JP2018019472A - Robot, motor, and method for manufacturing motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot excellent in driving properties, and a motor and a method for manufacturing the motor.SOLUTION: A robot includes a first member, a second member provided turnably with respect to the first member, a motor which transmits drive force from one of the first member and the second member to the other of the first and second members. The motor has a stator core formed by laminating a plurality of core sheets in a direction in which a rotating shaft extends. The plurality of core sheets have a plurality of protrusion portions 90 arranged around the rotating shaft, first core sheets 81 to 85 having a plurality of recess portions 88 at rear surface sides of the protrusion portions 90, and a second core sheet 24 having a plurality of recess portions 89 fitted into the protrusion portions 90 and not having a protrusion portion on a lamination surface, and being arranged on an end portion in a lamination direction of the stator core.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a robot, a motor, and a method for manufacturing the motor.

  In a motor, a stator core in which electromagnetic steel sheets are laminated is used to control heat generation due to eddy current loss. In general, a stator core for a motor is formed by laminating several tens to several hundreds of 0.35 mm electromagnetic steel plates. When the number of laminations is large, the thickness of one electromagnetic steel plate varies, and the laminated stator The total thickness and weight of the core vary greatly.

  A stator core for a motor is formed by forming a sheet-shaped electromagnetic steel sheet into a desired shape by press working, and stacking a plurality of formed electromagnetic steel sheets (core sheets) with a laminating apparatus. In general, a series of processes from feeding to lamination are performed by a single press working apparatus, and the dimensions of the laminated stator core are kept within tolerances, so extremely high processing and lamination accuracy are required. In this manufacturing method, the number of stacked stator cores is changed in accordance with the output of the motor. In other words, in a motor with a small output, the number of stacked layers is reduced, and the total thickness of the stator core is reduced. On the other hand, in a motor with a large output, the total number of laminated layers is increased to increase the total thickness of the stator core.

  For example, in order to reduce cogging torque, an invention is disclosed in which the number of stacked layers is determined by a combination of the number of poles of a rotor magnet and the number of poles of a stator coil (see, for example, Patent Document 1).

JP 2013-236454 A

  However, in the manufacturing method in which the total thickness of the stator core is determined by the number of stacked layers in Patent Document 1, the variation in the thickness of the electromagnetic steel sheets is accumulated by the number of stacked layers, resulting in a variation in the total thickness. In other words, when the thickness of the electromagnetic steel sheet is 2% thick, if 100 sheets are laminated, the total thickness of two electromagnetic steel sheets (about 0.7 mm) also increases, and the coil is wound in the subsequent manufacturing process. Problems such as the bobbin not fitting and the stator core not entering the mold during the molding process of filling the thermosetting resin occur. On the other hand, when the bobbin is designed so that it can be assembled even if the total thickness of the stator core changes by ± 2 electromagnetic steel plates, there is a concern that a gap of up to 1.4 mm may occur, affecting the motor characteristics. The Further, if there is a variation in the material thickness of the core sheet, cogging may be difficult to improve.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A robot according to this application example includes a first member, a second member provided to be rotatable with respect to the first member, and one of the first member and the second member to the other. A motor that transmits a driving force to the motor, and the motor has a stator core formed by laminating a plurality of core sheets in a direction in which the rotation shaft extends, and the plurality of core sheets are arranged around the rotation shaft. A first core sheet having a plurality of arranged convex portions, a plurality of concave portions on the back side of the convex portions, and a plurality of concave portions fitted to the convex portions; And having a second core sheet disposed at an end of the stator core in the stacking direction.

  According to this application example, since there is no projection on the lamination surface of the second core sheet at the end in the lamination direction (direction in which the rotation axis extends), no projection appears on the end surface in the lamination direction of the stator core. As a result, the total thickness of the stator core can be accurately measured, and a motor that can improve cogging by measuring the total thickness and weight of the stator core can be obtained. As a result, it is possible to provide a robot with excellent drivability that has the effect of the motor described above.

  Application Example 2 In the robot according to the application example described above, it is preferable that the concave portion of the second core sheet penetrates in the stacking direction.

  According to this application example, when the convex portion is fitted into the concave portion, the fitting state of the convex portion can be confirmed. Further, the through hole is easier to process than the bottomed blind hole.

  Application Example 3 In the robot according to the application example described above, the stator core includes a tooth having a tooth portion, and a yoke disposed outside the tooth, and the number of the tooth portions; It is preferable that the number of the convex portions of the first core sheet is uniform.

  According to this application example, the stator core can be strengthened by aligning the number of teeth and the number of protrusions of the first core sheet.

  Application Example 4 In the robot according to the application example described above, it is preferable that the yoke and the teeth are separate members.

  According to this application example, it is easy to assemble the stator core.

  Application Example 5 In the robot according to the application example described above, it is preferable that the motor has a bobbin, and the second core sheet and the bobbin are arranged along a direction in which the rotation axis extends.

  According to this application example, the stator core and the bobbin are easily fitted because there is no protrusion on the laminated surface of the second core sheet.

  Application Example 6 A motor according to this application example includes a stator core formed by laminating a plurality of core sheets in a direction in which the rotation shaft extends, and the plurality of core sheets are arranged around the rotation shaft. A first core sheet having a plurality of convex portions, a plurality of concave portions on the back side of the convex portions, and a plurality of concave portions fitted to the convex portions; And a second core sheet disposed at an end of the stator core in the stacking direction.

  According to this application example, since there is no projection on the lamination surface of the second core sheet at the end in the lamination direction (direction in which the rotation axis extends), no projection appears on the end surface in the lamination direction of the stator core. As a result, the total thickness of the stator core can be accurately measured, and a motor that can improve cogging by measuring the total thickness and weight of the stator core can be provided.

  Application Example 7 A method for manufacturing a motor according to this application example is a method for manufacturing a motor having a stator core formed by laminating a first core sheet and a second core sheet in a direction in which a rotation axis extends. A first core sheet manufacturing step of manufacturing the first core sheet having a plurality of convex portions arranged around the rotation axis and a plurality of concave portions on the back surface side of the convex portions; and fitting with the convex portions. A second core sheet producing step of producing the second core sheet having a plurality of concave portions and having no convex portions on the laminated surface, and the second core at an end portion of the stator core in the laminating direction. A stator core production step of arranging the sheet and laminating the second core sheet and the first core sheet to produce the stator core, and the weight of the stator core and the thickness in the direction in which the rotating shaft extends. Measurement to measure Characterized in that it comprises a degree, the.

  According to this application example, since there is no projection on the lamination surface of the second core sheet at the end in the lamination direction (direction in which the rotation axis extends), no projection appears on the end surface in the lamination direction of the stator core. As a result, it is possible to provide a method for manufacturing a motor that can improve cogging by measuring the entire thickness and weight of the stator core by accurately measuring the entire thickness of the stator core.

The perspective view which shows schematic structure of the robot which concerns on this embodiment. FIG. 3 is a cross-sectional view illustrating a schematic configuration of a motor according to the present embodiment. The top view which shows schematic structure of the stator core which concerns on this embodiment. The perspective view which shows schematic structure of the yoke part iron core which concerns on this embodiment. Sectional drawing shown along the VV 'line of FIG. The enlarged view which shows the inside of the broken line of FIG. The perspective view which shows a part of 1st yoke sheet | seat of a yoke part iron core. The perspective view which shows a part of 2nd yoke sheet | seat of a yoke part iron core. The perspective view which shows schematic structure of the teeth part iron core which concerns on this embodiment. Sectional drawing shown along the XX 'line | wire of FIG. The enlarged view which shows the inside of the broken line of FIG. The perspective view which shows a part of 1st teeth sheet | seat of a teeth part iron core. The perspective view which shows a part of 2nd teeth sheet | seat of a teeth part iron core. The flowchart which shows the manufacturing method of the stator core which concerns on this embodiment.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. Note that the drawings to be used are appropriately enlarged or reduced so that the part to be described can be recognized.

FIG. 1 is a perspective view showing a schematic configuration of the robot according to the present embodiment.
As shown in FIG. 1, the robot 100 according to the present embodiment is a six-axis vertical articulated robot, and includes a base 111 as a first member, a robot arm 120 connected to the base 111, and a robot arm. A force detector 140 and a hand 130 provided at the front end of 120 are provided. The robot 100 also includes a control device 110 that controls a plurality of drive sources (including the motor 150 and the gear device 1) that generate power for driving the robot arm 120.

  The base 111 is a part for attaching the robot 100 to an arbitrary installation location. In addition, the installation location of the base 111 is not specifically limited, For example, a floor, a wall, a ceiling, on the movable trolley | bogie etc. are mentioned.

  The robot arm 120 includes a first arm (arm) 121, a second arm (arm) 122, a third arm (arm) 123, a fourth arm (arm) 124, and a fifth arm (second member). Arm) 125 and a sixth arm (arm) 126. These arms are connected in this order from the proximal end side to the distal end side. The first arm 121 is connected to the base 111. The first arm 121 includes an arm and is provided so as to be rotatable with respect to the base 111. The motor 150 transmits driving force from one of the base 111 and the first arm 121 to the other. The motor 150 transmits driving force from the base 111 to the first arm 121. The motor 150 transmits driving force from the first arm 121 to the base 111. The motor 150 rotates the first arm 121 with respect to the base 111. For example, a hand 130 (end effector) that holds various components or the like is detachably attached to the tip of the sixth arm 126. The hand 130 has two fingers 131 and 132, and the fingers 131 and 132 can hold various parts, for example.

  The base 111 is provided with a drive source having a motor 150 such as a servomotor that drives the first arm 121 and the gear unit 1 (reduction gear). Although not shown, each of the arms 121 to 126 is also provided with a plurality of drive sources each having a motor and a speed reducer. Each drive source is controlled by the control device 110.

  In such a robot 100, the gear device 1 transmits a driving force from one of the base 111 and the first arm 121 to the other. More specifically, the gear device 1 transmits a driving force for rotating the first arm 121 relative to the base 111 from the base 111 side to the first arm 121 side. Here, when the gear device 1 functions as a speed reducer, the driving force can be decelerated and the first arm 121 can be rotated with respect to the base 111. Note that “rotation” includes moving in one direction with respect to a certain center point or in both directions including the opposite direction, and rotating with respect to a certain center point.

In the present embodiment, the base 111 is a “first member”, and the first arm 121 includes an arm, and is provided with a “first member” that is rotatable with respect to the base 111 that is the first member. Two members ". The “second member” may include an arbitrary number of arms selected sequentially from the first arm 121 side among the second to sixth arms 122 to 126. That is, it can be said that a structure formed by an arbitrary number of arms sequentially selected from the first arm 121 side among the first arm 121 and the second to sixth arms 122 to 126 is the “second member”. For example, it can be said that the structure including the first and second arms 121 and 122 is a “second member”, and the entire robot arm 120 is a “second member”. Further, the “second member” may include the hand 130. That is, it can be said that the structure including the robot arm 120 and the hand 130 is the “second member”.
The robot 100 as described above includes a motor 150 as described below.

(motor)
FIG. 2 is a cross-sectional view illustrating a schematic configuration of the motor 150 according to the present embodiment.
As shown in FIG. 2, the motor 150 according to the present embodiment includes a housing 10, a stator 14, and a rotor 16. The motor 150 is not particularly limited, and examples thereof include a servo motor and a stepping motor. Moreover, the following description and figure of this embodiment are performed by the inner rotor structure which the rotor 16 arrange | positions inside the stator 14. FIG.

  Bearings 18 and 20 are provided on the upper wall and the bottom wall of the housing 10. In the housing 10, a rotor 16 is rotatably supported by the bearings 18 and 20 via the rotary shaft 12.

  A stator 14 is fixed to the inner peripheral surface of the housing 10. The stator 14 has a cylindrical shape, and includes a plurality of coils 40 arranged at predetermined intervals in the circumferential direction. The stator 14 includes a stator core 38.

FIG. 3 is a plan view showing a schematic configuration of the stator core 38 according to the present embodiment.
The stator core 38 includes a teeth portion iron core (teeth) 30. The stator core 38 includes a yoke portion iron core (yoke) 32 disposed outside the teeth portion iron core 30.

  The yoke part core 32 is a separate member from the teeth part core 30. This facilitates assembly of the stator core 38. The teeth portion iron core 30 includes a teeth portion (slot) 34. The number of the teeth parts 34 and the number of the recessed parts 88 (convex part 90) of the yoke part iron core 32 are equal. According to this, the stator core 38 can be strengthened by aligning the number of the teeth parts 34 and the number of the recessed parts 88 of the yoke part iron core 32. Specifically, nine circular recesses 88 are formed in the yoke core 32 in the circumferential direction. Nine round concave portions 78 are formed in the teeth portion iron core 30 in the circumferential direction. Nine teeth portions 34 are formed in the teeth portion iron core 30. Nine concave portions 78 are formed in the tooth portion 34.

FIG. 4 is a perspective view showing a schematic configuration of the yoke part core 32 according to the present embodiment.
The yoke core 32 is formed by laminating a plurality of core sheets in the direction in which the rotating shaft 12 extends. The plurality of core sheets include first yoke sheets (first core sheets) 81 to 85 and second yoke sheets (second core sheets) 24. The first yoke sheet 81 includes a plurality of convex portions 90 disposed around the rotation shaft 12. The first yoke sheet 81 includes a plurality of recesses 88 on the back side of the protrusion 90. The first yoke sheet 81 is rotationally stacked using the concave portion 88 and the convex portion 90.

  When laminating magnetic steel sheets while changing the phase while rotating in the circumferential direction, in order to average the thickness variation in the sheet surface, it is preferable to laminate while rotating about 180 °. In the structure of FIG. 3, since the recesses 88 and 78 are formed at a 40 ° pitch, each electromagnetic steel sheet is laminated while being rotated by 160 ° or 200 °. On the other hand, in order to average the lack of processing accuracy (coaxiality of inner and outer diameters and roundness) of one electromagnetic steel sheet, each electromagnetic steel sheet is laminated while being rotated by 40 °.

  The second yoke sheet 24 includes a plurality of concave portions 89 that fit into the convex portions 90 of the first yoke sheet 81. The second yoke sheet 24 does not have a convex portion on the laminated surface 28. The second yoke sheet 24 is disposed at the end of the stator core 38 in the stacking direction. The yoke portion iron core 32 includes a second yoke sheet 24 disposed at an end portion in the direction in which the stator cores 38 are stacked and a plurality of first yoke sheets 81 to 85 stacked in the direction in which the rotary shaft 12 extends. . Nine round recesses 88 are formed in the circumferential direction in the first yoke sheets 81 to 85 arranged at the end of the yoke part core 32 opposite to the second yoke sheet 24.

  In order to adjust the overall plate thickness of the stator core 38 on which the core sheets are stacked, the second yoke sheet 24 at the end of the stack has a recessed portion (penetrating through) for fitting with the protruding portion 90 of the first yoke sheet 81. Hole) 89. The number of core sheets constituting the stator core 38 is defined by the number of teeth portions (slots) 34 and the number of magnetic poles. The first yoke sheets 81 to 85 are rotationally stacked.

FIG. 5 is a cross-sectional view taken along line VV ′ of FIG. FIG. 6 is an enlarged view showing the inside of the broken line in FIG. FIG. 7 is a perspective view showing a part of one first yoke sheet 81 of the yoke core 32. FIG. 8 is a perspective view showing a part of one second yoke sheet 24 of the yoke core 32.
As shown in FIG. 6, the concave portion 89 of the second yoke sheet 24 of the first yoke core 32 from the bottom of the drawing is completely removed, and as shown in FIG. 8, the concave portion 89 of the second yoke sheet 24 is The rotation shaft 12 penetrates in the extending direction. According to this, when the convex part 90 is fitted to the concave part 89, the fitting state of the convex part 90 can be confirmed. Further, the through hole is easier to process than the bottomed blind hole.

  As shown in FIG. 6, the recesses 88 of the first yoke sheets 81 to 85 of the second and subsequent yoke cores 32 from the bottom of the drawing are half-extracted, and on the back side of the recesses 88 as shown in FIG. 7. Convex part 90 is provided. The convex part 90 on the back surface side of the half-depressed concave part 88 of the first yoke sheets 81 to 85 is caulked to the concave part 89 that has been completely extracted from the second yoke sheet 24, thereby projecting to the laminated surface 28 of the second yoke sheet 24. There is no part.

  In the stator core 38 in which the core sheets are laminated, the half-cut recesses 88 (projections 90) formed in the respective core sheets are fastened and fastened. When all the core sheets to be laminated are made into half-cut recesses 88 (projections 90), the half-cut projections 90 appear on one end face of the stator core 38, and the total thickness of the stator core 38 is measured. The height of the convex part 90 will be included. In this embodiment, in order to prevent a convex part from appearing on one end face of the stator core 38, the fully-extracted second yoke sheet 24 is crimped to the end face. By adopting this structure, the total thickness of the stator core 38 can be accurately measured.

  In addition, full extraction refers to extracting the entire circumference of a closed shape, and half extraction refers to making a convex shape by stopping full extraction halfway.

  Moreover, although the recessed part 89 was a through-hole, the recessed part 89 does not need to be a through-hole. Moreover, the recessed parts 88 and 89 should just be a shape which can be fitted (engaged) with the convex part 90. FIG. The shapes of the concave portions 88 and 89 and the convex portion 90 are not limited to a circle, and may be, for example, a rectangle, a square, an ellipse, or the like.

FIG. 9 is a perspective view illustrating a schematic configuration of the tooth portion iron core 30 according to the present embodiment.
The teeth portion iron core 30 is formed by laminating a plurality of core sheets in the direction in which the rotating shaft 12 extends. The plurality of core sheets include first tooth sheets (first core sheets) 71 to 75 and second tooth sheets (second core sheets) 23. The first tooth sheet 71 includes a plurality of convex portions 80 arranged around the rotation shaft 12. The first tooth sheet 71 includes a plurality of concave portions 78 on the back side of the convex portion 80. The first tooth sheet 71 is rotated and laminated using the concave portion 78 and the convex portion 80.

  The second tooth sheet 23 includes a plurality of concave portions 79 that fit into the convex portions 80 of the first tooth sheet 71. The 2nd teeth sheet 23 is not provided with the convex part in the lamination surface 29. FIG. The second tooth sheet 23 is disposed at the end of the stator core 38 in the stacking direction.

  The motor 150 includes a bobbin (not shown). The second tooth sheet 23 and the bobbin are arranged along the direction in which the rotating shaft 12 extends. According to this, since there is no convex part in the lamination surface 29 of the 2nd teeth sheet | seat 23, the stator core 38 and a bobbin are easy to fit. The teeth portion iron core 30 is laminated in the direction in which the rotating shaft 12 extends, with the second teeth sheet 23 disposed at the end in the direction in which the stator core 38 is laminated, and the plurality of first teeth sheets 71 to 75. . Nine round recesses 78 are formed in the circumferential direction in the first teeth sheets 71 to 75 arranged at the end of the teeth portion iron core 30 opposite to the second teeth sheet 23.

  In order to adjust the overall plate thickness of the stator core 38 on which the core sheets are laminated, the second tooth sheet 23 at the end of the lamination is a recessed portion (penetrating through) for fitting with the convex portion 80 of the first tooth sheet 71. Hole) 79. The number of core sheets constituting the stator core 38 is defined by the number of teeth portions (slots) 34 and the number of magnetic poles.

FIG. 10 is a cross-sectional view taken along line XX ′ of FIG. FIG. 11 is an enlarged view showing the inside of the broken line in FIG. FIG. 12 is a perspective view showing a part of the first tooth sheet 71 of the tooth portion iron core 30. FIG. 13 is a perspective view showing a part of the second tooth sheet 23 of the tooth portion iron core 30.
As shown in FIG. 11, the recess 79 of the second teeth sheet 23 of the first tooth core 30 from the bottom of the figure is completely removed, and as shown in FIG. 13, the recess 79 of the second teeth sheet 23 is The rotation shaft 12 penetrates in the extending direction. According to this, when the convex part 80 is fitted to the concave part 79, the fitting state of the convex part 80 can be confirmed. Further, the through hole is easier to process than the bottomed blind hole.

  As shown in FIG. 11, the recesses 78 of the first teeth sheets 71 to 75 of the second and subsequent teeth cores 30 from the bottom of the drawing are half-extracted, and as shown in FIG. Convex part 80 is provided. The convex portion 80 on the back surface side of the half-extracted concave portion 78 of the first teeth sheets 71 to 75 is crimped to the concave portion 79 that is completely extracted from the second tooth sheet 23, thereby projecting to the laminated surface 29 of the second teeth sheet 23. There is no part.

  The stator core 38 with the core sheets laminated is fastened by caulking a half-cut recess 78 (projection 80) formed in each core sheet. When all the core sheets to be laminated are made into half-cut concave portions 78 (convex portions 80), the half-cut convex portions 80 appear on either one end surface of the stator core 38, and the total thickness of the stator core 38 is measured. The height of the convex part 80 will be included. In this embodiment, in order to prevent a convex part from appearing on either end face of the stator core 38, the fully-extracted second teeth sheet 23 is crimped to the end face. By adopting this structure, the total thickness of the stator core 38 can be accurately measured.

  In addition, although the recessed part 79 was a through-hole, the recessed part 79 may not be a through-hole. Further, the concave portions 78 and 79 may have any shape that can be fitted (engaged) with the convex portion 80. The shapes of the concave portions 78 and 79 and the convex portion 80 are not limited to a circle, and may be, for example, a rectangle, a square, an ellipse, or the like.

<Manufacturing method of motor>
FIG. 14 is a flowchart showing a method for manufacturing the stator core 38 according to the present embodiment.
Hereinafter, a method for manufacturing the motor 150 including the stator core 38 including the yoke portion iron core 32 and the teeth portion iron core 30 will be described with reference to FIG.

  The method for manufacturing the motor 150 includes a stator core 38 formed by laminating a second yoke sheet (second core sheet) 24 and first yoke sheets (first core sheets) 81 to 85 in a direction in which the rotating shaft 12 extends. A method for manufacturing a motor. Moreover, it is a manufacturing method of a motor provided with the stator core 38 formed by laminating | stacking the 2nd teeth sheet | seat (2nd core sheet | seat) 23 and the 1st teeth sheet | seat (1st core sheet | seat) 71-75 in the direction where the rotating shaft 12 extends. is there.

  The method for manufacturing the motor 150 includes a first core sheet manufacturing process, a second core sheet manufacturing process, a stator core manufacturing process, and a measurement process.

Here, with reference to FIG. 14, the manufacturing method of the stator core 38 in the motor 150 of this embodiment is demonstrated using a flowchart.
First, in the second core sheet manufacturing step of Step S10, the second yoke sheet 24 including a plurality of concave portions 89 fitted to the convex portions 90 and not including the convex portions on the laminated surface 28 is manufactured. Moreover, the 2nd teeth sheet 23 which is provided with the some recessed part 79 fitted with the convex part 80 and does not have a convex part in the lamination | stacking surface 29 is produced.

  Next, in the first core sheet manufacturing step of Step S20, the first yoke sheets 81 to 81 having a plurality of convex portions 90 arranged around the rotation shaft 12 and a plurality of concave portions 88 on the back surface side of the convex portions 90. 85 is produced. Moreover, the 1st teeth sheet | seats 71-75 which have the some convex part 80 arrange | positioned around the rotating shaft 12, and the several recessed part 78 in the back surface side of the convex part 80 are produced.

  Next, in the stator core manufacturing process of step S30, the second yoke sheet 24 is disposed at the end of the stator core 38 in the stacking direction, the second yoke sheet 24 and the first yoke sheet 81 are stacked, and the yoke is stacked. A partial iron core 32 is produced. Moreover, the 2nd teeth sheet | seat 23 is arrange | positioned in the edge part of the lamination direction of the stator core 38, the 2nd teeth sheet | seat 23 and the 1st teeth sheet | seat 71 are laminated | stacked, and the teeth part iron core 30 is produced.

  In the manufacturing method of the present embodiment, the second yoke sheet 24 and the first yoke sheets 81 to 85 whose inner diameter and outer diameter are punched (from an electromagnetic steel sheet not shown) with the same punching die (not shown) are laminated to form a yoke portion. An iron core 32 is formed. Specifically, first, the second yoke sheet 24 punched (from a magnetic steel sheet) with a punching die (not shown) is placed in a laminating device (not shown) for laminating.

  Next, the first yoke sheet 81 punched with the same punching die as that punched the second yoke sheet 24 is placed in the laminating apparatus. At this time, the first yoke sheet 81 is disposed on the second yoke sheet 24 disposed last time. In addition, the first yoke sheet 81 is rotationally laminated using the concave portion 88 and the convex portion 90.

  Next, the first yoke sheet 82 punched with the same punching die as the punching of the second yoke sheet 24 and the first yoke sheet 81 is disposed in the laminating apparatus (not shown). At this time, the first yoke sheet 82 is arranged on the first yoke sheet 81 arranged last time.

  Next, the first yoke sheet 83 punched with the same punching die as the punching of the second yoke sheet 24 and the first yoke sheets 81 and 82 is disposed in the laminating apparatus (not shown). At this time, the first yoke sheet 83 is disposed on the first yoke sheet 82 disposed last time. In addition, the first yoke sheet 83 is rotationally laminated using the concave portion 88 and the convex portion 90.

  By repeating this in the same manner, the yoke part core 32 in which the second yoke sheet 24 and the first yoke sheets 81 to 85 are laminated in the direction in which the rotating shaft 12 extends is formed. For example, 73 yoke sheets having a thickness of 0.35 mm are laminated to form the outer peripheral iron core. In addition, about the apparatus and method which form the yoke part iron core 32, since what is necessary is just to use a well-known technique, the detailed description is abbreviate | omitted here.

  The yoke core 32 is pressed and laminated to a predetermined thickness by adhesion or dowel crimping. For example, it is laminated by dowel crimping. Specifically, as shown in FIG. 4, the second yoke sheet 24 and the first yoke sheets 81 to 85 are stacked on the plane of the second yoke sheet 24 and the first yoke sheets 81 to 85 of the present embodiment. Concave portions 88 and 89 and convex portions 90 as fixing portions for fixing each other are formed at equiangular intervals in the circumferential direction.

  The concave portion 88 is formed on the upper surface (the upper surface in FIG. 6) of the first yoke sheets 81 to 85, and the convex portion 90 is the lower surface of the first yoke sheets 81 to 85 at the same position in the circumferential direction as the concave portion 88 (FIG. 7). It is formed on the middle and bottom surfaces. As shown in FIG. 8, the concave portion 89 is formed on the laminated surface 28 of the second yoke sheet 24, and no convex portion is formed on the laminated surface 28 of the second yoke sheet 24. Then, the second yoke sheet 24 and the first yoke sheets 81 to 85 laminated on the laminating apparatus are formed by press-fitting (caulking) the convex portion 90 of the upper outer peripheral sheet into the concave portion 88 of the lower outer peripheral sheet. , Fixed to each other up and down.

  The manufacturing method according to the present embodiment is obtained by laminating the second tooth sheet 23 and the first tooth sheets 71 to 75, which are punched in the same punching die (not shown) and whose inner and outer diameters are punched (from a not-shown electromagnetic steel sheet). A partial iron core 30 is formed. Specifically, first, the punching die (not shown) is placed in a laminating apparatus (not shown) for laminating the punched second tooth sheet 23 (from the electromagnetic steel sheet).

  Next, the first teeth sheet 71 punched with the same punching die as the punched second tooth sheet 23 is placed in the laminating apparatus. At this time, the 1st teeth sheet 71 is arranged on the 2nd teeth sheet 23 arranged last time.

  Next, the first teeth sheet 72 punched with the same punching die as the punching of the second teeth sheet 23 and the first teeth sheet 71 is placed in the laminating apparatus (not shown). At this time, the 1st teeth sheet 72 is arranged on the 1st teeth sheet 71 arranged last time. Further, the first tooth sheet 72 is rotated and laminated using the concave portion 78 and the convex portion 80. As shown in FIG. 3, since the recesses 78 are formed at a pitch of 40 °, the magnetic steel sheets are stacked while being rotated by 160 ° or 200 °.

  Next, the first teeth sheet 73 punched with the same punching die as the punching of the second teeth sheet 23 and the first teeth sheets 71 and 72 is arranged in the laminating apparatus (not shown). At this time, the 1st teeth sheet 73 is arranged on the 1st teeth sheet 72 arranged last time. Further, the first tooth sheet 73 is rotated and laminated using the concave portion 78 and the convex portion 80.

  By repeating this in the same manner, the tooth portion iron core 30 in which the second tooth sheet 23 and the first tooth sheets 71 to 75 are laminated in the direction in which the rotating shaft 12 extends is formed. For example, 73 core sheets having a thickness of 0.35 mm are laminated to form a teeth portion iron core. In addition, about the apparatus and method which form the teeth part iron core 30, since what is necessary is just to utilize a well-known technique, the detailed description is abbreviate | omitted here.

  The teeth portion iron core 30 is pressed and laminated to a predetermined thickness by adhesion or dowel crimping. For example, it is laminated by dowel crimping. Specifically, as shown in FIG. 9, the second teeth sheet 23 and the first teeth sheets 71 to 75 that are laminated are arranged on the planes of the second teeth sheet 23 and the first teeth sheets 71 to 75 of the present embodiment. Concave portions 78 and 79 and convex portions 80 as fixing portions for fixing each other are formed at equiangular intervals in the circumferential direction.

  The recessed part 78 is formed in the upper surface (upper surface in FIG. 11) of the 1st teeth sheets 71-75, and the convex part 80 is the lower surface (FIG. 12) of the 1st teeth sheets 71-75 in the same position as the recessed part 78 in the circumferential direction. It is formed on the middle and bottom surfaces. As shown in FIG. 13, the concave portion 79 is formed on the laminated surface 29 of the second tooth sheet 23, and no convex portion is formed on the laminated surface 29 of the second tooth sheet 23. And as for the 2nd teeth sheet 23 and the 1st teeth sheets 71-75 laminated | stacked on the said lamination | stacking apparatus, the convex part 80 of an upper core sheet is press-fitted (caulked) to the recessed part 78 of a lower core sheet. , Fixed to each other up and down.

  Next, in the measurement process in step S40, the weight of the yoke core 32 and the thickness in the direction in which the rotating shaft 12 extends are measured. Moreover, the thickness of the teeth part iron core 30 and the thickness of the direction where the rotating shaft 12 extends are measured. In addition, about the measuring method of the weight of the yoke part core 32 and the teeth part core 30, and the thickness of the direction where the rotating shaft 12 is extended, what is necessary is just to use a well-known technique, The detailed description is abbreviate | omitted here.

  Next, in winding of the coil 40 of step S50, the coil 40 is wound around the teeth part 34 of the teeth part iron core 30. FIG. The coil 40 is wound around a bobbin (not shown) a predetermined number of times and set on the teeth portion 34.

  Next, in the fitting of the teeth portion iron core 30 and the yoke portion iron core 32 in step S60, the teeth portion iron core 30 is arranged inside the annular shape of the yoke portion iron core 32 and fitted.

  Teeth part iron core 30 and yoke part iron core 32 are fitted, and stator 14 is formed. In addition, about the apparatus and method which fit the teeth part iron core 30 and the yoke part iron core 32, since what is necessary is just to use a well-known technique, the detailed description is abbreviate | omitted here. When the tightening margin occurs, the yoke core 32 is heated and expanded to be fitted and assembled.

  Thereafter, the stator 14 is fixed to the housing 10 by a known method, and the rotor 16 manufactured in a separate process is inserted into the stator 14 fixed to the housing 10 to manufacture the motor 150.

  According to the present embodiment, the stacked surfaces 28 and 29 of the second tooth sheet (second core sheet) and the second yoke sheet (second core sheet) at the end in the stacking direction (the direction in which the rotating shaft 12 extends) are provided. Since there is no convex part, a convex part does not appear in the end surface of the lamination direction of the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 (stator core 38). Thereby, the whole thickness of the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 (stator core 38) can be accurately measured, and the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 can be measured. By measuring the total thickness and weight of the (stator core 38), it is possible to provide a method for manufacturing the motor 150 that can improve cogging.

  According to the present embodiment, the stacked surfaces 28 and 29 of the second tooth sheet (second core sheet) and the second yoke sheet (second core sheet) at the end in the stacking direction (the direction in which the rotating shaft 12 extends) are provided. Since there is no convex part, a convex part does not appear in the end surface of the lamination direction of the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 (stator core 38). Thereby, the whole thickness of the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 (stator core 38) can be accurately measured, and the teeth part iron core 30 (stator core 38) and the yoke part iron core 32 can be measured. By measuring the total thickness and weight of the (stator core 38), a motor 150 that can improve cogging is obtained. As a result, it is possible to provide the robot 100 with excellent drivability having the effect of the motor 150 described above.

  The robot of the present invention has been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each unit may be replaced with an arbitrary configuration having the same function. Can do. Moreover, other arbitrary components may be added.

  Moreover, in the said embodiment, although the 1st surface which is a plane (surface) to which a robot (base) is fixed is a plane (surface) parallel to a horizontal surface, in this invention, it is not limited to this, For example, Further, it may be a horizontal plane, a plane (plane) inclined with respect to the vertical plane, or a plane (plane) parallel to the vertical plane. That is, the rotation axis may be inclined with respect to the vertical direction or the horizontal direction, or may be parallel to the horizontal direction.

  The robot of the present invention is not limited to a vertical articulated robot, and the same effect can be obtained with a horizontal articulated robot, a parallel link robot, a double arm robot, or the like. The robot of the present invention is not limited to a 6-axis robot, and the same effect can be obtained with a robot with 7 or more axes or a robot with 5 or less axes. The robot of the present invention is not limited to an arm type robot (robot arm) as long as it has an arm, and may be another type of robot, for example, a legged walking (running) robot.

  DESCRIPTION OF SYMBOLS 1 ... Gear apparatus 10 ... Housing 12 ... Rotating shaft 14 ... Stator 16 ... Rotor 18, 20 ... Bearing 23 ... 2nd teeth sheet (2nd core sheet) 24 ... 2nd yoke sheet (2nd core sheet) 28, 29 ... Laminated surface 30 ... Teeth core (tooth) 32 ... Yoke iron core (yoke) 34 ... Teeth 38 ... Stator core 40 ... Coil 71-75 ... First teeth sheet (first core sheet) 78, 79 ... Recess 80 ... Convex part 81-85 ... 1st yoke sheet (1st core sheet) 88, 89 ... Concave part 90 ... Convex part 100 ... Robot 110 ... Control apparatus 111 ... Base (1st member) 120 ... Robot arm 121 ... 1st arm (2nd member) 122 ... 2nd arm 123 ... 3rd arm 124 ... 4th arm 125 ... 5th arm 126 ... Sixth arm 130 ... hand 131, 132 ... finger 140 ... force detector 150 ... motor.

Claims (7)

A first member;
A second member rotatably provided with respect to the first member;
A motor for transmitting a driving force from one of the first member and the second member to the other;
Have
The motor has a stator core formed by laminating a plurality of core sheets in a direction in which the rotation axis extends,
The plurality of core sheets are:
A first core sheet having a plurality of convex portions arranged around the rotation axis and a plurality of concave portions on the back surface side of the convex portions;
A second core sheet that has a plurality of recesses fitted to the protrusions, has no protrusions on the stacking surface, and is disposed at an end of the stator core in the stacking direction;
A robot characterized by comprising:   The robot according to claim 1, wherein the concave portion of the second core sheet penetrates in the stacking direction. The stator core is
Teeth having a teeth part;
A yoke disposed outside the teeth;
Have
The robot according to claim 1, wherein the number of the tooth portions and the number of the convex portions of the first core sheet are aligned.   The robot according to claim 3, wherein the yoke and the teeth are separate members. The motor has a bobbin;
The robot according to any one of claims 1 to 4, wherein the second core sheet and the bobbin are arranged along a direction in which the rotation shaft extends. Having a stator core formed by laminating a plurality of core sheets in a direction in which the rotation axis extends;
The plurality of core sheets are:
A first core sheet having a plurality of convex portions arranged around the rotation axis and a plurality of concave portions on the back surface side of the convex portions;
A second core sheet that has a plurality of recesses fitted to the protrusions, has no protrusions on the stacking surface, and is disposed at an end of the stator core in the stacking direction;
The motor characterized by having. A method of manufacturing a motor having a stator core formed by laminating a first core sheet and a second core sheet in a direction in which a rotation axis extends,
A first core sheet production step of producing the first core sheet having a plurality of convex portions arranged around the rotation axis and a plurality of concave portions on the back surface side of the convex portions;
A second core sheet production step of producing the second core sheet having a plurality of concave portions fitted to the convex portions and having no convex portions on the laminated surface;
A stator core manufacturing step in which the second core sheet is disposed at an end of the stator core in the stacking direction, and the stator core is manufactured by stacking the second core sheet and the first core sheet;
A measuring step of measuring the weight of the stator core and the thickness in the direction in which the rotating shaft extends;
The manufacturing method of the motor characterized by including.