JP2004324791A

JP2004324791A - Bearing centering method, and bearing centering and assembling device

Info

Publication number: JP2004324791A
Application number: JP2003121822A
Authority: JP
Inventors: Shinobu Kokubu; 忍國分; Shoichiro Hara; 正一郎原; Toshiaki Iwasaki; 俊明岩崎
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2003-04-25
Filing date: 2003-04-25
Publication date: 2004-11-18
Anticipated expiration: 2023-04-25
Also published as: JP4120460B2

Abstract

<P>PROBLEM TO BE SOLVED: To accurately obtain a target posture of a second bearing in relation to a first bearing even if tilting direction of a rotary shaft and tilting direction of the second bearing are displaced from each other due to a reason such as friction. <P>SOLUTION: Both of relative tilting of the second bearing in relation to the first bearing and movement distance of the second bearing in a direction crossing the center shaft of the first bearing are detected at the same time in, at least, three positions through the rocking movement thereof, and position of the second bearing, in which the center of the second bearing coincides with the center shaft of the first bearing, is obtained on the basis of the information about movement distance in each position. Grade and direction of tilting of the rotary shaft 4 in relation to the first bearing in each position are computed on the basis of a distance Hcg between the center of the first bearing and the center of a part of the rotary shaft on the center shaft thereof, in which the rotary shaft fits to the second bearing, in the center shaft direction and information about movement distance in each position. The posture of the second bearing, in which the center shaft of the second bearing is parallel with the center shaft of the first bearing, is obtained on the basis of a result of computing and the information about inclination in each position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、回転軸を支持する２つの軸受を調芯する軸受調芯方法および軸受調芯組立装置に関するものであり、例えば、冷凍装置、空気調和機、真空ポンプ等に使用されるスクロール圧縮機等の、円筒シェル内の両端部に配置された２つの軸受により回転軸が支持された回転機構を組み立てるのに用いられるものである。
【０００２】
【従来の技術】
従来の軸受調芯方法および軸受調芯組立装置においては、ステータを内挿した胴体ケーシングの両端部内に、該胴体ケーシングの内径より小さい外径を有する軸受がそれぞれ取り付けられ、該軸受により胴体ケーシングの中心部に、ロータを外挿した回転軸が支持された電動機の組立方法であって、ステータが内挿された胴体ケーシングの一端部内に一方の軸受を挿入し、該軸受をその中心を基準として組立位置に固定すると共に、胴体ケーシングをステータの内面を基準として組立位置に固定した状態で、その胴体ケーシングの外周側複数位置から胴体ケーシングを軸受に溶接して、胴体ケーシングの一端部内に一方の軸受を取り付ける第１の軸受組立工程と、胴体ケーシングの他端側から中心部に、ロータが外挿された回転軸を挿入して、その一端部を一方の軸受に差し込む回転軸組立工程と、胴体ケーシングの他端部内に他方の軸受を挿入して、該軸受に回転軸の他端部を差し込み、取り付けを終えた一方の軸受の中心を基準として、胴体ケーシングを組立位置に固定すると共に、他方の軸受をその中心を基準として組立位置に固定した状態で、その胴体ケーシングの外周側複数位置から胴体ケーシングを他方の軸受に溶接して、胴体ケーシングの他端部内に他方の軸受を取り付ける第２の軸受組立工程とを包含している（例えば、特許文献１参照）。
【０００３】
上記従来の軸受調芯方法は、まず、上部軸受はパレットにて水平に支持されながら第１軸受組立機Ａに運ばれ、胴体ケーシングに組み付けられる。この際、第１軸受組立機Ａに取り付けた位置決めピンがパレット側に設けられたピン孔に挿入されることにより、第１軸受組立機Ａの組立位置にパレットが固定され、その結果、パレット上の上部軸受が、その中心を基準として第１軸受組立機Ａの組立位置に固定される。
次に、上部軸受を組み付けられた胴体ケーシングは、パレットでそのまま回転軸組立機Ｂに運ばれ、該組立機Ｂで回転軸を組み付けられる。
その後、上部軸受および回転軸を組み付けられた胴体ケーシングは、第２軸受組立機Ｃに運ばれ、下部軸受が組み付けられる。この際、第２軸受組立機Ｃに取り付けた位置決めピンがパレット側に設けられたピン孔に挿入されることにより、第２軸受組立機Ｃの組立位置にパレットが固定され、その結果、上部軸受の中心を基準として胴体ケーシングが第２軸受組立機Ｃの組立位置に固定される。また、下部軸受には基準面が設けられ、この基準面を第２軸受組立機Ｃに設けられた当ブロックに押し付けることにより、下部軸受を水平にする。
【０００４】
【特許文献１】
特開平８−１２８３９６号公報（第４−７頁、第１−７図）
【０００５】
【発明が解決しようとする課題】
上記のような従来の軸受調芯方法および軸受調芯組立装置では、第１軸受および第２軸受に、軸受孔との位置関係および姿勢の関係がそれぞれ高精度に規定された基準孔または基準面を設け、この基準孔および基準面を軸受調芯組立装置（各組立機Ａ、Ｂ、Ｃ）に対して高精度に芯出しおよび姿勢出しをして固定する必要があった。
したがって、上記基準孔および基準面の加工工数が増えるため製品がコストアップするという問題点があった。また、上記基準孔および基準面と軸受孔との同軸度および平行度、並びに第１軸受および第２軸受を軸受調芯組立装置（各組立機Ａ、Ｂ、Ｃ）に固定する際の位置決め誤差が軸受組立精度に集積されるため、組立精度に限界があるという問題点もあった。
【０００６】
本発明は、上記のような従来のものの問題点を解決するためになされたものであり、第１および第２軸受に、軸受孔との位置関係および姿勢の関係がそれぞれ高精度に規定された基準孔あるいは基準面を設けなくても、高精度な軸受調芯組立が可能となるような軸受調芯方法および軸受調芯組立装置を提供するものである。
【０００７】
【課題を解決するための手段】
本発明に係る軸受調芯方法は、回転軸を支持する第１軸受および第２軸受を調芯する方法であって、第１軸受を、動かないように保持し、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸および第２軸受を第１軸受の中心軸に対して所定の力で傾けて上記回転軸および第２軸受を揺動運動させ、揺動運動の少なくとも三箇所において、第１軸受に対する第２軸受の相対的な、傾きおよび上記第１軸受の中心軸に交差する方向での移動距離の両方を同時に検出する第１工程と、第１工程で得られた上記各個所における移動距離の情報に基づいて、第１軸受の中心軸に対して第２軸受の中心が一致する第２軸受の位置を、第１軸受に対する第２軸受の目標位置として求める第２工程と、第１軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、第１工程で得られた上記各個所における移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた上記各個所における傾きの情報に基づいて、第１軸受の中心軸に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、第１軸受に対する第２軸受の目標姿勢として求める第３工程と、第２軸受を第２工程および第３工程で求められた目標位置および目標姿勢に位置決めし、その状態で保持する第４工程と、を備えたものである。
【０００８】
また、本発明の別の発明に係る軸受調芯方法は、回転軸を支持する第１軸受および第２軸受を調芯して組み立てる方法であって、第１軸受がフレームにより上記回転軸に沿って直動自在に保持される場合に、上記第１軸受を直動自在に保持したフレームを、動かないように保持し、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸、第１軸受および第２軸受を上記フレームの中心軸に対して所定の力で傾けて上記回転軸、第１軸受および第２軸受を揺動運動させ、揺動運動の少なくとも三箇所において上記フレームに対する第１軸受の相対的な傾き、並びに上記フレームに対する第２軸受の相対的な、傾きおよび上記フレームの中心軸に交差する方向での移動距離の両方を同時に検出する第１工程と、第１工程で得られた上記各個所における第１軸受の傾きおよび第２軸受の移動距離の情報に基づいて、第１軸受の中心軸の傾き中心に対して第２軸受の中心が一致する第２軸受の位置を、上記フレームに対する第２軸受の目標位置として求める第２工程と、第１の軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、第１工程で得られた上記各個所における第２軸受の移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた上記各個所における第１および第２軸受の傾きの情報に基づいて、第１軸受の中心軸の傾き中心に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、上記フレームに対する第２軸受の目標姿勢として求める第３工程と、第２軸受を第２工程および第３工程で求められた目標位置および目標姿勢に位置決めし、その状態で保持する第４工程と、を備えたものである。
【０００９】
また、本発明に係る軸受調芯組立装置は、円筒シェル内周の両端部にそれぞれ配置されて回転軸を支持する第１軸受および第２軸受を調芯して組み立てる装置であって、第１軸受を、上記円筒シェル内の所定位置に動かないように保持する保持手段と、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸および第２軸受を第１軸受の中心軸に対して所定の力で傾けて上記回転軸および第２軸受を揺動運動させる揺動手段と、揺動運動の少なくとも三箇所において第１軸受に対する第２軸受の相対的な、傾きおよび上記第１軸受の中心軸に交差する方向での移動距離の両方を同時に検出する計測手段と、上記計測手段によって計測された上記各個所における移動距離の情報に基づいて、第１軸受の中心軸に対して第２軸受の中心が一致する第２軸受の位置を、第１軸受に対する第２軸受の目標位置として求め、第１軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、上記計測手段によって計測された上記各個所における移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と上記計測手段によって計測された上記各個所における傾きの情報に基づいて、第１軸受の中心軸に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、第１軸受に対する第２軸受の目標姿勢として求める計算手段と、第２軸受を上記目標位置および目標姿勢に位置決めしその状態で保持する位置決め手段と、第１軸受および第２軸受をそれぞれ上記円筒シェルに固定する固定手段と、を備えたものである。
【００１０】
【発明の実施の形態】
実施の形態１．
図１〜図１２は本発明の実施の形態１による軸受調芯方法および軸受調芯組立装置を説明するための図であり、より具体的には、図１は本実施の形態１による軸受調芯方法および軸受調芯組立装置によって組み立てられる回転機構を示す縦断面図、図２〜図４は軸受調芯組立装置の要部の構成を示す縦断面図、図５は回転軸支持機構を拡大して示す縦断面図、図６は軸連結部の構成を説明する斜視図、図７は回転軸および第２軸受を第１軸受の中心軸に対して傾けた様子を示す断面説明図、図８は軸受調芯工程を説明するフローチャート、図９は時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図、図１０は第１軸受に対する回転軸の傾きについて説明する図、図１１は時間ｉに平行度計測機構にて計測されるデータの一例を模式的に示す説明図、図１２は第１軸受に対する回転軸の傾きを補正した第２軸受の傾き方向の動きを模式的に示す説明図である。
【００１１】
図１において、円筒シェル１の内周にステータ２が固定され、回転軸４の外周にロータ３が固定されている。第１軸受５は円筒シェル１内周の一端部に固定され、回転軸４の一端側（下側）外周が嵌挿されている。第２軸受６は円筒シェル１内周の他端部に固定され、回転軸４の他端側（上側）外周が嵌挿されている。被組立体である回転機構１０は、上記のように、内周にステータ２が固定された円筒シェル１、外周にロータ３が固定された回転軸４、並びに円筒シェル１内周の両端部にそれぞれ配置されて回転軸４を支持する第１軸受５および第２軸受６により構成されている。
本発明による軸受調芯方法および軸受調芯組立装置は、主に、第２軸受６を円筒シェル１に固定する工程に適用するものであり、図１は、第２軸受６が円筒シェル１に固定された状態を示している。
【００１２】
以下、本実施の形態による軸受調芯組立装置の構成を、図２〜図４を基に説明する。図２において、円筒シェル１が上部に載置されるワーク載置台３１は、ワーク昇降機構３２により昇降され、メインベース３０の下面に押し付けられることにより、メインベース３０に対して固定される。回転軸４を支持する回転軸支持機構３３は、回転軸４を、その軸方向位置を拘束し回転および傾き可能に支持する回転軸支持手段に相当する。円筒シェル保持機構３４は、メインベース３０に対して固定されたワーク載置台３１に対して円筒シェル１を押し付けて固定する機構であり、円筒シェル１を保持する円筒シェル保持手段に相当する。さらに、本実施の形態では第１軸受５が円筒シェル１内の所定位置にあらかじめ固定されているので、円筒シェル１を保持することにより第１軸受５をも保持することになり、円筒シェル保持機構３４は第１軸受保持手段にも相当する。第２軸受クランプ機構３５は、第２軸受６を設定された高さに保持する機構であり、第２軸受保持手段に相当する。上部ベースＡ３６は支柱３７でメインベース３０に対して強固に固定されている。
【００１３】
ワーク載置台３１は、メインベース３０に対し上下動のみ可動にガイド等で支持されている。
回転軸支持機構３３は、例えば図５に示すような構成となっており、回転軸４の下端部を支持する球９１、球９１を支持する複数の小球９２、球９１および複数の小球９２を収納するケース９３、ケース９３を支持するスラストベアリング９４を備えて、回転軸４を、回転可能且つ回転軸４の下端部が水平移動可能に支持している。なお、４ａは回転軸４の下端部には球９１の一部が嵌る凹部４ａが設けられている。
【００１４】
図３において、フロート部４０は第２軸受６が第２軸受クランプ機構３５により保持されており、フロート機構４１はフロート部４０を鉛直方向に複数点で支持している。ＸＹテーブル４２はフロート部４０を上部ベースＡ３６に固定された上部ベースＢ４３に対し水平方向移動可能に支持する。第２軸受クランプ機構３５およびフロート部４０、フロート機構４１およびＸＹテーブル４２が、第２軸受保持手段を、回転軸４まわりの回転方向を拘束し、第２軸受６の中心軸まわりの回転方向を拘束し、第２軸受６の中心軸方向および該中心軸方向に対し直交する方向の並進自由度と第２軸受６の中心軸に交差する軸まわりの回転自由度を可動的に支持する第２軸受支持手段に相当する。
【００１５】
第２軸受傾斜モーメント付加機構４４は、フロート部４０に支持された第２軸受６を回転軸４に対して傾ける機構であり、第２軸受傾斜モーメント付加手段に相当する。回転軸傾斜モーメント付加機構４５は、軸連結部４８にて連結された回転軸４を第１軸受５に対して傾ける機構であり、回転軸傾斜モーメント付加手段に相当する。モータ４７にて回転駆動される駆動軸４６（４６ａ、４６ｂ、４６ｃ）と回転軸４とは軸連結部４８で連結されており、モータ４７が回転軸４を回転させる回転力を発生する回転力発生手段に相当し、駆動軸４６と軸連結部４８とが回転軸４に回転力発生手段の回転力を伝達する回転力伝達手段に相当する。芯ずれ計測機構４９はフロート部４０の水平方向位置を計測する機構、平行度計測機構５０はフロート部４０の鉛直方向位置を計測する機構であり、これら芯ずれ計測機構４９および平行度計測機構５０が第２軸受６の軸受調芯組立装置に対する位置および姿勢を計測する第２軸受計測手段（計測手段）に相当する。
【００１６】
軸連結部４８は、例えば図６に示すように回転軸４の上端部軸端のスリット部１１に軸連結部４８の内周に設けられた連結爪５１が挿入するようになっており、駆動軸４６に対し軸方向に摺動可能で回転が拘束された状態で支持され、バネ５６で鉛直下向きに押し付けられている。このように構成することで駆動軸４６と回転軸４の回転位相を一致させ同期して回転が行える。
【００１７】
第２軸受傾斜モーメント付加機構４４および回転軸傾斜モーメント付加機構４５は駆動軸４６に固定されており、駆動軸４６が回転すると第２軸受傾斜モーメント付加機構４４および回転軸傾斜モーメント付加機構４５は駆動軸４６回りで回転するため、駆動軸４６の回転と同期して第２軸受６および回転軸４の傾き方向が連続的に変化する。図３中、第２軸受傾斜モーメント付加機構４４は、フロート部４０の上部に右方向に荷重を付加することにより第２軸受６を右方向に移動させ、さらに右回りの回転方向に傾けるモーメント力を付加する。回転軸傾斜モーメント付加機構４５は駆動軸Ｂ４６ｂに取り付けられたアーム７０の左端部に下方向に荷重を付加することにより、駆動軸Ｂ４６ｂをジョイントＡ７１を中心とした左回りの回転方向に回転するためジョイントＢ７２は右方向に移動する。軸連結部４８によって連結された回転軸４はジョイントＢ７２が右方向に移動することにより、第１軸受５の軸受中心に対して右回りの回転方向に傾くモーメント力を付加する。このように構成することにより、第２軸受６の傾き方向と回転軸４の傾き方向が異なる方向となることを防止している。しかしながら実際には、摩擦等の理由により回転軸の傾き方向と第２の軸受の傾き方向とが必ずしも一致しない。
【００１８】
第２軸受傾斜モーメント付加機構４４および回転軸傾斜モーメント付加機構４５は、バネ部材を介して駆動軸４６に取り付けられており、駆動軸４６の回転中に第２軸受６および回転軸４に付加するモーメント力が変化しないように構成されている。また、第２軸受傾斜モーメント力は、フロート部４０傾斜時に発生するフロート機構４１のバネ力による復元モーメント力よりも大きく、回転軸４と第２軸受６の接触状態が図７に示した２点接触状態となるように設定する。また、回転軸傾斜モーメント力においても、回転軸４と第１軸受５の接触状態が図７に示した２点接触状態となるように設定する。第２軸受傾斜モーメント力および回転軸傾斜モーメント力があまりに大きいと、第２軸受６と回転軸４との摩擦力および第１軸受５と回転軸４との摩擦力が大きくなり、第２軸受６および回転軸４の揺動軌跡が不安定になる場合あるいは軸受が損傷する場合があるため、第２軸受傾斜モーメント力および回転軸傾斜モーメント力を適切な大きさに設定する必要がある。
【００１９】
駆動軸４６は駆動軸Ａ４６ａ、駆動軸Ｂ４６ｂ、駆動軸Ｃ４６ｃの３つに分割されており、ジョイントＡ７１、ジョイントＢ７２によって、各駆動軸Ａ４６ａ、駆動軸Ｂ４６ｂ、駆動軸Ｃ４６ｃを駆動軸４６の回転方向と軸方向を拘束した状態で連結している。すなわち、ジョイントＡ７１の関節部分において、駆動軸Ｂ４６ｂは駆動軸Ａ４６ａに対して垂直な平面内で偏心する自由度を持ち、さらに駆動軸Ｂ４６ｂは周方向全方向に折れ曲がるように回転する自由度を持つ。ジョイントＢ７２についても同様で駆動軸Ｃ４６ｃは駆動軸Ｂ４６ｂに対して同様の自由度を有している。
回転軸傾斜モーメント付加機構４５は、駆動軸Ｂ４６ｂに取り付けられた荷重付加バー７０を下向きに押圧する。駆動軸Ｂ４６ｂはジョイントＡ部で回転することにより駆動軸Ｂ４６ｂが傾き、駆動軸Ｃ４６ｃを偏心させる。駆動軸Ｃ４６ｃの下端には軸連結部４８が設けられているため、軸連結部４８にて連結された回転軸４の上端を偏心させ、回転軸４が傾く。
このように構成することにより回転軸４の傾斜が行え、モータ４７を駆動することにより回転軸４の回転角度に同期して回転軸４の傾け方向を円滑に変化させることができる。
【００２０】
なお、回転軸傾斜モーメントは第２軸受傾斜モーメント付加機構４４によっても発生するが、本実施の形態では回転軸４を傾ける力を発生する機構と第２軸受６を傾ける力を発生する機構とを別々に設けることにより、第２軸受６と回転軸４の接触力を最小限にすることが可能となり、この接触力による摩擦力で計測誤差が発生するのを防止している。しかしながら実際は、例えば軸受に存在する潤滑油（冷凍空調用圧縮機ならば冷凍機油）が少ない場合、回転軸４を傾ける力による接触力により発生する摩擦力は０にはならないため、回転軸の傾き方向と第２軸受の傾き方向とが一致せず計測誤差が発生する。
【００２１】
モータ４６はサーボモータで構成されており、駆動軸４６回転時の回転角度の把握および回転速度の制御が可能である。回転軸４は駆動軸４６と回転方向で拘束されているため、モータ４６により回転軸４の回転角度の把握および回転速度の制御が可能となる。
【００２２】
芯ずれ計測機構４９はフロート部４０の水平方向位置を３方向から計測することにより軸受調芯組立装置に対するフロート部４０の水平方向位置を計測する。平行度計測機構５０は、フロート部４０の３点の鉛直方向位置を計測することにより軸受調芯組立装置に対するフロート部４０の傾きを計測する。第２軸受６は第２軸受クランプ機構３５によりフロート部４０と一体となっているため、フロート部４０を計測することにより第２軸受６の動きを計測することが可能である。
芯ずれ計測機構４９および平行度計測機構５０の計測結果は、計算手段に相当する例えばパーソナルコンピュータ等の計算機（図示せず。）に送られ、後に詳述するように、計測結果（移動限界の情報）に基づいて計算機に実装されるソフトウェアプログラムにより第１軸受に対する第２軸受の目標位置および目標姿勢が求められる。
【００２３】
図４において、芯ずれ調整機構５２はフロート部４０の装置に対する水平方向位置を調整するための機構であり、平行度調整機構５３はフロート部４０の装置に対する傾きを調整するための機構である。芯ずれ調整機構５２は水平面内で直交する２軸方向に取り付けられており、芯ずれ調整機構５２に対してフロート部４０を挟んだ対向する側に背圧機構を配置して芯ずれ調整時フロート部４０が芯ずれ調整機構５２に押し付けられるように構成されている。平行度調整機構５３はフロート部４０の３箇所の鉛直方向位置を位置決めするように３箇所に配置され、フロート部４０を任意の傾きに調整可能に構成されている。
第２軸受保持機構５４は、芯ずれ調整機構５２および平行度調整機構５３により装置に対する位置および姿勢を調整されたフロート部４０を位置決め保持することにより、第２軸受６の装置に対する位置および姿勢を保持する。例えば図４に示すように、フロート部４０を平行度調整機構５３に対し押し付けることにより第２軸受６の位置および姿勢を保持できる。
芯ずれ調整機構５２、平行度調整機構５３および第２軸受保持機構５４が、第２軸受６を目標位置および目標姿勢に位置決めしその状態で保持する位置決め手段に相当する。
【００２４】
溶接機構５５は、第１軸受および第２軸受をそれぞれ円筒シェルに固定する固定手段に相当し、周方向に１２０度の間隔で円筒シェル１外側３箇所に配置されており、第２軸受保持機構５４で位置および姿勢を保持された第２軸受６を円筒シェル１に対しアークスポット溶接（ＭＡＧ溶接）で固定する。
このように、溶接で固定することにより、固定部品が不要であり安価な回転機構を提供できるという効果がある。また、周方向に均等な間隔で配置された３箇所以上の溶接点で固定することにより、溶接によって第１軸受５に対する第２軸受６の相対的な位置および姿勢が変化することを防止することができ、第１軸受５の中心軸と第２軸受６の中心軸とをより高精度に一致させることが可能となり、信頼性が高い回転機構を提供することができるという効果がある。
【００２５】
次に、上記のように構成された、本発明の実施の形態１による軸受調芯組立装置を用いた、本発明の実施の形態１による軸受調芯方法について、図８に基づいて説明する。
まず、ステップＳＴ１において、第２軸受６を軸受調芯組立装置上部の第２軸受クランプ機構３５にセットし、第２軸受クランプ機構３５を駆動して第２軸受６とフロート部４０とを強固に一体化する。
次に、ステップＳＴ２において、内周中央にステータ２および内周下部に第１軸受５が固定され、第１軸受５にはロータ３が外周に固定された回転軸４が挿入された状態の円筒シェル１をワーク載置台３１にセットする。ワーク昇降機構３２を駆動し円筒シェル１を上昇させて回転軸４を第２軸受６に挿入するとともにワーク載置台３１をメインベース３０の下面に押し付けることにより、メインベース３０とワーク載置台３１を強固に一体化する。上部ベースＡ３６に固定された円筒シェル保持機構３４を駆動し円筒シェル１をワーク載置台３１に押し付けることにより、円筒シェル１とワーク載置台３１が強固に一体化し、円筒シェル１が軸受調芯組立装置に対して固定される。
なお、ワーク昇降機構３２を駆動して円筒シェル１を上昇させる際、第２軸受６と一体となったフロート部４０の軸受調芯組立装置に対する位置を芯ずれ調整機構５２であらかじめ調整しておくことにより、第２軸受６への回転軸４の挿入がスムーズに行える。
【００２６】
次に、ステップＳＴ３において、モータ４７を駆動して駆動軸４６を回転させることにより軸連結部４８で回転軸４と駆動軸４６が連結する。
さらに、ステップＳＴ４において、第２軸受傾斜モーメント付加手段４４および回転軸傾斜モーメント付加手段４５を駆動することにより、第２軸受６は回転軸４に対して傾き、回転軸４は第１軸受５に対して傾いた状態となる。図７は、この状態を示す回転機構の断面図であり、回転軸４は第１軸受５と点Ｐおよび点Ｑの２点で接触し、第２軸受６は回転軸と点Ｒおよび点Ｓの２点で接触した状態となる。この状態でモータ４７を駆動することにより、回転軸４の回転と同期して第２軸受６および回転軸４の傾き方向が連続的に変化する（回転軸４の回転と同期して第２軸受６および回転軸４が揺動運動する、すなわち回転軸４および第２軸受６が歳差運動する。）。
【００２７】
ステップＳＴ５において、揺動運動（歳差運動）の少なくとも３箇所（多ければ多いほど良い。）において、平行度計測機構５０および芯ずれ計測機構４９により、第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離の両方を同時に検出する。なお、芯ずれ計測機構４９および平行度計測機構５０は軸受調芯組立装置に対する第２軸受６（フロート部４０）の水平方向位置および傾きをそれぞれ計測するのであるが、第１軸受５の中心軸に交差する方向が水平方向となるように第１軸受５を軸受調芯組立装置に固定することにより、第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離を検出する。
以上のステップＳＴ１〜ＳＴ５が、本実施の形態１による軸受調芯方法の第１工程である。
【００２８】
ステップＳＴ６において、本実施の形態１による軸受調芯方法の第２工程および第３工程として、例えばパーソナルコンピュータ等の計算機により、上記ステップＳＴ５での計測結果に基づいて第２軸受６の目標位置および目標姿勢を演算する。
すなわち、第１工程で得られた上記各個所における移動距離の情報に基づいて、第１軸受の中心軸に対して第２軸受の中心が一致する第２軸受の位置を、第１軸受に対する第２軸受の目標位置として求める（第２工程）。
さらに、第１軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、第１工程で得られた上記各個所における移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた上記各個所における傾きの情報に基づいて、第１軸受の中心軸に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、第１軸受に対する第２軸受の目標姿勢として求める（第３工程）。
【００２９】
以下、第２工程および第３工程について具体的に説明する。
図９は、時間ｉに芯ずれ計測機構４９にて計測されるデータの一例を模式的に示している。図９において、ＥＸおよびＥＹは軸受調芯組立装置に固定された直交座標系であり、Ｅｏは第１軸受５の中心位置（第１軸受５の軸受中心の位置であり、図１０のＰ１に対応する。）である。Ｅｇ（ｉ）は、軸受調芯組立装置の座標系中心（以下、装置座標系中心と言うこともある。）に対する第１軸受５の中心の水平移動量を示すベクトルである。Ｅｃｇ（ｉ）は、第１軸受５の中心軸に対する第２軸受６の中心（図１０のＰ２に対応する。）の水平移動量を示すベクトルである。また、Ｅ’ｓ（ｉ）は、装置座標系中心に対する第２軸受６の中心の水平移動量を示すベクトルであり、時間ｉに芯ずれ計測機構４９にて計測されるデータである。これらのベクトルＥｇ（ｉ），Ｅｃｇ（ｉ），Ｅ’ｓ（ｉ）には、図１０のように、幾何学的に以下の関係が成り立つ。
Ｅ’ｓ（ｉ）＝Ｅｃｇ（ｉ）＋Ｅｇ（ｉ）（１）
第１軸受５が軸受調芯組立装置に対して固定されているならば、Ｅｇ（ｉ）は方向、量とも一定である。さらにベクトルＥｃｇ（ｉ）の大きさは一定であるから、Ｅ’ｓ（ｉ）の終点の軌跡は、中心がＥｏで半径が｜Ｅｃｇ（ｉ）｜の円を示す。よって、Ｅ’ｓ（ｉ）の終点（少なくとも３箇所）の計測値から、例えば最小二乗法によりＥ’ｓ（ｉ）の終点の軌跡の中心Ｅｏが求められる。
このＥ’ｓ（ｉ）の終点の軌跡の中心Ｅｏが、第１軸受５の中心軸に対して第２軸受６の中心が一致する第２軸受６の位置であり、第１軸受５に対する第２軸受６の目標位置である（第２工程）。
【００３０】
図１１は、時間ｉに平行度計測機構５０にて計測されるデータの一例を模式的に示している。図１１において、ＴＸおよびＴＹは軸受調芯組立装置に固定された直交座標系であり、傾きの大きさおよび傾き方向は計測面の法線ベクトルをＴＸ−ＴＹ平面に投影したベクトルで示す。Ｔｏは第１軸受５の傾き姿勢である。Ｔｇ（ｉ）は装置座標系中心に対する第１軸受１の傾きを示す方向ベクトルである。Ｔｃｇ（ｉ）は第１軸受５に対する回転軸４の傾きを示す方向ベクトルである。Ｔｓｃ（ｉ）は回転軸４に対する第２軸受６の傾きを示す方向ベクトルである。Ｔ’ｓ（ｉ）は装置座標系中心に対する第２軸受６の傾きを示す方向ベクトルであり、時間ｉに平行度計測機構５０にて計測されるデータである。これらのベクトルには、幾何学的に、以下の関係が成り立つ。
Ｔ’ｓ（ｉ）＝Ｔｓｃ（ｉ）＋Ｔｃｇ（ｉ）＋Ｔｇ（ｉ）（２）
の関係が成り立つ。
【００３１】
第１軸受５の中心軸に対する第２軸受６の中心の水平移動量を示すベクトルＥｃｇ（ｉ）の方向は、第１軸受５に対する回転軸４の傾きを示す方向ベクトルＴｃｇ（ｉ）の方向と等しい。また、第２工程で求められたＥｏはベクトルＥｇ（ｉ）の終点であるから、Ｅｃｇ（ｉ）は、時間ｉに芯ずれ計測機構４９にて計測される移動距離の情報（装置座標系中心に対する第２軸受６の中心の水平移動量を示すベクトル）Ｅ’ｓ（ｉ）を用いて（１）式より求めることができる。よって、図１０のように、第１軸受５の中心Ｐ１と、回転軸４の中心軸上の第２軸受６と嵌合する部分の上記中心軸方向における中心（本実施の形態では第２軸受６が第１軸受５に対して偏心しておらず、第１軸受５の中心Ｐ１と第２軸受６の中心Ｐ２とが何れも回転軸４の中心軸上にあるので、回転軸４の中心軸上の第２軸受６と嵌合する部分の上記中心軸方向における中心とは第２軸受６の中心Ｐ２である。）Ｐ２との間の距離Ｈｃｇが既知であれば、第１軸受５に対する回転軸４の傾きを示す方向ベクトルＴｃｇ（ｉ）が求まる。すわなち、以下の式で表される。
Ｔｃｇ（ｉ）＝（｜Ｔｃｇ（ｉ）｜／Ｈｃｇ）×Ｅｃｇ（ｉ）（３）
Ｔｃｇ（ｉ）が求まれば、式（２）の関係より、装置座標系中心に対する第１軸受５の傾きを示すベクトルと回転軸４に対する第２軸受６の傾きを示すベクトルとの和Ｔｓ（ｉ）が求まる。すなわち、
Ｔｓ（ｉ）＝Ｔｓｃ（ｉ）＋Ｔｇ（ｉ）（４）
であり、これを示した図が図１２である。すなわち、図１２は第１軸受５に対する回転軸４の傾きを補正した第２軸受６の傾き方向の動きを示している。
【００３２】
ここで、第１軸受５が軸受調芯組立装置に対して固定されているならば、Ｔｇ（ｉ）は方向、量とも一定である。さらに、ベクトルＴｓｃ（ｉ）の大きさは一定であるから、Ｔｓ（ｉ）の終点の軌跡は、中心がＴｏで、半径が｜Ｔｓｃ（ｉ）｜の円を示す。よって、Ｔｓ（ｉ）の終点の軌跡から、例えば最小二乗法によりＴｓ（ｉ）の終点の軌跡の中心Ｔｏを求める。
このＴｓ（ｉ）の終点の軌跡の中心Ｔｏが、第１軸受５の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢であり、第１軸受５に対する第２軸受６の目標姿勢である（第３工程）。
【００３３】
以上のようにして、摩擦等の理由により回転軸４の傾き方向と第２軸受６の傾き方向とが一致しない場合でも、軸受調芯組立装置の座標における第１軸受５の中心位置Ｅｏ、および第１軸受５の傾き姿勢Ｔｏ、すなわち、第２軸受６の中心が第１軸受５の中心軸に対して一致する第２軸受６の位置、および第２軸受６の中心軸が第１軸受５の中心軸に対して平行となる第２軸受６の姿勢を正確に求めることができる。
【００３４】
このように、第１軸受５を円筒シェル１内の所定位置に保持し（第１軸受５を動かないように保持し）、回転軸４の所定位置に第１軸受５および第２軸受６を嵌合させた状態で回転軸４および第２軸受６を第１軸受の中心軸に対して所定の力で傾けて回転軸４および第２軸受６を揺動運動させ、揺動運動の少なくとも三箇所において、第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離の両方を同時に検出し、検出された傾きおよび移動距離の情報に基づいて第１軸受５に対する第２軸受６の目標位置および目標姿勢を求めることにより、第１軸受５および第２軸受６に軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設けることなく第１軸受５の軸受内周に対する第２軸受６の軸受内周の相対的な位置および姿勢関係を把握することが可能である。
【００３５】
また、第１の軸受５の中心Ｐ１と、回転軸の中心軸上の第２軸受６と嵌合する部分の上記中心軸方向における中心との間の距離Ｐ２との間の距離Ｈｃｇと第１工程で得られた各個所における移動距離の情報とから、各個所における第１軸受５に対する回転軸４の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた各個所における傾きの情報に基づいて、第１軸受５の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢を、第１軸受５に対する第２軸受６の目標姿勢として求めることにより、第１工程において、摩擦等の理由により回転軸の傾き方向と第２軸受の傾き方向とが一致しない場合でも、第１軸受５の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢を正確に求めることができ、高精度な軸受調芯組立が可能となる。
【００３６】
上記の実施の形態では、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度を同期する方法を示したが，回転軸４の偏心および軸曲がりがほとんどない場合などには、回転軸４を回転させたり、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度を同期させたりしなくても、回転軸４および第２軸受６を第１軸受５の中心軸に対して傾けて回転軸４および第２軸受６を揺動運動させるだけでも，上記の計算方法で正確に求める姿勢を求めることができる。
【００３７】
次に、ステップＳＴ７において、芯ずれ調整機構５２を駆動し芯ずれ計測機構４９にて第２軸受６の現在の位置Ｅｃを得ながらフィードバック制御することにより目標位置Ｅｏに調整する。同じく、平行度調整機構５３を駆動し平行度計測機構５０により第２軸受６の現在の姿勢Ｔｒを得ながらフィードバック制御することにより目標姿勢Ｔｏに調整する。
さらに、ステップＳＴ８により、第２軸受保持機構５４を駆動して第２軸受６を目標位置および目標姿勢に保持する。
ステップＳＴ７およびＳＴ８が、本実施の形態１による軸受調芯方法の第４工程である。
【００３８】
最後に、ステップＳＴ９により、溶接機構５５にて第２軸受６を円筒シェル１に３点同時にＭＡＧ溶接にて固定する。
本実施の形態１では溶接による第２軸受６の位置ずれおよび姿勢ずれを防止するため、各溶接点の溶接条件すなわち溶接トーチ先端から円筒シェル１外周までの距離、溶接電流、溶接電圧、溶接開始時間、溶接終了時間が同一になるように設定している。
【００３９】
なお、本実施の形態１では、第１軸受５の円筒シェルへの固定は第１工程の前に既に実施されている。このように、円筒シェル１を軸受調芯組立装置に保持する前に第１軸受５をあらかじめ円筒シェル１に固定しておくことにより、第１軸受５を円筒シェル１に固定する際、第１軸受が軸受調芯組立装置に対して位置ずれすることを防止できる。また、円筒シェル１を軸受調芯組立装置に対して固定することにより第１軸受５を軸受調芯組立装置に対して固定できるため、第１軸受５の軸受調芯組立装置への固定が容易に行える結果、軸受調芯組立装置の構造を単純化できるという効果がある。
なお、第１工程において、円筒シェル１を軸受調芯組立装置に保持してから第１軸受５を円筒シェル１に固定した場合には、第１軸受５が円筒シェル１や軸受調芯組立装置に対して位置ずれすることがあるが、この場合にも、すでに固定されている第１軸受５に対して第２軸受６の揺動運動および移動限界の検出が実施されるので、第１軸受５の中心軸に対して第２軸受６の中心軸を高精度に一致させることができるという効果がある。
【００４０】
このように、本実施の形態によれば、第１軸受５と第２軸受６にそれぞれ軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、第１軸受５および第２軸受６における高精度加工部は製品機能として不可欠な軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受５の中心軸と第２軸受６の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することできるという効果がある。しかも、第１工程において、摩擦等の理由により回転軸の傾き方向と第２軸受の傾き方向とが一致しない場合でも、第１軸受に対する第２軸受の目標姿勢を正確に求めることができる。
【００４１】
さらに、上記実施の形態１では、第１軸受５および第２軸受６の軸受孔に対し回転軸４を軸受クリアランスの限界まで傾けた状態で回転させるため、軸受孔端部の微小な突起部等を平滑化することができ、一種のなじみ効果が得られる。
【００４２】
また、第１軸受５に対する第２軸受６の相対的な傾きおよび移動距離の測定データ数は、多ければ多い程、高い軸受調芯精度が得られるので好ましいが、本実施の形態のように回転軸４および第２軸受６を揺動運動させることにより、多数の測定データを容易に得ることができる。
【００４３】
なお、上記実施の形態１の図３では、芯ずれ計測機構４９および平行度計測機構５０がフロート部４０の水平方向位置および傾きを計測するように配置した例を示したが、第２軸受６の水平方向位置および傾きを直接計測するように配置すれば、第２軸受クランプ機構３５で第２軸受６をフロート部４０に対して強固に固定保持する必要ないので第２軸受クランプ機構３５を簡易なものにすることができる。
【００４４】
さらに、上記実施の形態１の図３では、芯ずれ計測機構４９および平行度計測機構５０が接触式の変位センサで構成される例を示したが、これを例えばレーザ変位計または渦電流式変位センサなどの非接触式の変位センサで構成することも可能であり、非接触式変位センサで構成した場合は、接触子先端の摩擦、接触圧力および計測面の微小な凹凸による計測誤差を防止することができる。
【００４５】
なお、上記実施の形態１では回転軸４および第２軸受６を第１軸受５の中心軸に対して所定の力で傾けて回転軸４および第２軸受６を揺動運動させたが、その代わりに、回転軸４および第２軸受６を第１軸受５の中心軸に対して所定の力で少なくとも異なる３方向に傾けてもよく、この場合には、上記と同様の効果に加えて、回転軸４および第２軸受６を揺動運動させる場合に比べて短時間で、第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離を検出することができるという効果が得られる。
【００４６】
実施の形態２．
図１３および図１４は本発明の実施の形態２による軸受調芯方法および軸受調芯組立装置を説明するための図であり、より具体的には、図１３は軸受調芯組立装置の要部の構成を示す縦断面図、図１４は回転機構の外観図である。
図１４に示すように、第１軸受５の円筒シェル１開口側の端面には周方向９０度間隔でネジ穴１２が設けられている。また、図１３に示すように、ワーク載置台３１にはボルト孔６１が設けられ、ボルト孔６１にはボルト６２が挿入されており、このボルト６２がワーク載置台３１の上面に置かれた第１軸受５のネジ穴１２に螺合することにより、第１軸受５がワーク載置台６１に強固に固定される。
【００４７】
上記実施の形態１のステップＳＴ１では、円筒シェル保持機構３４が円筒シェル１の上部から加圧力を加えることにより第１軸受６をワーク載置台３１に固定する。円筒シェル１には、第２軸受６の水平移動軌跡および傾き軌跡計測時に第１軸受５を介して力が加わる。また、溶接時にも上部ベース３６に保持された第２軸受６から反力を受ける。これらの力に抗して円筒シェル１のワーク載置台３１に対する位置を保持するためには、円筒シェル保持機構３４か非常に大きな加圧力を発生する必要がある。円筒シェル１に大きな加圧力を加えると、円筒シェル１に歪が生じ第２軸受６の組立精度に影響を及ぼす恐れがある。さらにワーク載置台３１は昇降機構３２によりメインベース３０に対して押し付けて固定されている。昇降機構３２は円筒シェル保持機構３４の発生する加圧力を受けるため、円筒シェル保持機構３４が発生する加圧力よりもさらに大きな力を発生させる必要があり、軸受調芯組立装置が非常に大掛かりなものとなる。
【００４８】
これに対して、本実施の形態の構成では、ワーク載置台６１に対して直接第１軸受５をボルト６２で固定することができるため強固な固定が行える結果、本軸受調芯組立装置を用いた軸受調芯組立作業中に第１軸受の位置や姿勢が変化することを防止できる。しかも、円筒シェル１を上部から加圧する必要がないため円筒シェル保持機構３４が不要であり、昇降機構３２が発生する力を抑えることができるため、軸受調芯組立装置の簡素化が行える。このように、軸受調芯組立装置に対する第１軸受５の確実な固定と軸受調芯組立装置の簡素化との両方が可能となる。
【００４９】
なお、上記実施の形態１および２では、第１軸受５が円筒シェル１内の所定位置にあらかじめ溶接などにより固定されており、第１軸受保持手段と円筒シェル保持手段とが兼用される場合について説明したが、第１軸受５が円筒シェル１内の所定位置にあらかじめ固定されていない場合には、実施の形態１で示した円筒シェル保持機構４３が円筒シェル１を保持し、実施の形態２で示したボルト６２により第１軸受５をワーク載置台６１に保持するようにしてもよい。
【００５０】
実施の形態３．
図１５は本発明の実施の形態３による軸受調芯組立方法および軸受調芯組立装置を説明するための図であり、より具体的には、軸受調芯組立装置の要部の構成を示す縦断面図である。
本実施の形態による軸受調芯組立装置は、実施の形態１による軸受調芯組立装置に、第１軸受水平位置計測機構６３（第１軸受５の軸受調芯組立装置に対する位置計測する手段に相当する。）と第１軸受傾き計測機構６４（第１軸受５の軸受調芯組立装置に対する姿勢を計測する手段に相当する。）とを付加したものである。
【００５１】
第１軸受水平位置計測機構６３はワーク載置台３１に周方向に１２０度間隔で３箇所に設けられており、第１軸受５の内周位置を計測する。第１軸受傾き計測機構６４はワーク載置台３１に周方向に１２０度間隔で３箇所に設けられており、第１軸受５の端面を鉛直方向に計測する。
【００５２】
実施の形態１のステップＳＴ５にて、第２軸受６の軸受調芯組立装置の基準に対する水平方向位置および姿勢を計測するとともに第１軸受５の水平方向位置および姿勢を計測した。
円筒シェル１の固定保持が不完全である場合、ステップＳＴ７からステップＳＴ９の間に、軸受調芯組立装置の基準に対する第１軸受５の位置および姿勢が変化することも考えられるが、本実施の形態３では、このような場合にも、第１軸受水平方向位置計測機構６３および第１軸受傾き計測機構６４で第１軸受５の位置および姿勢の変化量を把握することができるため、第１軸受５の中心軸に対する第２軸受６の中心軸の水平方向位置および傾きを正確に把握することができる。
【００５３】
なお、第１軸受水平位置計測機構６３は水平面内の直交する２軸方向の２箇所に設けても同様の効果を奏する。
【００５４】
また、円筒シェル１と第１軸受５とがあらかじめ固定されている場合は、第１軸受水平位置計測機構６３および第１軸受傾き計測機構６４は、円筒シェル１の位置および姿勢を計測するように構成しても同様の効果を奏する。
【００５５】
実施の形態４．
図１６〜図１８は本発明の実施の形態４による軸受調芯方法および軸受調芯組立装置を説明するための図であり、より具体的には、図１６は回転軸における第１軸受が嵌合する部分の軸心Ｌ１に対して第２軸受が嵌合する部分の中心Ｐ２がある方向にある大きさだけ偏心している場合の第２軸受６の第１軸受の中心軸に交差する方向（以下、水平方向ということもある。）の動きを模式的に示す説明図、図１７は時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図、図１８は回転軸の偏心を補正した第２軸受の水平方向の動きを模式的に示す説明図である。
本実施の形態では、回転軸４の軸心Ｌ１に対して第２軸受６が嵌合する部分の回転軸４の中心Ｐ２が偏心しておりその大きさと方向があらかじめ分かっている場合の軸受調芯方法および軸受調芯組立装置を示している。
【００５６】
以下では、主に実施の形態１と異なる部分について説明する。
本実施の形態による軸受調心組立装置では、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度とを同期させて回転軸４および第２軸受６を歳差運動させるように構成されており、実施の形態１で示した軸受調心組立装置に加えて新たに、回転軸４の回転角度を検出する手段を備えている。この回転角度を検出するにあたっては、例えば回転軸４と同期して回転する駆動軸に回転角度検出器（エンコーダ）を設置し、駆動軸の角度を検出することで回転軸４の回転角度を検出すればよい。
【００５７】
次に、本実施の形態による軸受調芯方法を、主に実施の形態１と異なる点について説明する。
実施の形態１のステップＳＴ４において、回転軸４および第２軸受６を第１軸受５の中心軸に対して傾けて回転軸４および第２軸受６を揺動運動させる際、回転軸４を回転させ、且つ回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度とを同期させて回転軸４および第２軸受６を歳差運動させる。
次に、実施の形態１のステップＳＴ５において、歳差運動の少なくとも三箇所において、回転軸４の回転角度、並びに第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離の３つを同時に検出する。
【００５８】
以下、図１６〜図１８を用いて、第１軸受５に対する第２軸受６の目標位置および目標姿勢をそれぞれ求める第２工程および第３工程について説明する。
第２工程においては、回転軸の偏心の大きさと方向、並びに第１工程（ステップＳＴ１〜ＳＴ５）で得られた各個所における回転軸４の回転角度および第２軸受６の移動距離の情報に基づいて、第１軸受５の中心軸に対して第２軸受６の中心が一致する第２軸受６の位置を、第１軸受５に対する第２軸受６の目標位置として求める。
また、第３工程においては、第１軸受５の中心Ｐ１と、回転軸４の中心軸（本実施の形態のように、回転軸における第１軸受が嵌合する部分の軸心に対して第２軸受が嵌合する部分の中心が偏心している場合は、回転軸４の中心軸とは、回転軸４の第１軸受５が嵌合する部分の中心軸を指す。以下、この回転軸４の第１軸受５が嵌合する部分の中心軸を第１の軸と言う。）Ｌ１上の第２軸受６と嵌合する部分の上記中心軸方向における中心（すなわち第２の軸の上記中心軸方向における中心）Ｐ３との間の距離との間の距離Ｈｃｇと、第１工程で得られた各個所における第２軸受６の移動距離の情報とから、各個所における第１軸受５に対する回転軸４の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた各個所における第２軸受６の傾きの情報に基づいて、第１軸受５の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢を、第１軸受５に対する第２軸受６の目標姿勢として求める。
【００５９】
図１６および図１７において、ＥＸ及びＥＹは軸受調芯組立装置に固定された直交座標系であり、Ｅｏは第１軸受５の中心位置（第１軸受５の軸受中心の位置であり、図１６のＰ１に対応する。）である。Ｅｇ（ｉ）は、軸受調芯組立装置の座標系中心（以下、装置座標系中心と言うこともある。）に対する第１軸受５の中心Ｐ１の水平移動量を示すベクトルである。Ｅｃｇ（ｉ）は、第１軸受５の中心軸に対する回転軸４の第１軸受５が嵌合する部分の中心軸（第１の軸）Ｌ１上の第２軸受６が嵌合する部分の上記中心軸Ｌ１方向における中心Ｐ３の水平移動量を示すベクトルである。Ｅｃ（ｉ）は、回転軸４の第１軸受５が嵌合する部分の中心軸Ｌ１に対する第２軸受６が嵌合する部分の第２の軸Ｌ２の偏心位置Ｐ２の偏心の大きさおよび方向を示すベクトルである。Ｅ’ｓ（ｉ）は、装置座標系中心に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルであり、時間ｉに芯ずれ計測機構４９にて計測されるデータである。これらのベクトルＥｇ（ｉ），Ｅｃｇ（ｉ），Ｅｃ（ｉ），Ｅ’ｓ（ｉ）には、幾何学的に以下の関係が成り立つ。
Ｅ’ｓ（ｉ）＝Ｅｃｇ（ｉ）＋Ｅｇ（ｉ）＋Ｅｃ（ｉ）（５）
【００６０】
ここで、時間ｉでの回転軸４の回転角度Ｔ（ｉ）が既知であれば、偏心の大きさ（回転軸４の第１軸受５が嵌合する部分の中心軸Ｌ１に対する第２軸受６が嵌合する部分の第２の軸Ｌ２の偏心位置Ｐ２）をＲｃとするとＥｃ（ｉ）は以下の式で表される。
Ｅｃ（ｉ）＝Ｒｃ（ｃｏｓ（Ｔ（ｉ），ｓｉｎ（Ｔ（ｉ））（６）
【００６１】
また、
Ｅ’ｓ（ｉ）−Ｅｃ（ｉ）＝Ｅｓ（ｉ）（７）
とおくと、以下の式が成り立つ。
Ｅｓ（ｉ）＝Ｅｃｇ（ｉ）＋Ｅｇ（ｉ）（８）
Ｅｓ（ｉ）は、上記回転軸４の第１の軸に対する第２の軸の偏心の大きさを含まない装置座標系中心に対する第２軸受６の中心の水平移動量Ｅｓ（ｉ）に他ならない。これを示した図が図１８である。
【００６２】
第１軸受５が軸受調芯組立装置に対して固定されているならば、Ｅｇ（ｉ）は方向、量とも一定である。さらにベクトルＥｃｇ（ｉ）の大きさは一定であるから、Ｅｓ（ｉ）の終点の軌跡は、中心がＥｏで半径が｜Ｅｃｇ（ｉ）｜の円を示す。よって、Ｅｓ（ｉ）の終点（少なくとも３箇所）の計測値から、例えば最小二乗法によりＥｓ（ｉ）の終点の軌跡の中心Ｅｏが求められる。
このＥｓ（ｉ）の終点の軌跡の中心Ｅｏが、第１軸受５の中心軸に対して第２軸受６の中心が一致する第２軸受６の位置であり、第１軸受５に対する第２軸受６の目標位置である（第２工程）。
【００６３】
さらに、ＥｏはベクトルＥｇ（ｉ）の終点であるから、（８）式よりＥｃｇ（ｉ）を求めることができる。このＥｃｇ（ｉ）を用いて、実施の形態１の場合と同様にして、第１軸受５の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢であり、第１軸受５に対する第２軸受６の目標姿勢であるＴｏを求める（第３工程）。
【００６４】
以上のようにして、摩擦等の理由により回転軸４の傾きと第２軸受６の傾き方向が一致せず、しかも、回転軸４の第２の軸Ｌ２が第１の軸Ｌ１に対してある方向にある大きさだけ偏心している場合でも、軸受調芯組立装置の座標における第１軸受５の中心位置Ｅｏ、および第１軸受５の傾き姿勢Ｔｏ、すなわち、第２軸受の中心が第１軸受５の中心軸に対して一致する第２軸受６の位置、および第２軸受６の中心軸が第１軸受５の中心軸に対して平行となる第２軸受６の姿勢を正確に求めることができる。
【００６５】
したがって、第１および第２軸受５，６に、軸受孔との位置関係および姿勢の関係がそれぞれ高精度に規定された基準孔あるいは基準面を設けなくても、しかも、第１工程において、摩擦等の理由により回転軸４の傾き方向と第２軸受６の傾き方向とが一致しない場合でも、さらに、回転軸４における第１軸受５が嵌合する部分の中心軸に対して第２軸受６が嵌合する部分の中心が偏心している場合でも、高精度な軸受調芯組立が可能となる。
【００６６】
また、図１８では第２軸受６が嵌合する部分の軸心がずれて（オフセットして）している場合を示したが、第２軸受６が嵌合する部分の軸心が平行でなかったり（軸曲がり）している場合でもＰ２，Ｐ３を上記記述と同様に定義できるため、同様に計算することができる。
【００６７】
実施の形態５．
図１９〜図２５は本発明の実施の形態５による軸受調芯方法および軸受調芯組立装置を説明するための図であり、より具体的には、図１９は軸受調芯組立装置の要部の構成を示す縦断面図、図２０は回転軸、第１軸受および第２軸受をフレームの中心軸に対して傾けた様子を示す断面説明図、図２１は時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図、図２２は第１軸受がフレームにより回転軸に沿って直動自在に保持される場合の第２軸受６の水平方向の動きを模式的に示す説明図、図２３はフレームに対する第１軸受の傾きを補正した第２軸受の水平方向の動きを模式的に示す説明図、図２４は時間ｉに平行度計測機構にて計測されるデータの一例を模式的に示す説明図、図２５はフレームに対する第１軸受の傾きおよび第１軸受に対する回転軸の傾きを補正した第２軸受の傾き方向の動きを模式的に示す説明図である。
【００６８】
本実施の形態では、第１軸受５が円筒シェル１の一端部に固定されたフレーム１３により回転軸４に沿って直動自在に保持されており、本実施の形態による軸受調芯組立装置は、実施の形態１による軸受調芯組立装置に、第１軸受５の軸受調芯組立装置に対する姿勢を計測する第１軸受計測手段として、第１軸受傾き計測機構６５を付加したものである。
第１軸受５は、例えば特開２０００−１６１２５４号公報等に詳細に記載されているように、フレーム１３の内周に配置されたＯリング１４を介して保持されており、フレーム１３の内周と所定の隙間を保った状態で鉛直方向に摺動可能に支持（回転軸４に沿って直動自在に保持）されている。フレーム１３は円筒シェル１内周の一端部に例えば溶接などにより固定されている。第１軸受傾き計測機構６５は周方向に１２０度間隔で３箇所に配置され第１軸受５の軸受調芯組立装置に対する姿勢を計測する。
【００６９】
次に、本実施の形態による軸受調芯方法を、主に実施の形態１と異なる点について説明する。図２０は、実施の形態１で説明したステップＳＴ４における第１軸受５の状態を示しており、本実施の形態では、第１軸受５が、円筒シェル１の他端部に固定されたフレーム１３の内周に配置されたＯリング１４を介してフレーム１３の内周に対して所定の隙間を保った状態で、フレーム１３の内周に保持されており、回転軸４および第２軸受６を所定の力で傾けることにより、第１軸受５はフレーム１３内で傾いてＯリング１４が変形し第１軸受４はフレーム１３の内周と点Ｔおよび点Ｕの２点で接触した状態となる。すなわち、本実施の形態では、ステップＳＴ４において、回転軸４、第１軸受５および第２軸受６をフレーム１３の中心軸に対して所定の力で傾けて、回転軸４、第１軸受５および第２軸受６を揺動運動させる。
【００７０】
このように、円筒シェル１を軸受調芯組立装置に保持しても第１軸受４が移動可能である場合でも、ステップＳＴ５において、揺動運動（歳差運動）の少なくとも３箇所（多いほうがよい）において、第２軸受６の位置および姿勢、並びに第１軸受４の姿勢の３つを同時に計測することによって、フレーム１３に対する第１軸受５の相対的な傾き、並びにフレーム１３に対する第２軸受６の相対的な、傾きおよびフレーム１３の中心軸に交差する方向での移動距離の３つを同時に検出することができ、この計測データをステップＳＴ６の演算に用いることにより、第１軸受４の理想的姿勢における中心軸に対して第２軸受６の中心軸が一致した回転機構の組立が可能となる。
なお、本発明で言う第１軸受４の理想的姿勢とは、上記のように実際に第１軸受４を揺動運動させた時の第１軸受４の中心軸の軌跡の中心線（本発明ではこの第１軸受４の中心軸の軌跡の中心線を傾き中心と言う。）に第１軸受４の中心軸が一致している状態である。この傾き中心は、フレーム１３内周の中心軸と一致する。
【００７１】
以下、図２１〜図２５を用いて、フレーム１３に対する第２軸受６の目標位置および目標姿勢をそれぞれ求める第２工程および第３工程について説明する。
第２工程においては、第１工程（ステップＳＴ１〜ＳＴ５）で得られた各個所における第１軸受５の傾きおよび第２軸受６の移動距離の情報に基づいて、第１軸受５の中心軸の傾き中心に対して第２軸受６の中心が一致する第２軸受６の位置を、フレーム１３に対する第２軸受６の目標位置として求める。
また、第３工程においては、第１軸受５の中心と、回転軸４の中心軸上の第２軸受６と嵌合する部分の上記中心軸方向における中心との間の距離Ｈｃｃと第１工程で得られた各個所における第２軸受６の移動距離の情報とから、各個所における第１軸受５に対する回転軸４の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた各個所における第１および第２軸受５、６の傾きの情報に基づいて、第１軸受５の中心軸の傾き中心に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢を、フレーム１３に対する第２軸受６の目標姿勢として求める。
【００７２】
図２１は、第２軸受６の水平方向の動きを示す図であり、時間ｉに芯ずれ計測機構４９にて計測されるデータの一例を模式的に示している。図２１および図２２において、ＥＸおよびＥＹは軸受調芯組立装置に固定された直交座標系であり、Ｅｏはフレーム１３内周の中心位置（図２２のＰ４に対応する。）である。Ｅｇｆ（ｉ）は、装置座標系中心に対するフレーム１３内周中心Ｐ４の水平移動量（フレーム１３の中心軸に交差する方向での移動量）を示すベクトルである。Ｅｃｆ（ｉ）は、フレーム１３に対する第１軸受５の傾き（図２２のＬ３に対応する。）により生じるフレーム１３内周中心Ｐ４に対する第２軸受６の中心（図２２のＰ５に対応する。）の水平移動量成分を示すベクトルである。Ｅｃｃ（ｉ）は、第１軸受５の中心軸（図２２のＬ３に対応する。）に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルである。また、Ｅ’ｓ（ｉ）は、装置座標系中心に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルであり、時間ｉに芯ずれ計測機構４９にて計測されるデータである。これらのベクトルＥｇｆ（ｉ），Ｅｃｆ（ｉ），Ｅｃｃ（ｉ），Ｅ’ｓ（ｉ）には、図２２のように、幾何学的に下記の関係が成り立つ。
Ｅ’ｓ（ｉ）＝Ｅｇｆ（ｉ）＋Ｅｃｆ（ｉ）＋Ｅｃｃ（ｉ）（９）
【００７３】
フレーム１３に対する第１軸受５の傾きにより生じるフレーム１３内周中心軸Ｌ３に対する第２軸受６の中心Ｐ２の水平移動量成分を示すベクトルＥｃｆ（ｉ）の方向は、図２４に示す、フレーム１３に対する第１軸受５の傾き示す方向ベクトルＴｃｆ（ｉ）と方向が等しい。ここで、フレーム１３に対する第１軸受５の傾きを示すベクトルＴｃｆ（ｉ）は、第１軸受傾き計測機構６５により求められるため、図２２のようにフレーム１３内周中心Ｐ４と第２軸受６の中心Ｐ５との距離Ｈｃｇ’が既知であれば、幾何学的にフレーム１３に対する第１軸受５の傾きにより生じるフレーム１３内周中心の中心軸Ｌ３に対する第２軸受６の中心Ｐ２の水平移動量成分を示すベクトルＥｃｆ（ｉ）が求まる。すなわち以下の式で表される。
Ｅｃｆ（ｉ）＝（Ｈｃｇ’／｜Ｔｃｆ（ｉ）｜）×Ｔｃｆ（ｉ）（１０）
よって
Ｅ’ｓ（ｉ）−Ｅｃｆ（ｉ）＝Ｅｓ２（ｉ）（１１）
とおくと、以下の式が成り立つ。
Ｅｓ２（ｉ）＝Ｅｇｆ（ｉ）＋Ｅｃｃ（ｉ）（１２）
Ｅｓ２（ｉ）は、フレーム１３に対する第１軸受５の傾きにより生じるフレーム１３内周中心Ｐ４に対する第２軸受６の中心Ｐ５の水平移動量成分（ベクトルＥｃｆ（ｉ））を含まない、装置座標系中心に対する第２軸受６の中心Ｐ２の水平移動量Ｅｓ２（ｉ）に他ならない。これを示した図が図２３である。
【００７４】
フレーム１３が軸受調芯組立装置に対して固定されているならば、Ｅｇｆ（ｉ）は方向、量とも一定である。さらにベクトルＥｃｃ（ｉ）の大きさは一定であるから、Ｅｓ２（ｉ）の終点の軌跡は、中心がＥｏで、半径が｜Ｅｃｃ（ｉ）｜の円を示す。よって、Ｅｓ２（ｉ）の終点の軌跡から、例えば最小二乗法によりＥｓ２（ｉ）の終点の軌跡の中心Ｅｏが求められる。
このＥｓ２（ｉ）の終点の軌跡の中心Ｅｏが、フレーム１３の中心軸に対して第２軸受６の中心が一致する第２軸受６の位置であり、フレーム１３に対する第２軸受６の目標位置である（第２工程）。
【００７５】
次に、装置座標系におけるフレーム１３内周の傾き姿勢Ｔｏを求める。
図２４は、第２軸受６の傾きを示し、時間ｉに平行度計測機構５０にて計測されるデータの一例を模式的に示している。図２４において、ＴＸおよびＴＹは軸受調芯組立装置に固定された直交座標系であり、傾きの大きさおよび傾き方向は計測面の法線ベクトルをＴＸ−ＴＹ平面に投影したベクトルで示す。Ｔｏはフレーム１３内周の傾き姿勢である。Ｔｇｆ（ｉ）は、装置座標系中心に対するフレーム１３内周の傾きを示す方向ベクトルである。Ｔｃｃ（ｉ）は、第１軸受５に対する回転軸４の傾きを示すベクトルである。Ｔｓｃ（ｉ）は、回転軸４に対する第２軸受６の傾きを示す方向ベクトルである。Ｔ’ｓ（ｉ）は、装置座標系中心に対する第２軸受６の傾きを示す方向ベクトルであり、時間ｉに平行度計測機構５０にて計測されるデータである。これらのベクトルには、幾何学的に、以下の関係が成り立つ。
Ｔ’ｓ（ｉ）＝Ｔｇｆ（ｉ）＋Ｔｃｆ（ｉ）＋Ｔｃｃ（ｉ）＋Ｔｓｃ（ｉ）（１３）
【００７６】
前述のように、フレーム１３に対する第１軸受５の傾きを示す方向ベクトルＴｃｆ（ｉ）は、第１軸受傾き計測機構６５により求められる。
また、第１軸受５の中心軸（図２２のＬ３に対応する。）に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルＥｃｃ（ｉ）の方向は、第１軸受５に対する回転軸４の傾きを示す方向ベクトルＴｃｃ（ｉ）と方向が等しいことより、図２２のように、第１軸受５の中心Ｐ１と第２軸受６の中心Ｐ２の距離Ｈｃｃが既知であれば、幾何学的に、第１軸受５に対する回転軸４の傾きを示す方向ベクトルＴｃｃ（ｉ）が求まる。すなわち以下の式で計算される。
Ｔｃｃ（ｉ）＝（｜Ｔｃｃ（ｉ）｜／Ｈｃｃ）×Ｅｃｃ（ｉ）（１４）
なお、第２工程で求められたＥｏはベクトルＥｇｆ（ｉ）の終点であるから、Ｅｃｃ（ｉ）は、時間ｉに芯ずれ計測機構４９にて計測される移動距離の情報（装置座標系中心に対する第２軸受６の中心の水平移動量を示すベクトル）Ｅ’ｓ（ｉ）を用いて（１１）および（１２）式より求めることができる。
【００７７】
Ｔｃｆ（ｉ），Ｔｃｃ（ｉ）が求まれば、式（１３）の関係より、装置座標系中心に対するフレーム１３の傾きを示すベクトルと回転軸４に対する第２軸受６の傾きを示すベクトルの和Ｔｓ（ｉ）が求まる。すなわち、
Ｔｓ２（ｉ）＝Ｔｇｆ（ｉ）＋Ｔｓｃ（ｉ）（１５）
であり、これを示した図が図２５である。
ここで、フレーム１３が軸受調芯組立装置に対して固定されているならば、Ｔｇｆ（ｉ）は方向、量とも一定である。さらにベクトルＴｓｃ（ｉ）の大きさは一定であるから、Ｔｓ２（ｉ）の終点の軌跡は、中心がＴｏで、半径が｜Ｔｓｃ（ｉ）｜の円を示す。よって、Ｔｓ２（ｉ）の終点の軌跡から、例えば最小二乗法によりＴｓ２（ｉ）の終点の軌跡の中心Ｔｏを求める。
このＴｓ２（ｉ）の終点の軌跡の中心Ｔｏが、フレーム１３の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢であり、フレーム１３に対する第２軸受６の目標姿勢である（第３工程）。
【００７８】
以上のようにして、摩擦等の理由により回転軸４の傾きと第２軸受６の傾き方向とが一致せず、しかも第１軸受５が、フレーム１３の内周に鉛直方向に摺動可能に支持されている場合でも、軸受調芯組立装置の座標におけるフレーム１３内周の中心位置Ｅｏ、およびフレーム１３の傾き姿勢Ｔｏ、すなわち、第２軸受６の中心が第１軸受５の中心軸の傾き中心（フレーム１３内周の中心軸）に対して一致する位置、および第２軸受６の中心軸が第１軸受５の傾き中心（フレーム１３内周の中心軸）に対して平行となる姿勢を正確に求めることができる。
【００７９】
したがって、フレーム１３、第１軸受５および第２軸受６にそれぞれフレーム１３の第１軸受挿入用開口部および軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、フレーム１３、第１軸受５および第２軸受６における高精度加工部は製品機能として不可欠なフレーム１３の上記開口部および軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受５の理想的姿勢における中心軸と第２軸受６の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することができるという効果がある。さらに、摩擦等の理由により回転軸４の傾き方向と第２軸受６の傾き方向とが一致しない場合でも、第１軸受５の理想的姿勢における中心軸と第２軸受の中心軸とを高精度に一致させることが可能となる。
【００８０】
なお、上記実施の形態５では回転軸４、第１軸受５および第２軸受６をフレーム１３の中心軸に対して所定の力で傾けて回転軸４、第１軸受５および第２軸受６を揺動運動させたが、その代わりに、回転軸４、第１軸受５および第２軸受６をフレーム１３の中心軸に対して所定の力で少なくとも異なる３方向に傾けてもよく、この場合には、上記と同様の効果に加えて、回転軸４、第１軸受５および第２軸受６を揺動運動させる場合に比べて短時間で、フレーム１３に対する第１軸受５の相対的な傾き、並びにフレーム１３に対する第２軸受６の相対的な、傾きおよびフレーム１３の中心軸に交差する方向での移動距離を検出することができるという効果が得られる。
【００８１】
なお、上記実施の形態５では、フレーム１３が円筒シェル１内の所定位置にあらかじめ溶接などにより固定されており、フレーム保持手段が円筒シェル１を保持し、フレーム保持手段が円筒シェル保持手段を兼ねる場合について説明したが、実施の形態２で第１軸受５について説明したのと同様に、フレーム１３の円筒シェル１開口側の端面に、複数のネジ穴が設けられている場合に、フレーム保持手段が、複数のネジ穴にそれぞれ螺合する複数のボルトを有し、ネジ穴にボルトを螺合させてフレーム１３の軸受調芯組立装置に対する保持を行うことにより、フレーム１３の保持を強固に行うことができるため、本軸受調芯組立装置を用いた軸受調芯組立作業中にフレーム１３の位置や姿勢が変化することを防止でき、第１軸受５の中心軸と第２軸受６の中心軸とをより高精度に一致させることが可能となる。
【００８２】
また、上記実施の形態５では、フレーム１３が円筒シェル１内の所定位置にあらかじめ溶接などにより固定されており、フレーム保持手段と円筒シェル保持手段とが兼用される場合について説明したが、フレーム１３が円筒シェル１内の所定位置にあらかじめ固定されていない場合には、実施の形態１で示した円筒シェル保持機構４３が円筒シェル１を保持し、上述のボルト６２によりフレーム１３をワーク載置台６１に保持するようにしてもよい。
【００８３】
上記の実施の形態では、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度を同期する方法を示したが、回転軸４の偏心および軸曲がりがほとんどない場合などには、回転軸４を回転させたり、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度を同期させたりしなくても、回転軸４および第２軸受６を第１軸受５の中心軸に対して傾けて回転軸４および第２軸受６を揺動運動させるだけでも，上記の計算方法で正確に求める姿勢を求めることができるのは、実施の形態１で説明したのと同様である。
【００８４】
実施の形態６．
図２６〜図２８は本発明の実施の形態６による軸受調芯方法および軸受調芯組立装置を説明するための図であり、より具体的には、図２６は時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図、図２７は回転軸の軸心が偏心している場合の第２軸受６の第１軸受の中心軸に交差する方向（以下、水平方向ということもある。）の動きを模式的に示す説明図、図２８はフレームに対する第１軸受の傾きおよび回転軸の偏心を補正した第２軸受の水平方向の動きを模式的に示す説明図である。
【００８５】
本実施の形態では、実施の形態５と同様に、第１軸受５がフレーム１３により回転軸４に沿って直動自在に保持され、しかも、実施の形態４と同様に、回転軸４の第１軸受５が嵌合する部分の中心軸Ｌ１に対する第２軸受６が嵌合する部分の中心（第２の軸の偏心位置）Ｐ２が偏心しておりその大きさと方向があらかじめ分かっている場合の軸受調芯方法および軸受調芯組立装置を示している。
【００８６】
以下では、主に実施の形態４および５と異なる部分について説明する。
本実施の形態による軸受調心組立装置では、実施の形態１で示した軸受調心組立装置に加えて新たに、回転軸４の回転角度を検出する手段を備えている。この回転角度を検出するにあたっては、例えば回転軸４と同期して回転する駆動軸に回転角度検出器（エンコーダ）を設置し，駆動軸の角度を検出することで回転軸４の回転角度を検出すればよい。
本実施の形態による軸受調心組立装置では、実施の形態４と同様に、回転軸４および第２軸受６を傾ける方向と回転軸４の回転角度とを同期させて回転軸４および第２軸受６を歳差運動させるように構成されており、実施の形態１で示した軸受調心組立装置に加えて新たに、回転軸４の回転角度を検出する手段を備えている。
また、実施の形態５と同様に、実施の形態１で示した軸受調心組立装置に加えて新たに、第１軸受５の軸受調芯組立装置に対する姿勢を計測する第１軸受計測手段として、第１軸受傾き計測機構６５を備えている。
【００８７】
次に、本実施の形態による軸受調芯方法を、主に実施の形態５と異なる点について説明する。
実施の形態５のステップＳＴ４において、回転軸４、第１軸受５および第２軸受６をフレーム１３の中心軸に対して所定の力で傾けて、回転軸４、第１軸受５および第２軸受６を揺動運動させる際、回転軸４を回転させ、且つ回転軸４、第１軸受５および第２軸受６を傾ける方向と回転軸４の回転角度とを同期させて回転軸４、第１軸受５および第２軸受６を歳差運動させる。
次に、ステップＳＴ５において、歳差運動の少なくとも三箇所（多ければ多いほど良い）において、回転軸４の回転角度、フレーム１３に対する第１軸受５の相対的な傾き、並びに第１軸受５に対する第２軸受６の相対的な、傾きおよび第１軸受５の中心軸に交差する方向での移動距離の４つを同時に検出する。
【００８８】
以下、図２６〜図２８を用いて、フレーム１３に対する第２軸受６の目標位置および目標姿勢をそれぞれ求める第２工程および第３工程について説明する。
第２工程においては、回転軸の偏心の大きさと方向、並びに第１工程（ステップＳＴ１〜ＳＴ５）で得られた各個所における回転軸４の回転角度、第１軸受５の傾きおよび第２軸受６の移動距離の情報に基づいて、第１軸受５の中心軸の傾き中心に対して第２軸受６の中心が一致する第２軸受６の位置を、フレーム１３に対する第２軸受６の目標位置として求める。
また、第３工程においては、第１の軸受５の中心Ｐ１と、回転軸の中心軸上の第２軸受６と嵌合する部分の上記中心軸方向における中心Ｐ３との間の距離Ｈｃｃと第１工程で得られた各個所における第２軸受６の移動距離の情報とから、各個所における第１軸受５に対する回転軸４の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた各個所における第１および第２軸受５、６の傾きの情報に基づいて、第１軸受５の中心軸の傾き中心に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢を、フレーム１３に対する第２軸受６の目標姿勢として求める。
【００８９】
図２６は、第２軸受６の水平方向の動きを示す図で、時間ｉに芯ずれ計測機構４９にて計測されるデータの一例を模式的に示している。図２６において、ＥＸおよびＥＹは軸受調芯組立装置に固定された直交座標系、Ｅｏはフレーム１３内周の中心位置（図２７のＰ４に対応する。）である。Ｅｇｆ（ｉ）は、装置座標系中心に対するフレーム１３内周中心Ｐ４の水平移動量を示すベクトルである。Ｅｃｆ（ｉ）は、フレーム１３に対する第１軸受５の傾きにより生じるフレーム１３内周中心Ｐ４に対する第２軸受６の中心（図２７のＰ５に対応する。）の水平移動量成分を示すベクトルである。Ｅｃｃ（ｉ）は、。Ｅｃｃ（ｉ）は、第１軸受５の中心軸（図２７のＬ３に対応する。）に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルである。Ｅｃ（ｉ）は、Ｅｃ（ｉ）は、回転軸４の第１軸受５が嵌合する部分の中心軸Ｌ１に対する第２軸受６が嵌合する部分の第２の軸の偏心位置Ｐ２の偏心の大きさおよび方向を示すベクトルである。Ｅ’ｓ（ｉ）は、装置座標系中心に対する第２軸受６の中心Ｐ２の水平移動量を示すベクトルであり、時間ｉに芯ずれ計測機構４９にて計測されるデータである。これらのベクトルには、図２７のように、幾何学的に下記の関係が成り立つ。
Ｅ’ｓ（ｉ）＝Ｅｇｆ（ｉ）＋Ｅｃｆ（ｉ）＋Ｅｃｃ（ｉ）＋Ｅｃ（ｉ）（１６）
【００９０】
ここで、時間ｉでの回転軸４の回転角度Ｔ（ｉ）が既知であれば、偏心の大きさ（回転軸４の第１軸受５が嵌合する部分の中心軸Ｌ１に対する第２軸受６が嵌合する部分の第２の軸の偏心位置Ｐ２）をＲｃとするとＥｃ（ｉ）は実施の形態４で示した（６）式で求められる。
【００９１】
また、実施の形態５と同様に、図２７のようにフレーム１３に対する第１軸受５の傾きにより生じるフレーム内周中心Ｐ４に対する第２軸受６の軸受中心Ｐ５の水平移動量成分を示すベクトルＥｃｆ（ｉ）は、傾き計測機構６５により求められるフレーム１３に対する第１軸受５の傾きを示す方向ベクトルＴｃｆ（ｉ）より、実施の形態５で示した（１０）式を用いて求められる。
【００９２】
よって、
Ｅ’ｓ（ｉ）−Ｅｃｆ（ｉ）−Ｅｃ（ｉ）＝Ｅｓ３（ｉ）（１７）
とおくと、以下の式が成り立つ。
Ｅｓ３（ｉ）＝Ｅｇｆ（ｉ）＋Ｅｃｃ（ｉ）（１８）
Ｅｓ３（ｉ）は、フレーム１３に対する第１軸受５の傾きにより生じるフレーム１３内周中心Ｐ４に対する第２軸受６の中心Ｐ５の水平移動量成分（ベクトルＥｃｆ（ｉ））を含まず、さらに回転軸４の第１の軸Ｌ１に対する第２の軸Ｌ２の偏心の大きさをも含まない、装置座標系中心に対する第２軸受６の中心Ｐ２の水平移動量Ｅｓ３（ｉ）に他ならない。これを示した図が図２８である。
【００９３】
フレーム１３が軸受調芯組立装置に対して固定されているならば、Ｅｇｆ（ｉ）は方向、量とも一定である。さらにベクトルＥｃｃ（ｉ）の大きさは一定であるから、Ｅｓ３（ｉ）の終点の軌跡は、中心がＥｏで、半径が｜Ｅｃｃ（ｉ）｜の円を示す。よって、Ｅｓ３（ｉ）の終点の軌跡から、例えば最小二乗法によりＥｓ３（ｉ）の終点の軌跡の中心Ｅｏが求められる。
このＥｓ２（ｉ）の終点の軌跡の中心Ｅｏが、フレーム１３の中心軸に対して第２軸受６の中心が一致する第２軸受６の位置であり、フレーム１３に対する第２軸受６の目標位置である（第２工程）。
【００９４】
さらに、ＥｏはベクトルＥｇｆ（ｉ）の終点であるから、実施の形態５で示した（１４）式よりＥｃｃ（ｉ）を求めることができる。このＥｃｃ（ｉ）を用いて、実施の形態５の場合と同様にして、フレーム１３の中心軸に対して第２軸受６の中心軸が平行となる第２軸受６の姿勢であり、フレーム１３に対する第２軸受６の目標姿勢であるＴｏを求める（第３工程）。
【００９５】
以上のようにして、摩擦等の理由により回転軸４の傾きと第２軸受６の傾き方向が一致せず、しかも、第１軸受１４が、フレーム１３の内周に鉛直方向に摺動可能に支持されており、かつ回転軸４の第２の軸が第１の軸に対してある方向にある大きさだけ偏心している場合でも、軸受調芯組立装置の座標におけるフレーム１３内周の中心位置Ｅｏ、およびフレーム１３の傾き姿勢Ｔｏ、すなわち、第２軸受６の中心が第１軸受５の中心軸の傾き中心（フレーム１３内周の中心軸に対して一致する位置）、および第２軸受６の中心軸が第１軸受５の傾き中心（フレーム１３内周の中心軸）に対して平行となる姿勢を正確に求めることができる。
【００９６】
したがって、フレーム１３、第１軸受５および第２軸受６にそれぞれフレーム１３の第１軸受挿入用開口部および軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、フレーム１３、第１軸受５および第２軸受６における高精度加工部は製品機能として不可欠なフレーム１３の上記開口部および軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受５の理想的姿勢における中心軸と第２軸受６の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することができるという効果がある。さらに、摩擦等の理由により回転軸４の傾き方向と第２軸受６の傾き方向とが一致しない場合で、しかも、回転軸４における第１軸受５が嵌合する部分の軸心に対して第２軸受６が嵌合する部分の中心が偏心している場合でも、第１軸受５の理想的姿勢における中心軸と第２軸受の中心軸とを高精度に一致させることが可能となる。
【００９７】
なお、上記各実施の形態では、第２軸受６の中心軸を第１軸受５の中心軸に一致させるように調芯する場合について説明したが、本発明による軸受調芯組立方法および軸受調芯組立装置は第２軸受６の中心軸を第１軸受５の中心軸に一致させる場合に限らず、例えば、わざと所定距離ずらせるように調芯する場合などにも適用できることは言うまでもない。
【００９８】
【発明の効果】
以上のように、本発明に係る軸受調芯方法によれば、回転軸を支持する第１軸受および第２軸受を調芯する方法であって、第１軸受を、動かないように保持し、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸および第２軸受を第１軸受の中心軸に対して所定の力で傾けて上記回転軸および第２軸受を揺動運動させ、揺動運動の少なくとも三箇所において、第１軸受に対する第２軸受の相対的な、傾きおよび上記第１軸受の中心軸に交差する方向での移動距離の両方を同時に検出する第１工程と、第１工程で得られた上記各個所における移動距離の情報に基づいて、第１軸受の中心軸に対して第２軸受の中心が一致する第２軸受の位置を、第１軸受に対する第２軸受の目標位置として求める第２工程と、第１軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、第１工程で得られた上記各個所における移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた上記各個所における傾きの情報に基づいて、第１軸受の中心軸に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、第１軸受に対する第２軸受の目標姿勢として求める第３工程と、第２軸受を第２工程および第３工程で求められた目標位置および目標姿勢に位置決めし、その状態で保持する第４工程と、を備えたので、第１軸受５と第２軸受６にそれぞれ軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、第１軸受５および第２軸受６における高精度加工部は製品機能として不可欠な軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受５の中心軸と第２軸受６の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することできるという効果がある。しかも、第１工程において、摩擦等の理由により回転軸の傾き方向と第２軸受の傾き方向とが一致しない場合でも、第１軸受に対する第２軸受の目標姿勢を正確に求めることができる。
【００９９】
また、本発明の別の発明に係る軸受調芯方法によれば、回転軸を支持する第１軸受および第２軸受を調芯して組み立てる方法であって、第１軸受がフレームにより上記回転軸に沿って直動自在に保持される場合に、上記第１軸受を直動自在に保持したフレームを、動かないように保持し、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸、第１軸受および第２軸受を上記フレームの中心軸に対して所定の力で傾けて上記回転軸、第１軸受および第２軸受を揺動運動させ、揺動運動の少なくとも三箇所において上記フレームに対する第１軸受の相対的な傾き、並びに上記フレームに対する第２軸受の相対的な、傾きおよび上記フレームの中心軸に交差する方向での移動距離の両方を同時に検出する第１工程と、第１工程で得られた上記各個所における第１軸受の傾きおよび第２軸受の移動距離の情報に基づいて、第１軸受の中心軸の傾き中心に対して第２軸受の中心が一致する第２軸受の位置を、上記フレームに対する第２軸受の目標位置として求める第２工程と、第１の軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、第１工程で得られた上記各個所における第２軸受の移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と第１工程で得られた上記各個所における第１および第２軸受の傾きの情報に基づいて、第１軸受の中心軸の傾き中心に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、上記フレームに対する第２軸受の目標姿勢として求める第３工程と、第２軸受を第２工程および第３工程で求められた目標位置および目標姿勢に位置決めし、その状態で保持する第４工程と、を備えたので、フレーム、第１軸受および第２軸受にそれぞれフレームの第１軸受挿入用開口部および軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、フレーム、第１軸受および第２軸受における高精度加工部は製品機能として不可欠なフレームの上記開口部および軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受の理想的姿勢における中心軸と第２軸受の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することができるという効果がある。さらに、第１工程において、摩擦等の理由により回転軸の傾き方向と第２軸受の傾き方向とが一致しない場合でも、第１軸受の理想的姿勢における中心軸と第２軸受の中心軸とを高精度に一致させることが可能となる。
【０１００】
また、本発明に係る軸受調芯組立装置によれば、円筒シェル内周の両端部にそれぞれ配置されて回転軸を支持する第１軸受および第２軸受を調芯して組み立てる装置であって、第１軸受を、上記円筒シェル内の所定位置に動かないように保持する保持手段と、上記回転軸の所定位置に第１軸受および第２軸受を嵌合させた状態で上記回転軸および第２軸受を第１軸受の中心軸に対して所定の力で傾けて上記回転軸および第２軸受を揺動運動させる揺動手段と、揺動運動の少なくとも三箇所において第１軸受に対する第２軸受の相対的な、傾きおよび上記第１軸受の中心軸に交差する方向での移動距離の両方を同時に検出する計測手段と、上記計測手段によって計測された上記各個所における移動距離の情報に基づいて、第１軸受の中心軸に対して第２軸受の中心が一致する第２軸受の位置を、第１軸受に対する第２軸受の目標位置として求め、第１軸受の中心と、回転軸の中心軸上の第２軸受と嵌合する部分の上記中心軸方向における中心との間の距離と、上記計測手段によって計測された上記各個所における移動距離の情報とから、上記各個所における第１軸受に対する上記回転軸の傾きの大きさと方向を計算し、この計算結果と上記計測手段によって計測された上記各個所における傾きの情報に基づいて、第１軸受の中心軸に対して第２軸受の中心軸が平行となる第２軸受の姿勢を、第１軸受に対する第２軸受の目標姿勢として求める計算手段と、第２軸受を上記目標位置および目標姿勢に位置決めしその状態で保持する位置決め手段と、第１軸受および第２軸受をそれぞれ上記円筒シェルに固定する固定手段と、を備えたので、第１軸受と第２軸受にそれぞれ軸受孔との位置関係および姿勢の関係が高精度に規定された基準孔あるいは基準面を設ける必要がなく、第１軸受および第２軸受における高精度加工部は製品機能として不可欠な軸受孔のみでよいため、加工工数を削減でき安価な回転機構を提供できるという効果がある。また、上記基準孔あるいは基準面の加工精度の影響を受けないため、第１軸受の中心軸と第２軸受の中心軸とを高精度に一致させることが可能となり、信頼性が高い回転機構を提供することできるという効果がある。さらに、摩擦等の理由により回転軸の傾き方向と第２軸受の傾き方向とが一致しない場合でも、第１軸受の理想的姿勢における中心軸と第２軸受の中心軸とを高精度に一致させることが可能となる。
【図面の簡単な説明】
【図１】本実施の形態１による軸受調芯組立方法および軸受調芯組立装置によって組み立てられる回転機構を示す縦断面図である。
【図２】実施の形態１による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図３】実施の形態１による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図４】実施の形態１による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図５】実施の形態１による軸受調芯組立装置で用いられる回転軸支持機構を拡大して示す縦断面図である。
【図６】実施の形態１による軸受調芯組立装置で用いられる軸連結部の構成を説明する斜視図である。
【図７】実施の形態１に係わり、回転軸および第２軸受を第１軸受の中心軸に対して傾けた様子を示す断面説明図である。
【図８】実施の形態１による軸受調芯方法を説明するフローチャートである。
【図９】実施の形態１に係わり、時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図１０】実施の形態１に係わり第１軸受に対する回転軸の傾きについて説明する図である。
【図１１】実施の形態１に係わり、時間ｉに平行度計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図１２】実施の形態１に係わり、第１軸受に対する回転軸の傾きを補正した第２軸受の傾き方向の動きを模式的に示す説明図である。
【図１３】実施の形態２による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図１４】実施の形態２に係わる回転機構の外観図である。
【図１５】実施の形態３による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図１６】実施の形態４に係わり、回転軸が偏心している場合の第２軸受の水平方向の動きを模式的に示す説明図である。
【図１７】実施の形態４に係わり、時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図１８】実施の形態４に係わり、回転軸の偏心を補正した第２軸受の水平方向の動きを模式的に示す説明図である。
【図１９】実施の形態５による軸受調芯組立装置の要部の構成を示す縦断面図である。
【図２０】実施の形態５に係わり、回転軸、第１軸受および第２軸受をフレームの中心軸に対して傾けた様子を示す断面説明図である。
【図２１】実施の形態５に係わり、時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図２２】実施の形態５に係わり、第１軸受がフレームにより回転軸に沿って直動自在に保持される場合の第２軸受６の水平方向の動きを模式的に示す説明図である。
【図２３】実施の形態５に係わり、フレームに対する第１軸受の傾きを補正した第２軸受の水平方向の動きを模式的に示す説明図である。
【図２４】実施の形態５に係わり、時間ｉに平行度計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図２５】実施の形態５に係わり、フレームに対する第１軸受の傾きおよび第１軸受に対する回転軸の傾きを補正した第２軸受の傾き方向の動きを模式的に示す説明図である。
【図２６】実施の形態６に係わり、時間ｉに芯ずれ計測機構にて計測されるデータの一例を模式的に示す説明図である。
【図２７】実施の形態６に係わり、第１軸受がフレームにより回転軸に沿って直動自在に保持され、しかも回転軸が偏心している場合の第２軸受６の水平方向の動きを模式的に示す説明図である。
【図２８】実施の形態６に係わり、フレームに対する第１軸受の傾きおよび回転軸の偏心を補正した第２軸受の水平方向の動きを模式的に示す説明図である。
【符号の説明】
１円筒シェル、２ステータ、３ロータ、４回転軸、５第１軸受、６第２軸受、７電動機部分、８圧縮部、１０回転機構、１２ネジ穴、１３フレーム、３３回転軸支持機構、３４円筒シェル保持機構、３５第２軸受クランプ機構、４０フロート部、４１フロート機構、４２ＸＹテーブル、４４第２軸受傾斜モーメント付加機構、４５回転軸傾斜モーメント付加機構、４６駆動軸、４７モータ、４８軸連結部、４９芯ずれ計測機構、５０平行度計測機構、５１連結爪、５２芯ずれ調整機構、５３平行度調整機構、５４第２軸受保持機構、５５溶接機構、６２ボルト、６３第１軸受水平位置計測機構、６４、６５第１軸受傾き計測機構。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a bearing alignment method for aligning two bearings that support a rotating shaft and a bearing alignment assembly apparatus, for example, a scroll compressor used for a refrigeration apparatus, an air conditioner, a vacuum pump, and the like. And the like are used to assemble a rotating mechanism in which a rotating shaft is supported by two bearings disposed at both ends in a cylindrical shell.
[0002]
[Prior art]
In the conventional bearing alignment method and bearing alignment assembly apparatus, bearings having outer diameters smaller than the inner diameter of the fuselage casing are attached to both ends of the fuselage casing in which the stator is inserted, respectively. A method for assembling an electric motor in which a rotating shaft having a rotor extrapolated is supported at a center portion, wherein one of the bearings is inserted into one end of a fuselage casing in which a stator is inserted, and the bearing is referred to the center thereof. With the fuselage casing fixed to the assembly position and the fuselage casing fixed to the assembly position with reference to the inner surface of the stator, the fuselage casing is welded to the bearing from a plurality of positions on the outer peripheral side of the fuselage casing, and one of the fuselage casings is inserted into one end of the fuselage casing. A first bearing assembly step of mounting a bearing, and inserting a rotating shaft with a rotor extrapolated from the other end of the fuselage casing to a central portion. A rotating shaft assembling step of inserting one end of the rotating shaft into one of the bearings, inserting the other bearing into the other end of the body casing, inserting the other end of the rotating shaft into the bearing, and mounting the one bearing. With the fuselage casing fixed at the assembly position with the center as the reference and the other bearing fixed at the assembly position with the center as the reference, the fuselage casing is welded to the other bearing from a plurality of positions on the outer peripheral side of the fuselage casing. And a second bearing assembly step of mounting the other bearing in the other end of the fuselage casing (see, for example, Patent Document 1).
[0003]
In the above conventional bearing alignment method, first, the upper bearing is carried to the first bearing assembling machine A while being horizontally supported by the pallet, and is assembled to the body casing. At this time, the pallet is fixed at the assembly position of the first bearing assembling machine A by inserting the positioning pins attached to the first bearing assembling machine A into the pin holes provided on the pallet side. Are fixed to the assembling position of the first bearing assembling machine A based on the center thereof.
Next, the fuselage casing to which the upper bearing has been assembled is transported to the rotary shaft assembling machine B as it is on a pallet, and the rotary shaft is assembled thereto.
Thereafter, the fuselage casing in which the upper bearing and the rotating shaft are assembled is carried to the second bearing assembling machine C, and the lower bearing is assembled. At this time, the pallet is fixed at the assembly position of the second bearing assembling machine C by inserting the positioning pins attached to the second bearing assembling machine C into the pin holes provided on the pallet side. Is fixed to the assembly position of the second bearing assembling machine C with reference to the center of the body. Further, a reference surface is provided on the lower bearing, and the reference surface is pressed against the block provided on the second bearing assembling machine C to level the lower bearing.
[0004]
[Patent Document 1]
JP-A-8-128396 (page 4-7, FIG. 1-7)
[0005]
[Problems to be solved by the invention]
In the conventional bearing centering method and the bearing centering assembling apparatus as described above, the first bearing and the second bearing each have a reference hole or a reference surface in which the positional relationship with the bearing hole and the relationship of the posture are defined with high precision. And it is necessary to fix the reference hole and the reference surface to the bearing alignment assembly apparatus (each of the assembling machines A, B, and C) with high accuracy in alignment and orientation.
Therefore, there is a problem that the cost of the product is increased due to an increase in the number of processing steps for the reference hole and the reference surface. Further, coaxiality and parallelism between the reference hole and the reference surface and the bearing hole, and positioning errors when the first bearing and the second bearing are fixed to the bearing alignment assembly devices (each of the assembling machines A, B, and C). However, there is also a problem that the assembly accuracy is limited because the components are integrated in the bearing assembly accuracy.
[0006]
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the conventional art, and the first and second bearings have a positional relationship with a bearing hole and a positional relationship with a bearing hole defined with high precision. It is an object of the present invention to provide a bearing alignment method and a bearing alignment assembly device that enable highly accurate alignment of a bearing without providing a reference hole or a reference surface.
[0007]
[Means for Solving the Problems]
A bearing alignment method according to the present invention is a method of aligning a first bearing and a second bearing that support a rotating shaft, wherein the first bearing is held so as not to move, and is positioned at a predetermined position on the rotating shaft. In a state where the first bearing and the second bearing are fitted, the rotating shaft and the second bearing are tilted with a predetermined force with respect to a center axis of the first bearing to swing the rotating shaft and the second bearing, A first step of simultaneously detecting, at least at three points of the oscillating movement, both a relative inclination of the second bearing with respect to the first bearing and a moving distance in a direction intersecting the central axis of the first bearing; Based on the information of the moving distance at each location obtained in one step, the position of the second bearing at which the center of the second bearing coincides with the center axis of the first bearing is determined by the position of the second bearing with respect to the first bearing. A second step to be determined as a target position; a center of the first bearing; From the distance between the center of the portion of the mandrel that fits with the second bearing on the mandrel in the central axis direction and the information on the movement distance at each location obtained in the first step, the first position at each location is obtained. The magnitude and direction of the inclination of the rotating shaft with respect to the bearing are calculated, and based on the calculation result and the information on the inclination at each point obtained in the first step, the second bearing is positioned with respect to the center axis of the first bearing. A third step of obtaining a posture of the second bearing whose central axis is parallel to the first bearing as a target posture of the second bearing; and a target position and a target posture of the second bearing obtained by the second and third steps. And a fourth step of positioning and holding in that state.
[0008]
Also, a bearing alignment method according to another invention of the present invention is a method of aligning and assembling a first bearing and a second bearing that support a rotating shaft, wherein the first bearing is arranged along the rotating shaft by a frame. When the first bearing is movably held, the frame holding the first bearing movably is held so as not to move, and the first bearing and the second bearing are fitted to predetermined positions of the rotating shaft. In this state, the rotating shaft, the first bearing, and the second bearing are tilted with a predetermined force with respect to the center axis of the frame to swing the rotating shaft, the first bearing, and the second bearing. In at least three places, the relative inclination of the first bearing with respect to the frame and the relative inclination of the second bearing with respect to the frame and both the inclination and the moving distance in a direction intersecting the central axis of the frame are simultaneously detected. One step and the first step The position of the second bearing at which the center of the second bearing coincides with the center of inclination of the center axis of the first bearing based on the obtained information on the inclination of the first bearing and the moving distance of the second bearing at each of the above-mentioned locations. In the second step of determining the target position of the second bearing with respect to the frame, the center of the first bearing, and the center of the portion of the rotary shaft on the central axis that fits with the second bearing in the central axis direction. The magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated from the distance between the first bearing and the information on the movement distance of the second bearing at each location obtained in the first step. Based on the result and the information on the inclination of the first and second bearings at the respective points obtained in the first step, a second bearing whose central axis is parallel to the inclination center of the central axis of the first bearing. 2 Position the bearing on the second shaft with respect to the frame And a fourth step of positioning the second bearing at the target position and the target attitude determined in the second step and the third step, and holding the second bearing in that state. .
[0009]
Further, the bearing alignment assembly apparatus according to the present invention is an apparatus for aligning and assembling a first bearing and a second bearing which are respectively disposed at both ends of an inner periphery of a cylindrical shell and support a rotating shaft, and Holding means for holding the bearing at a predetermined position in the cylindrical shell so as not to move; and rotating the rotating shaft and the second bearing in a state where the first bearing and the second bearing are fitted to the predetermined position of the rotating shaft. Oscillating means for oscillating the rotary shaft and the second bearing by tilting the central axis of the first bearing with a predetermined force, and relative to the first bearing at least at three positions of the oscillating motion. Measuring means for simultaneously detecting both the inclination and the moving distance in the direction intersecting the central axis of the first bearing; and the first moving information based on the information of the moving distance at each point measured by the measuring means. With respect to the center axis of the bearing A position of the second bearing at which the center of the bearing coincides is determined as a target position of the second bearing with respect to the first bearing. The magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated from the distance between the center in the central axis direction and the information on the movement distance at each location measured by the measurement means. Based on this calculation result and the information on the inclination at each point measured by the measuring means, the posture of the second bearing, in which the center axis of the second bearing is parallel to the center axis of the first bearing, is Calculating means for calculating a target attitude of the second bearing with respect to one bearing; positioning means for positioning the second bearing at the target position and the target attitude and holding the same in that state; And fixing means for fixing the E le are those with a.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
1 to 12 are views for explaining a bearing alignment method and a bearing alignment assembly device according to a first embodiment of the present invention. More specifically, FIG. FIG. 2 to FIG. 4 are longitudinal sectional views showing a configuration of a main part of the bearing alignment assembly apparatus, and FIG. 5 is an enlarged view of a rotary shaft support mechanism. FIG. 6 is a perspective view illustrating the configuration of a shaft connecting portion, and FIG. 7 is a cross-sectional explanatory view illustrating a state in which the rotating shaft and the second bearing are inclined with respect to the center axis of the first bearing. 8 is a flowchart illustrating a bearing alignment process, FIG. 9 is an explanatory diagram schematically illustrating an example of data measured by the misalignment measuring mechanism at a time i, and FIG. 10 illustrates a tilt of a rotating shaft with respect to a first bearing. FIG. 11 shows data measured by the parallelism measurement mechanism at time i. Explanatory view schematically showing an example, FIG. 12 is an explanatory diagram showing the movement of the second bearing in the direction of inclination obtained by correcting the inclination of the rotation axis relative to the first bearing schematically.
[0011]
In FIG. 1, a stator 2 is fixed to an inner periphery of a cylindrical shell 1, and a rotor 3 is fixed to an outer periphery of a rotating shaft 4. The first bearing 5 is fixed to one end of the inner periphery of the cylindrical shell 1, and the outer periphery of one end (lower side) of the rotating shaft 4 is fitted therein. The second bearing 6 is fixed to the other end of the inner periphery of the cylindrical shell 1, and the outer periphery of the other end (upper side) of the rotating shaft 4 is fitted therein. As described above, the rotating mechanism 10 as an assembly target includes the cylindrical shell 1 having the stator 2 fixed to the inner periphery, the rotating shaft 4 having the rotor 3 fixed to the outer periphery, and the both ends of the inner periphery of the cylindrical shell 1 as described above. It comprises a first bearing 5 and a second bearing 6 which are respectively arranged and support the rotating shaft 4.
The bearing alignment method and the bearing alignment assembly apparatus according to the present invention are mainly applied to a step of fixing the second bearing 6 to the cylindrical shell 1, and FIG. This shows a fixed state.
[0012]
Hereinafter, the configuration of the bearing alignment assembly apparatus according to the present embodiment will be described with reference to FIGS. In FIG. 2, a work mounting table 31 on which the cylindrical shell 1 is mounted is moved up and down by a work elevating mechanism 32, and is fixed to the main base 30 by being pressed against the lower surface of the main base 30. The rotation shaft support mechanism 33 that supports the rotation shaft 4 corresponds to a rotation shaft support unit that supports the rotation shaft 4 so as to restrict its axial position and rotate and tilt. The cylindrical shell holding mechanism 34 is a mechanism that presses and fixes the cylindrical shell 1 against the work mounting table 31 fixed to the main base 30, and corresponds to a cylindrical shell holding unit that holds the cylindrical shell 1. Further, in the present embodiment, since the first bearing 5 is fixed at a predetermined position in the cylindrical shell 1 in advance, by holding the cylindrical shell 1, the first bearing 5 is also held. The mechanism 34 also corresponds to first bearing holding means. The second bearing clamp mechanism 35 is a mechanism that holds the second bearing 6 at a set height, and corresponds to a second bearing holding unit. The upper base A 36 is firmly fixed to the main base 30 by a support post 37.
[0013]
The work mounting table 31 is supported by a guide or the like so as to be movable only vertically with respect to the main base 30.
The rotating shaft support mechanism 33 has, for example, a configuration as shown in FIG. 5, and includes a ball 91 supporting the lower end of the rotating shaft 4, a plurality of small balls 92 supporting the ball 91, a ball 91 and a plurality of small balls The rotating shaft 4 is rotatably supported at the lower end of the rotating shaft 4 so as to be horizontally movable by a case 93 for accommodating the case 92 and a thrust bearing 94 for supporting the case 93. 4a is provided at the lower end of the rotating shaft 4 with a concave portion 4a into which a part of the ball 91 fits.
[0014]
In FIG. 3, the float 40 has a second bearing 6 held by a second bearing clamp mechanism 35, and the float mechanism 41 supports the float 40 at a plurality of points in the vertical direction. The XY table 42 supports the float portion 40 so as to be movable in the horizontal direction with respect to an upper base B43 fixed to the upper base A36. The second bearing clamp mechanism 35, the float portion 40, the float mechanism 41, and the XY table 42 restrain the second bearing holding means in the direction of rotation about the rotation shaft 4 and change the direction of rotation of the second bearing 6 about the central axis. The second bearing, which is constrained and movably supports the degree of freedom of translation in the direction of the central axis of the second bearing 6 and a direction orthogonal to the direction of the central axis, and the degree of freedom of rotation about an axis intersecting the central axis of the second bearing 6. It corresponds to bearing support means.
[0015]
The second bearing tilt moment applying mechanism 44 is a mechanism for tilting the second bearing 6 supported by the float portion 40 with respect to the rotating shaft 4, and corresponds to a second bearing tilt moment applying means. The rotating shaft inclination moment applying mechanism 45 is a mechanism for inclining the rotating shaft 4 connected by the shaft connecting portion 48 with respect to the first bearing 5, and corresponds to a rotating shaft inclination moment applying means. The drive shaft 46 (46 a, 46 b, 46 c), which is rotationally driven by the motor 47, and the rotary shaft 4 are connected by a shaft connecting portion 48, and the motor 47 generates a rotational force for rotating the rotary shaft 4. The drive shaft 46 and the shaft connecting portion 48 correspond to a torque transmitting means for transmitting the torque of the torque generating means to the rotating shaft 4. The misalignment measuring mechanism 49 is a mechanism for measuring the horizontal position of the float 40, and the parallelism measuring mechanism 50 is a mechanism for measuring the vertical position of the float 40. The misalignment measuring mechanism 49 and the parallelism measuring mechanism 50 Corresponds to a second bearing measuring means (measuring means) for measuring the position and orientation of the second bearing 6 with respect to the bearing alignment assembly apparatus.
[0016]
For example, as shown in FIG. 6, the connecting claw 51 provided on the inner periphery of the shaft connecting portion 48 is inserted into the slit portion 11 at the shaft end of the upper end portion of the rotating shaft 4, as shown in FIG. It is slidable in the axial direction with respect to the shaft 46 and is supported in a state where its rotation is restricted, and is pressed vertically downward by a spring 56. With such a configuration, the rotation phases of the drive shaft 46 and the rotation shaft 4 are made to coincide with each other, and the rotation can be performed synchronously.
[0017]
The second bearing tilt moment adding mechanism 44 and the rotating shaft tilt moment adding mechanism 45 are fixed to the drive shaft 46. When the drive shaft 46 rotates, the second bearing tilt moment adding mechanism 44 and the rotary shaft tilt moment adding mechanism 45 are driven. Since the rotation is performed around the shaft 46, the inclination directions of the second bearing 6 and the rotation shaft 4 are continuously changed in synchronization with the rotation of the drive shaft 46. In FIG. 3, the second bearing tilt moment applying mechanism 44 moves the second bearing 6 rightward by applying a load rightward to the upper portion of the float portion 40, and furthermore, moment force that tilts the clockwise rotation direction. Is added. The rotation shaft tilt moment applying mechanism 45 applies a load downward to the left end of the arm 70 attached to the drive shaft B46b, thereby rotating the drive shaft B46b in a counterclockwise rotation direction around the joint A71. The joint B72 moves rightward. The rotating shaft 4 connected by the shaft connecting portion 48 applies a moment force that tilts in the clockwise rotation direction with respect to the bearing center of the first bearing 5 when the joint B72 moves rightward. With this configuration, the inclination direction of the second bearing 6 and the inclination direction of the rotating shaft 4 are prevented from being different from each other. However, actually, the inclination direction of the rotating shaft does not always coincide with the inclination direction of the second bearing due to friction or the like.
[0018]
The second bearing tilt moment applying mechanism 44 and the rotating shaft tilt moment applying mechanism 45 are attached to the drive shaft 46 via a spring member, and are added to the second bearing 6 and the rotating shaft 4 during rotation of the drive shaft 46. It is configured such that the moment force does not change. Further, the second bearing tilt moment force is larger than the restoring moment force generated by the spring force of the float mechanism 41 generated when the float portion 40 tilts, and the contact state between the rotating shaft 4 and the second bearing 6 is two points shown in FIG. Set to be in contact. Also, the rotating shaft tilt moment force is set so that the contact state between the rotating shaft 4 and the first bearing 5 becomes the two-point contact state shown in FIG. If the second bearing tilt moment force and the rotary shaft tilt moment force are too large, the frictional force between the second bearing 6 and the rotary shaft 4 and the frictional force between the first bearing 5 and the rotary shaft 4 increase, and the second bearing 6 In addition, the swing trajectory of the rotary shaft 4 may become unstable or the bearing may be damaged. Therefore, it is necessary to set the second bearing tilt moment force and the rotary shaft tilt moment force to appropriate magnitudes.
[0019]
The drive shaft 46 is divided into three drive shafts A46a, B46b and C46c. The joints A71 and B72 connect the drive shafts A46a, B46b and C46c in the rotational direction of the drive shaft 46. And are connected in a state where the axial direction is restricted. That is, in the joint portion of the joint A71, the drive shaft B46b has a degree of freedom to be eccentric in a plane perpendicular to the drive axis A46a, and the drive shaft B46b has a degree of freedom to rotate so as to bend in all circumferential directions. . The same applies to the joint B72, and the drive shaft C46c has the same degree of freedom as the drive shaft B46b.
The rotating shaft tilt moment applying mechanism 45 presses the load applying bar 70 attached to the drive shaft B46b downward. The drive shaft B46b rotates at the joint A, so that the drive shaft B46b is tilted and the drive shaft C46c is eccentric. Since the shaft connecting portion 48 is provided at the lower end of the drive shaft C46c, the upper end of the rotating shaft 4 connected by the shaft connecting portion 48 is eccentric, and the rotating shaft 4 is inclined.
With this configuration, the rotation shaft 4 can be tilted, and by driving the motor 47, the tilt direction of the rotation shaft 4 can be smoothly changed in synchronization with the rotation angle of the rotation shaft 4.
[0020]
Although the rotating shaft tilt moment is also generated by the second bearing tilt moment adding mechanism 44, in the present embodiment, a mechanism for generating a force for tilting the rotary shaft 4 and a mechanism for generating a force for tilting the second bearing 6 are used. By providing them separately, the contact force between the second bearing 6 and the rotating shaft 4 can be minimized, and the occurrence of measurement errors due to the frictional force due to this contact force is prevented. However, in actuality, for example, when the lubricating oil (refrigerating machine oil in the case of a compressor for refrigeration and air conditioning) existing in the bearing is small, the frictional force generated by the contact force due to the force for tilting the rotating shaft 4 does not become zero, so The direction does not match the inclination direction of the second bearing, and a measurement error occurs.
[0021]
The motor 46 is composed of a servomotor, and can grasp the rotation angle when the drive shaft 46 rotates and control the rotation speed. Since the rotating shaft 4 is constrained by the driving shaft 46 in the rotating direction, the rotation angle of the rotating shaft 4 can be grasped by the motor 46 and the rotating speed can be controlled.
[0022]
The misalignment measuring mechanism 49 measures the horizontal position of the float portion 40 with respect to the bearing alignment assembly device by measuring the horizontal position of the float portion 40 from three directions. The parallelism measuring mechanism 50 measures the inclination of the float portion 40 with respect to the bearing alignment assembly device by measuring three vertical positions of the float portion 40. Since the second bearing 6 is integrated with the float portion 40 by the second bearing clamp mechanism 35, the movement of the second bearing 6 can be measured by measuring the float portion 40.
The measurement results of the misalignment measuring mechanism 49 and the parallelism measuring mechanism 50 are sent to a computer (not shown) such as a personal computer, which corresponds to a calculating means, and as described later in detail, the measurement results (movement limit The target position and the target attitude of the second bearing with respect to the first bearing are obtained by a software program mounted on a computer based on the information.
[0023]
4, the misalignment adjusting mechanism 52 is a mechanism for adjusting the horizontal position of the float unit 40 with respect to the device, and the parallelism adjusting mechanism 53 is a mechanism for adjusting the inclination of the float unit 40 with respect to the device. The misalignment adjusting mechanism 52 is mounted in two axial directions orthogonal to each other in a horizontal plane, and a back pressure mechanism is arranged on the side opposite to the misalignment adjusting mechanism 52 with the float portion 40 interposed therebetween. The unit 40 is configured to be pressed against the misalignment adjustment mechanism 52. The parallelism adjusting mechanism 53 is arranged at three positions so as to position the three vertical positions of the float portion 40, and is configured to be able to adjust the float portion 40 to an arbitrary inclination.
The second bearing holding mechanism 54 positions and holds the float portion 40 whose position and posture with respect to the device have been adjusted by the misalignment adjusting mechanism 52 and the parallelism adjusting mechanism 53, thereby changing the position and posture of the second bearing 6 with respect to the device. Hold. For example, as shown in FIG. 4, the position and the posture of the second bearing 6 can be held by pressing the float portion 40 against the parallelism adjusting mechanism 53.
The misalignment adjusting mechanism 52, the parallelism adjusting mechanism 53, and the second bearing holding mechanism 54 correspond to positioning means for positioning the second bearing 6 at a target position and a target posture and holding the same in that state.
[0024]
The welding mechanisms 55 correspond to fixing means for fixing the first bearing and the second bearing to the cylindrical shell, respectively, and are disposed at three places outside the cylindrical shell 1 at intervals of 120 degrees in the circumferential direction. The second bearing 6 whose position and posture are maintained at 54 is fixed to the cylindrical shell 1 by arc spot welding (MAG welding).
In this way, by fixing by welding, there is an effect that a fixed component is not required and an inexpensive rotating mechanism can be provided. Further, by fixing at three or more welding points arranged at equal intervals in the circumferential direction, it is possible to prevent the relative position and posture of the second bearing 6 with respect to the first bearing 5 from changing due to welding. Thus, the center axis of the first bearing 5 and the center axis of the second bearing 6 can be made to coincide with each other with higher accuracy, and there is an effect that a highly reliable rotating mechanism can be provided.
[0025]
Next, a bearing alignment method according to the first embodiment of the present invention using the bearing alignment assembly apparatus according to the first embodiment of the present invention configured as described above will be described with reference to FIG.
First, in step ST1, the second bearing 6 is set on the second bearing clamp mechanism 35 on the upper part of the bearing alignment assembly device, and the second bearing clamp mechanism 35 is driven to firmly connect the second bearing 6 and the float portion 40. Integrate.
Next, in step ST2, the stator 2 is fixed to the center of the inner periphery and the first bearing 5 is fixed to the lower portion of the inner periphery, and the first bearing 5 has a cylindrical shape in which the rotary shaft 4 having the rotor 3 fixed to the outer periphery is inserted. The shell 1 is set on the work table 31. By driving the work lifting mechanism 32 to raise the cylindrical shell 1 to insert the rotary shaft 4 into the second bearing 6 and pressing the work mounting table 31 against the lower surface of the main base 30, the main base 30 and the work mounting table 31 are moved. Integrate firmly. By driving the cylindrical shell holding mechanism 34 fixed to the upper base A36 and pressing the cylindrical shell 1 against the work mounting table 31, the cylindrical shell 1 and the work mounting table 31 are firmly integrated, and the cylindrical shell 1 is assembled with the bearing center. Fixed to the device.
When the work lifting mechanism 32 is driven to raise the cylindrical shell 1, the position of the float 40 integrated with the second bearing 6 with respect to the bearing alignment assembly device is adjusted in advance by the misalignment adjustment mechanism 52. Thereby, the rotation shaft 4 can be smoothly inserted into the second bearing 6.
[0026]
Next, in step ST3, the drive shaft 46 is rotated by driving the motor 47, so that the rotation shaft 4 and the drive shaft 46 are connected by the shaft connection portion 48.
Further, in step ST4, the second bearing 6 is tilted with respect to the rotating shaft 4 by driving the second bearing tilting moment adding means 44 and the rotating shaft tilting moment adding means 45, and the rotating shaft 4 is attached to the first bearing 5. It is in a state of being inclined with respect to. FIG. 7 is a cross-sectional view of the rotation mechanism showing this state. The rotation shaft 4 contacts the first bearing 5 at two points P and Q, and the second bearing 6 contacts the rotation shaft with the points R and S. At two points. By driving the motor 47 in this state, the inclination direction of the second bearing 6 and the rotating shaft 4 is continuously changed in synchronization with the rotation of the rotating shaft 4 (the second bearing is synchronized with the rotation of the rotating shaft 4). 6 and the rotating shaft 4 oscillate, that is, the rotating shaft 4 and the second bearing 6 precess.).
[0027]
In step ST5, the parallelism measuring mechanism 50 and the misalignment measuring mechanism 49 move the second bearing 6 relative to the first bearing 5 in at least three positions of the rocking motion (precession motion). And the moving distance in a direction intersecting the central axis of the first bearing 5 are simultaneously detected. The misalignment measuring mechanism 49 and the parallelism measuring mechanism 50 measure the horizontal position and the inclination of the second bearing 6 (float portion 40) with respect to the bearing alignment assembly apparatus, respectively. The first bearing 5 is fixed to the bearing alignment assembly device so that the direction intersecting with the first bearing 5 is horizontal, so that the inclination of the second bearing 6 with respect to the first bearing 5 and the central axis of the first bearing 5 are adjusted. The moving distance in the direction intersecting is detected.
The above steps ST1 to ST5 are the first steps of the bearing alignment method according to the first embodiment.
[0028]
In step ST6, as a second step and a third step of the bearing alignment method according to the first embodiment, the target position of the second bearing 6 and the target position of the second bearing 6 are calculated by a computer such as a personal computer based on the measurement result in step ST5. Calculate the target attitude.
That is, based on the information of the moving distance at each of the points obtained in the first step, the position of the second bearing at which the center of the second bearing coincides with the center axis of the first bearing is determined with respect to the first bearing with respect to the first bearing. It is determined as a target position of the two bearings (second step).
Furthermore, the distance between the center of the first bearing and the center of the portion of the rotary shaft that fits with the second bearing in the direction of the central axis in the central axis direction, and the movement at each of the locations obtained in the first step From the information on the distance, the magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated. Based on the calculation result and the information on the inclination at each location obtained in the first step, The attitude of the second bearing in which the central axis of the second bearing is parallel to the central axis of the one bearing is determined as a target attitude of the second bearing with respect to the first bearing (third step).
[0029]
Hereinafter, the second step and the third step will be specifically described.
FIG. 9 schematically shows an example of data measured by the misalignment measuring mechanism 49 at time i. In FIG. 9, EX and EY are orthogonal coordinate systems fixed to the bearing alignment assembly device, and Eo is the center position of the first bearing 5 (the position of the center of the first bearing 5). Corresponding). Eg (i) is a vector indicating the horizontal movement amount of the center of the first bearing 5 with respect to the center of the coordinate system of the bearing alignment assembly device (hereinafter also referred to as the center of the device coordinate system). Ecg (i) is a vector indicating the horizontal movement amount of the center of the second bearing 6 (corresponding to P2 in FIG. 10) with respect to the center axis of the first bearing 5. E's (i) is a vector indicating the horizontal movement amount of the center of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the misalignment measuring mechanism 49 at time i. These vectors Eg (i), Ecg (i), and E's (i) geometrically satisfy the following relationship as shown in FIG.
E's (i) = Ecg (i) + Eg (i) (1)
If the first bearing 5 is fixed with respect to the bearing alignment assembly device, Eg (i) is constant in both direction and amount. Further, since the magnitude of the vector Ecg (i) is constant, the trajectory of the end point of E's (i) indicates a circle having a center of Eo and a radius of | Ecg (i) |. Therefore, the center Eo of the trajectory of the end point of E's (i) is obtained from the measured values of the end point (at least three places) of E's (i) by, for example, the least square method.
The center Eo of the locus of the end point of E's (i) is the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the first bearing 5, and 2 is the target position of the bearing 6 (second step).
[0030]
FIG. 11 schematically shows an example of data measured by the parallelism measuring mechanism 50 at the time i. In FIG. 11, TX and TY are rectangular coordinate systems fixed to the bearing alignment assembly apparatus, and the magnitude and direction of the inclination are indicated by vectors obtained by projecting a normal vector of the measurement surface onto the TX-TY plane. To is the inclination posture of the first bearing 5. Tg (i) is a direction vector indicating the inclination of the first bearing 1 with respect to the center of the apparatus coordinate system. Tcg (i) is a direction vector indicating the inclination of the rotating shaft 4 with respect to the first bearing 5. Tsc (i) is a direction vector indicating the inclination of the second bearing 6 with respect to the rotating shaft 4. T's (i) is a direction vector indicating the inclination of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the parallelism measurement mechanism 50 at time i. These vectors geometrically satisfy the following relationship.
T's (i) = Tsc (i) + Tcg (i) + Tg (i) (2)
Holds.
[0031]
The direction of the vector Ecg (i) indicating the horizontal movement amount of the center of the second bearing 6 with respect to the center axis of the first bearing 5 is the same as the direction of the direction vector Tcg (i) indicating the inclination of the rotating shaft 4 with respect to the first bearing 5. equal. Further, since Eo obtained in the second step is the end point of the vector Eg (i), Ecg (i) is information of the moving distance measured by the misalignment measuring mechanism 49 at time i (the center of the apparatus coordinate system). The vector E's (i) indicating the horizontal movement amount of the center of the second bearing 6 with respect to the above can be obtained from the equation (1). Therefore, as shown in FIG. 10, the center P1 of the first bearing 5 and the center in the center axis direction of the portion fitted to the second bearing 6 on the center axis of the rotating shaft 4 (the second bearing in the present embodiment). 6 is not eccentric with respect to the first bearing 5, and the center P 1 of the first bearing 5 and the center P 2 of the second bearing 6 are both on the center axis of the rotating shaft 4. The center in the central axis direction of the portion that fits with the second bearing 6 is the center P2 of the second bearing 6.) If the distance Hcg between the second bearing 6 and the center H2 is known, the rotation with respect to the first bearing 5 is achieved. A direction vector Tcg (i) indicating the inclination of the axis 4 is obtained. That is, it is represented by the following equation.
Tcg (i) = (| Tcg (i) | / Hcg) × Ecg (i) (3)
If Tcg (i) is determined, the sum Ts () of the vector indicating the inclination of the first bearing 5 with respect to the center of the apparatus coordinate system and the vector indicating the inclination of the second bearing 6 with respect to the rotating shaft 4 is obtained from the relationship of Expression (2). i) is obtained. That is,
Ts (i) = Tsc (i) + Tg (i) (4)
FIG. 12 shows this. That is, FIG. 12 shows the movement of the second bearing 6 in the inclination direction in which the inclination of the rotating shaft 4 with respect to the first bearing 5 is corrected.
[0032]
Here, if the first bearing 5 is fixed to the bearing alignment assembly device, Tg (i) is constant in both direction and amount. Further, since the magnitude of the vector Tsc (i) is constant, the trajectory of the end point of Ts (i) indicates a circle having a center of To and a radius of | Tsc (i) |. Therefore, the center To of the trajectory of the end point of Ts (i) is obtained from the trajectory of the end point of Ts (i) by, for example, the least square method.
The center To of the trajectory of the end point of Ts (i) is the attitude of the second bearing 6 in which the center axis of the second bearing 6 is parallel to the center axis of the first bearing 5, 2 is the target attitude of the bearing 6 (third step).
[0033]
As described above, even when the inclination direction of the rotating shaft 4 does not match the inclination direction of the second bearing 6 due to friction or the like, the center position Eo of the first bearing 5 in the coordinates of the bearing alignment assembly device, and The inclination posture To of the first bearing 5, that is, the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the first bearing 5, and the center axis of the second bearing 6 is the first bearing 5. The attitude of the second bearing 6 parallel to the central axis of the second bearing 6 can be accurately obtained.
[0034]
As described above, the first bearing 5 is held at a predetermined position in the cylindrical shell 1 (the first bearing 5 is held so as not to move), and the first bearing 5 and the second bearing 6 are held at a predetermined position of the rotating shaft 4. In the fitted state, the rotating shaft 4 and the second bearing 6 are inclined with a predetermined force with respect to the center axis of the first bearing to swing the rotating shaft 4 and the second bearing 6, and at least three of the swinging movements are performed. At a location, both the relative inclination of the second bearing 6 with respect to the first bearing 5 and the moving distance in a direction intersecting the central axis of the first bearing 5 are simultaneously detected, and information on the detected tilt and moving distance is detected. By calculating the target position and target attitude of the second bearing 6 with respect to the first bearing 5 based on the above, the positional relationship and the attitude of the first bearing 5 and the second bearing 6 with the bearing holes are defined with high accuracy. Bearing of the first bearing 5 without providing a reference hole or reference surface It is possible to grasp the inner circumferential bearing the relative position and orientation relationship of the second bearing 6 to the circumferential.
[0035]
Further, the distance Hcg between the center P1 of the first bearing 5 and the distance P2 between the center of the portion of the rotating shaft that is fitted to the second bearing 6 in the direction of the center axis and the first position Hcg and the first The magnitude and direction of the inclination of the rotating shaft 4 with respect to the first bearing 5 at each location are calculated from the information on the moving distance at each location obtained in the process, and the calculation results and the values at each location obtained in the first process are obtained. Based on the information on the inclination, the attitude of the second bearing 6 in which the central axis of the second bearing 6 is parallel to the central axis of the first bearing 5 is determined as the target attitude of the second bearing 6 with respect to the first bearing 5. Thus, in the first step, even when the inclination direction of the rotating shaft and the inclination direction of the second bearing do not match due to friction or the like, the center axis of the second bearing 6 is not equal to the center axis of the first bearing 5. The attitude of the second bearing 6 that is parallel can be accurately obtained, and Bearing alignment assembly is made possible such.
[0036]
In the above-described embodiment, the method of synchronizing the direction in which the rotating shaft 4 and the second bearing 6 are tilted and the rotation angle of the rotating shaft 4 has been described. However, when there is almost no eccentricity and bending of the rotating shaft 4, Without rotating the rotating shaft 4 or synchronizing the rotation angle of the rotating shaft 4 with the direction in which the rotating shaft 4 and the second bearing 6 are inclined, the rotating shaft 4 and the second bearing 6 can be positioned at the center of the first bearing 5. By simply tilting the rotating shaft 4 and the second bearing 6 with respect to the shaft and swinging the same, it is possible to accurately obtain the desired posture by the above calculation method.
[0037]
Next, in step ST7, the misalignment adjusting mechanism 52 is driven, and the misalignment measuring mechanism 49 performs feedback control while obtaining the current position Ec of the second bearing 6, thereby adjusting the second bearing 6 to the target position Eo. Similarly, the parallelism adjusting mechanism 53 is driven to perform the feedback control while obtaining the current attitude Tr of the second bearing 6 by the parallelism measuring mechanism 50, thereby adjusting the second bearing 6 to the target attitude To.
Further, in step ST8, the second bearing holding mechanism 54 is driven to hold the second bearing 6 at the target position and the target posture.
Steps ST7 and ST8 are the fourth step of the bearing alignment method according to the first embodiment.
[0038]
Finally, at step ST9, the welding mechanism 55 fixes the second bearing 6 to the cylindrical shell 1 at three points simultaneously by MAG welding.
In the first embodiment, in order to prevent the positional deviation and the positional deviation of the second bearing 6 due to welding, the welding conditions at each welding point, that is, the distance from the tip of the welding torch to the outer periphery of the cylindrical shell 1, the welding current, the welding voltage, the start of welding. The time and the welding end time are set to be the same.
[0039]
In the first embodiment, the fixing of the first bearing 5 to the cylindrical shell has already been performed before the first step. As described above, by fixing the first bearing 5 to the cylindrical shell 1 before holding the cylindrical shell 1 in the bearing alignment assembly device, the first bearing 5 is fixed to the cylindrical shell 1 when the first bearing 5 is fixed to the cylindrical shell 1. It is possible to prevent the bearing from being displaced with respect to the bearing alignment assembly device. Further, since the first bearing 5 can be fixed to the bearing alignment assembly device by fixing the cylindrical shell 1 to the bearing alignment assembly device, it is easy to fix the first bearing 5 to the bearing alignment assembly device. As a result, the structure of the bearing alignment assembly device can be simplified.
In the first step, when the first bearing 5 is fixed to the cylindrical shell 1 after the cylindrical shell 1 is held by the bearing alignment assembly device, the first bearing 5 is fixed to the cylindrical shell 1 or the bearing alignment assembly device. In this case as well, the swinging motion of the second bearing 6 and the detection of the movement limit are performed with respect to the first bearing 5 already fixed. There is an effect that the center axis of the second bearing 6 can be matched with the center axis of the second bearing 5 with high accuracy.
[0040]
As described above, according to the present embodiment, it is not necessary to provide the first bearing 5 and the second bearing 6 with the reference hole or the reference surface in which the positional relationship and the attitude relationship with the bearing hole are defined with high precision. In addition, since the high-precision machining portions in the first bearing 5 and the second bearing 6 need only include bearing holes which are indispensable as product functions, there is an effect that the number of machining steps can be reduced and an inexpensive rotating mechanism can be provided. Further, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing 5 and the center axis of the second bearing 6 can be made to coincide with each other with high accuracy, and a highly reliable rotation can be achieved. There is an effect that a mechanism can be provided. Moreover, in the first step, even when the inclination direction of the rotating shaft does not match the inclination direction of the second bearing due to friction or the like, the target attitude of the second bearing with respect to the first bearing can be accurately obtained.
[0041]
Further, in the first embodiment, since the rotary shaft 4 is rotated with respect to the bearing holes of the first bearing 5 and the second bearing 6 in a state where the rotating shaft 4 is inclined to the limit of the bearing clearance, a minute projection at the end of the bearing hole or the like. Can be smoothed, and a kind of conforming effect can be obtained.
[0042]
Also, the measurement data number of the relative inclination and the movement distance of the second bearing 6 with respect to the first bearing 5 is preferably as large as possible because a higher bearing alignment accuracy can be obtained. By swinging the shaft 4 and the second bearing 6, a large number of measurement data can be easily obtained.
[0043]
Although FIG. 3 of the first embodiment shows an example in which the misalignment measuring mechanism 49 and the parallelism measuring mechanism 50 are arranged so as to measure the horizontal position and the inclination of the float portion 40, the second bearing 6 is used. Is arranged so as to directly measure the horizontal position and the inclination of the second bearing 6, the second bearing 6 does not need to be firmly fixed to the float portion 40 by the second bearing clamp 35, so that the second bearing clamp 35 can be simplified. It can be something.
[0044]
Furthermore, in FIG. 3 of the first embodiment, an example is shown in which the misalignment measuring mechanism 49 and the parallelism measuring mechanism 50 are configured by contact-type displacement sensors. It is also possible to use a non-contact type displacement sensor such as a sensor.If a non-contact type displacement sensor is used, measurement errors due to friction at the tip of the contact, contact pressure, and minute irregularities on the measurement surface are prevented. be able to.
[0045]
In the first embodiment, the rotating shaft 4 and the second bearing 6 are tilted with a predetermined force with respect to the center axis of the first bearing 5 to swing the rotating shaft 4 and the second bearing 6. Alternatively, the rotating shaft 4 and the second bearing 6 may be inclined with respect to the central axis of the first bearing 5 in at least three different directions with a predetermined force. In this case, in addition to the same effects as described above, The relative inclination of the second bearing 6 with respect to the first bearing 5 and the direction intersecting the central axis of the first bearing 5 can be reduced in a shorter time than in the case where the rotary shaft 4 and the second bearing 6 are rocked. The effect that the movement distance can be detected is obtained.
[0046]
Embodiment 2 FIG.
13 and 14 are views for explaining a bearing alignment method and a bearing alignment assembly device according to a second embodiment of the present invention. More specifically, FIG. 13 is a main portion of the bearing alignment assembly device. FIG. 14 is an external view of a rotation mechanism.
As shown in FIG. 14, screw holes 12 are provided on the end surface of the first bearing 5 on the opening side of the cylindrical shell 1 at intervals of 90 degrees in the circumferential direction. As shown in FIG. 13, a bolt hole 61 is provided in the work mounting table 31, a bolt 62 is inserted in the bolt hole 61, and the bolt 62 is placed on the upper surface of the work mounting table 31. The first bearing 5 is firmly fixed to the work mounting table 61 by being screwed into the screw hole 12 of the first bearing 5.
[0047]
In step ST1 of the first embodiment, the cylindrical shell holding mechanism 34 fixes the first bearing 6 to the work mounting table 31 by applying a pressing force from above the cylindrical shell 1. A force is applied to the cylindrical shell 1 via the first bearing 5 when measuring the horizontal movement trajectory and the inclination trajectory of the second bearing 6. Also, at the time of welding, a reaction force is received from the second bearing 6 held by the upper base 36. In order to maintain the position of the cylindrical shell 1 relative to the work table 31 against these forces, it is necessary for the cylindrical shell holding mechanism 34 to generate a very large pressing force. When a large pressing force is applied to the cylindrical shell 1, distortion occurs in the cylindrical shell 1, which may affect the assembly accuracy of the second bearing 6. Further, the work mounting table 31 is pressed and fixed against the main base 30 by the lifting mechanism 32. Since the elevating mechanism 32 receives the pressing force generated by the cylindrical shell holding mechanism 34, it is necessary to generate a greater force than the pressing force generated by the cylindrical shell holding mechanism 34, so that the bearing alignment assembly apparatus is very large. It will be.
[0048]
On the other hand, in the configuration of the present embodiment, the first bearing 5 can be fixed directly to the work mounting table 61 with the bolts 62, so that the first bearing 5 can be firmly fixed. It is possible to prevent the position and posture of the first bearing from changing during the bearing alignment assembly work. Moreover, since there is no need to pressurize the cylindrical shell 1 from above, the cylindrical shell holding mechanism 34 is unnecessary, and the force generated by the elevating mechanism 32 can be suppressed, so that the bearing alignment assembly device can be simplified. In this way, it is possible to both securely fix the first bearing 5 to the bearing alignment assembly device and simplify the bearing alignment assembly device.
[0049]
In the first and second embodiments, the first bearing 5 is fixed to a predetermined position in the cylindrical shell 1 by welding or the like in advance, and the first bearing holding means and the cylindrical shell holding means are used in combination. As described above, when the first bearing 5 is not fixed to a predetermined position in the cylindrical shell 1 in advance, the cylindrical shell holding mechanism 43 shown in the first embodiment holds the cylindrical shell 1 and the second embodiment 2 The first bearing 5 may be held on the work mounting table 61 by bolts 62 shown in FIG.
[0050]
Embodiment 3 FIG.
FIG. 15 is a view for explaining a bearing alignment assembly method and a bearing alignment assembly apparatus according to Embodiment 3 of the present invention, and more specifically, a longitudinal section showing a configuration of a main part of the bearing alignment assembly apparatus. FIG.
The bearing alignment assembly device according to the present embodiment is different from the bearing alignment assembly device according to Embodiment 1 in that the first bearing horizontal position measurement mechanism 63 (corresponding to a means for measuring the position of the first bearing 5 with respect to the bearing alignment assembly device). ) And a first bearing inclination measuring mechanism 64 (corresponding to a means for measuring the attitude of the first bearing 5 with respect to the bearing alignment assembly device).
[0051]
The first bearing horizontal position measuring mechanism 63 is provided at three locations on the work mounting table 31 at intervals of 120 degrees in the circumferential direction, and measures the inner peripheral position of the first bearing 5. The first bearing inclination measuring mechanism 64 is provided on the work mounting table 31 at three locations at intervals of 120 degrees in the circumferential direction, and measures the end surface of the first bearing 5 in the vertical direction.
[0052]
In step ST5 of the first embodiment, the horizontal position and posture of the second bearing 6 with respect to the reference of the bearing alignment assembly device were measured, and the horizontal position and posture of the first bearing 5 were measured.
If the fixing and holding of the cylindrical shell 1 is incomplete, the position and orientation of the first bearing 5 with respect to the reference of the bearing alignment assembly device may change between step ST7 and step ST9. In the third embodiment, even in such a case, the first bearing horizontal position measuring mechanism 63 and the first bearing inclination measuring mechanism 64 can grasp the amount of change in the position and posture of the first bearing 5. The horizontal position and inclination of the central axis of the second bearing 6 with respect to the central axis of the bearing 5 can be accurately grasped.
[0053]
Note that the same effect can be obtained even if the first bearing horizontal position measuring mechanism 63 is provided at two locations in two orthogonal axial directions in the horizontal plane.
[0054]
When the cylindrical shell 1 and the first bearing 5 are fixed in advance, the first bearing horizontal position measuring mechanism 63 and the first bearing inclination measuring mechanism 64 measure the position and posture of the cylindrical shell 1. The same effect can be obtained even if it is configured.
[0055]
Embodiment 4 FIG.
16 to 18 are views for explaining a bearing alignment method and a bearing alignment assembly device according to a fourth embodiment of the present invention. More specifically, FIG. A direction intersecting the center axis of the first bearing of the second bearing 6 when the center P2 of the portion where the second bearing is fitted is eccentric by a certain amount in a certain direction with respect to the axis L1 of the mating portion ( FIG. 17 is an explanatory diagram schematically showing an example of data measured by the misalignment measuring mechanism at a time i, and FIG. 18 is a rotation diagram. It is explanatory drawing which shows typically the horizontal movement of the 2nd bearing which corrected the eccentricity of the shaft.
In the present embodiment, the bearing alignment in the case where the center P2 of the rotating shaft 4 at the portion where the second bearing 6 is fitted is eccentric with respect to the axis L1 of the rotating shaft 4 and its size and direction are known in advance. 1 shows a method and a bearing alignment assembly device.
[0056]
Hereinafter, parts different from the first embodiment will be mainly described.
In the bearing centering and assembling apparatus according to the present embodiment, the direction in which the rotating shaft 4 and the second bearing 6 are tilted and the rotation angle of the rotating shaft 4 are synchronized so that the rotating shaft 4 and the second bearing 6 are precessed. In addition to the bearing centering and assembling apparatus described in the first embodiment, a means for newly detecting the rotation angle of the rotating shaft 4 is provided. In detecting the rotation angle, for example, a rotation angle detector (encoder) is installed on a drive shaft that rotates in synchronization with the rotation shaft 4, and the rotation angle of the rotation shaft 4 is detected by detecting the angle of the drive shaft. do it.
[0057]
Next, a description will be given of a bearing alignment method according to the present embodiment, mainly with respect to differences from the first embodiment.
In step ST4 of the first embodiment, when the rotating shaft 4 and the second bearing 6 are tilted with respect to the center axis of the first bearing 5 to swing the rotating shaft 4 and the second bearing 6, the rotating shaft 4 is rotated. The rotation shaft 4 and the second bearing 6 are precessed by synchronizing the direction in which the rotation shaft 4 and the second bearing 6 are inclined with the rotation angle of the rotation shaft 4.
Next, in step ST5 of the first embodiment, the rotation angle of the rotating shaft 4, the relative inclination of the second bearing 6 with respect to the first bearing 5, and the inclination of the first bearing 5 in at least three places of the precession motion. The three movement distances in the direction intersecting the central axis are detected simultaneously.
[0058]
Hereinafter, the second step and the third step of obtaining the target position and the target attitude of the second bearing 6 with respect to the first bearing 5 will be described with reference to FIGS.
In the second step, based on the magnitude and direction of the eccentricity of the rotating shaft, and information on the rotation angle of the rotating shaft 4 and the moving distance of the second bearing 6 at each location obtained in the first step (steps ST1 to ST5). Then, the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the first bearing 5 is determined as the target position of the second bearing 6 with respect to the first bearing 5.
Further, in the third step, the center P1 of the first bearing 5 and the center axis of the rotating shaft 4 (as in the present embodiment, the center P1 of the portion of the rotating shaft where the first bearing fits) When the center of the portion where the two bearings are fitted is eccentric, the center axis of the rotating shaft 4 refers to the center axis of the portion of the rotating shaft 4 where the first bearing 5 is fitted. The center axis of the portion in which the first bearing 5 is fitted is referred to as a first axis.) The center of the portion in L1 on which the second bearing 6 is fitted in the central axis direction (that is, the center of the second shaft). The rotation of the second bearing 6 at each location with respect to the first bearing 5 at each location from the distance Hcg between the first bearing 5 at each location obtained in the first step and the distance Hcg between the first bearing 5 and the distance from the center P3 in the axial direction). The magnitude and direction of the inclination of the axis 4 are calculated, and the calculation result and the second position at each point obtained in the first step are calculated. Based on the information on the inclination of the bearing 6, the attitude of the second bearing 6 in which the center axis of the second bearing 6 is parallel to the center axis of the first bearing 5 is determined by the target of the second bearing 6 with respect to the first bearing 5. Ask for posture.
[0059]
In FIGS. 16 and 17, EX and EY are rectangular coordinate systems fixed to the bearing alignment assembly apparatus, and Eo is the center position of the first bearing 5 (the position of the center of the first bearing 5; FIG. P1). Eg (i) is a vector indicating the amount of horizontal movement of the center P1 of the first bearing 5 with respect to the center of the coordinate system of the bearing alignment assembly device (hereinafter sometimes referred to as the center of the device coordinate system). Ecg (i) is the value of the portion of the rotary shaft 4 where the second bearing 6 fits on the central axis (first axis) L1 of the portion where the first bearing 5 fits with the central axis of the first bearing 5. It is a vector indicating the horizontal movement amount of the center P3 in the direction of the center axis L1. Ec (i) is the magnitude and direction of the eccentricity of the eccentric position P2 of the second shaft L2 of the portion where the second bearing 6 fits with respect to the center axis L1 of the portion where the first bearing 5 of the rotary shaft 4 fits. Is a vector indicating E's (i) is a vector indicating the horizontal movement amount of the center P2 of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the misalignment measuring mechanism 49 at time i. These vectors Eg (i), Ecg (i), Ec (i), and E's (i) geometrically satisfy the following relationship.
E's (i) = Ecg (i) + Eg (i) + Ec (i) (5)
[0060]
Here, if the rotation angle T (i) of the rotating shaft 4 at the time i is known, the magnitude of the eccentricity (the second bearing 6 with respect to the center axis L1 of the portion where the first bearing 5 of the rotating shaft 4 is fitted) is determined. If the eccentric position P2) of the second axis L2 at the portion where is fitted is Rc, Ec (i) is expressed by the following equation.
Ec (i) = Rc (cos (T (i), sin (T (i))) (6)
[0061]
Also,
E's (i) -Ec (i) = Es (i) (7)
Then, the following equation holds.
Es (i) = Ecg (i) + Eg (i) (8)
Es (i) is nothing but the horizontal displacement Es (i) of the center of the second bearing 6 with respect to the center of the apparatus coordinate system which does not include the magnitude of the eccentricity of the second axis with respect to the first axis of the rotary shaft 4. . FIG. 18 shows this.
[0062]
If the first bearing 5 is fixed with respect to the bearing alignment assembly device, Eg (i) is constant in both direction and amount. Further, since the magnitude of the vector Ecg (i) is constant, the trajectory of the end point of Es (i) indicates a circle having a center of Eo and a radius of | Ecg (i) |. Therefore, the center Eo of the trajectory of the end point of Es (i) is obtained from the measured values of the end point of Es (i) (at least three places) by, for example, the least squares method.
The center Eo of the locus of the end point of Es (i) is the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the first bearing 5, and the second bearing with respect to the first bearing 5 This is the target position No. 6 (second step).
[0063]
Further, since Eo is the end point of the vector Eg (i), Ecg (i) can be obtained from Expression (8). Using Ecg (i), the attitude of the second bearing 6 is such that the center axis of the second bearing 6 is parallel to the center axis of the first bearing 5 in the same manner as in the first embodiment, To which is the target posture of the second bearing 6 with respect to the first bearing 5 is determined (third step).
[0064]
As described above, the inclination of the rotating shaft 4 does not match the inclination direction of the second bearing 6 due to friction or the like, and the second axis L2 of the rotating shaft 4 is located with respect to the first axis L1. Even when the bearing is eccentric by a certain amount in the direction, the center position Eo of the first bearing 5 and the inclination posture To of the first bearing 5 in the coordinates of the bearing alignment assembly apparatus, that is, the center of the second bearing is the first bearing. It is possible to accurately determine the position of the second bearing 6 that coincides with the central axis of the first bearing 5 and the attitude of the second bearing 6 in which the central axis of the second bearing 6 is parallel to the central axis of the first bearing 5. it can.
[0065]
Therefore, the first and second bearings 5 and 6 do not need to be provided with a reference hole or a reference surface in which the positional relationship with the bearing hole and the positional relationship with the bearing hole are each defined with high accuracy, and in the first step, the friction is increased. Even if the inclination direction of the rotating shaft 4 and the inclination direction of the second bearing 6 do not match for the reason, etc., the rotation of the second bearing 6 with respect to the central axis of the portion of the rotating shaft 4 where the first bearing 5 is fitted. Even if the center of the portion where the is fitted is eccentric, it is possible to assemble the bearing with high precision.
[0066]
FIG. 18 shows a case where the axis of the portion where the second bearing 6 is fitted is shifted (offset), but the axis of the portion where the second bearing 6 is fitted is not parallel. In the case where the shaft is bent (axial bending), P2 and P3 can be defined in the same manner as described above, and therefore can be calculated similarly.
[0067]
Embodiment 5 FIG.
19 to 25 are views for explaining a bearing alignment method and a bearing alignment assembly device according to a fifth embodiment of the present invention. More specifically, FIG. 19 is a main part of the bearing alignment assembly device. FIG. 20 is a cross-sectional explanatory view showing a state where the rotating shaft, the first bearing, and the second bearing are inclined with respect to the center axis of the frame, and FIG. FIG. 22 schematically illustrates an example of measured data. FIG. 22 schematically illustrates a horizontal movement of a second bearing 6 when the first bearing is held by a frame so as to be able to linearly move along a rotation axis. FIG. 23 is an explanatory view schematically showing the horizontal movement of the second bearing in which the inclination of the first bearing with respect to the frame is corrected. FIG. 24 is a view showing the data measured by the parallelism measuring mechanism at time i. FIG. 25 is an explanatory view schematically showing one example, and FIG. The second bearing inclination movement obtained by correcting the inclination of the rotation axis with respect to the gas and the first bearing is an explanatory view schematically showing.
[0068]
In the present embodiment, the first bearing 5 is held by a frame 13 fixed to one end of the cylindrical shell 1 so as to be able to linearly move along the rotary shaft 4. In addition, a first bearing inclination measuring mechanism 65 is added to the bearing alignment assembly apparatus according to Embodiment 1 as first bearing measurement means for measuring the attitude of the first bearing 5 with respect to the bearing alignment assembly apparatus.
The first bearing 5 is held via an O-ring 14 arranged on the inner periphery of the frame 13 as described in detail in, for example, And is supported slidably in the vertical direction while maintaining a predetermined gap (held movably linearly along the rotating shaft 4). The frame 13 is fixed to one end of the inner periphery of the cylindrical shell 1 by, for example, welding. The first bearing inclination measuring mechanism 65 is disposed at three locations at intervals of 120 degrees in the circumferential direction, and measures the attitude of the first bearing 5 with respect to the bearing alignment assembly device.
[0069]
Next, a description will be given of a bearing alignment method according to the present embodiment, mainly with respect to differences from the first embodiment. FIG. 20 shows the state of the first bearing 5 in step ST4 described in the first embodiment. In the present embodiment, the first bearing 5 is mounted on the frame 13 fixed to the other end of the cylindrical shell 1. Are held on the inner periphery of the frame 13 while maintaining a predetermined gap with respect to the inner periphery of the frame 13 via an O-ring 14 disposed on the inner periphery of the rotating shaft 4 and the second bearing 6. By tilting with a predetermined force, the first bearing 5 tilts in the frame 13 and the O-ring 14 is deformed, and the first bearing 4 comes into contact with the inner circumference of the frame 13 at two points T and U. . That is, in the present embodiment, in step ST4, the rotating shaft 4, the first bearing 5, and the second bearing 6 are inclined with a predetermined force with respect to the center axis of the frame 13, so that the rotating shaft 4, the first bearing 5, The second bearing 6 is caused to swing.
[0070]
As described above, even when the first bearing 4 is movable even when the cylindrical shell 1 is held by the bearing alignment assembly device, at step ST5, at least three positions of the oscillating motion (precession motion) are better. ), The relative inclination of the first bearing 5 with respect to the frame 13 and the second bearing 6 with respect to the frame 13 are measured by simultaneously measuring the position and posture of the second bearing 6 and the posture of the first bearing 4. , And the moving distance in the direction intersecting the center axis of the frame 13 can be detected at the same time. By using this measurement data in the calculation in step ST6, the ideal It is possible to assemble a rotating mechanism in which the center axis of the second bearing 6 coincides with the center axis in the target posture.
Note that the ideal posture of the first bearing 4 referred to in the present invention refers to the center line of the locus of the center axis of the first bearing 4 when the first bearing 4 is actually oscillated as described above. In this case, the center line of the locus of the center axis of the first bearing 4 is referred to as a tilt center.) In this state, the center axis of the first bearing 4 coincides with the center line. This inclination center coincides with the central axis of the inner circumference of the frame 13.
[0071]
Hereinafter, the second step and the third step of obtaining the target position and the target attitude of the second bearing 6 with respect to the frame 13 will be described with reference to FIGS.
In the second step, the center axis of the first bearing 5 is determined based on the information of the inclination of the first bearing 5 and the moving distance of the second bearing 6 at each location obtained in the first step (steps ST1 to ST5). The position of the second bearing 6 where the center of the second bearing 6 coincides with the inclination center is determined as the target position of the second bearing 6 with respect to the frame 13.
In the third step, the distance Hcc between the center of the first bearing 5 and the center of the portion of the rotary shaft 4 that fits with the second bearing 6 on the center axis in the center axis direction is determined by the first step. The magnitude and direction of the inclination of the rotating shaft 4 with respect to the first bearing 5 at each location are calculated from the information on the moving distance of the second bearing 6 at each location obtained in the above step. Of the second bearing 6 in which the center axis of the second bearing 6 is parallel to the center of inclination of the center axis of the first bearing 5 based on the information on the inclination of the first and second bearings 5 and 6 at each location. The attitude is determined as a target attitude of the second bearing 6 with respect to the frame 13.
[0072]
FIG. 21 is a diagram showing the horizontal movement of the second bearing 6, and schematically shows an example of data measured by the misalignment measuring mechanism 49 at time i. 21 and 22, EX and EY are orthogonal coordinate systems fixed to the bearing alignment assembly apparatus, and Eo is the center position of the inner circumference of the frame 13 (corresponding to P4 in FIG. 22). Egf (i) is a vector indicating the amount of horizontal movement of the inner peripheral center P4 of the frame 13 with respect to the center of the apparatus coordinate system (the amount of movement in the direction intersecting the central axis of the frame 13). Ecf (i) is the center of the second bearing 6 with respect to the inner peripheral center P4 of the frame 13 (corresponding to P5 in FIG. 22) caused by the inclination of the first bearing 5 with respect to the frame 13 (corresponding to L3 in FIG. 22). Is a vector indicating the horizontal movement amount component of. Ecc (i) is a vector indicating the horizontal movement amount of the center P2 of the second bearing 6 with respect to the center axis of the first bearing 5 (corresponding to L3 in FIG. 22). E's (i) is a vector indicating the horizontal movement amount of the center P2 of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the misalignment measuring mechanism 49 at time i. These vectors Egf (i), Ecf (i), Ecc (i), and E's (i) geometrically satisfy the following relationship as shown in FIG.
E's (i) = Egf (i) + Ecf (i) + Ecc (i) (9)
[0073]
The direction of the vector Ecf (i) indicating the horizontal movement component of the center P2 of the second bearing 6 with respect to the inner peripheral center axis L3 of the frame 13 caused by the inclination of the first bearing 5 with respect to the frame 13 is shown in FIG. The direction is equal to the direction vector Tcf (i) indicating the inclination of the first bearing 5. Here, since the vector Tcf (i) indicating the inclination of the first bearing 5 with respect to the frame 13 is obtained by the first bearing inclination measuring mechanism 65, the inner peripheral center P4 of the frame 13 and the second bearing 6 as shown in FIG. If the distance Hcg 'from the center P5 is known, the horizontal movement component of the center P2 of the second bearing 6 with respect to the center axis L3 of the inner peripheral center of the frame 13 caused by the inclination of the first bearing 5 with respect to the frame 13 geometrically. Is obtained as a vector Ecf (i). That is, it is represented by the following equation.
Ecf (i) = (Hcfg ′ / | Tcf (i) |) × Tcf (i) (10)
Therefore
E's (i) -Ecf (i) = Es2 (i) (11)
Then, the following equation holds.
Es2 (i) = Egf (i) + Ecc (i) (12)
Es2 (i) does not include the horizontal movement amount component (vector Ecf (i)) of the center P5 of the second bearing 6 with respect to the inner peripheral center P4 of the frame 13 caused by the inclination of the first bearing 5 with respect to the frame 13, and the apparatus coordinate system. This is nothing but the horizontal movement amount Es2 (i) of the center P2 of the second bearing 6 with respect to the center. FIG. 23 shows this.
[0074]
If the frame 13 is fixed to the bearing alignment assembly device, Egf (i) is constant in both direction and amount. Further, since the magnitude of the vector Ecc (i) is constant, the trajectory of the end point of Es2 (i) indicates a circle having a center at Eo and a radius of | Ecc (i) |. Therefore, the center Eo of the trajectory of the end point of Es2 (i) is obtained from the trajectory of the end point of Es2 (i) by, for example, the least square method.
The center Eo of the trajectory of the end point of Es2 (i) is the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the frame 13, and the target position of the second bearing 6 with respect to the frame 13 (Second step).
[0075]
Next, the inclination posture To of the inner circumference of the frame 13 in the device coordinate system is obtained.
FIG. 24 shows the inclination of the second bearing 6 and schematically shows an example of data measured by the parallelism measuring mechanism 50 at time i. In FIG. 24, TX and TY are rectangular coordinate systems fixed to the bearing alignment assembly apparatus, and the magnitude and direction of the inclination are indicated by vectors obtained by projecting the normal vector of the measurement surface onto the TX-TY plane. To is the inclination posture of the inner circumference of the frame 13. Tgf (i) is a direction vector indicating the inclination of the inner circumference of the frame 13 with respect to the center of the apparatus coordinate system. Tcc (i) is a vector indicating the inclination of the rotating shaft 4 with respect to the first bearing 5. Tsc (i) is a direction vector indicating the inclination of the second bearing 6 with respect to the rotating shaft 4. T's (i) is a direction vector indicating the inclination of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the parallelism measuring mechanism 50 at time i. These vectors geometrically satisfy the following relationship.
T's (i) = Tgf (i) + Tcf (i) + Tcc (i) + Tsc (i) (13)
[0076]
As described above, the direction vector Tcf (i) indicating the inclination of the first bearing 5 with respect to the frame 13 is obtained by the first bearing inclination measuring mechanism 65.
Further, the direction of the vector Ecc (i) indicating the horizontal movement amount of the center P2 of the second bearing 6 with respect to the center axis of the first bearing 5 (corresponding to L3 in FIG. Since the direction is equal to the direction vector Tcc (i) indicating the inclination of the first bearing 5, if the distance Hcc between the center P1 of the first bearing 5 and the center P2 of the second bearing 6 is known as shown in FIG. Then, a direction vector Tcc (i) indicating the inclination of the rotating shaft 4 with respect to the first bearing 5 is obtained. That is, it is calculated by the following equation.
Tcc (i) = (| Tcc (i) | / Hcc) × Ecc (i) (14)
Since Eo obtained in the second step is the end point of the vector Egf (i), Ecc (i) is information of the moving distance measured by the misalignment measuring mechanism 49 at time i (the center of the apparatus coordinate system). Can be obtained from the equations (11) and (12) using the vector E's (i) indicating the horizontal movement amount of the center of the second bearing 6 with respect to
[0077]
When Tcf (i) and Tcc (i) are obtained, the sum of the vector indicating the inclination of the frame 13 with respect to the center of the apparatus coordinate system and the vector indicating the inclination of the second bearing 6 with respect to the rotating shaft 4 is obtained from the relationship of Expression (13). Ts (i) is obtained. That is,
Ts2 (i) = Tgf (i) + Tsc (i) (15)
This is shown in FIG.
Here, if the frame 13 is fixed to the bearing alignment assembly device, Tgf (i) is constant in both direction and amount. Further, since the magnitude of the vector Tsc (i) is constant, the trajectory of the end point of Ts2 (i) is a circle having a center of To and a radius of | Tsc (i) |. Therefore, the center To of the trajectory of the end point of Ts2 (i) is obtained from the trajectory of the end point of Ts2 (i) by, for example, the least square method.
The center To of the trajectory of the end point of Ts2 (i) is the attitude of the second bearing 6 in which the center axis of the second bearing 6 is parallel to the center axis of the frame 13, and This is the target posture (third step).
[0078]
As described above, the inclination of the rotating shaft 4 does not match the inclination direction of the second bearing 6 due to friction or the like, and the first bearing 5 can slide vertically on the inner periphery of the frame 13. Even when supported, the center position Eo of the inner circumference of the frame 13 in the coordinates of the bearing alignment assembly apparatus and the inclination posture To of the frame 13, that is, the center of the second bearing 6 is inclined with respect to the center axis of the first bearing 5. The position where the center coincides with the center (the central axis of the inner periphery of the frame 13), and the posture in which the central axis of the second bearing 6 is parallel to the inclination center of the first bearing 5 (the central axis of the inner periphery of the frame 13). Can be determined accurately.
[0079]
Therefore, the frame 13, the first bearing 5 and the second bearing 6 are each provided with a reference hole or reference surface in which the positional relationship and the positional relationship with the first bearing insertion opening and the bearing hole of the frame 13 are defined with high precision. Since there is no need to provide such a high-precision machining part in the frame 13, the first bearing 5, and the second bearing 6, only the opening and the bearing hole of the frame 13 which are indispensable as a product function are required. There is an effect that a mechanism can be provided. In addition, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing 5 in the ideal posture and the center axis of the second bearing 6 can be made to coincide with each other with high accuracy. There is an effect that it is possible to provide a rotating mechanism having high reliability. Further, even when the inclination direction of the rotating shaft 4 and the inclination direction of the second bearing 6 do not match due to friction or the like, the center axis of the first bearing 5 in the ideal posture and the center axis of the second bearing are highly accurate. Can be matched.
[0080]
In the fifth embodiment, the rotating shaft 4, the first bearing 5, and the second bearing 6 are inclined with a predetermined force with respect to the center axis of the frame 13 so that the rotating shaft 4, the first bearing 5, and the second bearing 6 are moved. Although the rocking motion is performed, the rotating shaft 4, the first bearing 5, and the second bearing 6 may be inclined in at least three different directions with a predetermined force with respect to the center axis of the frame 13, in this case. In addition to the same effects as described above, the relative inclination of the first bearing 5 with respect to the frame 13 can be reduced in a shorter time as compared with the case where the rotating shaft 4, the first bearing 5, and the second bearing 6 are oscillated. In addition, it is possible to detect the relative inclination of the second bearing 6 with respect to the frame 13 and the movement distance of the second bearing 6 in a direction intersecting the central axis of the frame 13.
[0081]
In the fifth embodiment, the frame 13 is fixed at a predetermined position in the cylindrical shell 1 by welding or the like in advance, the frame holding means holds the cylindrical shell 1, and the frame holding means also functions as the cylindrical shell holding means. Although the case has been described, similarly to the case of the first bearing 5 described in the second embodiment, when a plurality of screw holes are provided in the end face of the frame 13 on the opening side of the cylindrical shell 1, the frame holding means is provided. Has a plurality of bolts respectively screwed into the plurality of screw holes, and holds the frame 13 firmly by screwing the bolts into the screw holes and holding the frame 13 to the bearing alignment assembly device. Therefore, it is possible to prevent the position and the posture of the frame 13 from being changed during the bearing alignment assembling operation using the present bearing alignment assembling apparatus. It can be made to coincide with the central axis of the second bearing 6 with higher accuracy become.
[0082]
In the fifth embodiment, the case where the frame 13 is fixed to a predetermined position in the cylindrical shell 1 in advance by welding or the like and the frame holding means and the cylindrical shell holding means are used in combination has been described. Is not fixed at a predetermined position in the cylindrical shell 1 in advance, the cylindrical shell holding mechanism 43 shown in the first embodiment holds the cylindrical shell 1 and the frame 13 is fixed to the work mounting table 61 by the bolt 62 described above. May be held.
[0083]
In the above embodiment, the method of synchronizing the direction in which the rotating shaft 4 and the second bearing 6 are inclined with the rotation angle of the rotating shaft 4 has been described. However, in the case where the eccentricity and the bending of the rotating shaft 4 are almost zero, Without rotating the rotating shaft 4 or synchronizing the rotation angle of the rotating shaft 4 with the direction in which the rotating shaft 4 and the second bearing 6 are inclined, the rotating shaft 4 and the second bearing 6 can be positioned at the center of the first bearing 5. It is the same as described in the first embodiment that the posture to be accurately obtained by the above calculation method can be obtained simply by swinging the rotating shaft 4 and the second bearing 6 while tilting with respect to the shaft. is there.
[0084]
Embodiment 6 FIG.
26 to 28 are views for explaining a bearing alignment method and a bearing alignment assembly apparatus according to Embodiment 6 of the present invention. More specifically, FIG. FIG. 27 is an explanatory view schematically showing an example of data measured by measurement. FIG. 27 shows a direction intersecting the center axis of the first bearing of the second bearing 6 when the axis of the rotating shaft is eccentric (hereinafter referred to as a horizontal direction). FIG. 28 is an explanatory view schematically showing the movement of the first bearing with respect to the frame and the horizontal movement of the second bearing corrected for the eccentricity of the rotating shaft with respect to the frame. .
[0085]
In the present embodiment, as in the fifth embodiment, the first bearing 5 is held by the frame 13 so as to be able to move linearly along the rotary shaft 4. A bearing in the case where the center (the eccentric position of the second shaft) P2 of the portion where the second bearing 6 fits with respect to the center axis L1 of the portion where the one bearing 5 fits is eccentric and its size and direction are known in advance. 2 shows a centering method and a bearing centering assembly device.
[0086]
The following mainly describes parts different from the fourth and fifth embodiments.
The bearing centering and assembling apparatus according to the present embodiment further includes a means for detecting the rotation angle of the rotating shaft 4 in addition to the bearing centering and assembling apparatus described in the first embodiment. In detecting the rotation angle, for example, a rotation angle detector (encoder) is installed on a drive shaft that rotates in synchronization with the rotation shaft 4, and the rotation angle of the rotation shaft 4 is detected by detecting the angle of the drive shaft. do it.
In the bearing centering and assembling apparatus according to the present embodiment, similarly to the fourth embodiment, the rotating shaft 4 and the second bearing 6 are synchronized by synchronizing the direction in which the rotating shaft 4 and the second bearing 6 are inclined with the rotation angle of the rotating shaft 4. 6 is configured to perform a precession movement, and is provided with a means for newly detecting the rotation angle of the rotary shaft 4 in addition to the bearing centering assembly device described in the first embodiment.
Further, similarly to the fifth embodiment, in addition to the bearing alignment assembly device described in the first embodiment, as a first bearing measurement unit for newly measuring the attitude of the first bearing 5 with respect to the bearing alignment assembly device, The first bearing inclination measuring mechanism 65 is provided.
[0087]
Next, a description will be given of a bearing centering method according to the present embodiment, mainly with respect to differences from the fifth embodiment.
In step ST4 of the fifth embodiment, the rotating shaft 4, the first bearing 5, and the second bearing 6 are inclined with a predetermined force with respect to the center axis of the frame 13, and the rotating shaft 4, the first bearing 5, and the second bearing When swinging the rotating shaft 6, the rotating shaft 4 is rotated, and the direction in which the rotating shaft 4, the first bearing 5, and the second bearing 6 are tilted and the rotation angle of the rotating shaft 4 are synchronized with each other. The bearing 5 and the second bearing 6 are precessed.
Next, in step ST5, at least three places (the more, the better) of the precession, the rotation angle of the rotating shaft 4, the relative inclination of the first bearing 5 with respect to the frame 13, and the first bearing 5 with respect to the first bearing 5. The relative four inclinations of the two bearings 6 and the movement distance in a direction intersecting the central axis of the first bearing 5 are simultaneously detected.
[0088]
Hereinafter, the second step and the third step of obtaining the target position and the target posture of the second bearing 6 with respect to the frame 13 will be described with reference to FIGS.
In the second step, the magnitude and direction of the eccentricity of the rotating shaft, the rotation angle of the rotating shaft 4 at each location obtained in the first step (steps ST1 to ST5), the inclination of the first bearing 5 and the second bearing 6 The position of the second bearing 6 at which the center of the second bearing 6 coincides with the center of inclination of the central axis of the first bearing 5 is set as the target position of the second bearing 6 with respect to the frame 13 based on the information on the moving distance of the first bearing 5. Ask.
In the third step, the distance Hcc between the center P1 of the first bearing 5 and the center P3 in the center axis direction of a portion of the rotary shaft that fits with the second bearing 6 on the center axis of the rotary shaft is determined by the third step. From the information on the moving distance of the second bearing 6 at each location obtained in one step, the magnitude and direction of the inclination of the rotating shaft 4 with respect to the first bearing 5 at each location are calculated. A second bearing in which the center axis of the second bearing 6 is parallel to the center of inclination of the center axis of the first bearing 5 based on the obtained information on the inclination of the first and second bearings 5 and 6 at each location. 6 is determined as the target attitude of the second bearing 6 with respect to the frame 13.
[0089]
FIG. 26 is a diagram showing the horizontal movement of the second bearing 6, and schematically shows an example of data measured by the misalignment measuring mechanism 49 at time i. In FIG. 26, EX and EY are orthogonal coordinate systems fixed to the bearing alignment assembly apparatus, and Eo is the center position of the inner circumference of the frame 13 (corresponding to P4 in FIG. 27). Egf (i) is a vector indicating the horizontal movement amount of the frame 13 inner peripheral center P4 with respect to the apparatus coordinate system center. Ecf (i) is a vector indicating a horizontal movement amount component of the center of the second bearing 6 (corresponding to P5 in FIG. 27) with respect to the inner peripheral center P4 of the frame 13 caused by the inclination of the first bearing 5 with respect to the frame 13. . Ecc (i) Ecc (i) is a vector indicating the amount of horizontal movement of the center P2 of the second bearing 6 with respect to the center axis of the first bearing 5 (corresponding to L3 in FIG. 27). Ec (i) is the eccentricity of the eccentric position P2 of the second shaft of the portion where the second bearing 6 is fitted with respect to the central axis L1 of the portion where the first bearing 5 is fitted on the rotating shaft 4. Is a vector indicating the magnitude and direction of. E's (i) is a vector indicating the horizontal movement amount of the center P2 of the second bearing 6 with respect to the center of the apparatus coordinate system, and is data measured by the misalignment measuring mechanism 49 at time i. These vectors geometrically satisfy the following relationship as shown in FIG.
E's (i) = Egf (i) + Ecf (i) + Ecc (i) + Ec (i) (16)
[0090]
Here, if the rotation angle T (i) of the rotating shaft 4 at the time i is known, the magnitude of the eccentricity (the second bearing 6 with respect to the center axis L1 of the portion where the first bearing 5 of the rotating shaft 4 is fitted) is determined. If the eccentric position P2) of the second shaft at the portion where is fitted is Rc, Ec (i) can be obtained by the equation (6) shown in the fourth embodiment.
[0091]
Further, similarly to the fifth embodiment, as shown in FIG. 27, a vector Ecf () indicating a horizontal movement amount component of the bearing center P5 of the second bearing 6 with respect to the frame inner peripheral center P4 caused by the inclination of the first bearing 5 with respect to the frame 13. i) is obtained from the direction vector Tcf (i) indicating the inclination of the first bearing 5 with respect to the frame 13 obtained by the inclination measuring mechanism 65 using the equation (10) shown in the fifth embodiment.
[0092]
Therefore,
E's (i) -Ecf (i) -Ec (i) = Es3 (i) (17)
Then, the following equation holds.
Es3 (i) = Egf (i) + Ecc (i) (18)
Es3 (i) does not include the horizontal movement amount component (vector Ecf (i)) of the center P5 of the second bearing 6 with respect to the inner peripheral center P4 of the frame 13 caused by the inclination of the first bearing 5 with respect to the frame 13, and furthermore, the rotation axis 4 is the horizontal movement Es3 (i) of the center P2 of the second bearing 6 with respect to the center of the apparatus coordinate system, not including the magnitude of the eccentricity of the second axis L2 with respect to the first axis L1. FIG. 28 shows this.
[0093]
If the frame 13 is fixed to the bearing alignment assembly device, Egf (i) is constant in both direction and amount. Further, since the magnitude of the vector Ecc (i) is constant, the trajectory of the end point of Es3 (i) indicates a circle having a center at Eo and a radius of | Ecc (i) |. Therefore, the center Eo of the trajectory of the end point of Es3 (i) is obtained from the trajectory of the end point of Es3 (i) by, for example, the least square method.
The center Eo of the trajectory of the end point of Es2 (i) is the position of the second bearing 6 where the center of the second bearing 6 coincides with the center axis of the frame 13, and the target position of the second bearing 6 with respect to the frame 13 (Second step).
[0094]
Further, since Eo is the end point of the vector Egf (i), Ecc (i) can be obtained from the equation (14) shown in the fifth embodiment. Using this Ecc (i), in the same manner as in the fifth embodiment, the attitude of the second bearing 6 is such that the central axis of the second bearing 6 is parallel to the central axis of the frame 13. Is determined as the target posture of the second bearing 6 with respect to the above (third step).
[0095]
As described above, the inclination of the rotating shaft 4 does not match the inclination direction of the second bearing 6 due to friction or the like, and the first bearing 14 can slide vertically on the inner periphery of the frame 13. Even if it is supported and the second shaft of the rotating shaft 4 is eccentric by a certain amount in a certain direction with respect to the first shaft, the center position of the inner circumference of the frame 13 in the coordinates of the bearing alignment assembly device Eo, and the inclination posture To of the frame 13, that is, the center of the second bearing 6 is the inclination center of the center axis of the first bearing 5 (the position coincident with the center axis of the inner periphery of the frame 13), and the second bearing 6. Of the first bearing 5 (the center axis of the inner periphery of the frame 13) can be accurately determined.
[0096]
Therefore, the frame 13, the first bearing 5 and the second bearing 6 are each provided with a reference hole or reference surface in which the positional relationship and the positional relationship with the first bearing insertion opening and the bearing hole of the frame 13 are defined with high precision. Since there is no need to provide such a high-precision machining part in the frame 13, the first bearing 5, and the second bearing 6, only the opening and the bearing hole of the frame 13 which are indispensable as a product function are required. There is an effect that a mechanism can be provided. In addition, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing 5 in the ideal posture and the center axis of the second bearing 6 can be made to coincide with each other with high accuracy. There is an effect that it is possible to provide a rotating mechanism having high reliability. Further, when the inclination direction of the rotating shaft 4 and the inclination direction of the second bearing 6 do not match due to friction or the like, and when the first bearing 5 of the rotating shaft 4 is fitted with the first bearing 5, the second bearing 6 is not moved. Even when the center of the portion where the two bearings 6 are fitted is eccentric, the center axis of the first bearing 5 in the ideal posture and the center axis of the second bearing can be matched with high accuracy.
[0097]
In each of the above embodiments, the case has been described in which the center axis of the second bearing 6 is aligned with the center axis of the first bearing 5. It is needless to say that the assembling apparatus is not limited to the case where the center axis of the second bearing 6 coincides with the center axis of the first bearing 5, but can be applied to, for example, a case where the center is intentionally shifted by a predetermined distance.
[0098]
【The invention's effect】
As described above, according to the bearing alignment method according to the present invention, a method for aligning the first bearing and the second bearing that support the rotating shaft, wherein the first bearing is held so as not to move, In a state where the first bearing and the second bearing are fitted to predetermined positions of the rotary shaft, the rotary shaft and the second bearing are tilted with a predetermined force with respect to the center axis of the first bearing, and the rotary shaft and the second bearing are tilted. The bearing is oscillated, and at least at three points of the oscillating motion, both the relative inclination of the second bearing with respect to the first bearing and the movement distance in a direction intersecting the center axis of the first bearing are simultaneously detected. The first step to be performed, and the position of the second bearing at which the center of the second bearing coincides with the center axis of the first bearing is determined based on the information on the movement distance at each of the locations obtained in the first step. A second step for determining a target position of the second bearing with respect to the one bearing; And the distance between the center of the portion of the rotary shaft, which is fitted to the second bearing on the center axis in the direction of the center axis, and the information of the moving distance at each point obtained in the first step. Calculating the magnitude and direction of the inclination of the rotary shaft with respect to the first bearing at each of the locations, and based on the calculation result and the information on the inclination at each location obtained in the first step, the center axis of the first bearing. And a third step of obtaining a posture of the second bearing in which the center axis of the second bearing is parallel to the first bearing as a target posture of the second bearing with respect to the first bearing, and a second step and a third step of obtaining the second bearing. And a fourth step of positioning at the set target position and target posture and holding the position in that state, so that the first bearing 5 and the second bearing 6 have a highly accurate positional relationship and bearing relationship with the bearing holes, respectively. The reference hole or reference surface specified in No necessity for high precision machining unit in the first bearing 5 and the second bearing 6 since it is only essential bearing hole as a product function, there is an effect that it provides an inexpensive rotation mechanism can reduce the number of processing steps. Further, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing 5 and the center axis of the second bearing 6 can be made to coincide with each other with high accuracy, and a highly reliable rotation can be achieved. There is an effect that a mechanism can be provided. Moreover, in the first step, even when the inclination direction of the rotating shaft does not match the inclination direction of the second bearing due to friction or the like, the target attitude of the second bearing with respect to the first bearing can be accurately obtained.
[0099]
Further, according to a bearing alignment method according to another invention of the present invention, there is provided a method of aligning and assembling a first bearing and a second bearing that support a rotating shaft, wherein the first bearing is formed of a frame by the frame. When the frame is held so as to be able to move linearly along the shaft, the frame holding the first bearing so as to be able to move linearly is held so as not to move, and the first bearing and the second bearing are fitted to predetermined positions of the rotating shaft. In the combined state, the rotating shaft, the first bearing, and the second bearing are tilted with a predetermined force with respect to the center axis of the frame to swing the rotating shaft, the first bearing, and the second bearing, and Simultaneously detecting the relative tilt of the first bearing with respect to the frame and the relative tilt of the second bearing with respect to the frame and the distance traveled in a direction intersecting the central axis of the frame at at least three points of motion. A first step of A second bearing in which the center of the second bearing coincides with the center of inclination of the center axis of the first bearing based on the information on the inclination of the first bearing and the moving distance of the second bearing at each of the locations obtained in the process. A second step of determining a position of the second bearing with respect to the frame, a center of the first bearing, and a center in a direction of the central axis of a portion on the central axis of the rotating shaft which is fitted to the second bearing. From the distance between and the information on the moving distance of the second bearing at each location obtained in the first step, calculate the magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location, Based on this calculation result and the information on the inclination of the first and second bearings at each of the points obtained in the first step, the center axis of the second bearing is parallel to the center of inclination of the center axis of the first bearing. Position of the second bearing with respect to the frame (2) a third step of obtaining the target attitude of the bearing, and a fourth step of positioning the second bearing at the target position and the target attitude obtained in the second step and the third step, and holding the state in that state. There is no need to provide the frame, the first bearing, and the second bearing with a reference hole or a reference surface in which the positional relationship and the attitude relationship with the first bearing insertion opening and the bearing hole of the frame are defined with high precision, respectively. Since the high-precision processing portions of the frame, the first bearing, and the second bearing need only be the opening and the bearing hole of the frame, which are indispensable as product functions, the number of processing steps can be reduced and an inexpensive rotating mechanism can be provided. In addition, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing in the ideal posture and the center axis of the second bearing can be made to coincide with each other with high accuracy. There is an effect that a high rotation mechanism can be provided. Further, in the first step, even when the inclination direction of the rotating shaft and the inclination direction of the second bearing do not match due to friction or the like, the center axis of the first bearing in the ideal posture and the center axis of the second bearing are aligned. It is possible to match with high precision.
[0100]
Further, according to the bearing alignment assembly apparatus according to the present invention, there is provided an apparatus for aligning and assembling the first bearing and the second bearing which are respectively disposed at both ends of the inner periphery of the cylindrical shell and support the rotating shaft, Holding means for holding the first bearing at a predetermined position in the cylindrical shell so as not to move; and a first bearing and a second bearing fitted to the predetermined position of the rotary shaft, and the rotation shaft and the second bearing. Oscillating means for inclining the bearing with a predetermined force with respect to the center axis of the first bearing to oscillate the rotary shaft and the second bearing, and at least three positions of the oscillating motion of the second bearing relative to the first bearing. Relative, inclination and a measuring means for simultaneously detecting both the moving distance in the direction intersecting the central axis of the first bearing, and information on the moving distance at each point measured by the measuring means, To the center axis of the first bearing The position of the second bearing at which the center of the second bearing coincides is determined as the target position of the second bearing with respect to the first bearing, and the center of the first bearing is fitted to the second bearing on the center axis of the rotating shaft. From the distance between the center of the portion in the direction of the central axis and the information on the moving distance at each point measured by the measuring means, the magnitude and direction of the inclination of the rotary shaft with respect to the first bearing at each point. Is calculated based on the calculation result and the information of the inclination at each of the points measured by the measuring unit, and the posture of the second bearing in which the center axis of the second bearing is parallel to the center axis of the first bearing. Calculating means for calculating the target attitude of the second bearing with respect to the first bearing, positioning means for positioning the second bearing at the target position and the target attitude and holding the same in that state, and mounting the first bearing and the second bearing respectively. Fixing means for fixing to the cylindrical shell, it is not necessary to provide the first bearing and the second bearing with a reference hole or a reference surface in which the positional relationship and the attitude relationship with the bearing hole are defined with high precision. Since the high-precision machining portion in the first bearing and the second bearing only needs to be a bearing hole which is indispensable as a product function, the number of machining steps can be reduced and an inexpensive rotating mechanism can be provided. Further, since the processing accuracy of the reference hole or the reference surface is not affected, the center axis of the first bearing and the center axis of the second bearing can be matched with high accuracy, and a highly reliable rotating mechanism can be provided. There is an effect that it can be provided. Further, even when the inclination direction of the rotating shaft does not coincide with the inclination direction of the second bearing due to friction or the like, the central axis of the first bearing in the ideal posture and the central axis of the second bearing are made to coincide with high accuracy. It becomes possible.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view showing a rotation mechanism assembled by a bearing alignment assembly method and a bearing alignment assembly apparatus according to a first embodiment.
FIG. 2 is a longitudinal sectional view showing a configuration of a main part of the bearing alignment assembly device according to the first embodiment.
FIG. 3 is a longitudinal sectional view showing a configuration of a main part of the bearing alignment assembly device according to the first embodiment.
FIG. 4 is a longitudinal sectional view showing a configuration of a main part of the bearing alignment assembly device according to the first embodiment.
FIG. 5 is an enlarged longitudinal sectional view showing a rotating shaft support mechanism used in the bearing alignment assembly device according to the first embodiment.
FIG. 6 is a perspective view illustrating a configuration of a shaft connecting portion used in the bearing alignment assembly device according to the first embodiment.
FIG. 7 is an explanatory sectional view showing a state in which the rotating shaft and the second bearing are inclined with respect to the center axis of the first bearing according to the first embodiment.
FIG. 8 is a flowchart illustrating a bearing alignment method according to the first embodiment.
FIG. 9 is an explanatory diagram schematically showing an example of data measured by the misalignment measuring mechanism at a time i according to the first embodiment.
FIG. 10 is a diagram illustrating a tilt of the rotation shaft with respect to the first bearing according to the first embodiment.
FIG. 11 is an explanatory diagram schematically showing an example of data measured by the parallelism measurement mechanism at time i according to the first embodiment.
FIG. 12 is an explanatory diagram schematically showing the movement of the second bearing in the inclination direction in which the inclination of the rotating shaft with respect to the first bearing is corrected according to the first embodiment.
FIG. 13 is a longitudinal sectional view showing a configuration of a main part of a bearing alignment assembly device according to a second embodiment.
FIG. 14 is an external view of a rotation mechanism according to the second embodiment.
FIG. 15 is a longitudinal sectional view showing a configuration of a main part of a bearing alignment assembly device according to a third embodiment.
FIG. 16 is an explanatory diagram schematically showing a horizontal movement of the second bearing when the rotation shaft is eccentric according to the fourth embodiment.
FIG. 17 is an explanatory diagram schematically showing an example of data measured by the misalignment measuring mechanism at time i according to the fourth embodiment.
FIG. 18 is an explanatory diagram schematically showing horizontal movement of the second bearing in which eccentricity of the rotation shaft is corrected according to the fourth embodiment.
FIG. 19 is a longitudinal sectional view showing a configuration of a main part of a bearing alignment assembly device according to a fifth embodiment.
FIG. 20 is an explanatory sectional view showing a state in which the rotating shaft, the first bearing, and the second bearing are inclined with respect to the center axis of the frame according to the fifth embodiment.
FIG. 21 is an explanatory diagram schematically showing an example of data measured by the misalignment measuring mechanism at time i according to the fifth embodiment.
FIG. 22 relates to the fifth embodiment, and is an explanatory view schematically showing horizontal movement of the second bearing 6 when the first bearing is held by a frame so as to be able to move linearly along the rotation axis.
FIG. 23 is an explanatory diagram schematically showing horizontal movement of the second bearing in which the inclination of the first bearing with respect to the frame is corrected according to the fifth embodiment.
FIG. 24 is an explanatory diagram schematically showing an example of data measured by the parallelism measurement mechanism at time i according to the fifth embodiment.
FIG. 25 is an explanatory diagram schematically showing the movement of the second bearing in the inclination direction in which the inclination of the first bearing with respect to the frame and the inclination of the rotating shaft with respect to the first bearing are corrected according to the fifth embodiment.
FIG. 26 is an explanatory diagram schematically showing an example of data measured by the misalignment measuring mechanism at a time i according to the sixth embodiment.
FIG. 27 relates to the sixth embodiment, and schematically illustrates the horizontal movement of the second bearing 6 when the first bearing is held by the frame so as to be able to move directly along the rotation axis and the rotation axis is eccentric. FIG.
FIG. 28 is an explanatory diagram schematically showing horizontal movement of the second bearing in which the inclination of the first bearing with respect to the frame and the eccentricity of the rotating shaft are corrected according to the sixth embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Cylindrical shell, 2 stators, 3 rotors, 4 rotating shafts, 5th bearing, 6 second bearing, 7 motor part, 8 compression section, 10 rotating mechanism, 12 screw holes, 13 frame, 33 rotating shaft support mechanism, 34 Cylindrical shell holding mechanism, 35 second bearing clamp mechanism, 40 float section, 41 float mechanism, 42 XY table, 44 second bearing tilt moment adding mechanism, 45 rotation axis tilt moment adding mechanism, 46 drive shaft, 47 motor, 48 axis Connecting part, 49 misalignment measuring mechanism, 50 parallelism measuring mechanism, 51 coupling claw, 52 misalignment adjusting mechanism, 53 parallelism adjusting mechanism, 54 second bearing holding mechanism, 55 welding mechanism, 62 bolt, 63 first bearing horizontal Position measurement mechanism, 64, 65 First bearing inclination measurement mechanism.

Claims

A method of aligning a first bearing and a second bearing that support a rotating shaft, comprising:
The first bearing is held so as not to move, and in a state where the first bearing and the second bearing are fitted to predetermined positions of the rotating shaft, the rotating shaft and the second bearing are moved with respect to the center axis of the first bearing. Tilting the rotary shaft and the second bearing by a predetermined force to oscillate, and at least at three positions of the oscillating motion, relative to the inclination of the second bearing with respect to the first bearing and the center axis of the first bearing; A first step of simultaneously detecting both movement distances in the intersecting directions;
The position of the second bearing, at which the center of the second bearing coincides with the center axis of the first bearing, is determined based on the information on the moving distance at each point obtained in the first step. A second step for obtaining a target position of
The distance between the center of the first bearing and the center in the central axis direction of the portion fitted to the second bearing on the central axis of the rotary shaft, and the movement distance at each of the locations obtained in the first step From the information, the magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated. Based on the calculation result and the information on the inclination at each location obtained in the first step, the first bearing is obtained. A third step of obtaining, as a target attitude of the second bearing with respect to the first bearing, a posture of the second bearing in which a central axis of the second bearing is parallel to a central axis of the second bearing;
And a fourth step of positioning the second bearing at the target position and the target attitude determined in the second step and the third step, and holding the state in that state.

In the first step, instead of inclining the rotating shaft and the second bearing with a predetermined force with respect to the center axis of the first bearing to swing the rotating shaft and the second bearing, the rotating shaft and the second bearing are replaced. 2. The method for aligning a bearing according to claim 1, wherein the first bearing is tilted in at least three different directions with a predetermined force with respect to a center axis of the first bearing.

When the center of the portion where the second bearing fits is eccentric with respect to the center axis of the portion where the first bearing fits on the rotating shaft and its size and direction are known in advance,
In the first step, when the rotating shaft and the second bearing are tilted with respect to the central axis of the first bearing to swing the rotating shaft and the second bearing, the rotating shaft is rotated, and the rotating shaft and the second bearing are rotated. (2) The rotation shaft and the second bearing are precessed by synchronizing the direction in which the bearing is inclined with the rotation angle of the rotation shaft, and the rotation angle of the rotation shaft and the first bearing in at least three places of the precession , The inclination of the second bearing relative to and the movement distance in the direction intersecting the central axis of the first bearing are simultaneously detected, and in a second step, the magnitude and direction of the eccentricity of the rotary shaft, and Based on the information on the rotation angle and the moving distance of the rotating shaft at each of the locations obtained in the first step, the position of the second bearing at which the center of the second bearing coincides with the center axis of the first bearing is determined. Target of 2nd bearing for 1 bearing Bearing alignment method according to claim 1, wherein the determination as location.

A method of aligning and assembling a first bearing and a second bearing that support a rotating shaft, wherein the first bearing is held by a frame so as to be able to linearly move along the rotating shaft.
A frame holding the first bearing so as to be able to move linearly is held so as not to move, and in a state where the first bearing and the second bearing are fitted to predetermined positions of the rotating shaft, the rotating shaft, the first bearing and The second bearing is tilted with a predetermined force with respect to the center axis of the frame to cause the rotary shaft, the first bearing, and the second bearing to swing, and at least three positions of the swing motion of the first bearing relative to the frame. A first step of simultaneously detecting a relative inclination, and both the relative inclination of the second bearing with respect to the frame and the moving distance in a direction intersecting the central axis of the frame;
Based on the information on the inclination of the first bearing and the moving distance of the second bearing at each of the locations obtained in the first step, the center of the second bearing coincides with the center of inclination of the center axis of the first bearing. A second step of determining a position of the second bearing as a target position of the second bearing with respect to the frame;
The distance between the center of the first bearing and the center of the portion of the rotary shaft that fits with the second bearing on the center axis in the center axis direction, and the second position at each of the locations obtained in the first step. From the information on the moving distance of the bearing, the magnitude and direction of the inclination of the rotary shaft with respect to the first bearing at each location are calculated, and the calculation result and the first and second values at each location obtained in the first step are obtained. Based on the information on the inclination of the bearing, a posture of the second bearing in which the center axis of the second bearing is parallel to the center of inclination of the center axis of the first bearing is determined as a target posture of the second bearing with respect to the frame. 3 steps,
And a fourth step of positioning the second bearing at the target position and the target attitude determined in the second step and the third step, and holding the state in that state.

In the first step, instead of tilting the rotating shaft, the first bearing, and the second bearing with a predetermined force with respect to the center axis of the frame to swing the rotating shaft, the first bearing, and the second bearing, 5. The bearing centering method according to claim 4, wherein the rotating shaft, the first bearing, and the second bearing are inclined in at least three different directions with a predetermined force with respect to a center axis of the frame.

When the center of the portion where the second bearing fits is eccentric with respect to the center axis of the portion where the first bearing fits on the rotating shaft and its size and direction are known in advance,
In the first step, when the rotating shaft, the first bearing, and the second bearing are inclined by a predetermined force with respect to the center axis of the frame to swing the rotating shaft, the first bearing, and the second bearing, the rotating shaft is rotated. To rotate the rotating shaft, the first bearing and the second bearing, and to synchronize the rotation angle of the rotating shaft with the direction in which the rotating shaft, the first bearing and the second bearing are inclined, to precess the rotating shaft, the first bearing and the second bearing, At least at three points of motion, the rotation angle of the rotating shaft, the relative tilt of the first bearing with respect to the frame, and the relative tilt of the second bearing with respect to the frame and a direction intersecting the central axis of the frame. Simultaneously detect four of the travel distance of
In the second step, on the basis of the magnitude and direction of the eccentricity of the rotary shaft, and the information on the rotation angle of the rotary shaft, the inclination of the first bearing, and the moving distance of the second bearing at each location obtained in the first step. 5. The bearing according to claim 4, wherein a position of the second bearing at which the center of the second bearing coincides with the inclination center of the center axis of the first bearing is determined as a target position of the second bearing with respect to the frame. Alignment method.

An apparatus for aligning and assembling a first bearing and a second bearing which are arranged at both ends of an inner periphery of a cylindrical shell and support a rotating shaft, respectively.
Holding means for holding the first bearing at a predetermined position in the cylindrical shell so as not to move;
In a state where the first bearing and the second bearing are fitted to predetermined positions of the rotary shaft, the rotary shaft and the second bearing are tilted with a predetermined force with respect to the center axis of the first bearing, and the rotary shaft and the second bearing are tilted. Swing means for swinging the bearing;
Measuring means for simultaneously detecting both the relative inclination of the second bearing with respect to the first bearing and the moving distance in a direction intersecting the central axis of the first bearing at at least three positions of the oscillating movement;
The position of the second bearing whose center of the second bearing coincides with the center axis of the first bearing is determined based on the information of the moving distance at each location measured by the measuring means. And the distance between the center of the first bearing and the center of the portion of the rotating shaft that fits with the second bearing in the direction of the central axis, and the distance measured by the measuring means. From the information on the moving distance at each location, the magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated, and the calculation result and the information on the inclination at each location measured by the measuring means are calculated. Calculating means for calculating, as a target attitude of the second bearing with respect to the first bearing, an attitude of the second bearing in which the central axis of the second bearing is parallel to the central axis of the first bearing;
Positioning means for positioning the second bearing at the target position and the target posture and holding it in that state;
Fixing means for fixing the first bearing and the second bearing to the cylindrical shell, respectively.

When the first bearing is held by the frame fixed to the other end of the cylindrical shell so as to be able to linearly move along the rotation axis,
A frame holding means for holding the frame in place of the first bearing holding means;
The oscillating means holds the frame, which holds the first bearing so as to be able to move linearly, so as not to move, and in a state where the first bearing and the second bearing are fitted to predetermined positions of the rotary shaft, Means for tilting the first bearing and the second bearing with a predetermined force with respect to the center axis of the frame to swing the rotating shaft, the first bearing and the second bearing,
The measuring means is configured to move the first bearing relative to the frame at least at three points of the oscillating motion, and to move the second bearing relative to the frame relative to the tilt and the center axis of the frame. It detects three distances at the same time,
The calculating means calculates the center of the second bearing with respect to the center of inclination of the center axis of the first bearing based on the information of the inclination of the first bearing and the moving distance of the second bearing at each of the points measured by the measuring means. Is determined as a target position of the second bearing with respect to the frame, and the center of the first bearing and a portion of the center axis of the rotating shaft that is fitted with the second bearing in the center axis direction are determined. The magnitude and direction of the inclination of the rotating shaft with respect to the first bearing at each location are calculated from the distance to the center and the information on the moving distance of the second bearing at each location measured by the measurement means. The central axis of the second bearing is parallel to the center of inclination of the central axis of the first bearing based on the calculation result and the information on the inclination of the first and second bearings at each location measured by the measuring means. The first The attitude of the bearing, the bearing alignment assembly apparatus according to claim 7, characterized in that for obtaining a target posture of the second bearing to the first bearing.