. The function of the armature winding is to generate electromagnetic torque and induced electromotive force; it is the key component for energy conversion in DC motors, hence called the armature. It consists of many coils (hereinafter referred to as elements) connected according to a certain rule. The coils are wound using high-strength enamel-covered wire or glass-fiber-covered flat copper wire. The coil sides of different coils are embedded in two layers (upper and lower) in the armature slots. Proper insulation must be maintained between the coils and the core, as well as between the upper and lower layers of coil sides. To prevent centrifugal force from throwing the coil sides out of the slots, the slot openings are secured with slot wedges. The end connections of the coils extending outside the slots are bound with thermosetting non-woven glass tape. In DC motors, the commutator, paired with brushes, converts the external DC power supply into alternating current in the armature coils, keeping the direction of electromagnetic torque constant. In DC generators, the commutator, paired with brushes, converts the alternating electromotive force induced in the armature coils into DC electromotive force extracted from the positive and negative brushes. The commutator is a cylinder composed of many commutator segments, insulated from each other by mica sheets. The shaft supports the rotation of the rotor and requires sufficient mechanical strength and rigidity; it is generally machined from round steel.

Harmonic Drive motor working principle

The working principle of the motor is based on the DC series-wound motor. The principle is shown in Figure 1. The field winding and armature winding are connected in series to the DC power supply. Based on the direction of the main magnetic flux Φ and the armature current Ia, the direction of rotor rotation can be determined according to the left-hand rule; in a, it rotates counterclockwise. If the polarity of the power supply is reversed, as shown in Figure 1b, since it is a series-wound motor, both the main magnetic flux Φ and the armature current Ia change direction simultaneously. According to the left-hand rule, the rotor direction remains unchanged, still rotating counterclockwise. Therefore, when a single-phase AC voltage is applied to the series-wound motor, as shown in Figure 1c, although the power supply polarity changes periodically, the rotor maintains a constant direction of rotation. Thus, the series-wound motor can be used with both AC and DC power supplies. The single-phase series-wound motor belongs to single-phase AC asynchronous motors and is dual-use for AC and DC, so it is also called an AC/DC dual-use series-wound motor. Due to its high speed, small size, large starting torque, and adjustable speed, it can be used on both DC and single-phase AC power supplies, leading to widespread application in power tools. The motor mainly consists of three parts: stator, rotor, and bracket. The stator consists of salient-pole cores and field windings. The rotor consists of non-salient pole cores, armature windings, commutator, and shaft. The field winding and armature winding form a series circuit through brushes and the commutator.

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