DE102021104468B4 - Method for assembling an axial flux machine in a housing and axial flux machine and robot - Google Patents

Abstract

The invention relates to a method for assembling an axial flow machine (1) in a housing (31), the axial flow machine (1) having at least one stator (2), at least one rotor (3), an outer sleeve (4) and an inner sleeve ( 5), wherein the at least one stator (2) is fixedly connected to the outer sleeve (4), wherein the at least one rotor (3) is fixedly connected to the inner sleeve (5), the axial flux machine (1) in an axial Direction is pressed into the housing (31), whereby the outer sleeve (4) is fixedly connected to the housing (31), the inner sleeve (5) being non-rotatably connected to a shaft (20) which extends at least partially axially through the housing (31), is connected, with at least a first tool part (11) of an assembly tool (10) being connected at least to the shaft (20), with at least a second tool part (12) of the assembly tool (10) being connected at least to the first and second Sleeve (4, 5) comes to rest on the front side, the two Tool parts (11, 12) are arranged opposite one another and are displaced relative to one another in the axial direction in order to adjust a position of the at least one rotor (3) relative to the at least one stator (2).

Description

The invention relates to a method for installing an electrical axial flow machine in a housing.

For example, from the DE 10 2007 054 582 A1 an electric axial flux machine. The axial flow machine has a primary part on which a secondary part is rotatably mounted by means of roller bearings. The primary part has two soft-magnetic stator cores, which are designed approximately in the shape of annular disks, which are arranged parallel to one another and spaced apart from one another in the axial direction. On their mutually facing flat sides, the stator cores have teeth which protrude in the axial direction and are wound with a multi-phase winding. The stator cores and the winding are arranged in a machine housing that has two housing pots. A first stator core is arranged in a first housing pot and a second stator core is arranged in a second housing pot. The secondary part has a shaft on which the roller bearings are arranged with their inner bearing rings. A first roller bearing is supported with its outer bearing ring on an annular surrounding housing wall of the first housing pot and a second roller bearing is supported with its outer bearing ring on an annular surrounding housing wall of the second housing pot.

Next shows the DE 10 2007 054 582 A1 an electric machine and the DE 10 2010 062 329 A1 as well as the JP 2000 - 198 082 A Dismantling tools for dismantling roller bearings.

The object of the present invention is to create an improved method for assembling an electrical axial flow machine in a housing. In particular, the assembly of the axial flow machine should be able to be implemented quickly and easily, with disassembly for the purpose of changing gears being non-destructive.

This object is achieved by a method having the features of claim 1. Preferred or advantageous embodiments of the invention result from the subclaims of the following description and the attached figures.

According to the method according to the invention for assembling an axial flux machine in a housing which is provided, for example, for a robot or a vehicle, the axial flux machine having at least one stator, at least one rotor, an outer sleeve and an inner sleeve, the at least one stator being fixed to the outer sleeve is connected, the at least one rotor being firmly connected to the inner sleeve, the axial flow machine is pressed in the axial direction into the housing, the outer sleeve being firmly connected to the housing, the inner sleeve being non-rotatably connected to a shaft, which extends at least partially axially through the housing, is connected, with at least a first tool part of an assembly tool being connected at least to the shaft, with at least a second tool part of the assembly tool coming to rest at least on the front side of the first and second sleeve, with the two tool parts opposite each other are arranged and are displaced in the axial direction relative to one another in order to adjust a position of the at least one rotor relative to the at least one stator.

The axial flux machine preferably has a stator which consists of two stationary fixed stator rings, with a rotatable rotor ring being arranged axially between these two stator rings. The position of the rotor relative to the stator is essential for the efficiency of the axial flow machine. The rotor must be spaced from the stator in such a way that an air gap is formed between the respective end face of the rotor and the respective end face of the stator. The smaller this air gap, the higher the efficiency of the axial flow machine.

The inner sleeve is non-rotatably connected to the shaft. In other words, the inner sleeve can be moved axially during assembly on the shaft in order to adjust the air gap between the rotor and the stator. After the assembly of the axial flow machine and the adjustment of the air gap, the inner sleeve is axially fixed to the shaft in such a way that the position between the rotor and the stator no longer changes during operation of the axial flow machine. However, the inner sleeve can be moved relative to the shaft without destroying it using the tool provided for this purpose.

The axial flow machine is supported on the one hand in the housing and on the other hand on the shaft, so that there is no roller bearing. The shaft is preferably designed as a gear shaft and couples the axial flow machine to a gear. For example, the gear is designed as a strain wave gear.

To adjust the position of the rotor relative to the stator, ie to adjust the air gap between rotor and stator, a first tool part is connected on a first side of the housing at least to the shaft, optionally also to the housing. The second tool part is arranged on the opposite side of the housing and comes axially at least to the first and second sleeve to the system. In particular, the end face of the second tool part, preferably at least in the two areas where it comes into contact with the respective sleeve, is designed in such a way, in particular provided with axial shoulders or depressions, that the sleeves are positioned relative to one another and thus also the rotor for Stator is positioned, whereby the air gap between rotor and stator is adjusted in a simple and quick way. It is advantageous that this setting is made directly in the assembly tool using the two tool parts. For example, the housing serves as a stop element for the outer sleeve. No stop element is preferably provided for the inner sleeve, because the axial position should only be set using the assembly tool.

A displacement of two elements relative to one another is understood to mean that either the first element is displaced relative to the second element, or the second element is displaced relative to the first element, or both elements are displaced. The order of which of the two elements is shifted first is irrelevant.

A fixed connection is to be understood as meaning a connection which is both axially fixed and non-rotatable. Consequently, neither an axial displacement nor a rotation is possible. In the present case, a fixed connection cannot be released non-destructively, with a non-rotatable connection being able to be released non-destructively in the present case.

According to a preferred embodiment of the invention, the first tool part is connected at least to the second tool part via a connecting element that extends axially through the shaft, with the second tool part being moved axially in the direction of the first tool part is shifted. The shaft is therefore designed as a hollow shaft, with the connecting element being arranged coaxially with the shaft and inside the shaft. In particular, the second tool part is arranged coaxially to the first tool part and to the connecting element. The central cutout in the hollow shaft is used to lead cables through, with this lead-through being advantageously used here for assembly in order to connect the two tool parts to one another. For example, the connecting element is a rod element, screw element or mandrel element. In particular, the connecting element is also connected to the opposite end of the shaft in order to brace the shaft. By bracing the shaft, gear parts and bearings are removed from the power path for the assembly of the axial flow machine.

The second tool part is preferably displaced axially in the direction of the first tool part by rotating an element rotatably mounted on the connecting element. In particular, at least one end section of the connecting element is designed as a threaded rod, the rotatably mounted element being designed as a nut and screwed onto the threaded rod in order to axially displace the second tool part in the direction of the first tool part. The rotational movement that is applied to the rotatably mounted element is converted into a longitudinal movement via the thread and transmitted to the second tool part, so that the second tool part is displaced axially in the direction of the first tool part.

According to an alternative embodiment of the invention, the first tool part is connected at least to the opposite end of the shaft via a connecting element that extends axially through the shaft, with the second tool part being axially in Direction of the first tool part is shifted. Consequently, the first tool part is not connected to the second tool part. In particular, the shaft is braced and prepared for the forthcoming assembly of the axial flow machine, as a result of which transmission parts and bearings are removed from the power path. The shaft is therefore designed as a hollow shaft, with the connecting element being arranged coaxially with the shaft and inside the shaft. In particular, the second tool part is arranged coaxially to the first tool part and to the connecting element.

The central cutout in the hollow shaft is used to lead cables through, with this lead-through being advantageously used here for assembly in order to brace the shaft.

The second tool part is preferably displaced in the direction of the first tool part by applying an axial force to the second tool part. In other words, the force is not introduced indirectly via other elements, but rather directly onto the second tool part, with the force applied being an axial force. For example, the second tool part is designed as a stamp of a press.

According to a preferred embodiment of the invention, a disassembly tool is used to disassemble the shaft, the disassembly tool being positively connected to the inner sleeve and pressing axially on the shaft to separate the shaft from the inner sleeve. This allows non-destructive disassembly of the shaft from the axial flux machine, leaving a gearbox can be exchanged without having to exchange the axial flow machine at the same time. This not only saves installation time, but also costs for a new axial flow machine. In particular, the inner sleeve has an external thread at least in a limited section, the external thread being set up to interact with an internal thread of the dismantling tool in order to separate the inner sleeve from the shaft.

When dismantling the shaft, the inner sleeve is preferably first displaced axially relative to the outer sleeve, with the at least one rotor coming to rest axially on the at least one stator, and then the shaft is displaced axially relative to the outer sleeve. This order is essential in order not to damage the axial flow machine during disassembly. From the viewpoint of the inner sleeve, the inner sleeve is first displaced in a first axial direction along the shaft until the rotor abuts axially on the stator, this position being stable by a magnetic force between the rotor and the stator. Thus, the rotor and the inner sleeve are held on the stator. Only then is the shaft displaced along the inner sleeve in a second axial direction, which is opposite to the first axial direction, until the shaft and the inner sleeve are no longer connected to one another. To assemble the new shaft, in particular the new gearbox, the shaft is first guided through the inner sleeve and then the position of the inner sleeve on the shaft, and thus the position between the rotor and stator for the operation of the axial flow machine, is set using an assembly tool.

An axial flux machine for a robot comprises at least one stator, at least one rotor, an outer sleeve and an inner sleeve, the at least one stator being fixedly connected to the outer sleeve, the at least one rotor being fixedly connected to the inner sleeve, the Axial flow machine is set up to be arranged in a housing of the robot, wherein the outer sleeve is set up to be firmly connected to the housing, and wherein the inner sleeve is set up to be non-rotatably connected to a shaft of a transmission of the robot . During operation of the axial flow machine, the inner sleeve is firmly connected to the shaft of the transmission in such a way that a position between the rotor and the stator is not changed. Only during assembly and disassembly can the inner sleeve be moved axially on the shaft using the assembly tool or disassembly tool.

According to a preferred embodiment of the invention, the inner sleeve has an external thread, the external thread being adapted to interact with an internal thread of a dismantling tool in order to separate the inner sleeve from the shaft. By means of an external thread, the inner sleeve can be displaced relative to the shaft in the radial direction without the application of force. In particular, at the same time a part of the removal tool presses on the front side of the shaft in order to displace the inner sleeve relative to the shaft and to separate the inner sleeve from the shaft.

A robot has an axial flux machine as described above. In particular, the robot is a robot arm for use in industry, in laboratory technology or in medical technology. The robot accordingly has the advantages described above.

• 1 eine schematische Schnittansicht einer erfindungsgemäßen Axialflussmaschine mit dem Montagewerkzeug während der Montage,
• 2 eine schematische Schnittansicht einer erfindungsgemäßen Axialflussmaschine mit dem Demontagewerkzeug während der Demontage,
• 3 eine schematische Schnittansicht einer erfindungsgemäßen Axialflussmaschine mit einem alternativen Montagewerkzeug während der Montage, und
• 4 eine stark vereinfachte Darstellung eines Roboterarms mit einer erfindungsgemäßen Antriebseinheit.

Further measures improving the invention are presented in more detail below together with the description of preferred exemplary embodiments of the invention with reference to the figures. while showing

• 1 a schematic sectional view of an axial flow machine according to the invention with the assembly tool during assembly,
• 2 a schematic sectional view of an axial flow machine according to the invention with the disassembly tool during disassembly,
• 3 a schematic sectional view of an axial flow machine according to the invention with an alternative assembly tool during assembly, and
• 4 a highly simplified representation of a robot arm with a drive unit according to the invention.

1 shows an axial flux machine 1 for a robot in 4 is shown during assembly in a housing 31 of the robot. The axial flux machine 1 comprises a stator 2, a rotor 3, an outer sleeve 4 and an inner sleeve 5. The stator 2 is connected to the outer sleeve 4 in a rotationally fixed and axially fixed manner and comprises two ring-shaped soft-magnetic stator cores which are arranged parallel to one another and in the axial direction are spaced apart. Both stator cores are each wrapped with a multi-phase winding 7 . The rotor 3 is connected to the inner sleeve 5 in a rotationally fixed and axially fixed manner and is made of a soft magnetic material that is equipped with permanent magnets.

In the present case, the axial flow machine 1 is already pressed into the housing 31 of the robot, with the outer sleeve 4 being connected to the housing 31 in a rotationally fixed and axially fixed manner, and the inner sleeve 5 being connected in a rotationally fixed manner to a hollow shaft formed shaft 20 of a - transmission of the robot 30 is connected - not shown here.

To assemble the axial flow machine 1 in the housing 31 , a first tool part 11 of an assembly tool 10 is connected to the shaft 20 , the first tool part 11 coming to rest on the front side of the shaft 20 and the housing 31 . A second tool part 12 of the assembly tool 10 is arranged opposite the first tool part 11 and is connected to the first tool part 11 via a connecting element 13 which extends axially through the shaft 20 . The second tool part 12 initially only comes into contact with the inner sleeve 5 . The outer sleeve 4 serves as a stop for the second tool part 12. The second tool part 12 touches the outer sleeve 4 only in the course of the axial displacement. The second tool part 12 presses the outer sleeve 4 into the intended position in the housing 31 via a radially outer axial contact surface 12.1 and the inner sleeve 5 into the intended position on the shaft 20 via a radially inner axial contact surface 12.2. The two tool parts 11, 12 have already been are displaced relative to each other in the axial direction to adjust a position of the rotor 3 relative to the stator 2 and thereby adjust an air gap 8 between the rotor 3 and the stator 2 .

The adjustment of the air gap 8 has taken place in that the second tool part 12 was displaced axially in the direction of the first tool part 11 by rotating an element 14 rotatably mounted on the connecting element 13 . A disk 17 is arranged between the rotatably mounted element 14, which is designed as a nut in the present case, and the second tool part 12, which is designed in the present case in the shape of a bell. Screws 18 clamp the first tool part 11 to the housing 31, in which the transmission is also arranged. The first tool part 11 has no direct contact with the housing 31 . Nuts 19 are also provided, which brace the first tool part 11 and the shaft 20 . A distortion of the shaft 20 is generated in such a way that transmission parts and bearings are removed from the force path for protection during the assembly of the axial flow machine 1 .

2 shows a dismantling of the transmission shaft 20 from the axial flow machine 1 according to FIG 1 . It will be on 1 referred. Such disassembly is necessary when the transmission needs to be replaced or serviced. A dismantling tool 15 is used to dismantle the shaft 20, with the dismantling tool 15 being positively connected to the inner sleeve 5 and pressing axially on the shaft 20 in order to separate the shaft 20 from the inner sleeve 5 and thus from the axial flow machine 1 in a non-destructive manner . Consequently, the connection between the inner sleeve 5 and the shaft 20 is designed to be detachable using the dismantling tool 15 . When the shaft 20 is dismantled, the inner sleeve 5 is first displaced axially relative to the outer sleeve 4 , the rotor 3 coming to rest axially on the stator 2 . Only then is the shaft 20 displaced axially with respect to the outer sleeve 4 . For this purpose, a screw element 15.1 of the dismantling tool 15 presses via a disk 15.2 onto an end face of the shaft 20. The screw element 15.1 is mounted in a sleeve 15.3 of the dismantling tool 15 so that it can rotate and can be displaced axially by rotation. The inner sleeve 5 of the axial flux motor 1 has an external thread 6 , the external thread 6 cooperating with an internal thread 16 of the dismantling tool 15 in order to separate the inner sleeve 5 from the shaft 20 . The internal thread 16 is arranged on the sleeve 15.3 of the dismantling tool 15 and is screwed onto the inner sleeve 5 for the positive connection.

3 shows an alternative assembly tool 10, wherein only the second tool part 12 differs from the second tool part according to FIG 1 differs. Otherwise, refer to the description 1 referred. The first tool part 11 is connected to the opposite end of the shaft 20 via the connecting element 13 which extends axially through the shaft 20 . The connecting element 13 is not connected to the second tool part 12 . To adjust the position of the rotor 3 relative to the stator 2, the second tool part 12 is displaced axially in the direction of the first tool part 11. This is done by applying an axial force to the second tool part 12 in the direction of the first tool part 11. The second tool part 12 presses the outer sleeve 4 into the intended position in the housing 31 via a radially outer axial contact surface 12.1 and the inner sleeve via a radially inner axial contact surface 12.2 Sleeve 5 in the intended position on the shaft 20, wherein the air gap 8 between the stator 2 and rotor 3 is set.

4 1 shows a robot 30 in the form of a robot arm with the axial flux machine 1 for driving the shaft 20. A first further shaft 34 and a second further shaft 35 are connected to the axial flux machine 1 via a first joint 32 and a second joint 33. A gripping tool 36 is arranged on the second additional shaft 35 , for example. Further axial flow machines 1 according to the invention can be arranged in the joints 32, 33 in order to control the further shafts 34, 35 in each case. In particular, each shaft 20, 34, 35 with a - not shown here - connected gear for setting a translation.

Reference List

1

axial flow machine

2

stator

3

rotor

4

outer sleeve

5

inner sleeve

6

external thread

7

winding

8th

air gap

10

assembly tool

11

first tool part

12

second tool part

12.1

radially outer axial contact surface

12.2

radially inner axial contact surface

13

fastener

14

rotatable element

15

dismantling tool

15.1

screw element

15.2

disc

15.3

sleeve

16

inner thread

17

disc

18

screw

19

mother

20

Wave

30

robot

31

Housing

32

joint

33

joint

34

Wave

35

Wave

36

gripping tool

Claims (7)

Method for assembling an axial flow machine (1) in a housing (31), the axial flow machine (1) having at least one stator (2), at least one rotor (3), an outer sleeve (4) and an inner sleeve (5), wherein the at least one stator (2) is fixedly connected to the outer sleeve (4), wherein the at least one rotor (3) is fixedly connected to the inner sleeve (5), the axial flow machine (1) in the axial direction in the housing (31) whereby the outer sleeve (4) is fixedly connected to the housing (31), the inner sleeve (5) being non-rotatably connected to a shaft (20) which at least partially extends axially through the housing (31). , is connected, wherein at least a first tool part (11) of an assembly tool (10) is connected at least to the shaft (20), wherein at least a second tool part (12) of the assembly tool (10) is attached at least to the first and second sleeve (4, 5) comes to rest on the front side, the two tool parts (11, 12) against each other are arranged overlying each other and are displaced relative to each other in the axial direction in order to adjust a position of the at least one rotor (3) with respect to the at least one stator (2). procedure after claim 1 , characterized in that the first tool part (11) is connected at least to the second tool part (12) via a connecting element (13) which extends axially through the shaft (20), the position of the at least one rotor ( 3) the second tool part (12) is displaced axially in the direction of the first tool part (11) relative to the at least one stator (2). procedure after claim 2 , characterized in that the second tool part (12) is displaced axially in the direction of the first tool part (11) by rotating an element (14) rotatably mounted on the connecting element (13). procedure after claim 1 , characterized in that the first tool part (11) is connected at least to the opposite end of the shaft (20) via a connecting element (13) which extends axially through the shaft (20), with adjustment of the position of the at least one Rotor (3) relative to the at least one stator (2), the second tool part (12) is displaced axially in the direction of the first tool part (11). procedure after claim 4 , characterized in that the second tool part (12) is displaced by applying an axial force to the second tool part (12) in the direction of the first tool part (11). Method according to one of the preceding claims, characterized in that a dismantling tool (15) is used to dismantle the shaft (20), the dismantling tool (15) being positively connected to the inner sleeve (5) and being axially mounted on the shaft (20). presses to separate the shaft (20) from the inner sleeve (5). procedure after claim 6 , characterized in that when the shaft (20) is dismantled, the inner sleeve (5) is first displaced axially in relation to the outer sleeve (4), the at least one rotor (3) resting axially on the at least one stator (2). comes, and then the shaft (20) relative to the outer sleeve (4) is displaced axially.

Images