JP2015186326A - Motor, robot, and assembly method of motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor capable of easily adjusting a shaft center of a stator and a rotor.SOLUTION: A motor including a shaft fixed with a magnet, and a plurality of brackets having a bearing for supporting the shaft. In the motor, a recess part having an inner diameter surface coax with a rotation axis of the magnet is formed on at least one end part in a longitudinal direction of the shaft.

Description

  The present invention relates to a motor, a robot, and a motor assembling method.

In the motor assembly process, it is necessary to strictly manage the gap between the stator and the rotor. Patent Document 1 discloses an adjustment method in which the gap between the stator and the rotor is made uniform by moving the stator while measuring the voltage of the winding wire constituting the stator.

JP 2001-320850 A

The method described in Patent Document 1 has a problem of complicated points such as providing a voltage measuring terminal for adjusting the axis of each motor.

An object of the present invention is to provide a motor that can easily adjust the axis of a stator and a rotor. Another object of the present invention is to provide a method for easily assembling a motor.

The motor of the present invention is a motor including a shaft to which a magnet is fixed and a plurality of brackets having bearings that support the shaft, and at least one end of the shaft in the longitudinal direction of the shaft. A recess having an inner diameter surface coaxial with the rotation shaft is formed.
According to this configuration, since the recess is provided in the end surface of the shaft, the shaft can be fixed by engaging the center adjustment jig with the recess during assembly. And by aligning a magnet in the state where the shaft was fixed in this way, it is possible to easily align the magnet. Therefore, the motor can adjust the position of the stator and the rotor by a simple process.

The concave portion may have an inverted conical opening.
According to this configuration, since the shaft can be fixed easily and accurately by engaging with the center adjustment jig having the conical engagement convex portion, the position adjustment between the stator and the rotor can be performed with high accuracy. It becomes a motor that can do.

It is good also as a structure by which the internal thread part is formed in the bottom of the said recessed part.
According to this structure, another member can be easily fixed to the shaft using the male screw. Moreover, the part of the external thread may be integrally formed in the member to be fixed.

It is good also as a structure which has a code | symbol plate fixed to the said shaft with the volt | bolt fastened by the said internal thread part.
According to this configuration, a motor provided with an encoder can be provided.

The motor assembly method of the present invention includes a shaft to which a rotor including a magnet is fixed, first and second brackets having bearings that support the shaft, and an outer periphery of the rotor that is fixed to the first bracket. A motor provided with a stator, wherein the shaft including a first end and a second end formed with a recess is prepared, and the bearing of the first bracket is provided on the bearing The first end is inserted, the shaft is held by the rotation drive mechanism, the tip of the center adjustment jig is engaged with the recess provided in the second end, and the rotor hole is inserted. The tip of the center adjustment jig is inserted, the rotor is moved from the center adjustment jig to the shaft, the rotor is disposed in a space surrounded by the stator, the rotation drive mechanism and the center Supported by the adjustment jig Wherein while the shaft is rotated together with the rotator,
In this method, the rotor and the shaft are fixed.
According to this assembling method, the shaft is supported by the rotary drive mechanism and the center adjustment jig so that the shaft is not inclined by the magnetic coupling force between the rotor magnet and the stator. The stator and the stator can be arranged with an appropriate gap. Therefore, there is no trouble of measuring the winding voltage for adjusting the gap as in the prior art, and the rotor and stator can be positioned easily.
Further, the rotor and the shaft are made by curing the adhesive while rotating the rotor and the shaft. This prevents the rotor's posture from being biased by the magnetic coupling force between the rotor and the stator, and the rotor is fixed with the rotor's rotation axis and the center axis of the shaft accurately aligned. can do.

The concave portion may have an inverted conical opening, and a tapered portion having a conical surface that can contact the opening of the concave portion may be formed at a tip portion of the center adjusting jig.
According to this method, the center axis of the shaft and the center axis of the center adjustment jig can be easily and accurately aligned. Thereby, alignment with a rotor and a stator can be performed simply and with high precision.

The shaft and the center adjustment jig are engaged with each other and rotated around the axis, and the rotational shake at the engaging portion between the shaft and the center adjustment jig is measured. Based on the information on the rotational shake A method of performing axial alignment between the shaft and the center adjusting jig may be employed.
According to this method, the shaft and the center adjustment jig can be easily aligned with each other.

The robot of the present invention has an arm, and includes the motor described above as an actuator for driving the arm. The motor of the above aspect can be suitably used as a robot actuator.

Sectional drawing which shows the motor of embodiment. Sectional drawing which shows the state which decomposed | disassembled the motor of embodiment. The figure which shows the assembly process by the side of the 1st bracket. The figure which shows the process of supporting a shaft in a rotational drive mechanism. The figure which shows the process of engaging a center adjustment jig | tool with a shaft. The figure which shows the process of assembling a rotor. The figure which shows the process of assembling an electromagnetic brake. The figure which shows the process of assembling a 2nd bracket. The figure which shows the modification of the engagement structure of a shaft and a center adjustment jig | tool. The perspective view which shows the robot provided with the motor.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The scope of the present invention is not limited to the following embodiment, and can be arbitrarily changed within the scope of the technical idea of the present invention. Moreover, in the following drawings, in order to make each configuration easy to understand, the actual structure is different from the scale and number of each structure.

(motor)
FIG. 1 is a cross-sectional view showing a motor of this embodiment. FIG. 2 is a cross-sectional view showing an exploded state of the motor of the present embodiment.

The motor 100 according to the present embodiment includes a shaft 10, an electric motor unit 20, an electromagnetic brake 30, a speed reducer 40, and an encoder 50. The shaft 10 is disposed so as to penetrate the center of the electric motor unit 20, the electromagnetic brake 30, the speed reducer 40, and the encoder 50.

In the motor 100 of the present embodiment, the shaft 10 extends on both sides of the electric motor unit 20, the speed reducer 40 is connected to one end (first end) of the shaft 10, and the other end (second). The encoder 50 is connected to the end portion. The electromagnetic brake 30 is disposed between the electric motor unit 20 and the encoder 50.

The shaft 10 is a cylindrical bar. The end of the shaft 10 on the encoder 50 side (second
An inverted conical recess 11 is formed on the tip surface of the end portion. The central axis of the recess 11 coincides with the central axis L of the shaft 10. The concave portion 11 has a relatively wide opening at the end face of the shaft 10 and has a tapered shape toward the back. An internal thread portion 12 is formed at the bottom of the recess 11 (the tip of the inverted cone). The central axis of the female screw portion 12 coincides with the central axis L of the shaft 10.

The shaft 10 of this embodiment includes a main body portion 10a having a predetermined diameter, a small diameter portion 10b having a smaller radius than the main body portion 10a, and a flange portion 13 in which the diameter of the main body portion 10a is partially enlarged. The small diameter portion 10b is formed at the tip portion on the encoder 50 side. The flange portion 13 is provided inside the electric motor portion 20.

The electric motor unit 20 is a radial gap type inner rotor type motor. The electric motor unit 20 includes a rotor 21 fixed to the shaft 10, a cylindrical stator 22 disposed on the outer periphery of the rotor 21, and a cylindrical intermediate case 24 that accommodates the rotor 21 and the stator 22. And a disc-shaped first bracket 25 and a second bracket 26 that are provided at both ends of the intermediate case 24 and support the shaft 10.

The rotor 21 includes a permanent magnet arranged in a columnar shape around the shaft 10. Rotor 21
May be made of a permanent magnet formed into a cylindrical shape, and the back surface of the permanent magnet (shaft 1
A back yoke may be provided on the surface facing 0). The inner peripheral surface of the rotor 21 and the outer peripheral surface of the shaft 10 are fixed. The fixing method is not particularly limited, and a fixing structure using an adhesive or a rotation restricting structure using a key can be used.

The intermediate case 24 is a cylindrical hollow container. The intermediate case 24 of the present embodiment accommodates the rotor 21, the stator 22, and the electromagnetic brake 30. A disc-shaped first bracket 25 is fixed to one end of the intermediate case 24. A disc-shaped second bracket 26 is fixed to the other end of the intermediate case. A first bearing made of a ball bearing or the like is fitted into a recess 25b (see FIG. 3) provided at the center of the outer surface of the first bracket 25. Second
A second bearing 28 made of a ball bearing or the like is fitted in a recess 25a provided at the center of the inner surface of the bracket 26. The shaft 10 includes a first bearing 27 and a second bearing 28.
It is supported by.

On the inner peripheral surface of the intermediate case 24, a stator 22 having a plurality of electromagnetic coils 22a arranged in a cylindrical shape.
Is provided. In the case of the present embodiment, the electromagnetic coil of the stator 22 includes a core 22A and a winding coil 22B attached to the core 22A. The electromagnetic coil is arranged along the outer periphery of the rotor 21 so as to face the permanent magnet of the rotor 21 with a gap. The electric motor unit 20 rotates a rotor 21 (rotor) disposed inside the stator 22 (stator) around the shaft 10.

The flange portion 13 of the shaft 10 is disposed between the first bracket 25 and the rotor 21. Further, the second bearing 28 of the second bracket 26 has a small diameter portion 1 of the shaft 10.
0b is inserted, and the step portion at the boundary between the main body portion 10a and the small diameter portion 10b of the shaft 10 is the second
It is arrange | positioned inside the bracket 26 of this. With the above configuration, the axial movement of the shaft 10 is restricted.

The electromagnetic brake 30 is accommodated in a position near the second bracket 26 in the intermediate case 24. The electromagnetic brake 30 includes an electromagnetic coil 31, a movable plate 32, a fixed plate 33, and a friction plate 34. Of the electromagnetic brake 30, the electromagnetic coil 31 and the fixing plate 33 are fixed to the second bracket 26. The movable plate 32 is connected to the electromagnetic coil 31 via an elastic body 31a. The friction plate 34 is fixed to the shaft 10.

The electromagnetic brake 30 stops or releases the friction plate 34 by detaching the movable plate 32 from the electromagnetic coil 31 and adjusts the rotational speed of the shaft 10. In a state where the electromagnetic coil 31 is not operated, the movable plate 32 is urged toward the fixed plate 33 by the elastic body 31a. Then, the friction plate 34 is sandwiched between the movable plate 32 and the fixed plate 33, and pressure is applied to the friction plate 34. Thereby, a braking force is generated and the rotation of the shaft 10 is stopped. On the other hand, when electric power is supplied to the electromagnetic coil 31, the movable plate 32 is attracted to the electromagnetic coil 31, and the friction plate 34 is released. As a result, the shaft 10 becomes rotatable.

The speed reducer 40 is fixed to the outer surface of the first bracket 25 (the surface opposite to the intermediate case 24) and is connected to the shaft 10. Specifically, the speed reducer 40 has a cylindrical portion 40a as its exterior shape. On the other hand, a circular recess 25a is formed on the outer surface of the first bracket 25 in plan view (viewed in the direction of the central axis L). The part 40a of the speed reducer 40 is a recess 25a.
As a result, the speed reducer 40 is fixed to the first bracket 25 with a predetermined accuracy. The shaft 10 becomes an input shaft of the speed reducer 40.

The encoder 50 is a rotary encoder provided with a disk-shaped code plate 51. The encoder 50 is fixed to the outer surface of the second bracket 26 (the surface opposite to the intermediate case 24) by a bolt (not shown). The code plate 51 of the encoder 50 is fixed to the shaft 10 by a bolt (not shown) that is screwed into the female screw portion 12 of the shaft 10. The rotation detector is not limited to the encoder 50, and for example, a resolver may be used.

In the present embodiment, the configuration in which the electric motor unit 20, the electromagnetic brake 30, the speed reducer 40, and the encoder 50 are integrally assembled has been described, but any one of the electromagnetic brake 30, the speed reducer 40, and the encoder 50 is described. Or it is good also as a structure which is not provided with two or more.

(Motor assembly method)
Next, a method for assembling the motor 100 according to the present embodiment will be described with reference to FIGS.
3-8 is sectional drawing which shows the assembly method of the motor of this embodiment. FIG. 3 shows the first
It is a figure which shows the assembly process of the bracket side. FIG. 4 is a diagram illustrating a process of supporting the shaft on the rotation drive mechanism. FIG. 5 is a diagram showing a process of supporting each component on the center adjustment jig and a process of engaging the center adjustment jig with the shaft. FIG. 6 is a diagram illustrating a process of assembling the rotor. FIG. 7 is a diagram showing a process of assembling the electromagnetic brake. FIG. 8 is a diagram showing a process of assembling the second bracket.

In the assembly method of this embodiment, first, as shown in FIG. 3, a part of the motor 100 is assembled.
Specifically, the first bearing 27 is fitted into the recess 25 b at the center of the first bracket 25. In the case of the present embodiment, a predetermined concentricity is obtained as mechanical accuracy in a state where the first bearing 27 is assembled to the first bracket 25. Further, the fixing plate 61 is fitted into the recess 25a so as to press down the first bearing 27. The fixed plate 61 is a plate used only when the motor 100 is assembled. The fixing plate 61 is fixed to the first bracket 25 by bolts 83 and 84. The fixing plate 61 is a member for fixing the first bearing 27 so that it does not fall out of the recess 25b during assembly.

Further, the first bracket 25 and the intermediate case 24 are fixed by bolts 81 and 82. In the case of the present embodiment, a predetermined coaxiality is maintained as mechanical accuracy in a state where the first bracket 25 and the intermediate case 24 are screwed. The stator 22 is assembled to the intermediate case 24. The stator 22 may be assembled before or after the first bracket 25 is attached to the intermediate case 24. The method of assembling the stator 22 is not particularly limited, and various known methods such as shrink fitting and screwing can be employed.

When the assembly of the first bracket 25, the first bearing 27, the intermediate case 24, and the stator 22 is completed, the shaft 10 is connected to the end surface 10d side from the intermediate case 24 side as shown in FIG. To the first bearing 27. At this time, since the fixing plate 61 is provided, the first bearing 27 is not pushed out by the shaft 10.

Next, as shown in FIG. 4, the end of the shaft 10 on the end surface 10 d side is chucked by the rotation drive mechanism 62. At this time, the rotation axis of the rotation drive mechanism 62 and the center axis L of the shaft 10 are made to coincide. The rotation drive mechanism 62 is a mechanism that supports the shaft 10 in a cantilevered manner and rotates around the central axis L.

Next, as shown in FIG. 5, each part to be incorporated into the shaft 10 is prepared. In this process,
A rod-shaped center adjustment jig 63 is used. The center adjusting jig 63 is a columnar bar-shaped member having a predetermined length. A tapered engagement convex portion 63 a having a conical surface coaxial with the central axis of the center adjustment jig 63 is formed at the tip of the center adjustment jig 63. The base end side of the center adjustment jig 63 is connected to the support mechanism 64. The support mechanism 64 supports the center adjustment jig 63 so as to be rotatable about an axis.

In the process shown in FIG. 5, first, each component is mounted on the center adjustment jig 63 in a state where the center adjustment jig 63 and the shaft 10 are not brought into contact with each other. The second bracket 26, the electromagnetic brake 30, and the rotor 21 are attached to the center adjustment jig 63 in order from the support mechanism 64 side. The second bracket 26, the electromagnetic brake 30, and the rotor 21 are movable in the axial direction (length direction) of the center adjustment jig 63.

A second bearing 28, bolts 85 and 86, and spacers 85a and 86a are assembled to the second bracket 26 attached to the center adjustment jig 63. The second bearing 28 has a second
Recess 26 provided at the center of the inner surface of the bracket 26 (the center of the surface on the intermediate case 24 side)
It is inserted in a. The center adjusting jig 63 is inserted into the second bearing 28. Bolt 8
Reference numerals 5 and 86 denote bolts for fixing the electromagnetic brake 30 to the second bracket 26. The spacers 85a and 86a are cylindrical members that are attached to the male screw portions of the bolts 85 and 86. The spacers 85a and 86a are provided to hold the second bracket 26 and the electromagnetic brake 30 at a predetermined distance.

The electromagnetic brake 30 is mounted by inserting a center adjustment jig 63 through a hole 30a that passes through the center of the electromagnetic brake 30. The center adjusting jig 63 is inserted through a through hole provided in the center of the disc-shaped friction plate 34. The rotor 21 is mounted by inserting a center adjusting jig 63 through a hole that passes through the center.

The engaging convex part 63a of the center adjusting jig 63 supporting each part is a concave part 11 at the tip of the shaft 10.
Is engaged. In the case of the present embodiment, the base angle of the concave surface of the inverted conical shape of the concave portion 11 and the engaging convex portion 63a.
The tip angles of each coincide with each other at 60 °. Therefore, by pressing the tip of the center adjustment jig 63 against the tip of the shaft 10, the shaft 10 and the center adjustment jig 63 can be arranged in a state where the center axes are matched.

In the present embodiment, the rotation axis of the rotation drive mechanism 62 and the center axis of the center adjustment jig 63 can be adjusted in advance so as to coincide with each other. As a result, the shaft 10 and the center adjustment jig 63 are aligned with each other simply by causing the rotation drive mechanism 62 to chuck the shaft 10 and pushing the engagement protrusion 63a of the center adjustment jig 63 into the recess 11 of the shaft 10. Arranged in a state.

Note that the shaft 10 and the center adjustment jig 63 may be aligned more precisely. In the process of axis alignment, first, the shaft 10 is rotated by the rotation drive mechanism 62 in a state where the shaft 10 and the center adjustment jig 63 are engaged. When the center axis L of the shaft 10 and the center axis of the center adjustment jig 63 are deviated from each other, rotational shake occurs at the engaging portion between the shaft 10 and the center adjustment jig 63. The adjustment jig 63 may be moved in a plane orthogonal to the central axis.

Next, as shown in FIG. 6, the rotor 21 supported by the center adjusting jig 63 is moved into the intermediate case 24 and arranged on the inner peripheral side of the stator 22. The rotor 21 includes a permanent magnet. The rotor 21 is drawn into the stator 22 by a magnetic coupling force with the core 22 </ b> A of the stator 22 simply by bringing the rotor 21 close to the stator 22. Further, the rotor 21 is arranged at an appropriate position in the extending direction of the central axis L of the shaft 10 by the magnetic coupling force. In the present embodiment, since both ends of the shaft 10 are fixed by the rotation drive mechanism 62 and the center adjusting jig 63, the shaft 10 is not inclined by the magnetic coupling force between the rotor 21 and the stator 22. .

If the rotor 21 is inserted, the rotor 21 and the shaft 10 are fixed. In the present embodiment, a key groove (not shown) is formed on the inner peripheral surface of the rotor 21, and a key groove (not shown) is also formed on the outer surface of the shaft 10. By aligning the key groove of the rotor 21 and the key groove of the shaft 10 and inserting a key (plate piece) into the two key grooves, the rotor 21 is prevented from rotating relative to the shaft 10.

Next, the rotor 21 and the shaft 10 are fixed. There is rattling between the shaft 10 and the rotor 21 just by stopping the rotation with the key, and it is movable in the axial direction. In the present embodiment, the gap between the rotor 21 and the shaft 10 is filled with an adhesive and fixed. As the adhesive, a room-temperature curing type is used, and the shaft 10 is rotated by the rotation drive mechanism 62 until it is cured. At this time, the forward rotation and the reverse rotation of the shaft 10 may be repeated alternately.

Since the magnetic coupling force between the permanent magnet of the rotor 21 and the core 22A of the stator 22 depends on the relative position between the rotor 21 and the stator 22, when the shaft 10 is not rotated, the permanent magnet of the rotor 21 The position of the rotor 21 is stabilized at the position where the core 22A of the stator 22 attracts strongly. If fixed in this state, the center of the rotor 21 and the center axis L of the shaft 10 may be displaced. Therefore, by rotating the shaft 10 as in the present embodiment, the magnetic coupling force is averaged, and the rotation axis of the rotor 21 can be made to coincide with the central axis L of the shaft 10.

Next, as shown in FIG. 7, the electromagnetic brake 30 is assembled to the intermediate case 24. Specifically, after moving the electromagnetic brake 30 from the center adjustment jig 63 into the intermediate case 24, the friction plate 34 and the shaft 10 are fixed. In this embodiment, a not-shown notch is provided in the central through hole of the friction plate 34, and a not-shown notch is provided on the peripheral surface of the shaft 10 so as to project in the radial direction. In this step, the notch portion of the friction plate 34 and the convex portion of the shaft 10 are engaged, and the friction plate 34 is fixed to the shaft 10.

In the process shown in FIG. 7, the movable plate 32 of the electromagnetic brake 30 is disposed on the fixed plate 33 side.
The friction plate 34 is fixed. The alignment of the notch portion of the friction plate 34 and the convex portion of the shaft 10 is performed by rotating the shaft 10. After the friction plate 34 and the shaft 10 are fixed, when the shaft 10 is rotated, the entire electromagnetic brake 30 is rotated.

Next, as shown in FIG. 8, the second bracket 26 is assembled. Second bracket 26
Is moved from the center adjustment jig 63 to the intermediate case 24 side, and the shaft 10 is press-fitted into the second bearing 28. An intermediate case 24 is provided on the inner surface of the second bracket 26 (the surface on the intermediate case 24 side).
Concave portion 26b corresponding to the outer diameter is formed. In this step, the open end of the intermediate case 24 is fitted into the recess 26b. In this state, the second bracket 26 and the intermediate case 24 are fixed with bolts 87 and 88.

Thereafter, the electromagnetic brake 30 is fixed to the second bracket 26. Since the electromagnetic brake 30 is rotatable together with the shaft 10, the bolts 85 and 86 and the screw holes of the electromagnetic brake 30 can be aligned by rotating the electromagnetic brake 30 by rotating the shaft 10. . The electromagnetic brake 30 is fixed to the second bracket 26 by tightening the bolts 85 and 86.

Thereafter, the engagement between the center adjustment jig 63 and the shaft 10 is released, and the shaft 10 is removed from the rotation drive mechanism 62. The speed reducer 40 is connected to the shaft 10 protruding from the first bracket 25, and the encoder 50 is attached to the shaft 10 protruding from the second bracket 26. The code plate 51 (see FIG. 1) of the encoder 50 is a female thread portion 1 of the shaft 10.
2 is fixed to the shaft 10 by a bolt screwed to the shaft 2.
The assembly of the motor 100 of this embodiment is completed through the above steps.

According to the motor assembly method of the present embodiment described above, the shaft 10 is fixed in a state where the concave portion 11 at the tip of the shaft 10 and the engaging convex portion 63a at the tip of the center adjustment jig 63 are engaged. Then, as shown in FIG. 6, the rotor 21 is inserted in a state where the shaft 10 is clamped at both ends by the rotation drive mechanism 62 and the center adjustment jig 63. As a result, the shaft 10 is not tilted by the magnetic coupling force between the permanent magnet of the rotor 21 and the core 22A of the stator 22, and the rotor 21 and the stator 22 are arranged with an appropriate gap. be able to. Therefore, unlike the conventional method, there is no trouble of measuring the winding voltage for adjusting the gap, and the rotor 21 and the stator 22 can be easily positioned.

Moreover, in this embodiment, the rotor 21 and the shaft 10 are performed by curing the adhesive while rotating the rotor 21 and the shaft 10. As a result, the rotor 21 and the stator 2
2, the position of the rotor 21 is prevented from being biased by the magnetic coupling force, and the rotor 21 is fixed in a state where the rotation axis of the rotor 21 and the center axis L of the shaft 10 are accurately matched. Can do.

In the present embodiment, since the inverted conical recess 11 and the conical engagement protrusion 63a are engaged, the center axis L of the shaft 10 and the center axis of the center adjustment jig 63 can be easily and accurately set. Can be aligned. Thereby, alignment with the rotor 21 and the stator 22 can be performed simply and with high precision.

In the present embodiment, the description has been given of the case where the concave portion 11 is formed in the shaft 10 and the engaging convex portion 63 a is formed at the tip of the center adjusting jig 63.
The engagement structure 3 is not limited to this.
Here, FIG. 9 is a view showing a modification of the engagement structure between the shaft and the center adjusting jig. As shown in FIG. 9, a tapered engagement convex portion 11 </ b> A may be formed at the tip of the shaft 10, and an inverted conical concave portion 63 b may be formed at the tip of the center adjustment jig 63. Shaft 10
In the case of forming the engaging convex portion 11 </ b> A, a male screw portion 12 </ b> A is formed at the tip portion of the shaft 10 and used as a screw portion for fixing the code plate 51 (see FIG. 1) of the encoder 50.

(robot)
A single-arm robot according to the present embodiment will be described with reference to FIG. FIG. 10 is a perspective view showing a robot including the motor 100 described above.

A schematic configuration of the single arm robot 500 of the present embodiment will be described.
As shown in FIG. 10, a single-arm robot 500 as a robot includes a base 510, an arm coupling body 520, and an end effector 530 provided on the distal end side of the arm coupling body 520.

The base 510 has a function of accommodating an actuator 511 that generates power for rotating the arm coupling body 520, a control unit (not shown) that controls the actuator 511, and the like. The base 510 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage.
The arm connection body 520 includes a first arm 521, a second arm 522, and a third arm 52.
3, a fourth arm 524, and a fifth arm 525, which are configured by rotatably connecting adjacent arms. The arm coupling body 520 is driven by being rotated or bent in a compound manner around the coupling portion of each arm under the control of the control unit.
The end effector 530 has a function of gripping an object. End effector 530
Has a first finger 531 and a second finger 532. After the end effector 530 reaches the predetermined operating position by driving the arm coupling body 520, the first finger 531 and the second finger 531
By adjusting the distance between the fingers 532, the object can be gripped.

The motor 100 of the previous embodiment can be used as the actuator 511 provided on the base 510, for example. Alternatively, it can be used as an actuator for a joint that connects the arms 521 to 525. Furthermore, the finger 53 of the end effector 530
1 and 532 can be used as an actuator.

In the illustrated configuration, the arm coupling body 520 is configured by a total of five arms, but the present invention is not limited to this. When the arm connection body 520 is constituted by one arm, when constituted by 2 to 4 arms, when constituted by 6 or more arms, it is within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Shaft, 10d ... End surface, 11 ... Recessed part, 12 ... Female thread part, 21 ... Rotor, 22 ...
Stator, 25 ... first bracket, 26 ... second bracket, 51 ... symbol plate, 62 ... rotation drive mechanism, 63 ... center adjustment jig, 100 ... motor

Claims (8)

A motor comprising a shaft to which a magnet is fixed and a plurality of brackets having bearings for supporting the shaft;
A motor in which a recess having an inner diameter surface coaxial with a rotation axis of the magnet is formed at at least one end in the longitudinal direction of the shaft.   The motor according to claim 1, wherein the recess has an inverted conical opening.   The motor according to claim 1, wherein a female screw portion is formed at a bottom of the concave portion. The motor according to claim 3, further comprising a sign plate fixed to the shaft by a bolt fastened to the female screw portion. A first shaft having a shaft on which a rotor including a magnet is fixed, and a bearing that supports the shaft.
And a second bracket and a stator fixed to the first bracket and provided on an outer periphery of the rotor, and a method of assembling a motor,
Preparing the shaft including a first end and a second end formed with a recess;
The first end is inserted through the bearing of the first bracket, and the shaft is held by a rotary drive mechanism.
Engaging the tip of the center adjustment jig with the recess provided in the second end,
The tip of the center adjustment jig is inserted into the hole of the rotor, the rotor is moved from the center adjustment jig to the shaft, and the rotor is disposed in a space surrounded by the stator,
Fixing the rotor and the shaft while rotating the shaft supported by the rotation drive mechanism and the center adjustment jig together with the rotor;
How to assemble the motor. The motor according to claim 5, wherein the concave portion has an inverted conical opening, and a tapered portion having a conical surface capable of contacting the opening of the concave portion is formed at a tip portion of the center adjusting jig. Assembly method. The shaft and the center adjustment jig are engaged with each other and rotated around the axis, and the rotational shake at the engaging portion between the shaft and the center adjustment jig is measured. Based on the information on the rotational shake The motor assembling method according to claim 5 or 6, wherein the shaft and the center adjustment jig are aligned. A robot having an arm and the motor according to claim 1 as an actuator that drives the arm.

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