CN107276322A - Motor and with encoder motor, the manufacture method with encoder motor, the encoder replacement method with encoder motor - Google Patents
Motor and with encoder motor, the manufacture method with encoder motor, the encoder replacement method with encoder motor Download PDFInfo
- Publication number
- CN107276322A CN107276322A CN201710196943.XA CN201710196943A CN107276322A CN 107276322 A CN107276322 A CN 107276322A CN 201710196943 A CN201710196943 A CN 201710196943A CN 107276322 A CN107276322 A CN 107276322A
- Authority
- CN
- China
- Prior art keywords
- motor
- encoder
- shaft coupling
- main
- fitting portion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 161
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 143
- 238000012937 correction Methods 0.000 claims abstract description 25
- 230000008878 coupling Effects 0.000 claims description 139
- 238000010168 coupling process Methods 0.000 claims description 139
- 238000005859 coupling reaction Methods 0.000 claims description 139
- 230000008569 process Effects 0.000 claims description 106
- 238000012856 packing Methods 0.000 claims description 17
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 238000006880 cross-coupling reaction Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 238000004804 winding Methods 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 102100026298 Protein S100-A14 Human genes 0.000 description 2
- 101710110944 Protein S100-A14 Proteins 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007373 indentation Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The present invention relates to motor and with encoder motor, the manufacture method with encoder motor, the encoder replacement method with encoder motor.In band encoder motor, easily and accurately implement encoder and the positioning of motor in a rotational direction.Encoder (3) is dismantled and assembled relative to motor (2) in band encoder motor (1).The alignment pin (70) chimeric with being arranged at the recess (80) of encoder is provided with motor, circumferential position can be adjusted by being formed with the moving parts (72) of alignment pin.Main motor (200) and main encoder (300) are used in the manufacture with encoder motor.It is adjusted under the motor lock-out state of main motor in the way of the positional information of main encoder is in origin position, the motor (2) of volume production implements the position adjustment of alignment pin using main encoder, the encoder (3) of volume production utilizes the correction of main motor enforcing location information, and they are assembled to complete band encoder motor (1).
Description
Technical field
The present invention relates to band encoder motor, more particularly to dismantled and assembled encoder motor and with encoder motor and
Manufacture method with encoder motor and encoder replacement method.
Background technology
In the past using the band encoder motor for thering is axial one end in motor to install encoder.Band encoder motor is with fixed
When son is in specific position relationship with rotor in motor, the positional information of encoder is changed into the mode of origin position and assemble
And adjust.In the case of encoder is removable relative to motor, if when dismounting encoder, encoder is relative to motor
Relatively rotation place deviates, then the origin position of encoder deviates.Also, in encoder fault, prepare and replacement use is installed
New encoder, but now, when stator and rotor are in specific position relationship, the positional information of new encoder is in original
Operation of the mode of point position to adjust and assemble existing motor and new encoder is time-consuming.
Therefore, it is proposed to lower band encoder motor：The position for implementing direction of rotation is set between encoder and motor
The detent mechanism of alignment.Patent Document 1 discloses this band encoder motor.Band encoder motor in patent document 1
The pin (convex portion) of positioning is provided with the flange and axle of motor, and the recess chimeric with the pin is provided with encoder.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2015-105839 publications
The content of the invention
Invent problem to be solved
Band encoder motor in patent document 1 has the detent mechanism formed by pin (convex portion) and recess, but in order to logical
The position alignment that the detent mechanism implements direction of rotation exactly is crossed, as its premise, specific position is in stator and rotor
In the state of putting relation, sell with the relative position of recess must with pin (convex portion) and recess can be simultaneously chimeric mode exactly
Setting.Because once selling the relative position deviation with recess, the origin position of encoder can deviate from, therefore install encoder
When, it is necessary to adjust the operation of the positional information of encoder.For example, encoder to be replaced to new encoder in encoder fault etc.
In the case of, it is necessary to implement adjustment replace after encoder positional information operation.Because this operation is bothersome, it is therefore desirable to
It is a kind of easily and securely to implement the structure of encoder and the positioning of motor in a rotational direction.
In view of the above problems, problem of the invention is in band encoder motor, easily and accurately implements encoder
With the positioning of motor in a rotational direction, this has with encoder motor is arranged at motor by the side in convex portion and recess, incites somebody to action
The opposing party is arranged at encoder, and the mechanism for being fitted together to the convex portion and the recess, to exist as implementation encoder relative to motor
The detent mechanism of position alignment on direction of rotation.
Means for solving the problems
In order to solve the above problems, the present invention provides a kind of motor of dismantled and assembled encoder, it is characterised in that have：Horse
Up to sidespin rotating shaft, the motor-side rotary shaft is shaft coupling to have with the encoder by way of can not rotating against
Coder side rotary shaft is connected；And motor-side fitting portion, the motor-side fitting portion can be with being arranged at the encoder
Coder side fitting portion is fitted together to, and the coder side fitting portion is towards the coding with the side in the motor-side fitting portion
The convex portion that the rotation axis direction of the rotating shaft of device sidespin and the motor-side rotary shaft is protruded, the opposing party is to be embedded in for the convex portion
Recess or hole, the coder side fitting portion can be adjusted with the encoder sidespin with the side in the motor-side fitting portion
Circumferential position centered on rotating shaft and the motor-side rotary shaft.
The present invention like this, sets the motor-side chimeric with coder side fitting portion to be fitted together in the motor of dismantled and assembled encoder
Portion, and the circumferential position of coder side fitting portion or motor-side fitting portion can be adjusted.If like this, compiled as band
In the case of code device motor, it can easily and securely implement encoder and the positioning of motor in a rotational direction.Therefore, it is possible to
The easily and securely origin position of registration encoder, and can easily implement the replacement behaviour of encoder in encoder fault
Make.
According to the present invention, the motor-side fitting portion can be adjusted centered on the rotation axis of the motor-side rotary shaft
Circumferential position.If like this, can easily and securely implement encoder and the positioning of motor in a rotational direction.
, according to the invention it is preferred to which the encoder has encoder end face, the encoder end face is towards the motor
The axial end of side, the motor-side fitting portion is arranged on the position opposite with the outer peripheral edge of the encoder end face.If picture
So, then can be by the configuration of motor-side fitting portion in outer circumferential side, therefore, it is possible to accurately implement the circumferential of motor-side fitting portion
Position adjustment.Therefore, it is possible to accurately implement encoder and the positioning of motor in a rotational direction.
, according to the invention it is preferred to which the motor has：Motor end face, the motor end face is towards the coder side
Axial end；Moving parts, the moving parts is installed on the motor-end in the way of it can adjust the circumferential position
Face；And fixed component, the moving parts is fixed on the motor end face, the motor-side fitting portion by the fixed component
Be arranged at the moving parts, the fixed component be located at than the inner the week side of boss of motor-side fitting portion position or with it is described
Motor-side fitting portion is located on same circle.If like this, can accurately implement the circumferential position of motor-side fitting portion
Adjustment.Therefore, it is possible to accurately implement encoder and the positioning of motor in a rotational direction.
, according to the invention it is preferred to which the fixed component is arranged at the circumferential both sides of the motor-side fitting portion.Such as
Fruit like this, then diametrically can minimize moving parts, and can be by the configuration of motor-side fitting portion in outer circumferential side.
, according to the invention it is preferred to which the moving parts is the arc-shaped part along the circumferentially extending.If like this,
Diametrically moving parts can be minimized, and can be by the configuration of motor-side fitting portion in outer circumferential side.Even if also, motor chi
Very little difference, uses moving parts with need not also changing the shape and size of moving parts.Therefore, it is possible to realize the generalization of part.
, according to the invention it is preferred to which the arc-shaped part is being formed at the state configuration that can be moved in the circumferential direction
The arc-shaped recess of the motor end face.If like this, need not be set in encoder-side surface side allows moving parts (circular arc
Shape part) mobile shape.
Next, the present invention's is characterised by having with encoder motor：The motor；The encoder, the volume
Code device is dismantled and assembled relative to the motor；And the shaft coupling, the shaft coupling in the way of it can not rotate against with it is described
Motor-side rotary shaft and coder side rotary shaft connection.
The present invention with encoder motor due to like this have above-mentioned motor, therefore, it is possible to easily and securely implement
Encoder and the positioning of motor in a rotational direction.Therefore, it is possible to the origin position of easily and securely registration encoder, and energy
Enough replacement operations for easily implementing encoder in encoder fault.
, according to the invention it is preferred to which the shaft coupling has：Motor-side shaft coupling wheel hub, the motor-side shaft coupling wheel hub is consolidated
Due to the motor-side rotary shaft；And coder side shaft coupling wheel hub, the coder side shaft coupling wheel hub is fixed on described
Coder side rotary shaft, the motor-side shaft coupling wheel hub be fixed in prespecified rotation position the stator of the motor with
Rotor is in the motor-side rotary shaft of the state of prespecified position relationship.If like this, can be with motor-side
The position of motor-side fitting portion is adjusted on the basis of shaft coupling wheel hub.Thus, encoder is substituted in encoder fault etc.
In the case of new encoder, if new encoder is to be corrected into positional information (output) and the encoder identical before replacement
State, the then operation of the positional information of the encoder for the replacement that need not be maked corrections in replacement field conduct, with regard to energy registration encoder
Origin position.Therefore, it is possible to easily implement the replacement operation of encoder in encoder fault.
, according to the invention it is preferred to which the shaft coupling is the sliding cross coupling with shaft coupling packing ring, the shaft coupling
Packing ring is reported to the leadship after accomplishing a task and energy with the motor-side shaft coupling wheel hub and the coder side shaft coupling wheel hub with the rotation axis direction
Enough modes moved up in the side reported to the leadship after accomplishing a task each other are assembled.If like this, motor sidespin can be absorbed using shaft coupling
Rotating shaft and the axle of coder side rotary shaft deviate.
, according to the invention it is preferred to the motor-side fitting portion can be moved along the circumference in defined angular range,
The encoder is dismantled and assembled relative to the main motor with the motor-side rotary shaft and the motor-side fitting portion, the motor
Relative to the coder side rotary shaft and the coder side fitting portion and be formed with the main encoder of handle hole can
Dismounting, target when relative to the motor-side rotary shaft that the motor-side shaft coupling wheel hub is fixed on to the main motor
The deviation of position is within first angle, the motor-side fitting portion of the main motor is relative to prespecified circumferential position
Position deviate within second angle, relative to the motor that the motor-side shaft coupling wheel hub is fixed on to the motor
In the case that the position of target location during sidespin rotating shaft is deviateed within third angle, the defined angular range is
It is more than total angle after the total first angle, the second angle and the third angle.If like this, i.e.,
Make in motor (the main motor) of the assembling as benchmark, the position for producing motor-side fitting portion is deviateed, and by motor-side
Shaft coupling wheel hub produces position when being fixed on main motor and volume production motor to be deviateed, also can be by adjusting in volume production motor
Deviate to absorb these positions the position of motor-side fitting portion.
Next, the present invention provides the above-mentioned manufacture method with encoder motor, it is characterised in that include：Beam worker
Sequence, prepares the main motor with the motor-side rotary shaft and the motor-side fitting portion, and prepares have the coder side
The main encoder of rotary shaft, the coder side fitting portion and handle hole, and be in advance in the stator and rotor of the main motor
In the state of position relationship as defined in first, the positional information for forming the main encoder reaches the state of prespecified value；Amount
Production adjusts process with encoder, the encoder is assembled into the main motor, and the positional information of the encoder is maked corrections
For the prespecified value；Volume production adjusts process with motor, and the stator and rotor of the motor are in described prespecified
Position relationship, and the main encoder is assembled into the motor-side is fastened with the state that can be moved in the circumferential temporarily be fitted together to
The motor of the state in portion, and it is described advance reaching the positional information that the main encoder rotates to the main encoder
In the state of untill the rotation position of defined value, from the handle hole of the main encoder by the motor of the motor
Side fitting portion is formally fixed；And assembling procedure, assemble the motor and reality for implementing the volume production motor adjustment process
The encoder that the volume production encoder adjusts process is applied, so as to complete the band encoder motor.
The manufacture method with encoder motor of the present invention as described above, prepares main motor and main encoder in advance, and in advance
Main motor and main encoder are adjusted to prespecified state, the motor of volume production implements horse using main encoder during fabrication
Up to the position adjustment of side fitting portion, the encoder of volume production utilizes the correction of main motor enforcing location information during fabrication.If
Like this, then only need the encoder of volume production being assembled into the motor of volume production, just complete the origin position of registration encoder
The band encoder motor of state.Therefore, it is possible to the origin position for the encoder with encoder motor that easily and securely aligns.
, according to the invention it is preferred to which the preparatory process is included：Formed at the stator and the rotor of the main motor
In the process of the motor lock-out state of the prespecified position relationship；Will be described in the first prespecified rotation position
The motor-side shaft coupling wheel hub of axle device is fixed on the motor-side rotary shaft of the main motor of the motor lock-out state
Process；The process that the motor-side fitting portion of the main motor is fixed in prespecified circumferential position；By the shaft coupling
Coder side shaft coupling wheel hub be fixed on the main encoder the coder side rotary shaft process；Pass through the motor
Side shaft coupling and the coder side shaft coupling wheel hub, assembled in the way of it can not rotate against the motor-side rotary shaft and
The coder side rotary shaft, and to make the mode that the motor-side fitting portion is chimeric with the coder side fitting portion, assembling
The process of the main motor and the main encoder；And the positional information of the main encoder of the main motor will be assembled into
Make corrections as the process of the prespecified value.If like this, can using rotation position during motor lock-out state as
The origin position of encoder.
, according to the invention it is preferred in the process for forming the motor lock-out state, by located at the institute of the main motor
Driving coil described in stating any one phase in the U phases, V phases, the driving coil of the three-phase of W phases of stator is being connected to external power source just
Extreme son, and driving coil described in other two-phases is connected to the state of the negative terminal of the external power source, make DC current
Flow through the driving coil of the three-phase.If like this, motor can be simply formed by providing power supply from outside
Lock-out state.
Next, the present invention provides the encoder replacement method with encoder motor, the band encoder motor passes through upper
The manufacture of the manufacture method with encoder motor stated, it is characterised in that preparation implements the volume production encoder adjustment process
Replacement the encoder, remove the encoder from the band encoder motor, assemble the volume of the replacement
Code device.
According to the present invention, the position that the motor of volume production implements motor-side fitting portion using main encoder during fabrication is adjusted
Whole, the encoder of volume production utilizes main motor correction positional information during fabrication.Therefore, it is not necessary to be replaced replacing field conduct correction
The operation of the positional information for the encoder used instead, it becomes possible to origin position of the alignment with the encoder in encoder motor.Therefore,
The replacement operation of encoder that can easily in out tape encoder motor.
Invention effect
According to the present invention, due to setting the motor-side chimeric with coder side fitting portion embedding in the motor with encoder motor
Conjunction portion, and the circumferential position of motor-side fitting portion can be adjusted, therefore, it is possible to the band encoder motor that easily and securely aligns
Encoder origin position.Also, in the case of encoder to be replaced to new encoder in encoder fault etc., Neng Gourong
Easily and the origin position of registration encoder exactly.
Brief description of the drawings
Fig. 1 is the sectional view in the rotation axis direction with encoder motor of the present invention with motor.
Fig. 2 is the exploded perspective view with encoder motor.
Fig. 3 is the front view of the encoder after coder side shaft coupling wheel hub is fixed from outlet side and from defeated
Go out the rearview of the motor after motor-side shaft coupling wheel hub is fixed for opposite side observation.
Fig. 4 is the exploded perspective view of motor.
Fig. 5 is the explanation figure for schematically illustrating the manufacture method with encoder motor.
Fig. 6 is the schematic flow diagram of the manufacture method with encoder motor.
Fig. 7 is the flow chart of preparatory process.
Fig. 8 is the flow chart of main motor assembling procedure.
Fig. 9 is the flow chart that volume production encoder adjusts process.
Figure 10 is the flow chart that volume production motor adjusts process.
Embodiment
Hereinafter, referring to the drawings, to applying the motor of the present invention and being illustrated with encoder motor.Fig. 1 is the present invention
The sectional view in the rotation axis L directions with encoder motor 1 with motor 2 being related to, Fig. 2 is the decomposition with encoder motor
Stereogram.In this manual, by band encoder horse in the side in the rotation axis L directions with encoder motor 1 and opposite side
Up to 1 output shaft 34 protrude side as outlet side L1, regard the side opposite with the side that output shaft 34 is protruded as output
Opposite side L2.Also, it regard two directions with rotation axis L-orthogonal as X-direction and Y-direction.Setting appearance with encoder motor 1
In gesture, X-direction turns into vertical, and Y-direction turns into horizontal direction.Using the top of vertical as +X direction, with vertical
Lower section be -X direction.Also, using the side of Y-direction as +Y direction, using opposite side as -Y direction.As shown in Figure 1 and Figure 2, band is compiled
Code device motor 1 has：Motor 2；Encoder 3, removably (that is, detachable) is installed on the output phase of motor 2 to the encoder 3
Toss about L2；And shaft coupling 4, the rotation of motor 2 is delivered to encoder 3 by the shaft coupling 4.
(motor)
Motor 2 has：Motor chassis 10；The stator 20 of tubular, the stator 20 is configured in the inner side of motor chassis 10；And turn
Son 30, the rotor 30 is rotatably disposed in the inner side of stator 20.Motor chassis 10 have：Cylindrical portion 11, the cylindrical portion
11 are open facing upwards in the rotation axis L side of motor 1；Clutch shaft bearing retainer 12, the clutch shaft bearing retainer 12 is fixed
In the outlet side L1 of cylindrical portion 11 end；And second bearing retainer 13, the second bearing retainer 13 is fixed on cylinder
The opposite side L2 of output in shape portion 11 end.The clutch shaft bearing 14 formed by ball bearing is maintained at clutch shaft bearing retainer 12
Inner circumferential side.Also, the second bearing 15 formed by ball bearing is maintained at the inner circumferential side of second bearing retainer 13.Cylindrical portion 11
For square tube shape, and with towards +X direction, -X direction, +Y direction, -Y direction side.Towards +X direction (vertical
Top) side be formed with wiring conveying end 16, wiring conveying end 16 bushing 17 is installed.
Second bearing retainer 13 has motor end face 131, and the motor end face 131 is located at the opposite side of output of motor 2
L2 end and opposite with encoder 3.Alignment pin 70 described later is provided with motor end face 131.In second bearing retainer 13
Center is formed with the recess 132 being recessed towards outlet side L1.It is formed with the inner peripheral surface of recess 132 towards the opposite side L2's of output
Circular step face 133, and it is configured with second bearing 15 in the central central indentation 134 for being formed at circular step face 133.Pressing
Plate 135 in the way of covering the peripheral part of second bearing 15 to be installed in circular step face 133.In leaning on for motor-side rotary shaft 31
The end for exporting opposite side L2 is formed with the first minor diameter part 35 fixed for the inner ring of second bearing 15.Also, in the first path
The front end by exporting opposite side L2 in portion 35 is formed with than the first minor diameter part 35 also small the second minor diameter part 36.Second minor diameter part 36
Central circular opening portion than being formed at pressing plate 135 is protruded towards opposite side L2 is exported.If the quilt of the second minor diameter part 36
Shaft coupling 4 is assembled in, then shaft coupling 4 is configured in recess 132.
Stator 20 has：The stator core 21 of ring-type, the stator core 21 has in equiangularly spaced towards radius side
The multiple salient poles protruded inwardly；And driving coil 23, the driving coil 23 is wound in stator across insulating element 22
Each salient pole of iron core 21.Stator core 21 is fixed on the inner side of cylindrical portion 11.Driving coil 23 is by crimp type terminal, with same phase
Coil is connected to each other, and is connected to supply lines 24 (reference picture 2).U phases, V phases, the three-phase current of W phases are provided via supply lines 24
To driving coil 23.The through hole that supply lines 24 is disposed through bushing 17 is drawn out to the outsides of motor chassis 10.In addition,
Driving coil 23 can be connected to (not shown) circuit board of the configuration in the end of stator core 21, and supply lines 24 is connected
To circuit board, so as to supply current to driving coil 23 by supply lines 24 and circuit board.
Rotor 30 has：Prolong in motor-side rotary shaft 31, rotation axis L directions of the motor-side rotary shaft 31 along motor 2
Stretch；Rotor core 32, the rotor core 32 is fixed on the outer circumferential side of motor-side rotary shaft 31；And magnet 33, the magnet
33 are fixed on the outer peripheral face of rotor core 32.It is provided with and is accepted insurance from first axle in the end by outlet side L1 of motor-side rotary shaft 31
Hold the output shaft 34 of the protrusion of frame 12.Motor-side rotary shaft 31 is formed by magnetic material, and by clutch shaft bearing 14 and second bearing 15
Support to rotate.
(encoder)
Encoder 3 has：3rd bearing retainer 50, the 3rd bearing retainer 50 is removably mountable to motor chassis 10
The opposite side L2 of output；And coder side rotary shaft 53, the coder side rotary shaft 53 is by being installed on 3rd bearing holding
3rd bearing 51 and fourth bearing 52 supporting of the inner circumferential side of frame 50 are to rotate.Coder side rotary shaft 53 is along rotation axis
L directions extend.Large-diameter portion 531 is formed with the outlet side L1 of coder side rotary shaft 53 end.Also, magnet 54 passes through magnetic
Iron retainer 60 is fixed on the front end by exporting opposite side L2 of coder side rotary shaft 53.Magnet 54 is circle, and by difference
Pole magnetize according to every 1 pole after magnetizing surface configured towards opposite side L2 is exported.Configured in magnet 54 by exporting opposite side L2
There is sensor base plate 55, and Magnetic Sensor 56 is installed in the face by outlet side L1 of sensor base plate 55.Magnetic Sensor 56 is configured
Position provided with defined gap between magnet 54.Magnetic Sensor 56 is MR elements.In addition, it is possible to use Hall element is made
For Magnetic Sensor 56.
Sensor base plate 55 is fixed on the 3rd axle by the substrate holder 57 configured in the outer circumferential side of magnet retainer 60
Hold retainer 50.The opposite side L2 of the output of sensor base plate 55 and substrate holder 57 is by being fixed on 3rd bearing retainer 50
Encoder cover 58 is covered.The seal members 59 such as O-ring are configured between encoder cover 58 and 3rd bearing retainer 50.Compiling
Code device cover 58 is formed with wiring taking-up portion 581.Bushing 582 is installed in wiring taking-up portion 581.It is connected with sensor base plate 55
Signal wire 583 is drawn out to the outside of encoder cover 58 from wiring taking-up portion 581.
(shaft coupling)
The rotation of motor-side rotary shaft 31 is delivered to coder side rotary shaft 53 by shaft coupling 4.Shaft coupling 4 joins for crosshead shoe
Axle device (Oldham coupling), and deviate (partially for the axle that can absorb motor-side rotary shaft 31 and coder side rotary shaft 53
The heart) structure.That is, shaft coupling 4 has：Motor-side shaft coupling wheel hub 41, the motor-side shaft coupling wheel hub 41 is fixed on motor
Sidespin rotating shaft 31；Coder side shaft coupling wheel hub 42, the coder side shaft coupling wheel hub 42 is fixed on coder side rotary shaft
53；And circular shaft coupling packing ring 43, the shaft coupling packing ring 43 is with motor-side shaft coupling wheel hub 41 and coder side shaft coupling
Device wheel hub 42 is reported to the leadship after accomplishing a task and can be assembled in the mode moved up relative to the rotation axis L sides reported to the leadship after accomplishing a task each other.
As shown in Fig. 2 motor-side shaft coupling wheel hub 41 has：Annulus 411, the annulus 411 is by press-in etc.
It is fixed with the second minor diameter part 36 of the front end for the opposite side L2 of output for being arranged at motor-side rotary shaft 31；And engaging protuberances 412,
413, the engaging protuberances 412,413 are prominent from annulus 411 to diametric(al).Coder side shaft coupling wheel hub 42 has：Ring
Shape portion 421, the annulus 421 is fixed with the front end for the outlet side L1 for being arranged at coder side rotary shaft 53 by press-in etc.
Large-diameter portion 531；And engaging protuberances 422,423, the engaging protuberances 422,423 are prominent from annulus 421 to diametric(al).
The card with the corresponding shape of motor-side shaft coupling wheel hub 41 is formed with the outlet side L1 of shaft coupling packing ring 43 face
Recess 431 is closed, is formed with the opposite side L2 of output of shaft coupling packing ring 43 face corresponding with coder side shaft coupling wheel hub 42
The engaging recessed part 432 of shape.Motor-side shaft coupling wheel hub 41 is prominent with engaging protuberances 412,413 with coder side shaft coupling wheel hub 42
The direction gone out the posture orthogonal thereto with the direction that engaging protuberances 422,423 are protruded is embedded into engaging recessed part 431,432.Thus,
Motor-side shaft coupling wheel hub 41 is assembled into shaft coupling packing ring 43, coder side shaft coupling in the way of it can diametrically move
Wheel hub 42 is assembled into connection in the way of it can be moved up in the side orthogonal with the moving direction of motor-side shaft coupling wheel hub 41
Axle device packing ring 43.
(motor-side fitting portion and coder side fitting portion)
Motor 2 and encoder 3 are by making alignment pin 70 and the progress of recess 80 is chimeric implements around rotation axis L direction of rotation
Positioning, the alignment pin 70 is the motor-side fitting portion for being arranged at motor 2, and the recess 80 is the coding for being arranged at encoder 3
Device side fitting portion.Alignment pin 70 is arranged at the second bearing retainer 13 of motor 2.As described above, second bearing retainer 13
In the end by exporting opposite side L2 of motor 2, and with motor end face 131, the motor end face 131 is and the phase of encoder 3
To axial end.Alignment pin 70 is from the convex portion prominent to the opposite side L2 of output of motor end face 131.
The 3rd bearing retainer 50 of encoder 3 is arranged at as the recess 80 of coder side fitting portion.3rd bearing is protected
Hold the end by outlet side L1 that frame 50 is located at encoder 3, and with encoder end face 501, the encoder end face 501 for
The opposite axial end of motor 2.Recess 80 is arranged at the outer peripheral edge of encoder end face 501, and alignment pin 70 is arranged at and encoder
The opposite position in the outer peripheral edge of end face 501.Therefore, by adjusting the relatively rotation place of motor 2 and encoder 3, it is fixed to make
Position pin 70 and recess 80 are chimeric opposite to each other on rotation axis L directions.
Fig. 3 (a) is the main view of the encoder 3 after coder side shaft coupling wheel hub 42 is fixed from outlet side L1
Figure.As shown in Fig. 1, Fig. 3 (a), annular recessed portion 502 is formed with the center of encoder end face 501.Outside encoder end face 501
Periphery turns into the bearing surface 503 abutted with motor end face 131.It is formed with the opening edge of annular recessed portion 502 than bearing surface 503 more
The annular convex 504 protruded towards outlet side L1.And in bearing surface 503, seal groove 505 is formed at the outer of annular convex 504
The week side of boss.Seal member (not shown) is configured with seal groove 505.Seal groove 505 is substantially a ring-shaped, and bloated towards outer circumferential side
Position is equiangularly arranged at intervals at three.Bearing surface 503 is formed at as the recess 80 of coder side fitting portion, and positioned at close
The outer circumferential side of sealing groove 505.Also, in bearing surface 503, fixing hole 506 is formed at the multiple positions different from recess 80.Encoder
3 by the way that the fixing screws 507 through fixing hole 506 are fastened in the screwed hole 138 of motor end face 131, so as to be fixed on horse
Up to 2.Fixing hole 506 is elongated hole circumferentially.Therefore, the interim tightening state group that encoder 3 can be that can rotate against
Loaded on motor 2.
Fig. 3 (b) is the backsight of the motor 2 after motor-side shaft coupling wheel hub 41 is fixed from opposite side L2 is exported
Figure.As shown in Fig. 2, Fig. 3 (b), the motor end face 131 of second bearing retainer 13 is the substantially pros for being cut four angles
Shape.As shown in Fig. 2 be formed with inner annular convex portion 136 in motor end face 131, the inner annular convex portion 136 is along being formed at horse
Opening edge up to the central recess 132 of end face 131 is protruded towards opposite side L2 is exported.Also, in inner annular convex portion 136
Outer circumferential side is formed with outside annular convex 137, and ring-type is formed between inner annular convex portion 136 and outside annular convex 137
Groove portion.
Encoder 3 be formed at the annular convex 504 of encoder end face 501 configure inner annular convex portion 136 inner side,
The state that bearing surface 503 is abutted with inner annular convex portion 136 is assembled.It is formed with inner annular convex portion 136 by fixing screws
505 screwed holes 138 being threadably secured.The seal member (not shown) configured in the seal groove 505 of the side of encoder 3 is close to
Inner annular convex portion 136.The seal member in seal groove 505 is configured by the gap between motor end face 131 and encoder end face 501
Sealing.
Fig. 4 is the exploded perspective view of motor 2.As shown in Fig. 3 (b), Fig. 4, in the inner annular convex portion of motor end face 131
136 are formed with arc-shaped recess 71, and the moving parts 72 of promising circular-arc part part is configured in arc-shaped recess 71.Arc-shaped recess
71 and moving parts 72 along the circumferentially extending centered on motor-side rotary shaft 31.The circumferential central phase of arc-shaped recess 71
It is located at -X direction side (lower side of vertical) for motor-side rotary shaft 31.Moving parts 72, which has, is formed at circumferential one
The arc groove 73,74 of side and another side.Arc groove 73,74 circumferentially, and positioned at being with motor-side rotary shaft 31
On the same circle at center.In the bottom surface of arc-shaped recess 71, screwed hole 75,76 is formed at and the overlapping position of arc groove 73,74.
Moving parts 72 is by the way that the fixing screws 77 as fixed component are inserted into arc groove 73,74, before fixing screws 77
End is threadably fastened in screwed hole 75,76, so as to be fastened in mode that can be circumferentially moved temporarily.Interim tightening state
Moving parts 72 can be circumferentially moved.Also, by being fastened and fixed screw 77, so that moving parts 72 is formally fixed on
Motor end face 131.Pad 78 is configured between the head of fixing screws 77 and moving parts 72.
Alignment pin 70 is formed with the circumferential center of moving parts 72.Alignment pin 70 and arc groove 73,74 and fixed spiral shell
Nail 77 is located on same circle.In addition, arc groove 73,74 and fixing screws 77 can also be configured than the inner the week side of boss of alignment pin 70
Position.Also, alignment pin 70 can also be formed at the circumferential central position for deviateing moving parts 72.By adjusting moving parts
72 circumferential position, is capable of the circumferential position of regulates alignment pin 70.The moveable angular range of alignment pin 70 and arc groove
73rd, 74 circumferential lengths and there is provided the angular range correspondence of arc-shaped recess 71.By arc-shaped recess 71 it is circumferential in
Centre (that is, the position that -X direction side (lower side of vertical) is leaned on relative to the side of motor-side rotary shaft 31) is used as alignment pin 70
In the case of reference position, with the moveable angular range of alignment pin 70 moved from reference position to circumferential side more than 5 ° with
And the mode for moving more than 5 ° towards circumferential opposite side forms arc groove 73,74 and arc-shaped recess 71.
The moveable angular range (hereinafter referred to as adjustment angle D) in the circumferential of alignment pin 70 is that can pass through alignment pin
70 position adjustment, the position of alignment pin 70 caused by the assembly error of the part with encoder motor 1 during fabrication is deviateed
The angular range of elimination.That is, it is constructed so that first angle D1, second angle D2, third angle the D3 progress of following explanation
Total angle after total is in below adjustment angle D.First angle D1 is aftermentioned for motor-side shaft coupling wheel hub 41 is pressed into
Main motor 200 motor-side rotary shaft 31 when assembly error.Also, second angle D2 is by the motor-side of main motor 200
Assembly error when fitting portion (alignment pin 70) is fixed.Also, third angle D3 is to press motor-side shaft coupling wheel hub 41
Enter to the assembly error during motor-side rotary shaft 31 of volume production motor 2 described later.
Specifically, first angle D1 is that the motor-side that motor-side shaft coupling wheel hub 41 is pressed into main motor 200 rotates
Actual pushed position during axle 31 is relative to target location (in the present embodiment, mark 414 towards the position of +X direction)
Deviation.Also, second angle D2 be actual fixed position when the alignment pin 70 of main motor 200 is fixed relative to
Deviate the position of circumferential position (in the present embodiment, the circumferential center of arc-shaped recess 71) set in advance.Also, the
Three angle D3 are actual press-in when motor-side shaft coupling wheel hub 41 to be pressed into the motor-side rotary shaft 31 of volume production motor 2
Deviation of the position relative to target location (mark 414 towards the position of +X direction).
(manufacture method with encoder motor)
Fig. 5 is the explanation figure of the schematically illustrate manufacture method with encoder motor 1.In volume production band encoder motor 1, master is used
Motor 200 and main encoder 300.Hereinafter, it is used as band encoder using what is manufactured by the use of main motor 200 and main encoder 300 respectively
The motor 2 and encoder 3 of the component parts of motor 1 are referred to as volume production motor 2 and volume production encoder 3.Main motor 200 be with
The volume production identical structure of motor 2.On the other hand, main encoder 300 has and the volume production different part of encoder 3.That is, remove
It is formed with the 3rd bearing retainer 50 of volume production encoder 3 outside this point of handle hole 301, main encoder 300 and amount
Production is identical with the structure of encoder 3.Handle hole 301 is formed at two positions being represented by dashed line in Fig. 3 (a).Towards rotation
Axis L directions observe when, handle hole 301 with the overlapping region openings of screwed hole 75,76.Therefore, it is possible to which screw threads for fastening is used
Instrument be inserted into handle hole 301 implement fixing screws 77 screw threads for fastening operation.
Fig. 6 is the schematic flow diagram of the manufacture method with encoder motor 1.Manufacture method with encoder motor 1 includes：
Preparatory process S1；Volume production adjusts process S2 with encoder；Volume production adjusts process S3 with motor；And assembling procedure S4.Main motor
200 and main encoder 300 be assembled by preparatory process S1 and be adjusted to prespecified state.Prespecified state refers to
The stator 20 and rotor 30 of main motor 200 are in the state (motor lock-out state described later) of prespecified position relationship, and
Be the main encoder 300 for being assembled in main motor 200 positional information (output) for prespecified value (in the present embodiment,
Represent origin position value) state.In Figure 5, the main motor 200 and main coding for implementing preparatory process S1 are illustrated with dotted line
Device 300.
Next, implementing volume production encoder adjustment process S2 using the main motor 200 after main encoder 300 is separated.
Also, implement volume production motor adjustment process S3 using the main encoder 300 separated from main motor 200.In addition, both using phase
Anti- order implements volume production and adjusts process S2 and volume production motor adjustment process S3 with encoder, can also implement two works simultaneously
Sequence.When manufacturing volume production with encoder 3, it is directed to all volume productions encoder 3 and implements volume production encoder adjustment process S2.
Also, when manufacturing volume production with motor 2, it is directed to all volume productions motor 2 and implements volume production motor adjustment process S3.And
And, volume production encoder adjustment process S2 volume production encoder 3 will be implemented and implement volume production motor adjustment process S3
Volume production assembled with motor 2 so that implement complete the assembling procedure S4 with encoder motor 1.
(preparatory process)
Hereinafter, each operation to preparatory process S1 to assembling procedure S4 is described in detail.Fig. 7 is preparatory process S1 flow
Figure.Also, Fig. 8 is main motor assembling procedure S11 flow chart.As shown in fig. 7, preparatory process S1 includes：Main motor assembles work
Sequence S11；Main encoder assembling procedure S12；Assembling procedure S13；And main encoder correction process S14.In addition, both can be according to this
Opposite order implements main motor assembling procedure S11 and main encoder assembling procedure S12, can also implement two processes simultaneously.And
And, as shown in figure 8, main motor assembling procedure S11 implements following process：To assemble main motor with the identical mode of general motor 2
200 process S111；Main motor 200 is set to the process S112 of defined motor lock-out state；By motor-side shaft coupling wheel hub
41 are fixed to the process S113 of the motor-side rotary shaft 31 of main motor 200；And in prespecified circumferential position by main motor
The 200 process S114 being fixed as the alignment pin 70 of motor-side fitting portion.
The process S112 that main motor 200 is set into motor lock-out state is, for example, following process：By by main motor 200
U phases, V phases, prespecified one in the driving coil 23 of W phases and the positive terminal of external power source that stator 20 has connect
Connect, other two-phases are connected with negative terminal, DC current is flowed from two terminals to driving coil 23, so that rotor 30
Angle position as defined in going to simultaneously stops.The halted state is motor lock-out state.
Motor-side shaft coupling wheel hub 41 is being fixed in the process S113 of the motor-side rotary shaft 31 of main motor 200, phase
For the motor-side rotary shaft 31 of the main motor 200 of motor lock-out state, make motor-side shaft coupling wheel hub 41 and prespecified
First rotation position 41A (reference picture 3 (b)) aligns and fixed.In the present embodiment, in the card of motor-side shaft coupling wheel hub 41
The mark 414 that convex portion 412 marks triangle is closed, without in another trace mark of engaging protuberances 413.Therefore, such as Fig. 3 (b)
It is shown, mark 414 towards +X direction (that is, the top of vertical) the first rotation position 41A to motor-side coupling wheel
Hub 41 is positioned, so as to be fixed on motor-side rotary shaft 31.Now, as described above, by the second path of motor-side rotary shaft 31
The annulus 411 of the press-in motor-side shaft coupling wheel hub of portion 36 41.
The alignment pin 70 as motor-side fitting portion of main motor 200 is being fixed on to the work of prespecified circumferential position
In sequence S114, such as shown in Fig. 3 (b), alignment pin 70 is positioned in the circumferential center of arc-shaped recess 71.In present embodiment
In, the circumferential center of arc-shaped recess 71 is located at -X direction side (that is, lead relative to the rotation axis L of motor-side rotary shaft 31
The lower side in vertical direction).Also, in the present embodiment, alignment pin 70 is towards the mark with motor-side shaft coupling wheel hub 41
The direction of 414 opposite sides is positioned.In motor-side shaft coupling wheel hub 41, engaging protuberances 412 are with engaging protuberances 413 at one
Extend on straight line, mark 414 is arranged at engaging protuberances 412.Therefore, it is configured with alignment pin on the extended line of engaging protuberances 413
70.Thus, main motor assembling procedure S11 terminates.
Main encoder assembling procedure S12 includes：To assemble main encoder 300 with the identical mode of encoder 3 with volume production
Process；And coder side shaft coupling wheel hub 42 is fixed on to the coder side rotary shaft 53 of assembled main encoder 300
Process.Thus, main encoder assembling procedure S12 terminates.
In assembling procedure S13, by the main motor assembling procedure S11 main motors 200 assembled and main coding will be passed through
The main encoder 300 of device assembling procedure S12 assemblings is assembled, then the motor-side rotary shaft 31 of main motor 200 will be fixed on
Motor-side shaft coupling wheel hub 41 and be fixed on main encoder 300 coder side rotary shaft 53 coder side shaft coupling wheel hub
42 are assembled into shaft coupling packing ring 43.Be labelled with mark in shaft coupling packing ring 43, the mark be located at in motor-side coupling wheel
The note of the mark 414 that the engaging protuberances 412 of hub 41 are marked and the mark of engaging protuberances 422 in coder side shaft coupling wheel hub 42
Number 424 corresponding positions.Therefore, it is possible to make the mark 414 and coder side shaft coupling wheel hub 42 of motor-side shaft coupling wheel hub 41
Mark 424 and the mark of the side of shaft coupling packing ring 43 assemble in alignment.
In main encoder correction process S14, implement the main coding for making to assemble with main motor 200 in assembling procedure S13
The output correction that the positional information of device 300 is alignd with origin position.Thus, so that the rotation in defined motor lock-out state
Implement the origin correction of main encoder 300 for the mode of origin in position.So far, preparatory process S1 terminates.
(volume production adjusts process with encoder)
Fig. 9 is the flow chart that volume production encoder adjusts process S2.Volume production encoder adjustment process S2 includes：Volume production is assembled to use
The process S21 of encoder 3；Volume production encoder 3 is assembled into the process S22 of main motor 200；And to volume production encoder 3
The process S23 that is maked corrections of positional information.It is to utilize the master for implementing preparatory process S1 that volume production adjusts process S2 with encoder
Motor 200, the process maked corrections to volume production with the positional information of encoder 3.
First, in the process S21 assembled to volume production with encoder 3, volume production encoder 3 is assembled, and will coding
Device side shaft coupling wheel hub 42 is fixed on the coder side rotary shaft 53 of assembled volume production encoder 3.
Next, in the process S22 assembled to main motor 200, by the process S21 of assembling volume production encoder
In the volume production encoder 3 that is assembled and the main motor 200 of main encoder 300 has been separated after preparatory process S1 is implemented
Assembled (reference picture 5).Next, in the process S23 for making corrections to volume production with the positional information of encoder, implementing to make
The correction that the positional information of volume production encoder 3 is alignd with origin position.As described above, with when in motor lock-out state
Towards the mode structure in the direction (in the present embodiment, being +X direction) of the defined of mark 414 of motor-side shaft coupling wheel hub 41
Into main motor 200.Volume production encoder 3 is in origin when assembling the main motor 200 of motor lock-out state with positional information
The mode (that is, by the rotation position in motor lock-out state in the way of origin) of position implements origin correction.Afterwards, implement
The process S24 of main motor is removed from volume production encoder 3.Thus, volume production encoder adjustment process S2 terminates.
(volume production adjusts process with motor)
Figure 10 is the flow chart that volume production motor adjusts process S3.Volume production adjusts process S3 with motor and implemented：Assembling volume production uses horse
Up to 2 process S31；Volume production motor 2 is set to the process S32 of motor lock-out state；Under the motor lock-out state, by motor
Side shaft coupling wheel hub 41 is fixed on the process S33 of the motor-side rotary shaft 31 of volume production motor 2；Motor-side fitting portion will be used as
Alignment pin 70 is set to interim tightening state and assembles the process S34 of main encoder 300；Main encoder 300 is set to be rotated in place confidence
Process S35 of the breath in origin position；From the process S36 of the formal fixed locating stud 70 of the handle hole 301 of main encoder 300；With
And remove the process S37 of main encoder 300.It is to utilize the main coding for implementing preparatory process S1 that volume production adjusts process S3 with motor
The process that device 300 is in the circumferential positioned volume production with the alignment pin 70 of motor 2.
First, although implement the process S31 of assembling volume production motor 2, volume production motor 2 is set to motor lock-out state
Process S32 and motor-side shaft coupling wheel hub 41 is fixed on volume production motor 2 motor-side rotary shaft 31 process S33, but
These processes respectively with assemble the process S111 of main motor 200, main motor 200 is set to the process S112 of motor lock-out state with
And motor-side shaft coupling wheel hub 41 is fixed on the motor-side rotary shaft 31 of main motor 200 process S113 it is identical, therefore omit
Explanation.
Next, assembling main encoder the alignment pin 70 as motor-side fitting portion is set into interim tightening state
In 300 process S34, the fixing screws 77 of fixed moving parts 72 are loosened, so that moving parts 72 can be moved in the circumferential
It is dynamic, and the volume production that the main encoder 300 separated from main motor 200 is assembled into the state after preparatory process S1 is implemented uses horse
Up to 2 (reference pictures 5).In this condition, because alignment pin 70 is in interim tightening state, therefore main encoder 300 can be fixed
Rotated in the moveable angular range of position pin 70 (in the present invention, moving 5 ° to circumferential side, 5 ° are moved to opposite side).
Next, making main encoder 300 rotate to the process that the positional information of main encoder 300 reaches origin position
In S35, while the positional information of monitoring main encoder 300, while main encoder 300 is rotated, and in the position of main encoder 300
Confidence ceases the position for being changed into origin position, is that alignment pin 70 is positioned to main encoder 300.Also, implement from main encoder
300 handle hole 301 inserts the instrument of screw fastening, screw 77 is fastened and fixed, so that moving parts 72 is fixed on into motor
End face 131, then to process S36 that alignment pin 70 is implemented formally to fix.Afterwards, implement to remove main encoder from volume production motor 2
300 process S37.Thus, volume production motor adjustment process S3 terminates.
(assembling procedure)
Assembling procedure S4 implements volume production encoder adjustment process S2 volume production encoder 3 for assembling and implements volume production use
Motor adjustment process S3 volume production motor 2, to complete the process with encoder motor 1.Volume production is with encoder 3 with main motor
On the basis of 200, maked corrections positional information, and volume production is positioned with motor 2 on the basis of main encoder 300 to alignment pin 70.Therefore,
Only need to be assembled them, be just configured to be in the spy of motor lock-out state in stator 20 and rotor 30 with encoder motor 1
During fixed position relationship, volume production is in origin position with the positional information of encoder 3.
(encoder replacement method)
Because the encoder 3 with encoder motor 1 is dismantled and assembled relative to motor 2, therefore in 3 failure of encoder, Neng Gouru
Only remove encoder to replace new encoder like that below.First, prepare in the above-mentioned manufacture method with encoder motor 1
In implement volume production process S2 encoder 3 (volume production with encoder 3) adjusted with encoder as the encoder 3 of replacement.And
And, failed encoder 3, the encoder 3 (volume production encoder 3) of assembling replacement are removed from encoder motor 1.
In present embodiment, constitute the encoder 3 (volume production with encoder 3) with encoder motor 1 all on the basis of main motor 200 come
Make corrections positional information, constitute the motor (volume production with motor 2) with encoder motor 1 all on the basis of main encoder 300 come pair
Alignment pin 70 is positioned.Thus, it is only required to simply replace encoder 3, the band encoder motor 1 after replacement is just configured to fixed
When son 20 is in the specific position relationship of motor lock-out state with rotor 30, the position letter of encoder (volume production encoder 3)
Breath is in origin position.
(main efficacy results of present embodiment)
Present embodiment be used for the motor 2 (volume production motor 2) with encoder motor 1 as described above, dismantled and assembled encoder 3, and
Provided with the chimeric alignment pin 70 (motor-side fitting portion) of the recess 80 (coder side fitting portion) with being arranged at encoder 3, and energy
The circumferential position of enough regulates alignment pins 70.If encoder 3 like this, to be assembled into the motor 2 of present embodiment
In the case of as the use of band encoder motor 1, it can easily and accurately implement encoder 3 and motor 2 in a rotational direction
Positioning.Therefore, it is possible to the origin position of easily and accurately registration encoder 3.Also, in 3 failure of encoder, Neng Gourong
Change places and implement the replacement operation of encoder 3.
In the present embodiment, encoder 3 has encoder end face 501, and the encoder end face 501 is towards motor 2
The axial end of side, alignment pin 70 is arranged at and the opposite position of bearing surface 503 positioned at the outer peripheral edge of encoder end face 501.
Like this, if setting alignment pin 70 with the opposite position in the most peripheral portion of encoder end face 501, alignment pin 70 is configured
The position of the outer circumferential side separated with motor-side rotary shaft 31.Therefore, it is possible to accurately implement the circumferential position tune of alignment pin 70
It is whole.Therefore, it is possible to accurately implement encoder 3 and the positioning of motor 2 in a rotational direction.
The motor 2 of present embodiment has：Motor end face 131, the motor end face 131 is the axle towards the side of encoder 3
To end face；Moving parts 72, the moving parts 72 is installed on motor end face 131 in the way of it can adjust circumferential position；
And fixing screws 77, the fixing screws 77 are the fixed component that moving parts 72 is fixed on to motor end face 131, alignment pin
70 are arranged at moving parts 72, fixing screws 77 be located at on the same circle of alignment pin 70 or positioned at than the inner the week side of boss of alignment pin 70
Position.Like this, if alignment pin 70 is configured in outer circumferential side, the circumferential position of alignment pin 70 can accurately be implemented
Adjustment.Therefore, it is possible to accurately implement encoder 3 and the positioning of motor 2 in a rotational direction.
In the present embodiment, because moving parts 72 is arc-shaped part circumferentially, therefore, it is possible to radially
On moving parts 72 is minimized.Also, because fixing screws 77 are arranged at the circumferential both sides of alignment pin 70, therefore, it is possible to
Radially moving parts 72 is minimized.If moving parts 72 minimized, the configuration free degree of moving parts 72 is improved.
Therefore, it is possible to which alignment pin 70 is configured in outer circumferential side.Even if also, motor dimension is different, can not also change moving parts 72
Shape and size using arc-shaped moving parts 72.Accordingly, it is capable to realize the generalization of part.
In the present embodiment, moving parts 72 (arc-shaped part) is configured in shape with the state that can be moved in the circumferential
Into in the arc-shaped recess 71 of motor end face 131.If like this, need not be set in the side of encoder end face 501 allows movement
The shape that part 72 is moved.
The alignment pin 70 of present embodiment can be moved circumferentially in defined angular range.Also, alignment pin 70
Moveable angular range (adjustment angle D) is configured to the conjunction after total first angle D1, second angle D2 and third angle D3
Count angle and be in below adjustment angle D, the first angle D1 is the horse that motor-side shaft coupling wheel hub 41 is pressed into main motor 200
Up to assembly error during sidespin rotating shaft 31, the second angle D2 is the motor-side fitting portion (alignment pin of fixed main motor 200
70) assembly error when, the third angle D3 is the motor sidespin that motor-side shaft coupling wheel hub 41 is pressed into volume production motor 2
Assembly error during rotating shaft 31.If like this, being used as the positioning of motor-side fitting portion when main motor 200 is manufactured
Pin 70, which produces position, to be deviateed, and produces position when motor-side shaft coupling wheel hub 41 is pressed into main motor 200 and volume production with motor 2
Deviate, also the deviation of these positions can be absorbed with the position of the alignment pin 70 in motor 2 by adjusting volume production.
In the present embodiment, connection motor 2 and the shaft coupling 4 of the rotary shaft of encoder 3 have：It is fixed on motor sidespin
The motor-side shaft coupling wheel hub 41 of rotating shaft 31；And it is fixed on the coder side shaft coupling wheel hub 42 of coder side rotary shaft 53,
Motor-side shaft coupling wheel hub 41 is fixed in (that is, stator when motor 2 is in motor lock-out state in prespecified rotation position
20 with rotor 30 be in prespecified position relationship when) motor-side rotary shaft 31.If shaft coupling like this, can be passed through
Device 4, motor-side rotary shaft 31 is connected in prespecified rotation position by coder side rotary shaft 53.Therefore, in encoder 3
In the case of during failure etc. and encoder 3 is substituted for into new encoder, if the positional information of new encoder 3 maked corrections for
The identical state of encoder 3 before replacement, then need not be in the positional information for the encoder 3 for replacing field conduct correction replacement
Operation, it becomes possible to the origin position of registration encoder 3.Therefore, it is possible to easily implement encoder 3 in 3 failure of encoder
Replacement operation.
In the present embodiment, shaft coupling 4 is the sliding cross coupling with shaft coupling packing ring 43, the shaft coupling pad
Circle 43 is reported to the leadship after accomplishing a task with motor-side shaft coupling wheel hub 41 and coder side shaft coupling wheel hub 42 and rotation axis L directions, and can be at that
The mode that this side reported to the leadship after accomplishing a task is moved up is assembled.Therefore, it is possible to absorb motor-side rotary shaft 31 and encoder by shaft coupling 4
The axle of sidespin rotating shaft 53 deviates.
In the manufacture method with encoder motor 1 of present embodiment, main motor 200 and main encoder 300 are prepared in advance,
And by they be adjusted to prespecified state (under the motor lock-out state of main motor 200, the position of main encoder 300 letter
State of the breath in origin position), the motor 2 of volume production during fabrication, implements the position of alignment pin 70 using main encoder 300
Adjustment, the encoder 3 of volume production utilizes the correction of the main enforcing location information of motor 200 during fabrication.If like this, only needed
The encoder 3 of volume production is assembled into the motor 2 of volume production, the band of the state of the origin position of registration encoder 3 is just completed
Encoder motor 1.Therefore, it is possible to the origin position for the encoder 3 with encoder motor 1 that easily and securely aligns.Also, energy
It is enough using rotation position during motor lock-out state as encoder 3 origin position.
In the encoder replacement method with encoder motor 1 of present embodiment, preparation implements volume production and adjusted with encoder
The encoder 3 of whole process S2 replacement, from removing the encoder 3 of failure with encoder motor 1, then assembles the coding of replacement
Device 3.In the present embodiment, the motor 2 of volume production utilizes main encoder 300 during fabrication, and the position for implementing alignment pin 70 is adjusted
Whole, the encoder 3 of volume production utilizes main motor 200, the correction of enforcing location information during fabrication.It therefore, there is no need to replacing
The operation of the positional information of the encoder 3 of field conduct correction replacement.Therefore, it is possible to easily out tape encoder motor 1
In encoder 3 replacement operation.
In the present embodiment, following this method is used as the method for forming motor lock-out state：That will set
The driving coil 23 of any one phase in the three-phase driving coil 23 of the U phases, V phases, W phases of stator 20 is connected to external power source
Positive terminal, and other two-phase-region casting coils 23 are connected to the state of the negative terminal of external power source, flow through DC current
Three-phase driving coil 23.If like this, can be by simply forming motor lock-out state from the outside power supply that provides.
(variation)
In the above-described embodiment, motor-side fitting portion is set to alignment pin 70 (convex portion), coder side fitting portion is set to recessed
Portion 80, but motor-side fitting portion can be also set to recess, and coder side fitting portion is set to convex portion.Also, it can also form energy
The hole of fitting projection is reached to replace recess.Moreover, above-mentioned embodiment is set to adjust the circumferential position of motor-side fitting portion
Put, but can also be set to that the circumferential position of coder side fitting portion can be adjusted.
Label declaration
1 ... band encoder motor, 2 ... motors (volume production motor), 3 ... encoders (volume production encoder), 4 ... shaft couplings
Device, 10 ... motor chassis, 11 ... cylindrical portions, 12 ... clutch shaft bearing retainers, 13 ... second bearing retainers, 14 ... first axles
Hold, 15 ... second bearings, 16 ... wiring conveying ends, 17 ... bushings, 20 ... stators, 21 ... stator cores, 22 ... insulating elements,
23 ... driving coils, 24 ... supply lines, 30 ... rotors, 31 ... motor-side rotary shafts, 32 ... rotor cores, 33 ... magnet, 34 ...
Output shaft, 35 ... first minor diameter parts, 36 ... second minor diameter parts, 41 ... motor-side shaft coupling wheel hubs, the rotation positions of 41A ... first,
42 ... coder side shaft coupling wheel hubs, 43 ... shaft coupling packing rings, 50 ... 3rd bearing retainers, 51 ... clutch shaft bearings, 52 ...
Two bearings, 53 ... coder side rotary shafts, 54 ... magnet, 55 ... sensor base plates, 56 ... Magnetic Sensors, 57 ... substrates are kept
Frame, 58 ... encoder covers, 59 ... seal members, 60 ... magnet retainers, 70 ... alignment pins, 71 ... arc-shaped recesses, 72 ... are moved
Dynamic component, 73,74 ... arc grooves, 75,76 ... screwed holes, 77 ... fixing screws, 78 ... pads, 80 ... recesses, 131 ... motor-ends
Face, 132 ... recesses, 133 ... circular step faces, 134 ... central indentations, 135 ... pressing plate, 136 ... inner annular convex portions,
137 ... outside annular convex, 138 ... screwed holes, 200 ... main motors, 300 ... main encoders, 301 ... handle holes, 411 ... ring-types
Portion, 412 ... engaging protuberances, 413 ... engaging protuberances, 414 ... marks, 421 ... annulus, 422 ... engaging protuberances, 423 ... engagings
Convex portion, 424 ... marks, 431 ... engaging recessed parts, 432 ... engaging recessed parts, 501 ... encoder end faces, 502 ... annular recessed portions,
503 ... bearing surfaces, 504 ... annular convex, 505 ... seal grooves, 506 ... fixing holes, 507 ... fixing screws, 531 ... large-diameter portions,
581 ... wiring taking-up portions, 582 ... bushings, 583 ... signal wires, L ... rotation axis, L1 ... outlet sides, L2 ... export opposite side.
Claims (18)
1. a kind of motor, is the motor of dismantled and assembled encoder, it is characterised in that have：
Motor-side rotary shaft, the motor-side rotary shaft is connected to the volume by shaft coupling in the way of it can not rotate against
The coder side rotary shaft that code device has；And
Motor-side fitting portion, the motor-side fitting portion can be chimeric with being arranged at the coder side fitting portion of the encoder,
A side in the coder side fitting portion and the motor-side fitting portion is towards the coder side rotary shaft and institute
The convex portion that the rotation direction of principal axis of motor-side rotary shaft is protruded is stated, the opposing party is the recess or hole being embedded in for the convex portion,
The coder side fitting portion can be adjusted with the coder side rotary shaft with the side in the motor-side fitting portion
And the circumferential position centered on the motor-side rotary shaft.
2. motor according to claim 1, it is characterised in that
The motor-side fitting portion can adjust the circumferential position centered on the motor-side rotary shaft.
3. motor according to claim 2, it is characterised in that
The encoder has encoder end face, and the encoder end face is the axial end towards the motor-side,
The motor-side fitting portion is arranged at the position opposite with the outer peripheral edge of the encoder end face.
4. motor according to claim 2, it is characterised in that
The motor has：
Motor end face, the motor end face is the axial end towards the coder side；
Moving parts, the moving parts is installed on the motor end face in the way of it can adjust the circumferential position；With
And
The moving parts is fixed on the motor end face by fixed component, the fixed component,
The motor-side fitting portion is arranged at the moving parts,
The fixed component is located at position or position chimeric with the motor-side than the inner the week side of boss of motor-side fitting portion
In on same circle.
5. motor according to claim 4, it is characterised in that
The fixed component is arranged at the circumferential both sides of the motor-side fitting portion.
6. motor according to claim 4, it is characterised in that
The moving parts is the arc-shaped part along the circumferentially extending.
7. motor according to claim 6, it is characterised in that
The arc-shaped part is being formed at the circular arc of the motor end face with the state configuration that can be moved in the circumferential direction
Shape recess.
8. a kind of band encoder motor, it is characterised in that have：
Motor described in any one of claim 1 to 7；
The encoder, the encoder is dismantled and assembled relative to the motor；And
The shaft coupling, the shaft coupling in the way of it can not rotate against with the motor-side rotary shaft and the coder side
Rotary shaft is connected.
9. band encoder motor according to claim 8, it is characterised in that
The shaft coupling has：
Motor-side shaft coupling wheel hub, the motor-side shaft coupling wheel hub is fixed on the motor-side rotary shaft；And
Coder side shaft coupling wheel hub, the coder side shaft coupling wheel hub is fixed on the coder side rotary shaft,
The motor-side shaft coupling wheel hub is fixed on the stator of the motor in prespecified rotation position and rotor is in advance
The motor-side rotary shaft of the state of position relationship as defined in first.
10. band encoder motor according to claim 9, it is characterised in that
The shaft coupling is the sliding cross coupling with shaft coupling packing ring, and the shaft coupling packing ring is with the motor-side shaft coupling
Device wheel hub and the coder side shaft coupling wheel hub are reported to the leadship after accomplishing a task with the rotation axis direction and can be on the directions reported to the leadship after accomplishing a task each other
Mobile mode is assembled.
11. band encoder motor according to claim 9, it is characterised in that
The motor-side fitting portion can be moved along the circumference in defined angular range,
The encoder is dismantled and assembled relative to main motor, and the main motor has the motor-side rotary shaft and the motor-side embedding
Conjunction portion, the motor is dismantled and assembled relative to main encoder, and the main encoder has the coder side rotary shaft and described
Coder side fitting portion and handle hole is formed with,
Target when relative to the motor-side rotary shaft that the motor-side shaft coupling wheel hub is fixed on to the main motor
The deviation of position is within first angle, the motor-side fitting portion of the main motor is relative to prespecified circumferential position
Position deviate within second angle, relative to the motor that the motor-side shaft coupling wheel hub is fixed on to the motor
In the case that the position of target location during sidespin rotating shaft is deviateed within third angle,
Angular range as defined in described is total after the total first angle, the second angle and the third angle
It is more than angle.
12. a kind of manufacture method with encoder motor, it is characterised in that
The band encoder motor has：
Motor；
Encoder, the encoder is dismantled and assembled relative to the motor；And
Shaft coupling, motor-side rotary shaft and the encoder of the shaft coupling in the way of it can not rotate against with the motor
Coder side rotary shaft connection,
The motor has a motor-side fitting portion, and the motor-side fitting portion can be with being arranged at the coder side of the encoder
Fitting portion is fitted together to,
A side in the coder side fitting portion and the motor-side fitting portion is towards the coder side rotary shaft and institute
The convex portion that the rotation axis direction of motor-side rotary shaft is protruded is stated, the opposing party is the recess or hole being embedded in for the convex portion,
The coder side fitting portion can be adjusted with the coder side rotary shaft with the side in the motor-side fitting portion
And the circumferential position centered on the motor-side rotary shaft,
The manufacture method with encoder motor is included：
Preparatory process, prepares the main motor with the motor-side rotary shaft and the motor-side fitting portion, and prepares have institute
State the main encoder of coder side rotary shaft, the coder side fitting portion and handle hole, the main motor stator with turn
Son is in the state of prespecified position relationship, and the positional information for forming the main encoder is changed into prespecified value
State；
Volume production adjusts process with encoder, the encoder is assembled into the main motor, and the position of the encoder is believed
Breath correction is the prespecified value；
Volume production adjusts process with motor, and the stator and rotor of the motor are in the prespecified position relationship, and by institute
The state that main encoder is assembled into move in the circumferential is stated to fasten temporarily described in the state of the motor-side fitting portion
Motor, and in the rotation for making the positional information that the main encoder rotates to the main encoder reach the prespecified value
In the state of untill position, the handle hole from the main encoder is formally solid by the motor-side fitting portion of the motor
It is fixed；And
Assembling procedure, assembling implements the motor of the volume production motor adjustment process and implements the volume production coding
Device adjusts the encoder of process, so as to complete the band encoder motor.
13. the manufacture method according to claim 12 with encoder motor, it is characterised in that
The shaft coupling has：
Motor-side shaft coupling wheel hub, the motor-side shaft coupling wheel hub is fixed on the motor-side rotary shaft；And
Coder side shaft coupling wheel hub, the coder side shaft coupling wheel hub is fixed on the coder side rotary shaft,
The motor-side shaft coupling wheel hub is fixed on the stator of the motor in prespecified rotation position and rotor is in advance
The motor-side rotary shaft of the state of position relationship as defined in first.
14. the manufacture method according to claim 13 with encoder motor, it is characterised in that
The shaft coupling is the sliding cross coupling with shaft coupling packing ring, and the shaft coupling packing ring is with the motor-side shaft coupling
Device wheel hub and the coder side shaft coupling wheel hub are reported to the leadship after accomplishing a task with the rotation axis direction and can be on the directions reported to the leadship after accomplishing a task each other
Mobile mode is assembled.
15. the manufacture method according to claim 13 with encoder motor, it is characterised in that
The motor-side fitting portion can be moved along the circumference in defined angular range,
The encoder is dismantled and assembled relative to the main motor, and the motor is dismantled and assembled relative to the main encoder,
Target when relative to the motor-side rotary shaft that the motor-side shaft coupling wheel hub is fixed on to the main motor
The position of position is deviateed within first angle, the motor-side fitting portion of the main motor is relative to prespecified circumference
The position of position is deviateed to be fixed on described in the motor within second angle, relative to by the motor-side shaft coupling wheel hub
In the case that the position of target location during motor-side rotary shaft is deviateed within third angle,
Angular range as defined in described is total after the total first angle, the second angle and the third angle
It is more than angle.
16. the manufacture method with encoder motor according to claim 12,14, any one of 15, it is characterised in that
The preparatory process is included：
The stator and the rotor for forming the main motor are in the motor locking shape of the prespecified position relationship
The process of state；
In the first prespecified rotation position, the motor-side shaft coupling wheel hub of the shaft coupling is fixed on the motor and locked
The process of the motor-side rotary shaft of the main motor of state；
The process that the motor-side fitting portion of the main motor is fixed in prespecified circumferential position；
The coder side shaft coupling wheel hub of the shaft coupling is fixed on to the coder side rotary shaft of the main encoder
Process；
By the motor-side shaft coupling and the coder side shaft coupling wheel hub, institute is assembled in the way of it can not rotate against
State motor-side rotary shaft and the coder side rotary shaft, and so that the motor-side fitting portion and the coder side fitting portion
Chimeric mode, the process for assembling the main motor and the main encoder；And
The positional information correction that the main encoder of the main motor will be assembled into is the process of the prespecified value.
17. the manufacture method according to claim 16 with encoder motor, it is characterised in that
In the process for forming the motor lock-out state, by located at the U phases, V phases, W phases of the stator of the main motor
Three-phase driving coil in the driving coil of any one phase be connected to the positive terminal of external power source, by other two-phases
The driving coil is connected to the state of the negative terminal of the external power source, DC current is flowed through the drive of the three-phase
Moving winding.
18. a kind of encoder replacement method with encoder motor, for by described in any one of claim 12 to 15
The encoder replacement method with encoder motor of manufacture method manufacture with encoder motor, it is characterised in that
Prepare to implement the encoder of the volume production with the replacement of encoder adjustment process,
The encoder is removed from the band encoder motor, the encoder of the replacement is assembled.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-067300 | 2016-03-30 | ||
| JP2016067300A JP6668143B2 (en) | 2016-03-30 | 2016-03-30 | Motor, motor with encoder, method of manufacturing motor with encoder, and method of replacing encoder with motor with encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107276322A true CN107276322A (en) | 2017-10-20 |
| CN107276322B CN107276322B (en) | 2019-05-28 |
Family
ID=60008767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710196943.XA Active CN107276322B (en) | 2016-03-30 | 2017-03-29 | Motor and with encoder motor, the manufacturing method with encoder motor, with the encoder replacement method of encoder motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6668143B2 (en) |
| CN (1) | CN107276322B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111486877A (en) * | 2019-01-25 | 2020-08-04 | 日本电产三协株式会社 | Encoder and motor with encoder |
| CN111919366A (en) * | 2018-03-29 | 2020-11-10 | 日本电产株式会社 | Motor with a stator having a stator core |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019103253A (en) * | 2017-12-02 | 2019-06-24 | 多摩川精機株式会社 | Motor with detector, motor with alignment indication, detector with alignment display, method of manufacturing motor with detector, and method of reassembling motor with detector |
| WO2019189303A1 (en) * | 2018-03-29 | 2019-10-03 | 日本電産株式会社 | Motor |
| WO2019189301A1 (en) * | 2018-03-29 | 2019-10-03 | 日本電産株式会社 | Motor |
| JPWO2020053992A1 (en) * | 2018-09-12 | 2020-10-22 | 三菱電機株式会社 | Encoder with magnetic field shield |
| KR102432926B1 (en) * | 2020-12-08 | 2022-08-18 | 현대무벡스 주식회사 | Encoder motor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103378691A (en) * | 2012-04-18 | 2013-10-30 | 株式会社安川电机 | Rotating electric machine |
| CN104333178A (en) * | 2014-11-15 | 2015-02-04 | 江门海力数控电机有限公司 | Motor encoder switch connection structure and installation method thereof |
| JP2015091187A (en) * | 2013-11-06 | 2015-05-11 | 多摩川精機株式会社 | Motor with encoder |
-
2016
- 2016-03-30 JP JP2016067300A patent/JP6668143B2/en active Active
-
2017
- 2017-03-29 CN CN201710196943.XA patent/CN107276322B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103378691A (en) * | 2012-04-18 | 2013-10-30 | 株式会社安川电机 | Rotating electric machine |
| JP2015091187A (en) * | 2013-11-06 | 2015-05-11 | 多摩川精機株式会社 | Motor with encoder |
| CN104333178A (en) * | 2014-11-15 | 2015-02-04 | 江门海力数控电机有限公司 | Motor encoder switch connection structure and installation method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111919366A (en) * | 2018-03-29 | 2020-11-10 | 日本电产株式会社 | Motor with a stator having a stator core |
| CN111919366B (en) * | 2018-03-29 | 2023-05-16 | 日本电产株式会社 | Motor |
| CN111486877A (en) * | 2019-01-25 | 2020-08-04 | 日本电产三协株式会社 | Encoder and motor with encoder |
| CN111486877B (en) * | 2019-01-25 | 2021-09-10 | 日本电产三协株式会社 | Encoder and motor with encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6668143B2 (en) | 2020-03-18 |
| CN107276322B (en) | 2019-05-28 |
| JP2017184421A (en) | 2017-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107276322A (en) | Motor and with encoder motor, the manufacture method with encoder motor, the encoder replacement method with encoder motor | |
| US8278803B2 (en) | Motor end cap positioning element for maintaining rotor-stator concentricity | |
| US6737785B2 (en) | Method and apparatus for sealing an inner diameter of a segmented stator | |
| JP2006340537A (en) | Axial air gap electric motor | |
| JP4204593B2 (en) | Permanent magnet stepping motor with claw pole | |
| US10003243B2 (en) | Rotor, method of manufacturing the rotor, and rotary electric machine having the rotor | |
| CN107112855A (en) | Drive device | |
| CN107204686A (en) | Encoder and motor with encoder | |
| US20170077769A1 (en) | Single Phase Permanent Magnet Motor | |
| KR102642587B1 (en) | Motor for electric cylinder and encoder for motor | |
| US9071103B2 (en) | Color wheel driving motor and digital-light-processing projector | |
| JP2008172859A (en) | Axial gap type motor and compressor | |
| US20060055279A1 (en) | Step motor having stator with separated structure | |
| EP1713166B1 (en) | Stepping motor | |
| CN109586427A (en) | Stator and motor | |
| WO2017068639A1 (en) | Electric motor rotor manufacturing method and manufacturing device | |
| CN109586480A (en) | Motor | |
| US6891460B2 (en) | Rotor transformer positioning mechanism and operating method therefor | |
| CN106487186A (en) | Electric machine | |
| US20170063184A1 (en) | Single Phase Permanent Magnet Motor | |
| JP2008035599A (en) | Axial gap motor, stator for axial gap motor, and method of manufacturing axial gap motor | |
| US20020101120A1 (en) | Stepping motor | |
| JP6813315B2 (en) | Multi-row magnetic encoder and its manufacturing method | |
| JP2001045723A (en) | Structure of adjusting balance of rotating body in rotating machine | |
| WO2019123550A1 (en) | Rotating electric machine rotor and permanent magnet fixing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |