CN107276322B

CN107276322B - Motor and with encoder motor, the manufacturing method with encoder motor, with the encoder replacement method of encoder motor

Info

Publication number: CN107276322B
Application number: CN201710196943.XA
Authority: CN
Inventors: 松村修太
Original assignee: Sankyo Seiki Manufacturing Co Ltd
Current assignee: Nidec Instruments Corp
Priority date: 2016-03-30
Filing date: 2017-03-29
Publication date: 2019-05-28
Anticipated expiration: 2037-03-29
Also published as: JP6668143B2; JP2017184421A; CN107276322A

Abstract

The present invention relates to motor and with encoder motor, the manufacturing method with encoder motor, with the encoder replacement method of encoder motor.In band encoder motor, easily and accurately implements encoder and positioned in a rotational direction with motor.Encoder (3) is removable relative to motor (2) in band encoder motor (1).It is equipped with the positioning pin (70) chimeric with recess portion (80) of encoder are set in motor, the moving parts (72) for being formed with positioning pin can adjust circumferential position.Main motor (200) and main encoder (300) are used in the manufacture with encoder motor.It is adjusted in a manner of making the location information of main encoder be in origin position under the motor lock state of main motor, the motor (2) of volume production is adjusted using the position that main encoder implements positioning pin, 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

Motor and with encoder motor, the manufacturing method with encoder motor, band encoder horse The encoder replacement method reached

Technical field

The present invention relates to the motor of band encoder motor more particularly to removable encoder and with encoder motor and Manufacturing method with encoder motor and encoder replacement method.

Background technique

It is previous to use the band encoder motor having in axial one end installation encoder of motor.Band encoder motor is with fixed When son and rotor are in specific positional relationship in motor, the mode for making the location information of encoder become origin position is assembled And it adjusts.In encoder relative in the removable situation of motor, if encoder is relative to motor when dismounting encoder Relatively rotation place deviates, then the origin position of encoder deviates.Also, in encoder fault, prepares and replacement use is installed New encoder, but at this point, so that the location information of new encoder is in former when stator and rotor be in specific positional relationship The mode of point position is time-consuming come the operation for adjusting and assembling existing motor and new encoder.

Therefore, it is proposed to following with encoder motor: the position of direction of rotation is implemented in setting between encoder and motor The positioning mechanism of alignment.Patent Document 1 discloses this band encoder motors.Band encoder motor in patent document 1 It is equipped with the pin (protrusion) of positioning in the flange and axis of motor, and is equipped with the recess portion chimeric with the pin in encoder.

Existing technical literature

Patent document

Patent document 1: Japanese Unexamined Patent Publication 2015-105839 bulletin

Summary of the invention

Problems to be solved by the invention

There is the positioning mechanism formed by pin (protrusion) and recess portion with encoder motor in patent document 1, but in order to logical The position alignment that the positioning mechanism accurately implements direction of rotation is crossed, as its premise, is in specific position in stator and rotor In the state of setting relationship, sell with the relative position of recess portion must with pin (protrusion) and recess portion can be chimeric simultaneously mode accurately Setting.Due to deviateing once selling with the relative position of recess portion, the origin position of encoder be can deviate from, therefore in installation encoder When, need to adjust the operation of the location information of encoder.For example, encoder to be replaced to new encoder in encoder fault etc. In the case where, need to implement to adjust the operation of the location information of replaced encoder.Since this operation is bothersome, it is therefore desirable to A kind of structure that can easily and securely implement encoder and motor and position in a rotational direction.

In view of the above problems, problem of the present invention is that easily and accurately implementing encoder in band encoder motor It is positioned in a rotational direction with motor, this has with encoder motor is set to motor for the side in protrusion and recess portion, incites somebody to action Another party is set to encoder, and the mechanism for being fitted into the protrusion and the recess portion, to exist as implementation encoder relative to motor The positioning mechanism of position alignment on direction of rotation.

Means for solving the problems

To solve the above-mentioned problems, the present invention provides a kind of motor of removable encoder comprising: horse Up to sidespin shaft, the motor-side rotary shaft is shaft coupling in a manner of being unable to relative rotation and possessed by the encoder Coder side rotates axis connection；And motor-side fitting portion, the motor-side fitting portion can be set to the encoder Coder side fitting portion is chimeric, and the side in the coder side fitting portion and the motor-side fitting portion is towards the coding The rotation axis direction protrusion outstanding of device sidespin shaft and the motor-side rotary shaft, another party are to be embedded in for the protrusion A side in recess portion or hole, the coder side fitting portion and the motor-side fitting portion can be adjusted with the encoder sidespin Circumferential position centered on shaft and the motor-side rotary shaft.

It is chimeric that the motor-side chimeric with coder side fitting portion is arranged like this, in the motor of removable encoder in the present invention Portion, and the circumferential position of coder side fitting portion or motor-side fitting portion can be adjusted.If like this, being used as band volume In the case where code device motor, it can easily and securely implement encoder and be positioned in a rotational direction with motor.Therefore, can 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 to position in a rotational direction with motor.

, according to the invention it is preferred to which the encoder has encoder end face, the encoder end face is towards the motor The position opposite with the outer peripheral edge of the encoder end face is arranged in the axial end face of side, the motor-side fitting portion.If picture In this way, motor-side fitting portion can then be configured in peripheral side, therefore can accurately implement the circumferential direction of motor-side fitting portion Position adjustment.Therefore, can accurately implement encoder to position in a rotational direction with motor.

, according to the invention it is preferred to which the motor includes motor end face, the motor end face is towards the coder side Axial end face；Moving parts, the moving parts are installed on the motor-end in a manner of it can adjust the circumferential position Face；And the moving parts is fixed on the motor end face, the motor-side fitting portion by fixation member, the fixation member Be set to the moving parts, the fixation member be located at side more inner than the motor-side fitting portion position or with it is described Motor-side fitting portion is located on the same circle.If like this, can accurately implement the circumferential position of motor-side fitting portion Adjustment.Therefore, can accurately implement encoder to position in a rotational direction with motor.

, according to the invention it is preferred to which the fixation member is set to the circumferential two sides of the motor-side fitting portion.Such as Fruit like this, then can radially minimize moving parts, and can configure motor-side fitting portion in peripheral side.

, according to the invention it is preferred to which the moving parts is the arc-shaped component along the circumferentially extending.If like this, Moving parts can be minimized radially, and motor-side fitting portion can be configured in peripheral side.Also, even if motor ruler Very little difference uses moving parts in which need not also change the shape and size of moving parts.Therefore it can be realized the generalization of component.

, according to the invention it is preferred to which the arc-shaped component is being formed in the state configuration that can be moved in the circumferential direction The arc-shaped recess portion of the motor end face.If like this, need not be arranged in encoder-side surface side allows moving parts (circular arc Shape component) mobile shape.

Next, of the invention be characterized in that with encoder motor, comprising: the motor；The encoder, the volume Code device is removable relative to the motor；And the shaft coupling, the shaft coupling in a manner of being unable to relative rotation with it is described Motor-side rotary shaft and the coder side rotate axis connection.

It is of the invention with encoder motor due to having above-mentioned motor like this, can easily and securely implement Encoder positions in a rotational direction with motor.Therefore, it is capable of 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 includes motor-side shaft coupling wheel hub, the motor-side shaft coupling wheel hub is solid Due to the motor-side rotary shaft；And coder side shaft coupling wheel hub, the coder side shaft coupling wheel hub are fixed on described Coder side rotary shaft, the motor-side shaft coupling wheel hub prespecified rotation position be fixed on the stator of the motor with Rotor is in the motor-side rotary shaft of the state of prespecified positional 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.Encoder is substituted in encoder fault etc. as a result, In the case where new encoder, if new encoder is identical with the encoder before replacement to be corrected into location information (output) State, then need not be in the operation of the location information of the encoder of replacement field conduct correction replacement, energy registration encoder Origin position.Therefore, the replacement operation of encoder can easily be implemented in encoder fault.

, according to the invention it is preferred to which the shaft coupling is the sliding cross coupling with shaft coupling washer, the shaft coupling Washer is reported to the leadship after accomplishing a task with the motor-side shaft coupling wheel hub and the coder side shaft coupling wheel hub and the rotation axis direction and energy Enough modes moved on the direction reported to the leadship after accomplishing a task each other are assembled.If like this, motor sidespin can be absorbed using shaft coupling The axis of shaft and coder side rotary shaft deviates.

, according to the invention it is preferred to the motor-side fitting portion can move in defined angular range along the circumferential direction, The encoder is removable 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 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 The position of target position when sidespin shaft is deviateed within third angle, and the defined angular range is Adding up to total angle after the first angle, the second angle and the third angle or more.If like this, i.e., Make the position deviation that motor-side fitting portion is generated when assembling motor (the main motor) as benchmark, and by motor-side Shaft coupling wheel hub, which generates 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 manufacturing method with encoder motor, characterized by comprising: 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 it is in pre- in the stator of the main motor and rotor In the state of positional relationship as defined in elder generation, the location 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 location information of the encoder is maked corrections For the prespecified value；Volume production motor adjusts process, and the stator and rotor of the motor are in described prespecified Positional relationship, and the main encoder is assembled into and the motor-side is fastened temporarily with the state that can be moved in the circumferential is fitted into The motor of the state in portion, and reach described preparatory in the location information for making the main encoder rotate to the main encoder In the state of until 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, assembling implement the motor and reality of the volume production motor adjustment process The encoder for having applied the volume production encoder adjustment process, to complete the band encoder motor.

Manufacturing method with encoder motor of the invention is for example above-mentioned, 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 utilizes main encoder to implement horse during fabrication It is adjusted up to the position of side fitting portion, the encoder of volume production utilizes the correction of main motor enforcing location information during fabrication.If Like this, then the motor that the encoder of volume production is assembled into volume production is only needed, the origin position of registration encoder is just completed The band encoder motor of state.Therefore, the origin position of the encoder with encoder motor can be easily and securely aligned.

, according to the invention it is preferred to which the preparatory process includes: being formed at the stator and the rotor of the main motor In the process of the motor lock state of the prespecified positional relationship；It will be described in the first prespecified rotation position The motor-side shaft coupling wheel hub of axis device is fixed on the motor-side rotary shaft of the main motor of the motor lock state Process；In the process of the motor-side fitting portion of the fixed main motor of 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 a manner of being unable to relative rotation the motor-side rotary shaft and The coder side rotary shaft, and in a manner of keeping the motor-side fitting portion chimeric with the coder side fitting portion, assembling The process of the main motor and the main encoder；And the location information of the main encoder of the main motor will be assembled into Correction is the process of the prespecified value.If rotation position when like this, can be using motor lock state as The origin position of encoder.

, according to the invention it is preferred to which the institute of the main motor will be set in the process for forming the motor lock state It states driving coil described in the U phase of stator, any one phase in the driving coil of the three-phase of V phase, W phase and is being connected to external power supply just Extreme son, and driving coil described in other two-phases is connected to the state of the negative terminal of the external power supply, 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 state.

Next, the present invention provides the encoder replacement method with encoder motor, the band encoder motor passes through upper The manufacturing method manufacture with encoder motor stated, which is characterized 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 motor of volume production utilizes the position tune of main encoder implementation motor-side fitting portion during fabrication Whole, the encoder of volume production utilizes main motor correction location information during fabrication.Therefore, it is not necessary to be replaced in replacement field conduct correction The operation of the location information for the encoder used instead, it will be able to origin position of the alignment with the encoder in encoder motor.Therefore, It is capable of the replacement operation of the easily encoder in out tape encoder motor.

Invention effect

According to the present invention, embedding since the motor-side chimeric with coder side fitting portion is arranged in the motor with encoder motor Conjunction portion, and the circumferential position of motor-side fitting portion can be adjusted, therefore can easily and securely be aligned band encoder motor Encoder origin position.Also, in the case where encoder is replaced new encoder in encoder fault etc., Neng Gourong The easily and accurately origin position of registration encoder.

Detailed description of the invention

Fig. 1 is the cross-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 be the encoder after coder side shaft coupling wheel hub is fixed from outlet side main view and The rearview of motor after motor-side shaft coupling wheel hub is fixed from output opposite side.

Fig. 4 is the exploded perspective view of motor.

Fig. 5 is the explanatory diagram for schematically illustrating the manufacturing method with encoder motor.

Fig. 6 is the schematic flow diagram of the manufacturing 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.

Specific embodiment

Hereinafter, referring to attached drawing, to applying motor of the invention and be illustrated with encoder motor.Fig. 1 is the present invention The cross-sectional view in the direction rotation axis L with encoder motor 1 with motor 2 being related to, Fig. 2 are the decomposition with encoder motor Perspective view.In the present specification, by band encoder horse in the side and the other side in the direction rotation axis L with encoder motor 1 Up to 1 the side outstanding of output shaft 34 as outlet side L1, using the side opposite with the side outstanding of output shaft 34 as output Opposite side L2.Also, using with two directions of rotation axis L-orthogonal as x-direction and y-direction.Setting appearance with encoder motor 1 In gesture, X-direction becomes vertical direction, and Y-direction becomes horizontal direction.Using the top of vertical direction as +X direction, with vertical direction Lower section be -X direction.Also, using the side of Y-direction as +Y direction, using the other side as -Y direction.As shown in Figure 1 and Figure 2, band is compiled Code device motor 1 includes motor 2；Encoder 3, the encoder 3 removably (that is, detachable) are installed on the output phase of motor 2 Toss about L2；And the rotation of motor 2 is transmitted to encoder 3 by shaft coupling 4, the shaft coupling 4.

(motor)

Motor 2 includes motor chassis 10；The stator 20 of tubular, the configuration of stator 20 is in the inside of motor chassis 10；With And rotor 30, the rotor 30 are rotatably disposed in the inside of stator 20.Motor chassis 10 includes cylindrical portion 11, the cylinder Shape portion 11 is open facing upwards in the rotation axis side L of motor 1；First bearing retainer 12, the first bearing retainer 12 It is fixed on the end of the outlet side L1 of cylindrical portion 11；And second bearing retainer 13, the second bearing retainer 13 are fixed In the end of the output opposite side L2 of cylindrical portion 11.The first bearing 14 formed by ball bearing is maintained at first 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.Tubular Portion 11 is square tube shape, and has the side towards +X direction, -X direction, +Y direction, -Y direction.Towards +X direction (vertical side To top) side be formed with wiring outlet 16, wiring outlet 16 bushing 17 is installed.

Second bearing retainer 13 has motor end face 131, and the motor end face 131 is located at the output opposite side of motor 2 The end of L2 and opposite with encoder 3.Aftermentioned positioning pin 70 is equipped in motor end face 131.In second bearing retainer 13 Center is formed with the recess portion 132 being recessed towards outlet side L1.It is formed in the inner peripheral surface of recess portion 132 towards output opposite side L2's Circular step face 133, and in the central indentation 134 in the center for being formed in circular step face 133 configured with second bearing 15.Pressing Plate 135 is installed in circular step face 133 in a manner of covering the peripheral part of second bearing 15.In leaning on for motor-side rotary shaft 31 The end of output opposite side L2 is formed with first small diameter portion 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 second small diameter portion 36 also smaller than the first small diameter portion 35.Second small diameter portion 36 Circular opening portion than being formed in the center of pressing plate 135 is prominent towards output opposite side L2.If 36 quilt of the second small diameter portion It is assembled in shaft coupling 4, then shaft coupling 4 is configured in recess portion 132.

Stator 20 includes cricoid stator core 21, and 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 are wound in stator across insulating element 22 Each salient pole of iron core 21.Stator core 21 is fixed on the inside 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 (referring to Fig. 2).U phase, V phase, W phase three-phase current via supply lines 24 provide To driving coil 23.The through hole that supply lines 24 is disposed through bushing 17 is drawn out to the outside of motor chassis 10.In addition, Driving coil 23 can be connected to configuration in the circuit board (not shown) of the end of stator core 21, and supply lines 24 is connected To circuit board, to supply current to driving coil 23 by supply lines 24 and circuit board.

Rotor 30 includes motor-side rotary shaft 31, and the motor-side rotary shaft 31 is prolonged along the direction rotation axis L of motor 2 It stretches；Rotor core 32, the rotor core 32 are fixed on the peripheral side of motor-side rotary shaft 31；And magnet 33, the magnet 33 are fixed on the outer peripheral surface of rotor core 32.It is equipped in the end by outlet side L1 of motor-side rotary shaft 31 from first axle and accepts insurance Hold the output shaft 34 outstanding of frame 12.Motor-side rotary shaft 31 is formed by magnetic material, and by first bearing 14 and second bearing 15 Bearing is that can rotate.

(encoder)

Encoder 3 includes 3rd bearing retainer 50, and the 3rd bearing retainer 50 is removably mountable to motor machine The output opposite side L2 of shell 10；And coder side rotary shaft 53, the coder side rotary shaft 53 is by being installed on 3rd bearing 3rd bearing 51 and fourth bearing 52 bearing of the inner circumferential side of retainer 50 are that can rotate.Coder side rotary shaft 53 is along rotation The direction axis L extends.Large-diameter portion 531 is formed in the end of the outlet side L1 of coder side rotary shaft 53.Also, magnet 54 is logical Cross the front end by exporting opposite side L2 that magnet retainer 60 is fixed on coder side rotary shaft 53.Magnet 54 is circle, and will Magnetizing surface after different pole magnetizes according to every 1 pole is configured towards output opposite side L2.In magnet 54 by exporting opposite side L2 Magnetic Sensor 56 is installed configured with sensor base plate 55, and in the face by outlet side L1 of sensor base plate 55.Magnetic Sensor 56 Configure the position that defined gap is equipped between magnet 54.Magnetic Sensor 56 is MR element.In addition, it is possible to use Hall member Part is as Magnetic Sensor 56.

The substrate holder 57 that sensor base plate 55 passes through the peripheral side configured in magnet retainer 60 is fixed on third axis Hold retainer 50.The output opposite side L2 of sensor base plate 55 and substrate holder 57 is by being fixed on 3rd bearing retainer 50 Encoder cover 58 covers.Configured with seal members 59 such as O-rings between encoder cover 58 and 3rd bearing retainer 50.It is 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 connect 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 transmitted to coder side rotary shaft 53 by shaft coupling 4.Shaft coupling 4 is sliding for cross Block shaft coupling (Oldham coupling), and for motor-side rotary shaft 31 can be absorbed and the axis of coder side rotary shaft 53 is inclined Structure from (bias).That is, shaft coupling 4 includes motor-side shaft coupling wheel hub 41, the motor-side shaft coupling wheel hub 41 is fixed on Motor-side rotary shaft 31；Coder side shaft coupling wheel hub 42, the coder side shaft coupling wheel hub 42 are fixed on encoder sidespin Shaft 53；And circular shaft coupling washer 43, the shaft coupling washer 43 is with motor-side shaft coupling wheel hub 41 and coder side Shaft coupling wheel hub 42 is reported to the leadship after accomplishing a task each other and the mode that can be moved on the direction reported to the leadship after accomplishing a task relative to rotation axis L is assembled.

As shown in Fig. 2, motor-side shaft coupling wheel hub 41 includes annulus 411, the annulus 411 passes through indentation etc. It is fixed with the second small diameter portion 36 for being set to the front end of output opposite side L2 of motor-side rotary shaft 31；And engaging protuberances 412, 413, the engaging protuberances 412,413 are prominent from annulus 411 to diametrical direction.Coder side shaft coupling wheel hub 42 includes ring Shape portion 421, the annulus 421 are fixed with the front end for being set to the outlet side L1 of coder side rotary shaft 53 by indentation etc. Large-diameter portion 531；And engaging protuberances 422,423, the engaging protuberances 422,423 are prominent from annulus 421 to diametrical direction.

The card of shape corresponding with motor-side shaft coupling wheel hub 41 is formed in the face of the outlet side L1 of shaft coupling washer 43 Recess portion 431 is closed, is formed in the face of the output opposite side L2 of shaft coupling washer 43 corresponding with coder side shaft coupling wheel hub 42 The engaging recessed part 432 of shape.Motor-side shaft coupling wheel hub 41 and coder side shaft coupling wheel hub 42 are prominent with engaging protuberances 412,413 The posture orthogonal thereto with engaging protuberances 422,423 directions outstanding of direction out is embedded into engaging recessed part 431,432.As a result, Motor-side shaft coupling wheel hub 41 is assembled into shaft coupling washer 43, coder side shaft coupling in a manner of it can move radially Wheel hub 42 is assembled into connection in a manner of it can move on the direction orthogonal with the moving direction of motor-side shaft coupling wheel hub 41 Axis device washer 43.

(motor-side fitting portion and coder side fitting portion)

Motor 2 and encoder 3 are by making positioning pin 70 and recess portion 80 carry out chimeric implement around the rotation side of rotation axis L To positioning, the positioning pin 70 is the motor-side fitting portion for being set to motor 2, and the recess portion 80 is to be set to encoder 3 Coder side fitting portion.Positioning pin 70 is set to the second bearing retainer 13 of motor 2.As described above, second bearing retainer 13 are located at the end by output opposite side L2 of motor 2, and with motor end face 131, and the motor end face 131 is and encoder 3 opposite axial end faces.Positioning pin 70 is from motor end face 131 to the output protrusion outstanding opposite side L2.

Recess portion 80 as coder side fitting portion is set to the 3rd bearing retainer 50 of encoder 3.3rd bearing is protected Hold the end by outlet side L1 that frame 50 is located at encoder 3, and there is encoder end face 501, the encoder end face 501 be with The opposite axial end face of motor 2.Recess portion 80 is set to the outer peripheral edge of encoder end face 501, and positioning pin 70 is set to 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 is chimeric opposite to each other on the direction rotation axis L with recess portion 80.

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 in the center of encoder end face 501.Outside encoder end face 501 Periphery becomes the bearing surface 503 abutted with motor end face 131.It is formed with than bearing surface 503 more in the opening edge of annular recessed portion 502 Towards outlet side L1 annular convex 504 outstanding.And in bearing surface 503, seal groove 505 is formed in the outer of annular convex 504 Side.Seal member (not shown) is configured in seal groove 505.Seal groove 505 is substantially a ring-shaped, and bloated towards peripheral side Position is equiangularly arranged at intervals at three.Recess portion 80 as coder side fitting portion is formed in bearing surface 503, and is located at close The peripheral side of sealing groove 505.Also, in bearing surface 503, fixation hole 506 is formed in the multiple positions different from recess portion 80.Encoder 3 are fastened in the threaded hole 138 of motor end face 131 by passing through the fixing screws 507 of fixation hole 506, to be fixed on horse Up to 2.Fixation hole 506 is long hole circumferentially.Therefore, encoder 3 can with can relative rotation interim tightening state group 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 output opposite side L2 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 protrusion 136 in motor end face 131, the inner annular protrusion 136 is along being formed in horse Opening edge up to the recess portion 132 in the center of end face 131 is prominent towards output opposite side L2.Also, in inner annular protrusion 136 Peripheral side is formed with outside annular convex 137, is formed with ring-type between inner annular protrusion 136 and outside annular convex 137 Groove portion.

Encoder 3 be formed in encoder end face 501 annular convex 504 configuration inner annular protrusion 136 inside, The state that bearing surface 503 is abutted with inner annular protrusion 136 is assembled.It is formed in inner annular protrusion 136 by fixing screws 505 threaded holes 138 being threadably secured.The seal member (not shown) configured in the seal groove 505 of 3 side of encoder is tightly attached to Inner annular protrusion 136.The seal member configured in seal groove 505 is 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 protrusion of motor end face 131 136 are formed with arc-shaped recess portion 71, configure the moving parts 72 of promising circular-arc part part in arc-shaped recess portion 71.Arc-shaped recess portion 71 and moving parts 72 along the circumferentially extending centered on motor-side rotary shaft 31.The circumferential central phase of arc-shaped recess portion 71 -X direction side (lower side of vertical direction) is located at for motor-side rotary shaft 31.Moving parts 72, which has, is formed in circumferential one The arc groove 73,74 of end side and another side.Arc groove 73,74 circumferentially, and is located at motor-side rotary shaft 31 and is On the same circle at center.In the bottom surface of arc-shaped recess portion 71, threaded hole 75,76 is formed in the position Chong Die with arc groove 73,74. Fixing screws 77 as fixation member by being inserted into arc groove 73,74 by moving parts 72, before fixing screws 77 End is threadably fastened in threaded hole 75,76, to temporarily be fastened in mode that can be circumferentially moved.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.Gasket 78 is configured between the head and moving parts 72 of fixing screws 77.

Positioning pin 70 is formed in the circumferential center of moving parts 72.Positioning pin 70 and arc groove 73,74 and fixed spiral shell Nail 77 is located on the same circle.In addition, can also be by arc groove 73,74 and the configuration of fixing screws 77 than the inner side of positioning pin 70 Position.Also, positioning pin 70 can also be formed in the position for deviateing the circumferential center of moving parts 72.By adjusting moving parts 72 circumferential position can adjust the circumferential position of positioning pin 70.The moveable angular range of positioning pin 70 and arc groove 73,74 circumferential lengths and the angular range provided with arc-shaped recess portion 71 correspond to.In the circumferential direction by arc-shaped recess portion 71 Centre (that is, position that -X direction side (lower side of vertical direction) is leaned on relative to 31 side of motor-side rotary shaft) is as positioning pin 70 In the case where base position, with the moveable angular range of positioning pin 70 from base position to circumferential side it is 5 ° mobile or more with And arc groove 73,74 and arc-shaped recess portion 71 are formed towards the mode of 5 ° circumferential of other side movement or more.

The moveable angular range (hereinafter referred to as adjustment angle D) in the circumferential of positioning pin 70 is that can pass through positioning pin 70 position adjustment, the position of positioning pin 70 caused by the assembly error of the component with encoder motor 1 during fabrication is deviateed The angular range of elimination.That is, being constructed so as to carry out first angle D1 described below, second angle D2, third angle D3 Total angle after total, which is in, adjusts the angle D or less.First angle D1 is aftermentioned for motor-side shaft coupling wheel hub 41 to be 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 (positioning pin 70) is fixed.Also, third angle D3 is to press motor-side shaft coupling wheel hub 41 Assembly error when entering to the motor-side rotary shaft 31 of aftermentioned volume production motor 2.

Specifically, first angle D1 is the motor-side rotation that motor-side shaft coupling wheel hub 41 is pressed into main motor 200 Actual pushed position when axis 31 is relative to target position (in the present embodiment, position of the mark 414 towards +X direction) Deviation.Also, second angle D2 be actual fixed position when the positioning pin 70 of main motor 200 is fixed relative to Deviate the position of preset circumferential position (in the present embodiment, the circumferential center of arc-shaped recess portion 71).Also, the Three angle D3 are actual indentation 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 position (position of the mark 414 towards +X direction).

(manufacturing method with encoder motor)

Fig. 5 is the explanatory diagram of the schematically illustrate manufacturing method with encoder motor 1.In volume production band encoder motor 1, make With main motor 200 and main encoder 300.Hereinafter, being compiled respectively by what is manufactured using main motor 200 and main encoder 300 as band The motor 2 and encoder 3 of the component parts of code device motor 1 are known as volume production motor 2 and volume production encoder 3.Main motor 200 For structure identical with volume production motor 2.On the other hand, main encoder 300 has and the volume production different part of encoder 3. That is, other than the 3rd bearing retainer 50 in volume production encoder 3 is formed with 301 this point of handle hole, main encoder 300 It is identical with the structure of encoder 3 as volume production.Handle hole 301 is formed in two positions being represented by dashed line in Fig. 3 (a).Direction When the direction rotation axis L is observed, handle hole 301 is in the region openings Chong Die with threaded hole 75,76.It therefore, can be tight by screw thread Admittedly tool be inserted into handle hole 301 implement fixing screws 77 screw threads for fastening operation.

Fig. 6 is the schematic flow diagram of the manufacturing method with encoder motor 1.Manufacturing 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 and be adjusted to prespecified state by preparatory process S1.Prespecified state refers to The stator 20 and rotor 30 of main motor 200 are in the state (aftermentioned motor lock state) of prespecified positional relationship, and Be the main encoder 300 for being assembled in main motor 200 location information (output) be prespecified value (in the present embodiment, Indicate origin position value) state.In Fig. 5, the main motor 200 and main coding of preparatory process S1 are implemented with dotted line diagram Device 300.

Next, implementing volume production encoder using the main motor 200 after separating main encoder 300 adjusts process S2. Also, process S3 is adjusted using volume production motor is implemented from the isolated main encoder 300 of main motor 200.In addition, both using phase Anti- sequence implements volume production encoder and adjusts process S2 and volume production motor adjustment process S3, can also implement two works simultaneously Sequence.When manufacturing volume production encoder 3, it is directed to all volume productions encoder 3 and implements volume production encoder adjustment process S2. Also, when manufacturing volume production motor 2, it is directed to all volume productions motor 2 and implements volume production motor adjustment process S3.And And by the volume production encoder 3 for implementing volume production encoder adjustment process S2 and implement volume production motor adjustment process S3 Volume production assembled with motor 2, to implement to complete the assembling procedure S4 with encoder motor 1.

(preparatory process)

Hereinafter, each process of preparatory process S1 to assembling procedure S4 are described in detail.Fig. 7 is the stream of preparatory process S1 Cheng Tu.Also, Fig. 8 is the flow chart of main motor assembling procedure S11.As shown in fig. 7, preparatory process S1 includes: main motor assembling Process S11；Main encoder assembling procedure S12；Assembling procedure S13；And main encoder correction process S14.In addition, both can be according to The opposite sequence implements main motor assembling procedure S11 and main encoder assembling procedure S12, can also implement two processes simultaneously. Also, as shown in figure 8, main motor assembling procedure S11 implements following process: assembling main horse in a manner of identical with general motor 2 Up to 200 process S111；Main motor 200 is set as to the process S112 of defined motor lock state；By motor-side coupling wheel Hub 41 is fixed to the process S113 of the motor-side rotary shaft 31 of main motor 200；And in prespecified circumferential position by main horse Up to the 200 process S114 being fixed as the positioning pin 70 of motor-side fitting portion.

It is, for example, following process by the process S112 that main motor 200 is set as motor lock state: by by main motor 200 The positive terminal company of U phase, V phase possessed by stator 20, the prespecified phase and external power supply in the driving coil 23 of W phase It connects, other two-phases is connect with negative terminal, flow DC current from two terminals to driving coil 23, to make rotor 30 Angle position as defined in going to simultaneously stops.The halted state is motor lock state.

In the process S113 of motor-side rotary shaft 31 that motor-side shaft coupling wheel hub 41 is fixed on to main motor 200, phase For the motor-side rotary shaft 31 of the main motor 200 of motor lock state, make motor-side shaft coupling wheel hub 41 and prespecified First rotation position 41A (referring to Fig. 3 (b)) is aligned and fixed.In the present embodiment, in the card of motor-side shaft coupling wheel hub 41 The mark 414 that protrusion 412 marks triangle is closed, without in another 413 trace mark of engaging protuberances.Therefore, such as Fig. 3 (b) It is shown, in first rotation position 41A of the mark 414 towards +X direction (that is, top of vertical direction) to motor-side coupling wheel Hub 41 is positioned, to be fixed on motor-side rotary shaft 31.At this point, as above-mentioned, by the second path of motor-side rotary shaft 31 The annulus 411 of the indentation of portion 36 motor-side shaft coupling wheel hub 41.

By the work for being fixed on prespecified circumferential position as the positioning pin 70 of motor-side fitting portion of main motor 200 In sequence S114, as shown in Fig. 3 (b), positioning pin 70 is positioned in the circumferential center of arc-shaped recess portion 71.In present embodiment In, the circumferential center of arc-shaped recess portion 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, positioning 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 and engaging protuberances 413 are at one Extend on straight line, mark 414 is set to engaging protuberances 412.Therefore, positioning pin is configured on the extended line of engaging protuberances 413 70.Main motor assembling procedure S11 terminates as a result,.

Main encoder assembling procedure S12 includes: to assemble main encoder 300 in a manner of identical with encoder 3 with volume production Process；And coder side shaft coupling wheel hub 42 is fixed on the coder side rotary shaft 53 of assembled main encoder 300 Process.Main encoder assembling procedure S12 terminates as a result,.

In assembling procedure S13, by the main motor 200 assembled by main motor assembling procedure S11 and pass through main coding The main encoder 300 of device assembling procedure S12 assembling 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 washer 43.Be labelled with mark in shaft coupling washer 43, the mark be located at in motor-side coupling wheel The note of mark 414 and the mark of engaging protuberances 422 in coder side shaft coupling wheel hub 42 that the engaging protuberances 412 of hub 41 mark Number 424 corresponding positions.Therefore, the mark 414 and coder side shaft coupling wheel hub 42 of motor-side shaft coupling wheel hub 41 can be made Mark 424 and the mark of 43 side of shaft coupling washer assemble in alignment.

In main encoder correction process S14, implement to make the main coding in assembling procedure S13 with the assembling of main motor 200 The output correction that the location information of device 300 is aligned with origin position.As a result, so as to be in the rotation of defined motor lock state Position is that the mode of origin implements the origin correction of main encoder 300.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.It includes: a group loading amount that volume production encoder, which adjusts process S2, Produce the process S21 for using encoder 3；Volume production encoder 3 is assembled into the process S22 of main motor 200；And volume production is encoded The process S23 that the location information of device 3 makes corrections.It is using implementing preparatory process S1 that volume production, which adjusts process S2 with encoder, Main motor 200, the process to be maked corrections to volume production with the location information of encoder 3.

Firstly, assembling volume production encoder 3, and will coding in the process S21 assembled to volume production with encoder 3 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, it will be in 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 implementing preparatory process S1 It is assembled (referring to Fig. 5).Next, implementing to make in the process S23 that the location information to volume production encoder makes corrections The correction that volume production is aligned with the location information of encoder 3 with origin position.As described above, when being in motor lock state Towards the mode structure in the direction (in the present embodiment, being +X direction) of 414 defined of mark of motor-side shaft coupling wheel hub 41 At main motor 200.Volume production encoder 3 is in origin when assembling the main motor 200 of motor lock state with location information The mode (that is, by rotation position in motor lock state in the way of origin) of position implements origin correction.Later, implement The process S24 of main motor is removed from volume production encoder 3.Volume production encoder adjustment process S2 terminates as a result,.

(volume production adjusts process with motor)

Figure 10 is the flow chart that volume production motor adjusts process S3.Volume production motor, which adjusts process S3, to be implemented: assembling volume production With the process S31 of motor 2；Volume production motor 2 is set as to the process S32 of motor lock state；It, will under the motor lock state 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；It will be fitted into as motor-side The positioning pin 70 in portion is set as interim tightening state and assembles the process S34 of main encoder 300；It is rotated in place main encoder 300 Confidence breath is in the process S35 of origin position；From the process of the formal fixed locating stud 70 of handle hole 301 of main encoder 300 S36；And remove the process S37 of main encoder 300.It is using implementing preparatory process S1 that volume production, which adjusts process S3 with motor, The process that main encoder 300 in the circumferential positions the positioning pin 70 of volume production motor 2.

Although firstly, implementing the process S31 of assembling volume production motor 2, volume production motor 2 being set as motor lock 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 as to the process S112 of motor lock state with And the process S113 that motor-side shaft coupling wheel hub 41 is fixed on the motor-side rotary shaft 31 of main motor 200 is identical, therefore omits Explanation.

Next, assembling main encoder the positioning pin 70 for being used as motor-side fitting portion is set as interim tightening state In 300 process S34, the fixing screws 77 of fixed moving parts 72 are loosened, so that moving parts 72 be enable to move in the circumferential It is dynamic, and the volume production for being assembled into the state from the isolated main encoder 300 of main motor 200 is used into horse after implementing preparatory process S1 Up to 2 (referring to Fig. 5).In this state, since positioning pin 70 is in interim tightening state, main encoder 300 can be fixed Rotation in the moveable angular range of position pin 70 (in the present invention, the side of Xiang Zhouxiang is 5 ° mobile, 5 ° mobile to the other side).

Next, making main encoder 300 rotate to the process that the location information of main encoder 300 reaches origin position In S35, the location information of main encoder 300 is monitored on one side, on one side rotates main encoder 300, and in the position of main encoder 300 Confidence ceases the position for becoming origin position, is that positioning pin 70 positions to main encoder 300.Also, implement from main encoder 300 handle hole 301 is inserted into the tool of screw fastening, screw 77 is fastened and fixed, so that moving parts 72 is fixed on motor End face 131, then implement the process S36 formally fixed to positioning pin 70.Later, implement to remove main encoder from volume production motor 2 300 process S37.Volume production motor adjustment process S3 terminates as a result,.

(assembling procedure)

Assembling procedure S4 is the volume production encoder 3 and the amount of implementing that assembling implements volume production encoder adjustment process S2 Production adjusts the volume production motor 2 of process S3 with motor, to complete the process with encoder motor 1.Volume production is with encoder 3 with main horse Up on the basis of 200, make corrections location information, and volume production positions positioning pin 70 on the basis of main encoder 300 with motor 2.Cause This, it is only necessary to they are assembled, is just configured to be in motor lock state in stator 20 and rotor 30 with encoder motor 1 When specific positional relationship, the location information of volume production encoder 3 is in origin position.

(encoder replacement method)

Since the encoder 3 with encoder motor 1 is removable relative to motor 2, in 3 failure of encoder, energy It is enough to remove encoder only as described below to replace new encoder.Firstly, preparing in the above-mentioned manufacture with encoder motor 1 Volume production is implemented in method uses the encoder 3 (volume production encoder 3) of encoder adjustment process S2 as the encoder of replacement 3.Also, failed encoder 3 is removed from encoder motor 1, (the volume production encoder of encoder 3 of assembling replacement 3).In the present embodiment, constitute the encoder 3 (volume production encoder 3) with encoder motor 1 is all with main motor 200 For benchmark come the location information that makes corrections, constituting the motor (volume production motor 2) with encoder motor 1 is all base with main encoder 300 Standard positions positioning pin 70.Thus, it is only required to simply replace encoder 3, replaced band encoder motor 1 is just constituted For when stator 20 and rotor 30 are in the specific positional relationship of motor lock state, encoder (volume production encoder 3) Location information is in origin position.

(main effect of present embodiment)

Present embodiment is used for motor 2 (volume production motor 2) such as above-mentioned, removable encoder with encoder motor 1 3, and it is equipped with the positioning pin 70 (motor-side fitting portion) chimeric with recess portion 80 (the coder side fitting portion) of encoder 3 is set to, And the circumferential position of positioning pin 70 can be adjusted.If like this, in the motor that encoder 3 is assembled into present embodiment In the case that 2 as band 1 use of encoder motor, it can easily and accurately implement encoder 3 and motor 2 in direction of rotation On positioning.Therefore, it is capable of the origin position of easily and accurately registration encoder 3.Also, it, can in 3 failure of encoder Easily 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 face of side, positioning pin 70 are set to the position opposite with the bearing surface 503 for the outer peripheral edge for being located at encoder end face 501. Like this, if the configuration of positioning pin 70 exists positioning pin 70 is arranged with the opposite position of the outermost circumference of encoder end face 501 The position of the peripheral side isolated with motor-side rotary shaft 31.Therefore, the circumferential position tune of positioning pin 70 can accurately be implemented It is whole.Therefore, can accurately implement encoder 3 to position in a rotational direction with motor 2.

The motor 2 of present embodiment includes motor end face 131, and the motor end face 131 is the axis towards 3 side of encoder To end face；Moving parts 72, the moving parts 72 are installed on motor end face 131 in a manner of it can adjust circumferential position； And fixing screws 77, the fixing screws 77 are that moving parts 72 is fixed on to the fixation member of motor end face 131, positioning pin 70 are set to moving parts 72, and fixing screws 77 are located at and on the same circle of positioning pin 70 or are located at than the inner side of positioning pin 70 Position.Like this, if can accurately implement the circumferential position of positioning pin 70 by the configuration of positioning pin 70 in peripheral side Adjustment.Therefore, can accurately implement encoder 3 to position in a rotational direction with motor 2.

It in the present embodiment, can be in radial direction since moving parts 72 is arc-shaped component circumferentially On moving parts 72 is minimized.It, can be also, since fixing screws 77 are set to the circumferential two sides of positioning pin 70 Radially moving parts 72 is minimized.If moving parts 72 minimized, the configuration freedom of moving parts 72 is improved. Therefore, positioning pin 70 can be configured in peripheral side.Also, even if motor dimension is different, it can not also change moving parts 72 Shape and size using arc-shaped moving parts 72.Therefore, it is able to achieve the generalization of component.

In the present embodiment, moving parts 72 (arc-shaped component) is configured with the state that can be moved in the circumferential in shape At in the arc-shaped recess portion 71 of motor end face 131.If like this, need not be arranged in 501 side of encoder end face allows to move The mobile shape of component 72.

The positioning pin 70 of present embodiment can be moved circumferentially in defined angular range.Also, positioning pin 70 Moveable angular range (adjusting the angle D) is configured to the conjunction after total first angle D1, second angle D2 and third angle D3 It counts angle and is in adjustment angle D hereinafter, the first angle D1 is the horse that motor-side shaft coupling wheel hub 41 is pressed into main motor 200 Assembly error when up to sidespin shaft 31, the second angle D2 are the motor-side fitting portion (positioning pin of fixed main motor 200 70) assembly error when, the third angle D3 are the motor sidespin that motor-side shaft coupling wheel hub 41 is pressed into volume production motor 2 Assembly error when shaft 31.If like this, even if positioning when manufacturing main motor 200, as motor-side fitting portion Pin 70, which generates position, to be deviateed, and generates position when motor-side shaft coupling wheel hub 41 is pressed into main motor 200 and volume production motor 2 Deviate, can also absorb the deviation of these positions with the position of the positioning pin 70 in motor 2 by adjusting volume production.

In the present embodiment, the shaft coupling 4 of the rotary shaft of connection motor 2 and encoder 3, which includes, is fixed on motor sidespin The motor-side shaft coupling wheel hub 41 of 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 when motor 2 is in motor lock state in prespecified rotation position (that is, stator 20 with rotor 30 be in prespecified positional relationship when) motor-side rotary shaft 31.If shaft coupling like this, can be passed through Coder side rotary shaft 53 is connected to motor-side rotary shaft 31 in prespecified rotation position by device 4.Therefore, in encoder 3 In the case where encoder 3 is substituted for new encoder when failure etc., if the location information of new encoder 3 maked corrections for The identical state of encoder 3 before replacement, then need not be in the location information of the encoder 3 of replacement field conduct correction replacement Operation, it will be able to the origin position of registration encoder 3.Therefore, encoder 3 can easily be implemented in 3 failure of encoder Replacement operation.

In the present embodiment, shaft coupling 4 is the sliding cross coupling with shaft coupling washer 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 the direction coder side shaft coupling wheel hub 42 and rotation axis L, and can be at that The mode moved on this direction reported to the leadship after accomplishing a task is assembled.Therefore, motor-side rotary shaft 31 and encoder can be absorbed by shaft coupling 4 The axis of sidespin shaft 53 deviates.

In the manufacturing method with encoder motor 1 of present embodiment, main motor 200 and main encoder 300 are prepared in advance, And they is adjusted to prespecified state (under the motor lock state of main motor 200, the position of main encoder 300 is believed Breath is in the state of origin position), the motor 2 of volume production during fabrication, implements the position of positioning pin 70 using main encoder 300 Adjustment, the encoder 3 of volume production utilize the correction of main 200 enforcing location information of motor during fabrication.If like this, only needed The encoder 3 of volume production is assembled into the motor 2 of volume production, just completes the band of the state of the origin position of registration encoder 3 Encoder motor 1.Therefore, the origin position of the encoder 3 with encoder motor 1 can be easily and securely aligned.Also, energy Rotation position when enough using motor lock state is as the origin position of encoder 3.

In the encoder replacement method with encoder motor 1 of present embodiment, preparation implements volume production encoder tune The encoder 3 of the replacement of whole process S2 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, implements the position tune of positioning pin 70 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 location information of the encoder 3 of field conduct correction replacement.It therefore, being capable of 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 state: will be arranged The driving coil 23 of any one phase in the U phase of stator 20, V phase, the three-phase driving coil 23 of W phase is connected to external power supply Positive terminal, and other two-phase-region casting coils 23 are connected to the state of the negative terminal of external power supply, flow through DC current Three-phase driving coil 23.If like this, can be by simply forming motor lock state from the external power supply that provides.

(variation)

In the above-described embodiment, motor-side fitting portion is set as positioning pin 70 (protrusion), coder side fitting portion is set For recess portion 80, but motor-side fitting portion can also be set as to recess portion, and coder side fitting portion is set as protrusion.Also, it can also shape Recess portion is replaced at the hole for capableing of fitting projection.Moreover, above embodiment is set as that the circumferential direction of motor-side fitting portion can be adjusted Position, but can also be set as capable of adjusting the circumferential position of coder side fitting portion.

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 ... first bearing retainers, 13 ... second bearing retainers, 14 ... first axles Hold, 15 ... second bearings, 16 ... wiring outlets, 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 small diameter portions, 36 ... second small diameter portions, 41 ... motor-side shaft coupling wheel hubs, the first rotation position 41A ..., 42 ... coder side shaft coupling wheel hubs, 43 ... shaft coupling washers, 50 ... 3rd bearing retainers, 51 ... first 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 ... positioning pins, 71 ... arc-shaped recess portions, 72 ... are moved Dynamic component, 73,74 ... arc grooves, 75,76 ... threaded holes, 77 ... fixing screws, 78 ... gaskets, 80 ... recess portions, 131 ... motor-ends Face, 132 ... recess portions, 133 ... circular step faces, 134 ... central indentations, 135 ... pressing plate, 136 ... inner annular protrusions, 137 ... outside annular convex, 138 ... threaded 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 Protrusion, 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 ... fixation holes, 507 ... fixing screws, 531 ... large-diameter portions, 581 ... wiring taking-up portions, 582 ... bushings, 583 ... signal wires, L ... rotation axis, L1 ... outlet side, L2 ... export opposite side

Claims

1. a kind of motor, be the motor of removable encoder comprising:

Motor-side rotary shaft, the motor-side rotary shaft are connected to the volume by shaft coupling in a manner of being unable to relative rotation Coder side rotary shaft possessed by code device；And

Motor-side fitting portion, the motor-side fitting portion can be chimeric with the coder side fitting portion of the encoder is set 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 rotary axis direction protrusion outstanding of motor-side rotary shaft is stated, another party is the recess portion or hole for protrusion insertion,

A side in the coder side fitting portion and the motor-side fitting portion can be adjusted with the coder side rotary shaft And the circumferential position centered on the motor-side rotary shaft,

The motor-side fitting portion can adjust the circumferential position centered on the motor-side rotary shaft,

The motor includes

Motor end face, the motor end face are the axial end face towards the coder side；

Moving parts, the moving parts are installed on the motor end face in a manner of it can adjust the circumferential position；With And

The moving parts is fixed on the motor end face by fixation member, the fixation member,

The motor-side fitting portion is set to the moving parts,

The fixation member be located at side more inner than the motor-side fitting portion position or with the motor-side mating position In on same circle.

2. motor according to claim 1, which is characterized in that

The encoder has encoder end face, and the encoder end face is the axial end face towards the motor-side,

The motor-side fitting portion is set to the position opposite with the outer peripheral edge of the encoder end face.

3. motor according to claim 1, which is characterized in that

The fixation member is set to the circumferential two sides of the motor-side fitting portion.

4. motor according to claim 1, which is characterized in that

The moving parts is the arc-shaped component along the circumferentially extending.

5. motor according to claim 4, which is characterized in that

The arc-shaped component is configured with the state that can be moved in the circumferential direction in the circular arc for being formed in the motor end face Shape recess portion.

6. a kind of band encoder motor comprising:

Motor described in any one of claim 1 to 5；

The encoder, the encoder are removable relative to the motor；And

The shaft coupling, the shaft coupling in a manner of being unable to relative rotation with the motor-side rotary shaft and the coder side Rotate axis connection.

7. band encoder motor according to claim 6, which is characterized in that

The shaft coupling includes

Motor-side shaft coupling wheel hub, the motor-side shaft coupling wheel hub are fixed on the motor-side rotary shaft；And

Coder side shaft coupling wheel hub, the coder side shaft coupling wheel hub are 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 pre- The motor-side rotary shaft of the state of positional relationship as defined in elder generation.

8. band encoder motor according to claim 7, which is characterized in that

The shaft coupling is the sliding cross coupling with shaft coupling washer, and the shaft coupling washer is with the motor-side shaft coupling Device wheel hub and the coder side shaft coupling wheel hub and the rotation axis direction report to the leadship after accomplishing a task and can be on the directions reported to the leadship after accomplishing a task each other Mobile mode assembles.

9. band encoder motor according to claim 7, which is characterized in that

The motor-side fitting portion can move in defined angular range along the circumferential direction,

The encoder is removable relative to main motor, and the main motor has the motor-side rotary shaft and the motor-side embedding Conjunction portion, the motor is removable relative to main encoder, and the main encoder has the coder side rotary shaft and described Coder side fitting portion and it is formed with handle hole,

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 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 The position of target position when sidespin shaft is deviateed within third angle,

Angular range as defined in described is total after adding up to the first angle, the second angle and the third angle It is more than angle.

10. a kind of manufacturing method with encoder motor, which is characterized in that

The band encoder motor includes

Motor；

Encoder, the encoder are removable relative to the motor；And

Shaft coupling, the shaft coupling in a manner of being unable to relative rotation with the motor-side rotary shaft of the motor and the encoder Coder side rotate axis connection,

The motor has motor-side fitting portion, and the motor-side fitting portion can be with the coder side that is set to the encoder Fitting portion is chimeric,

A side in the coder side fitting portion and the motor-side fitting portion is towards the coder side rotary shaft and institute The rotation axis direction protrusion outstanding of motor-side rotary shaft is stated, another party is the recess portion or hole for protrusion insertion,

The manufacturing method with encoder motor includes:

Preparatory process prepares the main motor with the motor-side rotary shaft and the motor-side fitting portion, and prepares have institute The main encoder for stating coder side rotary shaft, the coder side fitting portion and handle hole, the main motor stator with turn For son in the state of prespecified positional relationship, the location information for forming the main encoder becomes 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 positional relationship, and by institute It states main encoder and is assembled into and temporarily fastened described in the state of the motor-side fitting portion with the state that can be moved in the circumferential Motor, and reach the rotation of the prespecified value in the location information for making the main encoder rotate to the main encoder It is from the handle hole of the main encoder that the motor-side fitting portion of the motor is formally solid in the state of until position It is fixed；And

Assembling procedure, assembling implement the motor of the volume production motor adjustment process and implement the volume production coding Device adjusts the encoder of process, to complete the band encoder motor.

11. the manufacturing method according to claim 10 with encoder motor, which is characterized in that

The shaft coupling includes

12. the manufacturing method according to claim 11 with encoder motor, which is characterized in that

13. the manufacturing method according to claim 11 with encoder motor, which is characterized in that

The encoder is removable relative to the main motor, and the motor is removable 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 circumferential direction 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 The position of target position when motor-side rotary shaft is deviateed within third angle,

14. the manufacturing method with encoder motor described in any one of 0,12,13 according to claim 1, which is characterized in that

The preparatory process includes:

The stator and the rotor for forming the main motor are in the motor locking shape of the prespecified positional 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 is locked The process of the motor-side rotary shaft of the main motor of state；

In the process of the motor-side fitting portion of the fixed main motor of prespecified circumferential position；

The coder side shaft coupling wheel hub of the shaft coupling is fixed on 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 a manner of being unable to relative rotation 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 location information for being assembled into the main encoder of the main motor is maked corrections as the process of the prespecified value.

15. the manufacturing method according to claim 14 with encoder motor, which is characterized in that

In the process for forming the motor lock state, the U phase, V phase, W phase of the stator of the main motor will be set to Three-phase driving coil in the driving coil of any one phase be connected to the positive terminal of external power supply, by other two-phases The driving coil is connected to the state of the negative terminal of the external power supply, and DC current is made to flow through the drive of the three-phase Moving winding.

16. a kind of encoder replacement method with encoder motor, for by described in any one of claim 10 to 13 The encoder replacement method with encoder motor of manufacturing method manufacture with encoder motor, which is characterized in that

Prepare to implement the volume production encoder of the replacement of encoder adjustment process,

The encoder is removed from the band encoder motor, assembles the encoder of the replacement.