JP2001218417A - Motor and uniaxial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve fixing to a shaft to be driven in an assembling process. SOLUTION: A movable member 4 is installed on a guide rail 10, and a ball screw shaft 11 is screwed and installed in a nut member 4a of the movable member 4. An uniaxial robot 1 is so constituted that the movable member 4 is moved by rotation-driving the ball screw shaft 11. The motor 12 is equipped with a motor main part 22 and a position detecting part 24. A rotor 22 of the motor main part 22 is directly built in the end portion of the shaft 11, and a stator 22a is built in a frame member 20. A rotor 24b of the position detecting part 24 is coupled integrally with the rotor 22b of the motor 12, and a stator 24a of the detecting part 24 is built in the frame member 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor suitable for a machine such as a single-axis robot and a single-axis robot having the motor.

[0002]

2. Description of the Related Art Conventionally, a guide rail, a ball screw shaft parallel to the guide rail, a movable member is mounted on the guide rail, and the ball screw shaft is screwed on a nut portion of the movable member. In general, a single-axis robot in which a movable member is linearly moved along the guide rail by rotation driving of the ball screw shaft by a motor is generally known.

In the above-described single-axis robot, a motor is conventionally disposed at one end of a rotatably supported ball screw shaft, and the output shaft of the motor and the ball screw shaft are connected via a coupling. Was common.

However, recently, for the purpose of downsizing and cost reduction, a configuration has been practiced in which a motor is integrated into a robot instead of using a separate off-the-shelf motor. That is, a rotor part of the motor and a rotor part of the position detecting means are attached to an end of a driven shaft (for example, a ball screw shaft), and a frame member also serving as a casing of the robot is provided. The motor and the stator portion of the position detecting means are assembled.

[0005]

However, the above-described configuration in which the motor is integrally incorporated into the robot has the following problems.

That is, in the above configuration, the motor and the rotor of the position detecting means are assembled to the ball screw shaft in the assembly process of the robot. In this case, the phase of the rotor of the motor and the rotor of the position detecting means are changed. This work is very time-consuming because of the need to make adjustments. For this reason, although it is advantageous in terms of downsizing and cost reduction, there is a problem that the assembling workability is poor as compared with a case where an off-the-shelf motor is assembled.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a motor capable of improving workability of assembling to a driven shaft in an assembling process. An object is to provide a single-axis robot having this motor.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention has a rotor portion attached to a driven shaft and a stator portion fixedly provided, respectively. A frame member fixedly provided with a motor body and a position detector for detecting the rotational position of the driven shaft, the frame member fixedly including the motor body and each stator portion of the position detector; A rotor member provided separately from the frame member and directly attached to the driven shaft, and the rotor member is integrally connected to each rotor portion of the motor body and the position detection unit. (Claim 1).

According to this motor, it is possible to assemble the rotor member in advance and then mount it on the driven shaft.
At this time, the phase adjustment of both the rotor part of the motor main body part and the position detection part can be performed together. For this reason, if the phase-adjusted rotor member is configured in advance, it is not necessary to perform the above-described phase adjustment simply by assembling the rotor member to the driven shaft in the assembly process of a mechanical device or the like. Disappears.

On the other hand, the single-axis robot according to the present invention has the following features.
A single-axis robot equipped with the motor described above, wherein the movable member linearly moves along a guide rail, a ball screw shaft screwed into a nut portion of the movable member, and the ball screw shaft is rotationally driven. A motor as a drive source, wherein the rotor member of the motor is directly mounted on a ball screw shaft, and the frame member is disposed so as to insert the rotor member. 2).

According to the single-axis robot, it is possible to assemble the rotor member in advance and then mount the rotor member on the ball screw shaft. You can also do it. Therefore, if the rotor member having been subjected to the phase adjustment is configured in advance, in the assembling process of the single-axis robot, it is not necessary to perform the above-described phase adjustment simply by attaching the rotor member to the ball screw shaft. However, this improves the assembly workability in the assembly process.

In this configuration, it is preferable that the frame member is formed so as to constitute a part of the exterior casing.

According to this configuration, a rational configuration in which the frame member also functions as the exterior casing is achieved, and it is possible to further contribute to improvement in assembly workability and cost reduction.

[0014]

Embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 and 2 schematically show a single-axis robot according to the present invention. As shown in these figures,
The single-axis robot 1 has a uniaxially elongated casing composed of a base 2, a cover 3, and the like. The casing is provided with a movable member 4 so as to be movable, and is movable by a drive mechanism 5 provided in the casing. It is configured to drive the member 4.

The drive mechanism 5 includes a guide rail 10 fixed on the base 2 and extending in one axial direction, a ball screw shaft 11 extending in parallel with the guide rail 10 and rotatably supported by the base 2, A motor 12 for rotating the ball screw shaft, and the movable member 4 is movably mounted on the guide rail 10;
A nut member 4 a integrally incorporated in the movable member 4 is screwed to the ball screw shaft 11. The ball screw shaft 1 which is a driven shaft by a motor 12 which is a driving source
The movable member 4 is configured to move in one axial direction along the guide rail 10 in response to the forward and reverse rotation drive of the movable member 1. The movable member 4 is provided with a mounting portion 4b that is exposed to the outside through a uniaxial slit 3a formed in the casing. Various working members are mounted on the mounting portion 4b. I have.

In the drive mechanism 5, the ball screw shaft 11
As shown in FIG. 1, bearings 1 and 2 are attached to support bases 14 and 15 whose front and rear ends (right and left ends) are fixed to base 2.
It is rotatably supported via 6,17. The rear end of the ball screw shaft 11 extends further rearward than the support base 15, and the motor 12 is attached to the extending portion 11a.

The motor 12 has a motor body 22 and a position detector 24. The motor body 22 includes a stator 22a and a rotor 22b.
The ball screw shaft 11 is integrally connected to the extended portion 11a of the ball screw shaft 11 via the key 18 in a state in which the ball screw shaft 11 cannot rotate relatively. On the other hand, the stator 22a is disposed outside the rotor 22b so as to face the rotor 22b, and the frame member 2
It is fixed to 0. The frame member 20 is fixed to the base 2 and is configured to form the casing in cooperation with the cover 3 and the like, and has a hollow portion that opens toward the front side of the ball screw shaft 11. The stator 22a is fixed to the inner wall of the hollow portion. In addition, a bearing 26 is provided at a rear end (the left end in the figure) of the frame member 20,
End of the ball screw shaft 11 (end of extended portion 11a)
Are rotatably supported by the frame member 20 via the bearings 26.

On the other hand, in the present embodiment, the position detector 24 has an output side winding (stator 24a) and a magnetizing side winding (rotor 24b), and magnetizes the rotor 24b with an AC voltage. The rotor 24b is constituted by a so-called resolver configured to detect a rotation angle (a position in a rotation direction) by detecting a voltage on the stator 24a side induced by the rotation of the motor 24, as shown in FIG. While being integrally connected to the outer periphery of one end of the rotor 22b of the portion 22,
The stator 24a is fixed to the inner wall of the hollow portion of the frame member 20 so as to face the rotor 24b. That is, the motor body 2 of the motor 12
2 rotor 22b and the rotor 2
4b constitutes a rotor member of the motor according to the present invention. Note that the rotor 24b may be in a form having no winding.

According to the single-axis robot 1 as described above, since the motor 12 is integrated into the single-axis robot 1, a separate ready-made motor is connected to the ball screw shaft by a coupling or the like. Compared with the configuration, the single-axis robot 1 can be made more compact, and can contribute to cost reduction.

In addition, since the rotor 24b of the position detector 24 is integrally connected to the rotor 22b of the motor body 22 as described above, the motor body 22 and the position detector 24 are directly connected to the ball screw shaft 11. There is an effect that the assembling workability of the single-axis robot 1 in the assembling process can be improved while assembling.

That is, according to the above configuration, both the rotors 22b, 24 of the motor body 22 and the position detector 24 are provided.
b can be mounted on the driven shaft after assembling it in advance. At this time, the phase adjustment of both rotors 22b and 24b can be performed together. Therefore, if the two rotors 22b and 24b are assembled to each other by a sub-assembly or the like before the assembly to the ball screw shaft 11 in the assembling process and the phase adjustment is performed in advance, the assembly (rotor member) can be assembled in the assembling process. Is attached to the extended portion 11a of the ball screw shaft 11,
There is no need to perform any phase adjustment. That is, in the assembling process of the single-axis robot 1, the support bases 14, 1
After assembling the ball screw shaft 11 and the ball screw shaft 11 and the like, as shown in FIG. 3, the above assembly is assembled to the extension portion 11a, and then the frame member 20 in which the stators 22b and 24b are assembled in advance.
Is fixed to the base 2, the motor 12 can be easily and quickly assembled to the ball screw shaft 11. Therefore, since the above-described phase adjustment in the assembling process is not required, the workability of the assembling process in the assembling process can be improved as compared with the conventional single-axis robot.

Further, in the single-axis robot 1, as described above, the frame member 20 of the motor 12 has a rational configuration in which a part of the casing of the single-axis robot 1 is formed in cooperation with the cover 3 and the like. Therefore, there is a feature that the workability of assembling the single-axis robot 1 can be further improved, and the cost can be reduced.

In the single-axis robot 1 described above,
Although a resolver is used as the position detection unit 24, for example, a rotary encoder may be used as the position detection unit 24. In this case, the rotor portion of the rotary encoder, that is, the slit disk is integrally connected to the rotor 22b of the motor main body 22, and the stator portion of the rotary encoder, that is, the photo interrupter or the like is fixed to the frame member 20. do it.

In the single-axis robot 1, the motor body 22 is disposed on the front side of the ball screw shaft 11 in the axial direction, and the position detection unit 24 is disposed on the rear side (the left side in FIG. 1). As shown in FIG. 4, these may be arranged upside down.

The portion of the motor 12 in the configuration of the single-axis robot 1 described above, that is, the portion related to the motor of the present invention can be applied to other than the single-axis robot 1 described above. By assembling and using the driven shaft such as that described above, it is possible to contribute to downsizing and cost reduction of the mechanical device as in the case of the single-axis robot 1, and to improve the workability of assembling the mechanical device in the assembling process. Can be done.

[0027]

As described above, according to the motor of the present invention, the motor main body and the respective stator portions of the position detecting section are fixed to the frame member, while the motor main body and the position detecting section are separately provided from the frame member. A rotor member in which the rotor portions of the unit are integrally connected is provided, and the rotor member is configured to be mounted on the driven shaft. Therefore, before the motor is mounted on the driven shaft, the motor body and the position detecting unit are mounted. The phase adjustment between the rotor portions can be performed in advance. for that reason,
While assembling the motor having the position detecting unit to the driven shaft, there is no need to perform the above-described phase adjustment in the assembling process of the mechanical device at all, thereby improving the assembling workability.

Further, the single-axis robot of the present invention is a single-axis robot configured to move a movable member along a guide rail by rotationally driving a ball screw shaft, wherein the motor is used as a drive source of the ball screw shaft. Since it is used, it is possible to contribute to downsizing and cost reduction as in this type of conventional single-axis robot, and it is possible to improve the assembling workability in the assembling process.

In this single-axis robot, if the frame member of the motor is constituted so as to constitute a part of the exterior casing, it is possible to further contribute to improvement in assembling workability and cost reduction. .

[Brief description of the drawings]

FIG. 1 is a sectional view showing an example of a single-axis robot according to the present invention.

FIG. 2 is a cross-sectional view of the single-axis robot according to the present invention, taken along line AA in FIG.

FIG. 3 is a cross-sectional view showing an assembling order of a single-axis robot in an assembling process.

FIG. 4 is a sectional view of a single-axis robot showing another configuration of the motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Single axis robot 2 Base 3 Cover 4 Movable member 11 Ball screw shaft 11a Extension part 12 Motor 22 Motor body part 22a, 24a Stator 22b, 24b Rotor 24 Position detecting part

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Takashi Kaieda 2500 Shinkai, Iwata-shi, Shizuoka Prefecture F-term in Yamaha Motor Co., Ltd. (reference) 3F060 GA01 GA13 GB19 5H607 BB01 BB07 BB14 CC03 EE31 EE52 EE56 GG08

Claims (3)

[Claims] 1. A motor body portion having a rotor portion attached to a driven shaft and a stator portion fixedly provided, and applying a rotational driving force to the driven shaft, and a rotational position of the driven shaft. A motor comprising: a position detecting portion for performing detection; a frame member including the motor body portion and each stator portion of the position detecting portion; and a frame member provided separately from the frame member and directly assembled to the driven shaft. And a rotor member, wherein the rotor member is formed by integrally connecting the rotor portions of the motor main body portion and the position detecting portion. 2. A single-axis robot equipped with the motor according to claim 1, wherein the movable member linearly moves along a guide rail, and a ball screw shaft screwed into a nut portion of the movable member. And a motor as a drive source for rotating the ball screw shaft. The rotor member of the motor is directly mounted on the ball screw shaft, and the frame member is disposed so as to insert the rotor member. A single-axis robot characterized by: 3. The single-axis robot according to claim 2, wherein a frame member of the motor is formed so as to constitute a part of an exterior casing.