JP2018191449A - Servo motor and method for manufacturing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a servo motor capable of improving radiation performance to heat generated in a stator coil and maintaining high output, and a method for manufacturing the same.SOLUTION: A servo motor 100 is provided with: a rotor 8 which is mechanically connected with a second arm part 2b which is a rotation object on both sides of a wall part 3 which is an external component in an axial direction X; a stator core 6 which is oppositely provided on the outside in a radial direction of the rotor 8; a stator coil 9 which is wound around the stator core 6 and to which power is supplied; a frame 7 which accommodates the rotor 8, the stator core 6 and the stator coil 9; and a front bracket 5 which is oppositely provided in the wall part 3, and fixed to the frame 7. The frame 7 is provided with: a first recessed part 16a and a second recessed part 16b which contact the front bracket 5 in the axial direction X; and an end surface 27 on a load side X1 which contacts the wall part 3 in the axial direction X.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a servo motor and a manufacturing method thereof, and more particularly to a servo motor used for a joint of a robot arm and the like.

  A servo motor is used to move the arm of a robot arm used in a factory production line. The servo motor has a rotor that is rotatably provided and a stator that is provided on the radially outer side of the rotor. A magnetic field is generated by passing an electric current through a stator coil wound around the stator, and a rotational force is applied to the rotor facing the stator. At this time, heat is generated in the stator coil.

  Currently, there is a demand for higher output or miniaturization of the servo motor, and in order to achieve this, it is necessary to improve the heat dissipation performance so that the temperature of the stator coil is within an allowable temperature. Here, as shown in Patent Document 1, generally, a servo motor includes a frame that houses a stator and a rotor, and a front bracket that is attached to the frame and that fixes the servo motor to external parts such as a wall surface of a robot arm. (Load side bracket). And in patent document 1, the heat which generate | occur | produced with the stator coil is heat-transferred in order of a stator core, a frame, a front bracket, and an external component, and is finally thermally radiated from an external component. Note that a small-sized servo motor that does not use a cooling fan or a water cooling device has a small surface area, so heat radiation from the external component is more dominant than heat radiation from the surface.

JP 2002-305852 A

  However, in the servo motor of Patent Document 1, the heat generated in the stator coil is transmitted to an external component via the frame and the front bracket. Here, it is difficult to completely contact the contact surface between the frame and the front bracket, and an air layer is interposed between the frame and the front bracket. For this reason, a temperature difference tends to occur at the contact portion between the frame and the front bracket due to the contact thermal resistance of the air layer. Therefore, the conventional servo motor described in Patent Document 1 has a problem that the heat dissipation performance with respect to the heat of the stator coil is low, and the output of the servo motor is reduced.

  It is also conceivable to improve the heat dissipation capability by increasing the heat dissipation area by attaching fins for heat dissipation to the frame. However, in a servo motor whose outer dimensions in the radial direction are determined due to restrictions on the installation space, it is necessary to reduce the inner diameter of the frame when securing fins, and the output of the stator core decreases because the size of the stator core also decreases. There is a problem.

  The present invention is made to solve such a problem, and provides a servo motor capable of improving heat dissipation performance against heat generated in a stator coil and maintaining a high output, and a method for manufacturing the servo motor. With the goal.

  In order to solve the above problems, a servo motor according to the present invention includes a rotor that is mechanically connected to an object to be rotated with an external component interposed therebetween in an axial direction, and a stator core that is provided to face the outer side in the radial direction of the rotor. A stator coil that is wound around the stator core and supplied with power, a frame that houses the rotor, the stator core, and the stator coil, and a front bracket that is provided facing the external parts and is fixed to the frame. Are provided with a front bracket contact portion that contacts the front bracket in the axial direction and an external component contact portion that contacts the external component in the axial direction.

  According to the servo motor and the manufacturing method thereof according to the present invention, when a part of the frame comes into contact with the external component, the heat generated in the coil is directly transferred from the frame to the external component. Therefore, since the temperature rise due to the contact thermal resistance of the contact surface between the frame and the front bracket can be removed, the heat radiation performance against the heat generated in the stator coil can be improved, and the output can be prevented from lowering. Further, since the heat dissipation performance can be improved without providing fins, it is not necessary to reduce the size of the stator core, and a high output can be maintained.

It is sectional drawing of the servomotor which concerns on Embodiment 1 of this invention. It is sectional drawing which shows the usage example of the servomotor shown in FIG. It is a perspective view of the front bracket of the servo motor shown in FIG. It is a perspective view of the flame | frame of the servomotor shown in FIG. It is a perspective view from the load side of the servomotor shown in FIG. It is a perspective view from the load side of the servomotor which concerns on Embodiment 2 of this invention. It is a perspective view from the load side of the servomotor which concerns on Embodiment 3 of this invention. It is a perspective view from the load side of the servomotor which concerns on Embodiment 4 of this invention.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
Embodiment 1 FIG.
A servo motor 100 according to Embodiment 1 of the present invention will be described with reference to FIGS.
A servo motor 100 shown in FIG. 1 is an industrial motor used for machining, conveying parts, and mounting in a production line such as a factory. In particular, in this embodiment, as shown in FIG. 2, the servo motor 100 is used for a joint portion of the robot arm 2, and the servo motor 100 rotates a part of the robot arm 2. Of the two members connected via the joint portion of the robot arm 2, the one provided with the servo motor 100 is the first arm portion 2a, and the one driven to rotate by the servo motor 100 is the second arm. This is part 2b. That is, the second arm portion 2 b is a rotation target of the servo motor 100. The tip of the second arm portion 2b of the robot arm 2 is provided with a processing tool (not shown) such as a drill or a structure (not shown) for gripping the part, and performs processing, transportation, mounting and the like of the part. As shown in FIG. 2, the servo motor 100 is attached to the wall portion 3 of the first arm portion 2 a of the robot arm 2.
In addition, the wall part 3 of the 1st arm part 2a of the robot arm 2 shall be an external component.

As shown in FIG. 1, the servo motor 100 includes a rotary shaft 4 that is rotatably provided in the through hole 3 a of the wall 3, a rotor 8 that is fixed to the rotary shaft 4, and a radially outer side of the rotor 8. And a stator core 6 provided so as to be opposed to each other. The rotating shaft 4 is connected to the second arm portion 2b. That is, the rotor 8 is mechanically connected to the second arm portion 2 b that is a rotation target via the rotating shaft 4 with the wall portion 3 interposed therebetween. A stator coil 9 is wound around the stator core 6. A substantially cylindrical frame 7 is provided on the radially outer side of the stator core 6 and the stator coil 9. The frame 7 houses the rotor 8, the stator core 6, and the stator coil 9 therein.
In the following description, the extending direction of the rotating shaft 4 is defined as an axial direction X. Further, a direction orthogonal to the axial direction X is defined as a radial direction. Furthermore, in the axial direction X, the side where the rotating shaft 4 protrudes from the wall 3 of the first arm portion 2a, that is, the side connected to the second arm portion 2b which is a load is defined as the load side X1, and the opposite side of the load side X1 Is the anti-load side X2.

Further, on the load side X <b> 1 of the rotor 8, the stator core 6, and the stator coil 9, a front bracket 5 that is attached so as to cover the opening on the load side X <b> 1 of the frame 7 is provided. The servo motor 100 is fixed to the wall portion 3 by attaching the front bracket 5 to the wall portion 3 of the first arm portion 2a. A rear bracket 10 is attached to an end of the frame 7 on the non-load side X2 so as to cover the opening of the frame 7 on the anti-load side X2. The rear bracket 10 is fixed in contact with the end surface of the frame 7 on the non-load side X2. A bearing 11 a is provided between the rotating shaft 4 and the front bracket 5, and a bearing 11 b is provided between the rotating shaft 4 and the rear bracket 10. Here, the bearings 11 a and 11 b are parts for smoothly rotating the rotating shaft 4, and the outer peripheral side surfaces in contact with the front bracket 5 and the rear bracket 10 are stationary and are in contact with the rotating shaft 4. The inner side surface rotates with the rotating shaft 4.
Note that the front bracket 5 and the rear bracket 10 are made of an aluminum die-cast material such as ADC12. The aluminum die-cast material has a thermal conductivity of about 96 W / (m · K).

  An encoder 21 is attached to the rotating shaft 4. The encoder 21 is provided on the anti-load side X2 opposite to the load side X1 on which the front bracket 5 is provided with the frame 7 interposed therebetween. The encoder 21 is provided on the side opposite the load X2 from the rear bracket 10. Further, an encoder cover 12 is provided on the opposite load side X <b> 2 of the rear bracket 10, and the encoder 21 is disposed inside the encoder cover 12. The encoder 21 is a low heat-resistant substrate on which a circuit for detecting the rotation angle of the rotating shaft 4 and the rotor 8 of the servo motor 100 is mounted.

  The contact portion between the frame 7 and the front bracket 5, the contact portion between the frame 7 and the rear bracket 10, and the contact portion between the rear bracket 10 and the encoder cover 12 are each provided with a seal structure (not shown). Yes. As a result, it is possible to prevent cutting oil or the like from being scattered and entering the servo motor 100 during machining.

  The servo motor 100 is assembled by preparing a stator core 6 fixed to the frame 7 and a rotor 8 attached to the front bracket 5 via the rotary shaft 4 in order to easily adjust the center of the shaft. The rotor 8 is inserted into the stator core 6.

Next, a more detailed structure of the frame 7 and the front bracket 5 will be described with reference to FIGS.
First, as shown in FIG. 3, the front bracket 5 has a substantially cylindrical column portion 15, and a rotation shaft attachment hole 15 a for allowing the rotation shaft 4 to pass therethrough is formed at the center of the column portion 15. In addition, a pair of external component mounting portions 13 a that protrudes outward in the radial direction is formed at the end of the cylindrical portion 15 on the load side X1. The pair of external component attachment portions 13a are separated from each other by 180 ° with the cylindrical portion 15 interposed therebetween. In addition, a pair of frame attachment portions 13b projecting radially outward is formed on the cylindrical surface of the side portion of the column portion 15. The pair of frame attachment portions 13b are provided at positions whose phases are shifted by 90 ° with respect to the pair of external component attachment portions 13a, and at positions closer to the anti-load side X2 than the pair of external component attachment portions 13a. Yes. Further, the pair of frame attaching portions 13b are separated from each other by 180 ° with the cylindrical portion 15 interposed therebetween.

  Here, the front bracket 5 has a complicated shape by including a pair of external component attachment portions 13a and a pair of frame attachment portions 13b. In general, a die-cast formed by pressing a molten metal into a mold is used in a method for manufacturing such a complex shaped part.

Next, as shown in FIG. 4, a frame opening 7 a for accommodating the rotor 8, the stator core 6 and the stator coil 9 is formed in the frame 7. In addition, a pair of first dents 16 a and a pair of second dents 16 b provided to face the wall 3 are formed at the end of the load side X <b> 1 of the frame 7. The depth of the pair of first dents 16a and the pair of second dents 16b with reference to the end surface 27 of the load side X1 of the frame 7 is such that the depth of the second dent 16b is the depth of the first dent 16a. Deeper than depth. Further, the pair of first recess portions 16 a are formed at positions and shapes corresponding to the pair of external component attachment portions 13 a of the front bracket 5. Further, the pair of second recess portions 16 b are formed at positions and shapes corresponding to the pair of frame attachment portions 13 b of the front bracket 5. Further, the corners of the frame 7 in which the pair of first depressions 16a are formed are each formed in a curved shape so as to be recessed toward the frame opening 7a.
Here, the pair of first dent portions 16 a and the pair of second dent portions 16 b constitute a front bracket contact portion that contacts the front bracket 5 in the axial direction X.

  Here, since the cross-sectional shape in the axial direction X is constant, the frame 7 is formed by extrusion molding. The advantage of extrusion molding is that an aluminum extrusion material such as A6063 having a thermal conductivity of about 209 W / (m · K) can be applied to the extrusion material. Aluminum extruded material has higher thermal conductivity than aluminum die-cast material, and is excellent in heat dissipation performance due to less temperature difference inside the part. When extrusion is applied to the frame 7, the heat dissipation performance of the servo motor 1 is achieved. It becomes possible to improve. Further, the first dent portion 16 a and the second dent portion 16 b are formed by being cut after the frame 7 is extruded.

As shown in FIG. 5, the front bracket 5 is fitted to the end of the frame 7 on the load side X1. Then, the pair of external component attachment portions 13 a of the front bracket 5 are fitted into the pair of first recess portions 16 a of the frame 7. Here, the pair of external component attachment portions 13 a protrude outward from the corners of the frame 7. The pair of external component attachment portions 13 a is fixed to the wall portion 3 via bolts 17. Further, the pair of frame attachment portions 13 b of the front bracket 5 are fitted to the pair of second recess portions 16 b of the frame 7, and are respectively fixed to the frame 7 by bolts 17. Note that the end surface 27 of the load side X1 of the frame 7 and the end surface 25 of the load side X1 of the front bracket 5 are flush with each other when the front bracket 5 is fitted to the frame 7. Therefore, when the servo motor 100 is fixed to the wall 3, the end surface 27 on the load side X <b> 1 of the frame 7 and the end surface 25 on the load side X <b> 1 of the front bracket 5 are in contact with the wall 3 in the axial direction X.
Here, the end surface 27 on the load side X1 of the frame 7, that is, the portion where the pair of first dent portions 16a and the pair of second dent portions 16b are not formed constitutes an external component contact portion.

Next, the operation of the servo motor 100 and the heat transfer path of heat generated in the stator coil 9 will be described with reference to FIGS.
First, electric power is supplied to the stator coil 9 wound around the stator core 6. Thereby, a magnetic field is generated and a rotational force is applied to the rotor 8. Then, when the rotating shaft 4 rotates together with the rotor 8, the second arm portion 2b of the robot arm 2 mechanically connected to the rotating shaft 4 rotates.

  At this time, the stator coil 9 through which the current flows generates heat. As shown by the arrows in FIG. 1, the heat generated in the stator coil 9 is transferred to the frame 7 through the stator core 6. Further, the heat transferred to the frame 7 is transferred to the wall 3 and the rear bracket 10 or is radiated from the outer surface of the frame 7. Further, the heat transferred to the wall 3 is radiated to the outside. Further, the heat transferred to the rear bracket 10 is radiated to the outside or transferred to the encoder cover 12. That is, the heat radiation source of the heat generated from the stator coil 9 is the surface of the servo motor 100 including the front bracket 5, the frame 7, the rear bracket 10, and the encoder cover 12, or the wall portion 3 to which the servo motor 100 is attached.

  As described above, in the servo motor 100 according to the first embodiment, the end surface 27 on the load side X1 of the frame 7 is in contact with the wall 3 that is an external component. Therefore, as a heat transfer path of the heat generated in the stator coil 9, heat is transferred directly from the frame 7 to the wall portion 3 without the front bracket 5 in addition to the heat transfer path of the conventional general servo motor. You can add routes. Thereby, the heat dissipation performance of the servo motor 100 can be improved. Therefore, it is possible to prevent the output of the servo motor 100 from being lowered. Further, since the heat radiation performance can be improved without providing the fins, it is not necessary to reduce the size of the stator core 6 in order to secure the space for providing the fins, and a high output can be maintained.

  Further, the front bracket 5 is formed with an external component attachment portion 13 a connected to the wall portion 3 and a frame attachment portion 13 b connected to the frame 7. And the 1st hollow part 16a with which the external component attachment part 13a is fitted in the edge part of the load side X1 of the flame | frame 7 and the 2nd hollow part 16b with which the frame attachment part 13b is fitted are formed. . As a result, the state in which the end surface 27 of the load side X1 of the frame 7 is in contact with the wall portion 3 is maintained, and the servo motor 100 is firmly fixed to the wall portion 3 via the front bracket 5.

  The encoder 21 that detects the rotation angle of the rotor 8 is disposed on the opposite load side X2 opposite to the side on which the front bracket 5 is provided with the frame 7 interposed therebetween. Here, one of the heat transfer paths of the heat generated in the stator coil 9 is a path through which the stator coil 9, the stator core 6, the frame 7, the rear bracket 10, and the encoder cover 12 are transmitted in order and radiated from the encoder cover 12. . Since the encoder 21 disposed inside the encoder cover 12 has low heat resistance, it is preferable to reduce the amount of heat transferred to the encoder cover 12 as much as possible. On the other hand, the ratio of the amount of heat released from the surface of the servo motor 100 and the wall 3 is determined by the magnitude of the heat resistance of each heat transfer path, and the amount of heat transfer to the heat transfer path having a small heat resistance increases. Therefore, in the servo motor 100, since the thermal resistance of the heat transfer path for radiating heat from the wall 3 is reduced, the rate of heat radiated from the surface of the servo motor 100 becomes smaller than in the conventional case. Accordingly, the amount of heat transferred to the encoder cover 12 is reduced correspondingly, and the temperature rise of the encoder 21 having low heat resistance can be suppressed.

The frame 7 is formed by extruding an aluminum extrusion material. In this way, by applying extrusion molding to the formation of the frame 7, when manufacturing the servo motor 100 having the same cross-sectional shape and different lengths in the axial direction X and having different outputs, the axial length X of the frame 7 is set to Can be cut to desired length. Therefore, if extrusion molding is used, the output of the servo motor 100 can be adjusted at a lower manufacturing cost than that of die casting. Moreover, when die casting is applied to the manufacturing method of the frame 7 instead of extrusion molding, it is difficult to use an aluminum extruded material, and it is necessary to use an aluminum die cast material having a lower thermal conductivity, and the heat dissipation performance is reduced. There was a problem of being lowered. On the other hand, in the manufacturing method of the servo motor 100 according to this embodiment, since the aluminum extruded material having high thermal conductivity can be used, the heat dissipation performance of the servo motor 100 is further improved.
Moreover, since the 1st hollow part 16a and the 2nd hollow part 16b are cut and formed from the outside after the extrusion molding of the flame | frame 7, a process is easy.

Embodiment 2. FIG.
Next, a servo motor 200 according to Embodiment 2 of the present invention will be described with reference to FIG. In the following description, the same reference numerals as those in FIGS. 1 to 5 are the same or similar components, and thus detailed description thereof is omitted.
As shown in FIG. 6, the frame 207 of the servo motor 200 is formed with a pair of first dents 216 a and a pair of second dents 216 b. The pair of first recess portions 216a are formed at positions and shapes corresponding to the pair of external component attachment portions 13a of the front bracket 5. Further, the pair of second recess portions 216 b are formed in positions and shapes corresponding to the pair of frame attachment portions 13 b of the front bracket 5. The depth of the pair of first dents 216a and the pair of second dents 216b with respect to the end surface 27 on the load side X1 of the frame 207 is such that the depth of the second dent 216b is the first dent. It is deeper than 216a. The depth of the second recess 216b is deeper than the length of the front bracket 5 in the axial direction X. Therefore, the end surface 27 on the load side X1 of the frame 207 is disposed closer to the load side X1 than the end surface 25 on the load side X1 of the front bracket 5. Therefore, in a state where the servo motor 200 is fixed to the wall 3 and the end surface 27 on the load side X1 of the frame 207 is in contact with the wall 3, the front bracket 5 is provided away from the wall 3, and the wall 3 It will be in the state which does not touch.

  As described above, in the servo motor 200 according to the second embodiment, when the servo motor 200 is fixed to the wall 3, the front bracket 5 is separated from the wall 3 and only the end surface 27 on the load side X1 of the frame 207 is the wall. It will be in the state which is contacting the part 3. FIG. Therefore, when the servo motor 200 is fixed to the wall 3 with the bolt 17, the end surface 27 on the load side X1 of the frame 207 is surely in contact with the wall 3, so that the adhesion between the frame 207 and the wall 3 is improved. It becomes possible. As a result, the contact thermal resistance between the frame 207 and the wall portion 3 can be reduced, and the heat dissipation performance of the servo motor 200 can be further improved.

Embodiment 3 FIG.
Next, a servo motor 300 according to Embodiment 3 of the present invention will be described with reference to FIG.
As shown in FIG. 7, only the external component attachment portion 13a is formed on the front bracket 305 of the servo motor 300, and the frame attachment portion 13b is not formed. Further, the frame 307 is formed with only the first recess 16a corresponding to the external component mounting portion 13a, and the second recess 16b is not formed. Here, the front bracket 305 is fixed to the frame 307 by a countersunk screw 18 attached to the side surface of the frame 307. That is, the front bracket 305 and the frame 307 are fixed in the directions Y and Z orthogonal to the axial direction X, that is, in the radial direction. The countersunk screws 18 may be provided on four side surfaces arranged in the directions Y and Z of the frame 307, or may be provided on two side surfaces facing each other. Further, the countersunk screw 18 is fixed so that its end face does not protrude outside the servo motor 300 from the surface of the frame 7.
Here, the countersunk screw 18 constitutes a first fixing member.

  As described above, in the servo motor 300 according to the third embodiment of the present invention, the front bracket 305 and the frame 307 are fixed in the radial direction by the flat head screws 18. Therefore, the bolt 17 for fixing the front bracket 305 and the frame 307 in the axial direction X is not necessary, and the second recess 16b is not formed at the end of the frame 307. Accordingly, the contact area between the frame 307 and the wall portion 3 is widened, heat is easily transferred from the frame 307 to the wall portion 3, and the heat dissipation performance of the servo motor 300 can be further improved.

Embodiment 4 FIG.
Next, a servo motor 400 according to Embodiment 4 of the present invention will be described with reference to FIG.
As shown in FIG. 8, only the frame mounting portion 13b is formed on the front bracket 405 of the servo motor 400, and the external component mounting portion 13a is not formed. In addition, the frame 407 is formed with only the second recess 16b corresponding to the frame attachment portion 13b, and the first recess 16a is not formed. In addition, a pair of through holes 20 extending in the axial direction X are formed in the frame 407 at positions shifted by 90 ° from the pair of second depressions 16b. The second bolt 19 is inserted into the through hole 20, and the frame 407 is directly fixed to the wall portion 3 in the axial direction X by the second bolt 19.
The second bolt 19 constitutes a second fixing member.

  As described above, in the servo motor 400 according to the fourth embodiment of the present invention, the frame 407 is directly fixed in the axial direction X with respect to the wall portion 3 by the second bolt 19, so the end of the load side X1 of the frame 407 The first depression 16a is not formed in the part. For this reason, the contact area between the frame 407 and the wall 3 is increased, and heat is easily transferred from the frame 407 to the wall 3. In addition, since the cross-sectional area of the frame 407 is also increased, heat is easily transmitted through the inside of the frame 407. Furthermore, since the frame 407 is directly attached to the wall 3, the adhesion between the frame 407 and the wall 3 is improved, and the contact thermal resistance can be reduced. Therefore, the heat dissipation performance of the servo motor 400 can be further improved.

  3 Wall part (external part), 5,305,405 Front bracket, 6 Stator core, 7,207,307,407 Frame, 8 Rotor, 9 Stator coil, 13a External part attaching part, 13b Frame attaching part, 16a, 216a One hollow part (front bracket contact part), 16b, 216b Second hollow part (front bracket contact part), 18 flat head screw (first fixing member), 19 second bolt (second fixing member), 21 encoder, 27 frame Load side end face (external part contact part), 100, 200, 300, 400 Servo motor.

Claims (8)

A rotor that is mechanically connected to a rotating object across an external component in the axial direction;
A stator core provided facing the radially outer side of the rotor;
A stator coil wound around the stator core and supplied with electric power;
A frame for housing the rotor, the stator core and the stator coil;
A front bracket provided to face the external part and fixed to the frame,
The servo motor is provided with a front bracket contact portion that contacts the front bracket in the axial direction and an external component contact portion that contacts the external component in the axial direction. The front bracket contact portion of the frame is a recess formed facing the external component,
The servo motor according to claim 1, wherein the front bracket has an attachment portion that can be fitted into the hollow portion of the frame. The mounting portion of the front bracket includes an external component mounting portion connected to the external component, and a frame mounting portion connected to the frame,
The servo motor according to claim 2, wherein the hollow portion of the frame includes a first hollow portion into which the external component mounting portion is fitted and a second hollow portion into which the frame mounting portion is fitted.   The servo motor according to claim 1, further comprising a first fixing member that fixes the front bracket and the frame in a radial direction.   The servo motor according to claim 1, further comprising a second fixing member that directly fixes the frame to the external component in the axial direction. An encoder for detecting a rotation angle of the rotor;
The servo motor according to any one of claims 1 to 5, wherein the encoder is disposed on a side opposite to a side on which the front bracket is provided with the frame interposed therebetween.   The servo motor according to any one of claims 1 to 6, wherein the front bracket is provided apart from the external component in a state where the external component contact portion of the frame is in contact with the external component. A method of manufacturing a servo motor,
The servo motor includes a rotor that is mechanically connected to an object to be rotated with an external component interposed therebetween, a stator core that is provided facing the outer side in the radial direction of the rotor, and a stator coil that is wound around the stator core and supplied with electric power. And a frame that covers the outside of the stator coil,
The frame is formed by extruding an aluminum extrusion material,
The frame is formed by cutting a recess facing the external part,
A front bracket is fitted and fixed to the recess in the frame,
The front bracket is fixed to the external part via a fixing member;
A method of manufacturing a servo motor, wherein the frame contacts the external part in a state where the front bracket is fixed to the external part.

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