JP2022190151A - Two-axial integration motor and actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a two-axial integration motor or the like, capable of individually adjusting two detection parts.

SOLUTION: In a two-axial integration motor 1, a first bearing part 261, an inner axial stator 120, a magnetic shield member 283, and a first detection part 240 are arranged in order from one end side to an external peripheral side of an inner axial rotor 110. In an inner peripheral side of an outer axial rotor 10, a second detection part 250, a second bearing part 265, and an external axial stator 20 are arranged in order from one end side. An inner axial stator 120 and the external axial stator 20 include an electrical steel layer. In the electromagnetic steel plate layer, the plurality of electrical steels having two teeth is formed in an annular shape. Both of the electromagnetic steels are arranged with a gap. An arrangement of the gap of both the electromagnetic steels forming the electromagnetic steel layer provided in the external axial stator 20 and a position of the gap of both the electromagnetic steels forming the other one electromagnetic steel layer provided in the inner shaft stator 120 while being positioned at the same position of the electromagnetic steel layer provided are different.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to a two-axis integrated motor and actuator.

2. Description of the Related Art A twin-shaft integrated motor is known that includes two independently rotatable rotors and two detectors that individually detect the rotation angles of the two rotors (for example, Patent Document 1).

JP-A-2002-238234

Preferably, the two detectors are individually adjustable. That is, it is desirable that the two detectors be arranged such that access for adjustment work to one of the two detectors does not affect the other. However, such an arrangement is difficult for conventional two-shaft integrated motors.

SUMMARY OF THE INVENTION An object of the present invention is to provide a two-axis integrated motor and actuator that can individually adjust two detectors.

In order to achieve the above object, the present invention has an inner rotor and an outer rotor which are rotatably provided and have the same rotational axis direction, and an output shaft of the inner rotor and an outer rotor. A two-shaft integrated type motor in which an output shaft is located on one end side in the rotation axis direction, and includes an inner stator that is a stator core of the inner rotor, an outer stator that is a stator core of the outer rotor, and the inner rotor. A first bearing portion that rotates in conjunction with the shaft rotor, a second bearing portion that rotates in conjunction with the outer rotor, a first detection portion that detects the rotation angle of the inner rotor, and the outer rotor. and a magnetic shielding member arranged between the inner shaft stator and the first detection unit, and a magnetic shielding member disposed between the inner shaft stator and the first detection unit, and sequentially from the one end side on the outer peripheral side of the inner shaft rotor , the first bearing portion, the inner shaft stator, the magnetic shielding member, and the first detection portion are arranged, and the second detection portion, the first 2 bearing portions and the outer stator are arranged, and the inner stator and the outer stator have a plurality of electromagnetic steel sheet layers laminated in the direction of the rotation axis, and the electromagnetic steel sheet layer has two teeth. A plurality of electromagnetic steel sheets having arrangement of gaps between the magnetic steel sheets, and positions of the gaps between the magnetic steel sheets forming another magnetic steel sheet layer of the inner shaft stator, which is located at the same position as the magnetic steel sheet layer in the direction of the rotation axis. and are different.

Therefore, the adjustment of the second detector can be performed from the one end side (the output end side of the motor). Moreover, the adjustment of the first detection section can be performed from the other end side. In this way, the two detectors can be adjusted independently. In addition, the weight is reduced compared to a structure in which one magnetic steel sheet layer is a completely continuous closed slot in an annular shape.

In the present invention, the first bearing part and the second bearing part comprise preloaded bearings.

Therefore, the displacement of the inner rotor and the outer rotor due to external load can be further reduced. That is, it is possible to further reduce the displacement of the positional relationship between the inner rotor and the inner stator and the displacement of the positional relationship of the outer rotor and the outer stator.

In the present invention, the inner rotor and the outer rotor have rotor yokes and magnets, and the inner stator and the outer stator have coils.

Therefore, the configurations of the rotating inner rotor and outer rotor can be made simpler.

In the present invention, the inner rotor, the inner stator, the outer stator, and the outer rotor are arranged in this order in the radial direction from the rotating shaft, and between the inner stator and the outer stator. and intervening at positions adjacent to the inner stator and the outer stator along the circumferential direction about the rotating shaft.

Therefore, since the non-magnetic material is interposed between the inner stator and the outer stator, the non-magnetic material suppresses the interference of the magnetic field generated in each of the inner stator and the outer stator by the non-magnetic material. can be done. Therefore, magnetic field interference can be further suppressed.

In the present invention, the inner stator has an inner motor core provided with the coil, the outer stator has an outer motor core provided with the coil, and the non-magnetic material comprises the inner motor core provided with the coil. It is positioned between the shaft motor core and the outer shaft motor core.

Therefore, since the non-magnetic material is interposed between the inner motor core provided with the coil that generates the magnetic field and the outer motor core, the interference of the magnetic field can be suppressed more reliably.

In the present invention, the inner stator has a cylindrical inner stator back yoke provided outside the inner motor core, and the outer stator has a cylindrical back yoke provided inside the outer motor core. , and the non-magnetic material is positioned between the inner stator back yoke and the outer stator back yoke.

Therefore, the shape of the non-magnetic material may be any shape that fits between the cylindrical inner stator back yoke and the outer stator back yoke. Therefore, the non-magnetic material can be provided more easily.

In the present invention, the non-magnetic body is a member whose cross-sectional shape in a direction perpendicular to the rotation axis is an arc centered on the rotation axis.

Therefore, it becomes easy to accommodate the two-shaft integrated motor in a cylindrical shape centered on the rotating shaft.

In the present invention, the non-magnetic material is a non-magnetic alloy or resin.

Therefore, magnetic field interference can be more reliably suppressed by the non-magnetic material. In addition, the non-magnetic material can be provided with a relatively easily available material, and the interference of the magnetic field can be suppressed at a lower cost.

In the present invention, the magnets provided on the inner rotor and the inner stator have axial lengths in the direction of the rotating shaft that are longer than those of the magnets provided on the outer rotor and the outer stator.

Therefore, it becomes easier to reduce the difference between the output torque of the outer rotor and the output torque of the inner rotor.

In the actuator of the present invention, any one of the two-shaft integrated motors described above, a housing enclosing the two-shaft integrated motor, and the inner rotor disposed in the direction of the rotation axis to penetrate the inner rotor, A shaft member having a threaded portion on a first portion projecting in one direction of the rotation shaft from the inner shaft rotor, and a groove portion along the direction of the rotation shaft on a second portion projecting from the inner shaft rotor in the other direction of the rotation shaft. and a nut that is disposed on the one outer side of the inner shaft rotor in the direction of the rotation shaft, is screwed into the threaded portion, rotates together with the inner shaft rotor, and moves the shaft member in the direction of the rotation shaft. is arranged on the other outside in the direction of the rotation axis with respect to the inner rotor, guides the shaft member in the direction of the rotation axis along the groove, and rotates together with the outer rotor to rotate the shaft and a splined outer cylinder for rotating the member in a direction around the axis.

Therefore, since the nut and the spline outer cylinder are arranged on the outer side of the inner rotor in the rotation axis direction, it is possible to reduce the size of the inner rotor and the outer rotor in the radial direction. This makes it possible to reduce the footprint. In addition, the spline outer cylinder makes it possible to suppress co-rotation of the shaft member when the outer rotor is rotated.

In the present invention, the inner diameter of the inner shaft rotor is smaller than the outer diameters of the nut and the spline outer cylinder.

Therefore, by making the inner diameter of the inner rotor smaller than the outer diameter of the nut and the spline outer cylinder, the inner rotor and the outer rotor can be made smaller in the radial direction.

The present invention further comprises an arm attachment member that is connected to the tip of the second portion and attaches the arm.

Therefore, by attaching the arm to the arm attachment member, the conveying device can be configured.

In the present invention, the housing includes a spline outer cylinder housing that accommodates the ball spline and covers a part of the second portion, and the arm attachment member extends toward the ball spline and extends toward the spline outer cylinder. It has a cylindrical portion that accommodates the tip of the housing in the rotation axis direction, and the cylindrical portion has a gap between it and the housing for the spline outer cylinder.

Therefore, it is possible to ensure the sealing performance from the external environment by the gap. In addition, since resistance is received in the rotational direction of the spline outer cylinder housing in the gap, the rotation of the shaft member can be suppressed.

In the present invention, the nut is supported by the housing through the third bearing portion, and the spline outer cylinder is supported by the housing through the fourth bearing portion.

Therefore, when a force is applied to the shaft member in a direction perpendicular to the rotation axis direction, the force can be received by the housing via the rolling bearing, thereby suppressing displacement of the nut and the spline outer cylinder.

The present invention further comprises a negative actuation electromagnetic brake connected to the nut.

Therefore, falling of the shaft member can be suppressed.

In the actuator of the present invention, any one of the two-shaft integrated motors described above, a housing enclosing the two-shaft integrated motor, and the inner rotor disposed in the direction of the rotation axis to penetrate the inner rotor, A shaft member having a threaded portion on a first portion projecting in one direction of the rotation shaft from the inner shaft rotor, and a groove portion along the direction of the rotation shaft on a second portion projecting from the inner shaft rotor in the other direction of the rotation shaft. a nut that is screwed onto the threaded portion and rotates together with the inner shaft rotor to move the shaft member in the direction of the rotation axis; and a nut that guides the shaft member in the direction of the rotation axis along the groove, and and a spline outer cylinder that rotates together with the outer shaft rotor to rotate the shaft member in a direction around the axis.

Therefore, the spline outer cylinder can prevent the shaft member from co-rotating when the outer rotor is rotated.

According to the present invention, it is possible to provide a two-axis integrated motor and actuator capable of individually adjusting two detection units.

FIG. 1 is a cross-sectional view showing an example of a specific configuration of a dual-shaft integrated motor according to Embodiment 1. FIG. FIG. 2 is a diagram showing an example of a stator core section. FIG. 3 is a diagram showing an example of a specific shape of the non-magnetic material, which is different from that shown in FIG. FIG. 4 is a diagram showing an example of a specific shape of the non-magnetic material, which is different from that shown in FIG. FIG. 5 is a diagram showing an example of a specific shape of the non-magnetic material, which is different from that shown in FIG. FIG. 6 is a diagram showing an example of a specific structure of a stator according to Embodiment 1. FIG. FIG. 7 is a diagram showing a laminated structure of electromagnetic steel sheet layers included in the outer shaft motor core according to the first embodiment. FIG. 8 is a diagram showing one electromagnetic steel sheet according to Embodiment 1. FIG. FIG. 9 is a diagram showing one of two phases of arrangement of a plurality of electromagnetic steel sheets in one electromagnetic steel sheet layer. FIG. 10 is a diagram showing the other of two phases of arrangement of a plurality of electromagnetic steel sheets in one electromagnetic steel sheet layer. FIG. 11 is a diagram showing an example in which electromagnetic steel sheet layers of the same phase are successively laminated. FIG. 12 is a diagram showing one of two phases of arrangement of a plurality of electromagnetic steel sheets in one electromagnetic steel sheet layer. FIG. 13 is a diagram showing the other of two phases of arrangement of a plurality of electromagnetic steel sheets in one electromagnetic steel sheet layer. 14 is a partial cross-sectional view of the actuator of Embodiment 2. FIG. FIG. 15 is a cross-sectional view of a main part showing a main part in FIG. 14. FIG. FIG. 16 is a cross-sectional view of the two-axis integrated motor along a plane perpendicular to the rotation axis. 17 is a diagram showing a state in which the screw shaft is lifted from the state shown in FIG. 14. FIG.

Embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited thereto. The requirements of each embodiment described below can be combined as appropriate. Also, some components may not be used.

(Embodiment 1)
FIG. 1 is a cross-sectional view showing an example of a specific configuration of a two-shaft integrated motor 1. As shown in FIG. The twin-shaft integrated motor 1 includes an inner rotor 110 and an outer rotor 10 as rotors, and an inner stator 120 and an outer stator 20 as stators, which are rotatably provided respectively. Hereinafter, in the description of the embodiments with reference to the drawings, the rotation axis direction of the two-shaft integrated motor 1 may be referred to as the Z direction. Also, two directions perpendicular to each other along a plane perpendicular to the Z direction may be referred to as the X direction and the Y direction.

The inner shaft rotor 110 and the outer shaft rotor 10 are rotatably provided and have the same rotation axis direction. Specifically, the inner rotor 110 has a cylindrical inner rotor yoke 111 and magnets 112 annularly arranged along the outer peripheral surface of the inner rotor yoke 111 . The outer rotor 10 has a cylindrical outer rotor yoke 11 and magnets 12 annularly arranged along the inner peripheral surface of the outer rotor yoke 11 . The inner rotor 110 and the outer rotor 10 of the first embodiment share the same axis line of the ideal rotation axis P at the time of design. may

The inner stator 120 has an inner motor core 130 provided with a coil 150 . Inner rotor 110 rotates in response to power supply to coil 150 of inner motor core 130 . The outer stator 20 has an outer motor core 30 provided with a coil 50 . The outer shaft rotor 10 rotates according to power supply to the coils 50 of the outer shaft motor core 30 .

The inner stator 120 of the first embodiment has a cylindrical inner stator back yoke 140 provided outside the inner motor core 130 . Further, the outer stator 20 of the first embodiment has a cylindrical outer stator back yoke 40 provided inside the outer motor core 30 . The inner stator back yoke 140 and the outer stator back yoke 40 of Embodiment 1 are cylindrical members provided as an integral member in the rotation axis direction, and are made of, for example, iron or dust cores.

The two-shaft integrated motor 1 of Embodiment 1 has an inner rotor 110, an inner stator 120, an outer stator 20, and an outer rotor 10 in this order from the inside to the outside of the diameter centered on the rotation axis P. configuration is arranged.

The magnitude of the output torque of the electric motor is related to the magnitude of the distance from the rotation axis P to the thrust generating position (between the magnet and the coil). Therefore, the torque of the outer rotor 10 tends to be relatively larger than that of the inner rotor 110 . In the first embodiment, the magnets 112 provided on the inner rotor 110 and the inner stator 120 are longer than the magnets 12 and the outer stator 20 provided on the outer rotor 10, so that the outer rotor 10 The thrust of the inner shaft rotor 110 is made larger than the thrust. As a result, in the first embodiment, the difference between the output torque of the outer rotor 10 and the output torque of the inner rotor 110 is made smaller. In addition, for this reason, the axial length of the inner stator 120 in the direction of the rotation axis is longer than that of the outer stator 20 .

Holes 11b and 111b are provided in output end portions 11a and 111a of the inner rotor 110 and the outer rotor 10 located on one end side of the inner rotor yoke 111 and the outer rotor yoke 11, respectively. Rotational driving force is transmitted to the driven body by connecting and fixing the driven body to each of the inner rotor 110 and the outer rotor 10 provided with the holes 11b and 111b. The specific shape of the holes 11b, 111b corresponds to the specific shape of the member for connecting and fixing the driven body. For example, if the member is a screw, the hole is a threaded hole that engages with the screw. Further, when the member is a pin-shaped member having no threads, the hole is a hole into which the pin-shaped member is fitted. The one end side is the upper side (the output end side of the two-shaft integrated motor 1) in FIG. When described as the other end side, it refers to the side opposite to the one end side (lower side in FIG. 1).

An extending portion 270 extending toward the outer peripheral side is provided on the other end side of the outer stator back yoke 40 . The outer peripheral side refers to the outer side in the radial direction with the rotation axis P as the center. When describing the inner peripheral side of something, it means the inner side in the radial direction about the rotation axis P with respect to the thing.

The extending portion 270 includes a protruding portion 270a that protrudes toward the outer peripheral side, and a notched portion 270b that is cut so that the outer wall surface is located on the inner peripheral side compared to the outer peripheral side end portion of the protruding portion 270a. have. A base 281 is fixed to the other end of the extending portion 270 . The extending portion 270 and the base 281 are connected and fixed by a fastener 243 . A hole for inserting the tip of the fastener 243 is provided on the other end side of the extending portion 270 . The specific shape of the hole corresponds to the specific shape of the fastener 243, like the holes 11b and 111b.

The end portion of the base 281 on the outer peripheral side extends to a position that is not in contact with the outer rotor yoke 11 on the other end side of the outer rotor yoke 11 . A buffer member 271 is provided in a groove-like space surrounded by the outer rotor yoke 11, the projecting portion 270a, the cutout portion 270b, and the base 281. As shown in FIG. The cushioning member 271 keeps the outer rotor yoke 11 and the projecting portion 270 a in a non-contact positional relationship, and minimizes the resistance between the extending portion 270 and the outer rotor yoke 11 .

The diameter of the ring formed by the outer peripheral surface of the extending portion 281 is the same as the diameter of the outer rotor yoke 11 . Further, in Embodiment 1, a hole 282 is provided on the other end side of the base 280 to be used when fixing the twin-shaft-integrated motor 1 to an object to which the twin-shaft-integrated motor 1 is attached.

A first detector 240 is arranged on the inner peripheral side of the base 281 . That is, the first detector 240 is arranged on the other end side of the inner stator 120 . First detector 240 detects the rotation angle of inner shaft rotor 110 . Specifically, the first detection section 240 has a first rotating section 241 and a first fixed section 242 . The first rotating part 241 is an annular magnetized body that is fixed to the inner rotor 110 and rotates together with the inner rotor 110 . The first rotating portion 241 is alternately magnetized with N poles and S poles along the circumferential direction. The first rotating portion 241 is fixed to the inner rotor 110 at a position where the inner rotor 110 and the rotation axis P are the same. The first fixed part 242 is a magnetic detection circuit provided on a substrate 242a. The board 242a is fixed to the base 281 with fasteners (not shown). That is, the first fixing portion 242 detects the rotation angle of the first rotating portion 241 which is provided so as to be able to change its position relative to the first fixing portion 242 while being fixed to the outer stator back yoke 40 . do.

More specifically, the first rotating portion 241 is fixed to the outer peripheral side of the inner shaft rotor 110 via a fixture 241a. The fixture 241a has a planar surface portion perpendicular to the rotation axis P, a cylindrical portion extending toward one end of the surface portion, and a curved portion that curves or bends so as to connect the surface portion and the cylindrical portion. including. The first rotating portion 241 is fixed to the other end side of the surface portion of the fixture 241a. Further, the cylindrical portion of the fixture 241a is fitted and fixed to the outer peripheral surface side of the inner shaft rotor yoke 111 . As a result, the first rotating portion 241 is fixed on the outer peripheral side of the inner rotor yoke 111 so as to face the other end side. The first fixed portion 242 is provided on the surface of the substrate 242 a on the one end side and faces the first rotating portion 241 .

The first rotating part 241 and the first fixed part 242 are non-contact. In this way, the first detection section 240 is configured to detect the rotation angle in the positional relationship in which the first rotation section 241 and the first fixed section 242 have an axial gap. Even if a moment displacement occurs in the inner rotor yoke 111 as a result, the influence on the detection accuracy of the rotation angle can be suppressed.

A magnetic shielding member 283 is arranged between the first rotating portion 241 and the inner shaft stator 120 . The magnetic shielding member 283 is provided so as to extend from the base 281 toward the inner peripheral side. The magnetic shielding member 283 is integrated with the base 281 or fixed to the base 281 . The base 281 has a planar surface portion perpendicular to the rotation axis P, a cylindrical portion extending toward one end of the surface portion, and a curved portion that curves or bends so as to connect the surface portion and the cylindrical portion. include. The surface portion of the base 281 and the surface portion of the first rotating portion 241 face each other, and the cylindrical portion of the base 281 and the cylindrical portion of the first rotating portion 241 face each other. The base 281 and the first rotating part 241 are non-contact. The base 281 is, for example, a curved or bent metal plate, but the specific composition of the base 281 is not limited to this, as long as it can effectively block magnetism. The base 281 may be a metal mesh, a foam metal, or a resin or the like plated with a material containing fine metal particles such as metal ink. Since the magnetic shielding member 283 is arranged between the first detector 240 and the inner stator 120, the magnetic influence of the inner stator 120 on the first detector 240 can be further reduced. The magnetic shielding member 283 is also arranged between the first rotating part 241 and the outer stator 20 . Therefore, the magnetic influence from the outer shaft stator 20 on the first detection section 240 can be further reduced. Therefore, the first detector 240 can detect the rotation angle of the inner rotor yoke 111 with higher accuracy.

In Embodiment 1, a cover 295 is provided to cover the inner peripheral side and the other end side of the first detection section 240 . The cover 295 has a planar surface portion perpendicular to the rotation axis P, a cylindrical portion extending toward one end of the surface portion, and a curved portion that curves or bends so as to connect the surface portion and the cylindrical portion. include. The surface portion of the cover 295 faces the substrate 242a on the other end side of the substrate 242a. The cylindrical portion of the cover 295 is positioned on the inner peripheral surface side of the first rotating portion 241 and the first fixed portion 242 . The cover 295 is fixed in position with respect to the base 281 by a fixing member 298 to cover the first detection section 240 from the other end side.

Cover 295 is separate from base 281 . Therefore, by removing the cover 295, it becomes possible to easily access the first detection section 240 from the other end side. Therefore, it is possible to easily adjust the first detection section 240, such as adjusting the mounting position of the first rotating section 241 with respect to the inner shaft rotor yoke 111 and adjusting the mounting position of the first fixed section 242 with respect to the base 281. In addition, since access to the first detector 240 is performed from the other end, the first detector 240 can be accessed without unnecessarily accessing the structure on the one end (the second detector 250 described later).

A bearing portion 260 is arranged on one end side of the outer stator back yoke 40 . The bearing portion 260 has a first bearing portion 261 and a second bearing portion 265 . The first bearing portion 261 rotates in conjunction with the inner shaft rotor 110 . The second bearing portion 265 rotates in conjunction with the outer shaft rotor 10 . The first bearing portion 261 is provided at a position on the inner peripheral side with respect to the extending portion 299 extending from the outer stator back yoke 40 toward the one end side and at the outer peripheral side with respect to the inner rotor 110 . Since the first bearing portion 261 is interposed between the inner rotor 110 and the extending portion 299, the inner rotor 110 is rotatably supported. The second bearing portion 265 is provided on the outer peripheral side of the extending portion 299 and on the inner peripheral side of the outer rotor 10 . Since the second bearing portion 265 is interposed between the outer rotor 10 and the extending portion 299, the outer rotor 10 is rotatably supported.

In the two-shaft integrated motor 1, the position of the one end of the first bearing portion 261 and the position of the one end of the second bearing portion 265 in the rotation axis direction are the same. Specifically, for example, as shown in FIG. 1, a first bearing portion 261 having two bearings 262 and 263 and a second bearing portion 265 having two bearings 266 and 267 are arranged relatively on one end side. The ends on one end side of each of the bearings 262 and 266 located are along the same plane orthogonal to the rotation axis P. As shown in FIG.

The first bearing portion 261 has preloaded bearings 262 and 263 . The second bearing part 265 has preloaded bearings 266,267. Although the bearings 262, 263, 266, and 267 of the first embodiment are preloaded at a fixed position, they may be preloaded at a constant pressure or other preload. Since the bearings 262, 263, 266, and 267 are preloaded, displacement of the outer rotor yoke 11 and the inner rotor yoke 111 due to external load can be further reduced. That is, the displacement of the positional relationship between the outer rotor 10 and the outer stator 20 and the displacement of the positional relationship between the inner rotor 110 and the inner stator 120 can be made smaller.

Also, as shown in FIG. 1, the bearings 262 and 263 are back-to-back with respect to the outer circumference. Also, the bearings 266 and 267 are back-to-back with respect to the outer peripheral side. As a result, the first bearing portion 261 and the second bearing portion 265 can further reduce the displacement caused by the radial load on the outer rotor yoke 11 and the inner rotor yoke 111 and the axial load and moment load from the outer peripheral side.

In Embodiment 1, the first bearing portion 261 and the second bearing portion 265 are each provided with two ball bearings, namely bearings 262, 263 and bearings 266, 267. This is an example of a specific configuration of the second bearing portion 265 and is not limited to this. Each of the first bearing portion 261 and the second bearing portion 265 may have one or more bearings.

The extending portion 299 is interposed between the first bearing portion 261 and the second bearing portion 265 . The inner peripheral surface and the outer peripheral surface of the extending portion 299 are provided with steps, protrusions, depressions, holes, and the like according to the configuration of each portion of the bearing portion 260 . A supporting member 231 is fixed to one end of the extending portion 299 . The support member 231 and the extending portion 299 are connected and fixed by a fastener 232 . The other end of the extension 299 is provided with a hole for inserting the tip of the fastener 232 inside. The specific shape of the hole corresponds to the specific shape of the fastener 232, like the holes 11b and 111b.

A second detection section 250 is arranged on one end side of the bearing section 260 . The second detector 250 detects the rotation angle of the outer shaft rotor 10 . Specifically, the second detection section 250 has a second rotating section 251 and a second fixed section 252 . The second rotating part 251 is an annular magnetized body that is fixed to the outer rotor 10 and rotates together with the outer rotor 10 . The second rotating portion 251 is alternately magnetized with N poles and S poles along the circumferential direction. The second rotating portion 251 is fixed to the outer rotor 10 at a position where the outer rotor 10 and the rotation axis P are the same. The second fixed part 252 is a magnetic detection circuit provided on a substrate 252a. The substrate 252a is fixed to the support member 231 by fasteners 252b. That is, the second fixing portion 252 is fixed to the extending portion 299 via the substrate 252a, the fastener 252b, the support member 231, and the fastener 232, and the position of the second fixing portion 252 is changed relative to the second fixing portion 252. The rotation angle of the second rotating portion 251 provided to be possible is detected.

More specifically, the second rotating portion 251 is fixed to the inner peripheral side of the outer rotor 10 via a base portion 251a. The base portion 251a includes a planar surface portion perpendicular to the rotation axis P, a cylindrical portion extending toward one end of the surface portion, and a curved portion that curves or bends so as to connect the surface portion and the cylindrical portion. include. A second rotating portion 251 is fixed to one end of the surface portion of the base portion 251a. A surface portion of the base portion 251a is fixed to a protruding portion 11c protruding from the outer rotor yoke 11 toward the inner peripheral side. The base portion 251a and the projecting portion 11c are connected and fixed by a fastener 251b. A hole for inserting the tip of the fastener 251b is provided in the surface on one end side of the projecting portion 11c. The specific shape of the hole corresponds to the specific shape of the fastener 251b, like the holes 11b and 111b.

The second rotating portion 251 is fixed on the inner peripheral side of the outer rotor yoke 11 so as to face one end side. The second fixed portion 252 is provided on the other end side surface of the substrate 252 a and faces the second rotating portion 251 . The second rotating part 251 and the second fixed part 252 are non-contact. As described above, the second detection section 250 is configured to detect the rotation angle in a positional relationship in which the second rotation section 251 and the second fixed section 252 have an axial gap. Even if a moment displacement occurs in the outer rotor yoke 11 in addition, the influence on the detection accuracy of the rotation angle can be suppressed. Also, no other structure is arranged between the second detection part 250 and the bearing part 260 . Therefore, even if a moment load acts, the degree of influence of the moment displacement about the bearing portion 260 as a fulcrum on the second detection portion 250 can be suppressed to a smaller extent. Moreover, since the bearing portion 260 is arranged between the second detection portion 250 and the stator core portion 70, the magnetic influence of the stator core portion 70 on the second detection portion 250 can be further reduced. These allow the second detector 250 to detect the rotation angle of the outer rotor yoke 11 with higher accuracy.

A cover 291 is provided on one end side of the second detection section 250 . The cover 291 is, for example, a plate-shaped ring arranged between the ring formed by the output end portion 11a and the ring formed by the output end portion 111a, and is arranged along a plane perpendicular to the rotation axis P. . The cover 291 is fixed to one end side of the second detector 250 using a fastener 292, for example. The fastener 292 is provided so as to be fixed to one end side of the fastener 252b, for example. The fastener 292 may be configured to be connected and fixed to the support member 231 at a position different from that of the fastener 252b.

By removing the cover 291, it becomes possible to easily access the second detector 250 from one end side. Therefore, it is possible to easily adjust the second detecting section 250, such as adjusting the mounting position of the second rotating section 251 with respect to the outer rotor yoke 11 and adjusting the mounting position of the second fixed section 252 with respect to the support member 231. In addition, since the access to the second detector 250 is performed from one end, the second detector 250 can be accessed without unnecessary access to the first detector 240 on the other end.

As described above and shown in FIG. 1, the first bearing portion 261, the inner stator 120, the magnetic shielding member 283, and the first detection portion 240 are arranged in this order from one end on the outer peripheral side of the inner rotor yoke 111. there is A second detector 250 , a second bearing 265 , and an outer stator 20 are arranged in order from one end on the inner peripheral side of the outer rotor yoke 11 .

FIG. 2 is a diagram showing an example of the stator core portion 70 according to the first embodiment. A coil 150 included in the inner stator 120 is electrically connected to the first driver 421 . The first driver 421 drives the first rotor 20 by supplying the coil 150 with the first drive current I1.

A coil 50 of the outer stator 20 is electrically connected to the second driver 422 . The second driver 422 drives the second rotor 30 by supplying the coil 50 with the second drive current I2.

The first driver 421 and the second driver 422 are electrically connected to the controller 420 . The controller 420 independently controls the first driver 421 and the second driver 422 . The controller 420 independently controls the current amount of the first drive current I1 and the current amount of the second drive current I2. The rotation angle of the first rotor 20 is controlled by the current amount of the first drive current I1. The rotation angle of the second rotor 30 is controlled by the current amount of the second drive current I2. Controller 420 independently controls the rotation angle of first rotor 20 and the rotation angle of second rotor 30 .

The first detector 240 detects the rotation angle of the inner rotor yoke 111 with respect to the inner stator 120 and supplies it to the controller 420 . Controller 420 adjusts the current amount of first drive current I1 based on the detection result of first detector 240 so that inner shaft rotor 110 can obtain a desired rotation angle.

The second detector 250 detects the rotation angle of the outer rotor yoke 11 with respect to the outer stator 20 and supplies it to the controller 420 (see FIG. 2). The controller 420 adjusts the current amount of the second drive current I2 based on the detection result of the second detection section 250 so that the outer shaft rotor 10 can obtain a desired rotation angle.

The two-shaft integrated motor 1 has a non-magnetic body 45 provided between the inner stator 120 and the outer stator 20 . The non-magnetic body 45 of the first embodiment is positioned, for example, between the inner motor core 130 and the outer motor core 30 . More specifically, the non-magnetic body 45 is positioned between the inner stator back yoke 140 and the outer stator back yoke 40, and is located in at least one of the inner stator back yoke 140 and the outer stator back yoke 40. Fixed. In this way, the non-magnetic material 45 is interposed between the inner stator 120 and the outer stator 20 in the circumferential direction about the rotation axis P. As shown in FIG.

The non-magnetic body 45 is, for example, a member using a non-magnetic alloy, resin, or both. More specifically, the non-magnetic body 45 is made of, for example, an aluminum alloy, a non-magnetic stainless steel alloy such as an austenitic stainless steel (eg, SUS316, SUS316, SUS305, etc.), or a synthetic resin, and has a cylindrical shape. It is a member formed in The cylinder of the non-magnetic body 45 has a cross-sectional shape in a direction orthogonal to the rotation axis P centered on the rotation axis P. As shown in FIG. If the non-magnetic material 45 is an alloy, it is fixed by a method such as bonding with an adhesive or shrink fitting. When the non-magnetic material 45 is made of resin, the non-magnetic material 45 formed in advance in a cylindrical shape may be fitted between the inner stator back yoke 140 and the outer stator back yoke 40 and fixed by bonding. Alternatively, the inner stator back yoke 140 and the outer stator back yoke 40 may be fixedly formed by filling resin.

3, 4, and 5 are diagrams showing examples of specific shapes of the non-magnetic material, which are different from those shown in FIG. The non-magnetic body according to the present invention does not have to have a circularly continuous cross-sectional shape in the direction orthogonal to the rotation axis P, and may be an arcuate member. Specifically, as shown in FIG. 3, for example, the non-magnetic body 45a may have a shape in which the ring drawn by the cross-sectional shape is discontinuous at one point. In this case, for example, when the non-magnetic body 45a is an alloy, the cylindrical non-magnetic body 45a can be formed more easily by bending a plate-like alloy into an arc shape. Alternatively, the non-magnetic body may be formed into a cylindrical shape as a whole by combining a plurality of arcuate members, as shown in FIGS. 4 and 5, for example. 4 shows an example in which the non-magnetic body has two non-magnetic members 45b, 45b, and FIG. 5 shows an example in which the non-magnetic body has three non-magnetic members 45c, 45c, 45c. is an example and is not limited to this. The non-magnetic body may be composed of four or more members. Also, the non-magnetic body may have a configuration in which a plurality of members are arranged side by side in the rotation axis direction. The discontinuity AP in FIGS. 3 to 5 may be an air gap, or non-magnetic bodies facing each other across the discontinuity AP may be in contact with each other. Alternatively, the non-continuous portion AP may be filled with an adhesive or the like. Hereinafter, the non-magnetic bodies 45 and 45a and the non-magnetic members 45b and 45c constituting the non-magnetic bodies may be collectively referred to as the non-magnetic body 45 and the like.

FIG. 6 is a diagram showing an example of a specific structure of a stator according to Embodiment 1. FIG. A specific configuration example of the stator included in the two-shaft integrated motor 1 will be described with reference to FIGS. 2 and 6, taking the outer shaft stator 20 as an example. The outer shaft motor core 30 has an annular edge portion 31 located on the outer peripheral side and four or more core portions 32 projecting inward from the edge portion 31 . A coil 50 is provided on each core portion 32 . The outer shaft motor core 30 has a laminated structure in which electromagnetic steel sheet layers in which the electromagnetic steel sheets 60 described later are arranged in an annular shape are laminated. The edge portion 31 is positioned so as to follow a cylindrical shape with the rotation axis P as the center axis as a whole due to the laminated structure. Moreover, the four or more core portions 32 and the coils 50 are arranged annularly around the rotation axis P inside the edge portion 31 . The outer stator back yoke 40 is located on the side opposite to the outer rotor 10 with respect to the core portion 32 .

In FIG. 6, the outer stator 20 and the inner stator 120 are viewed from the Z direction. Also, in FIG. 6, for the purpose of clearly showing the teeth 61 and 161 that constitute the core portion 32, the illustration of a part of the windings of the coils 50 and 150 that surround the core portion 32 in FIG. 2 is omitted. there is FIG. 7 is a diagram showing a laminated structure of electromagnetic steel sheet layers included in the outer shaft motor core 30 according to the first embodiment. In FIG. 7, the outer motor core 30 is viewed from one direction (for example, Y direction) perpendicular to the Z direction. FIG. 8 is a diagram showing one electromagnetic steel sheet 60 according to the first embodiment.

For example, as shown in FIG. 7, the outer motor core 30 has a structure in which a plurality of electromagnetic steel sheet layers are laminated in the Z direction. As shown in FIGS. 6 and 7, a plurality of electromagnetic steel sheets 60 are annularly arranged in one electromagnetic steel sheet layer. The electromagnetic steel sheet 60 has two teeth 61, as shown in FIGS. The outer shaft motor core 30 forms the core portion 32 of the coil 50 by laminating the teeth 61 of the electromagnetic steel sheets 60 included in each of the plurality of electromagnetic steel sheet layers in a laminated structure. That is, for example, as shown in FIG. 7, the core portion 32 functioning as the core of the coil 50 provided on the outer stator 20 is composed of teeth 61 laminated in the Z direction.

One electromagnetic steel sheet 60 has a base portion 62 that physically connects two teeth 61 as shown in FIG. 8, for example. Specifically, the base 62 has, for example, an arcuate shape that allows the two teeth 61 of one electromagnetic steel plate 60 to be positioned at a predetermined distance from each other. A plurality of electromagnetic steel sheets 60 are annularly arranged in one electromagnetic steel sheet layer, and the plurality of electromagnetic steel sheet layers are laminated, so that the base portions 62 are in contact with each other to form the edge portion 31 . In Embodiment 1, the two teeth 61 of the electromagnetic steel sheet 60 are discontinuous on the opposite sides of the outer rotor 10 . Specifically, for example, as shown in FIG. 8 , on the opposite side of the base portion 62 , the tip of the tooth 61 is arranged with a gap from other adjacent teeth 61 . In this manner, a gap (slot) is provided between the teeth 61 provided to protrude from the base portion 62 in the radial direction of the outer motor core 30 . In the electromagnetic steel sheets 60 arranged in the electromagnetic steel sheet layer, two teeth 61 protrude to the opposite side of the outer shaft rotor 10 from a base portion 62 located on the rotor side with respect to the two teeth 61 .

More specifically, in a so-called outer rotor electric motor such as a motor on the outer shaft side, two teeth 61 are provided on the electromagnetic steel plate 60 so as to protrude toward the inside of the arc of the base portion 62 . The shape of the base 62 does not necessarily have to be arcuate. For example, as shown in FIG. 8 and the like, the side of the base 62 from which the teeth 61 protrude may be linear orthogonal to the protruding direction of the teeth 61 . For example, the electromagnetic steel sheet 60 shown in FIG. 8 has a shape in which two teeth 61 protrude from a base portion 62 so that the upper sides of two T-shapes are connected. The base portion 62 , which protrudes from the teeth 61 forming the core portion 32 on both sides in the circumferential direction like the upper side of a T-shape, retains the coil 50 in the radial direction. As a result, it is possible to prevent the windings of the coils 50 from extending or jumping out in the direction in which the outer shaft rotor 10 is positioned. Further, the base portion 62 has an arc shape on the side where the teeth 61 do not protrude among the upper sides of the connected T-shape.

The base 62 has a portion corresponding to the midpoint between the two teeth 61 of one electromagnetic steel plate 60 thinner than the other portion. More specifically, for example, the intermediate portion 63 corresponding to the intermediate point is curved on the radially inner side like a concave lens cross section, and the thickness of the base portion 62 in the radial direction is is narrowed. A plurality of the teeth 61 are laminated along the rotation axis direction to form the core portion 32, and the coils 50 are provided. Interference can occur. Such magnetic field interference is desirably reduced from the viewpoint of increasing the efficiency of the dual-shaft integrated motor 1 . Magnetic wraparound tends to occur more strongly in the closed slots HS where the teeth 61 are physically connected than in the open slots KS where the teeth 61 are not physically connected. Also, magnetic wraparound tends to occur relatively more strongly as the degree of physical continuity in the closed slot HS increases. Therefore, in the first embodiment, by making the portion corresponding to the midpoint between the teeth 61 thinner than the other portions, magnetic wraparound is suppressed. As a result, it is possible to suppress the decrease in efficiency due to the interference of the magnetic field, and the efficiency of the dual-shaft integrated motor 1 can be made higher. In FIG. 6, the intermediate portions 63 with parenthesized reference numerals are arranged in an electromagnetic steel sheet layer different from the magnetic steel sheet layer in which the magnetic steel plates 60 having the intermediate portions 63 whose reference numerals are not parenthesized are arranged. It is an intermediate portion 63 of the electromagnetic steel plate 60 that is in contact.

FIG. 9 is a diagram showing one of two phases of the arrangement of the plurality of electromagnetic steel sheets 60 in one electromagnetic steel sheet layer. FIG. 10 is a diagram showing the other of two phases of the arrangement of the plurality of electromagnetic steel sheets 60 in one electromagnetic steel sheet layer. The difference between FIGS. 9 and 10 indicates the difference in arrangement of the electromagnetic steel sheets 60 with different phases when viewed from the same direction. One of the phases shown in FIG. 9 is hereinafter referred to as the first phase. Also, the other phase shown in FIG. 10 is referred to as a second phase. Symbol PS1 indicates the first-phase magnetic steel sheet layer. Reference character PS2 indicates a second-phase magnetic steel sheet layer.

There are two phases of arrangement of the plurality of electromagnetic steel sheets 60 in one electromagnetic steel sheet layer. The outer stator 20 has two phases of magnetic steel sheet layers. Specifically, the phases of the arrangement of the electromagnetic steel sheets 60 are shifted by one tooth between the two phases. Since the phases of the arrangement of the electromagnetic steel sheets 60 are shifted by one tooth between the two phases, the arrangement of the two teeth 61 of one electromagnetic steel sheet 60 is alternated between the two phases. Specifically, for example, in the first phase, one of the two teeth 61a and 61b, which are the two teeth 61 of one electromagnetic steel sheet 60 (the tooth 61a) is arranged, in the second phase the other (the tooth 61b) is located. Further, at the position where one of the teeth 61a and 61b of one electromagnetic steel sheet 60 (the tooth 61a) is arranged in the second phase, the other (the tooth 61b) is positioned in the first phase. In FIGS. 9 and 10, one of the two teeth 61 is labeled 61a and the other is labeled 61b for the purpose of distinguishing the phases.

In Embodiment 1, the plurality of magnetic steel sheets 60 in one magnetic steel sheet layer are arranged with a gap therebetween. Specifically, the electromagnetic steel sheets 60 arranged in an annular shape in one electromagnetic steel sheet layer are not in contact with each other. More specifically, the distance between two teeth 61 of different magnetic steel sheets 60 that are adjacent in a non-contact manner, the distance between two teeth 61 of one electromagnetic steel sheet 60, The electromagnetic steel sheets 60 are arranged along the annular arrangement direction in one electromagnetic steel sheet layer so that the . Thus, the gap (slot) between two teeth 61 is either the gap (closed slot HS) between two teeth 61 of one electromagnetic steel sheet 60 or the gap between two teeth 61 of different electromagnetic steel sheets 60. The intervals between the annularly arranged teeth 61 are the same regardless of whether they are (open slots KS).

In the first embodiment, the shape of the electromagnetic steel sheets 60 is defined by the distance between the two teeth 61 of the different electromagnetic steel sheets 60, which are adjacent to each other in a non-contact state, and the two teeth 61 of one electromagnetic steel sheet 60. It is a shape that can make the distance between them the same. Specifically, the extension length of the portion of the base portion 62 extending to connect the two teeth 61 of one electromagnetic steel plate 60 is from the teeth 61 toward the opposite side of the extension direction It is at least twice the extended length of the protruding portion.

In Embodiment 1, the phases of arrangement of the plurality of electromagnetic steel sheets 60 in the adjacent electromagnetic steel sheet layers are different. Specifically, as shown in FIG. 7, the outer shaft motor core 30 is formed by alternately laminating a first-phase electromagnetic steel sheet layer PS1 and a second-phase electromagnetic steel sheet layer PS2. Therefore, the open slots KS and the closed slots HS are alternately arranged in the axial direction. Further, in Embodiment 1, as shown in FIG. 7, for example, the number of magnetic steel sheet layers of two phases is equal. In this case, the slot of the outer shaft motor core 30 is a slot (semi-closed slot) in which one layer is an open slot KS and one layer is a closed slot HS for two layers of electromagnetic steel sheets in the rotation axis direction. According to such a structure, the weight is reduced as compared with a structure in which one electromagnetic steel sheet layer is a completely continuous closed slot HS in an annular shape. In addition, according to such a structure, it is possible to reduce the wraparound of the magnetism that occurs between the coils 50 provided in the core portion 32 in which the teeth 61 are laminated, so that the efficiency of the two-shaft integrated motor 1 can be further improved. can be enhanced.

FIG. 11 is a diagram showing an example in which electromagnetic steel sheet layers of the same phase are successively laminated. In the example shown in FIG. 7, the phases of arrangement of the plurality of electromagnetic steel sheets 60 in the magnetic steel sheet layers adjacent to each other in the rotation axis direction are different. It is shown and is not limited to this. For example, as shown in FIG. 11, the number of continuations of the same phase may be two or more. The number of continuous same phases is the number of continuous magnetic steel sheet layers having the same phase along the rotation axis direction. In the example shown in FIG. 11, the number of continuations of the same phase is 5, but it may be any natural number of 4 or less or 6 or more.

Except for the special mention of the difference between the inner rotor electric motor and the outer rotor electric motor, the outer stator 20, the outer motor core 30, the edge portion 31, the core portion 32, and the coil 50 are included in the description of the outer stator 20. , the electromagnetic steel sheet 60, the teeth 61, 61a, 61b, the base portion 62, the intermediate portion 63, the closed slot HS, the open slot KS, the first phase electromagnetic steel sheet layer PS1, and the second phase electromagnetic steel sheet layer PS2. , the reference numerals of each configuration are inner stator 120, inner motor core 130, edge 131, core 132, coil 150, electromagnetic steel plate 160, teeth 161, 161a, 161b, base 162, intermediate portion 163, closed slot By substituting hs, open slot ks, first-phase electromagnetic steel sheet layer ps1, and second-phase electromagnetic steel sheet layer ps2, the description can be read as relating to the inner shaft stator 120. FIG.

FIG. 12 is a diagram showing one of two phases of the arrangement of the plurality of electromagnetic steel sheets 160 in one electromagnetic steel sheet layer. FIG. 13 is a diagram showing the other of two phases of the arrangement of the plurality of magnetic steel sheets 160 in one magnetic steel sheet layer. The coil 150 is provided outside the inner motor core 130 in the inner stator 120 of a so-called in-rotor electric motor such as the motor on the inner shaft side. Specifically, two teeth 161 are provided on the electromagnetic steel plate 160 so as to protrude outward from the arc of the base portion 162 . The shape of the base 162 does not necessarily have to be arcuate. For example, the side of the base 162 where the teeth 161 protrude may be linear orthogonal to the direction in which the teeth 161 protrude. Inner stator back yoke 140 is provided outside inner motor core 130 .

As described above, according to the first embodiment, the adjustment of the second detector 250 can be performed from the one end side (the output end side of the two-shaft integrated motor 1). Also, the adjustment of the first detector 240 can be performed from the other end side of the two-shaft integrated motor 1 . In this way, the two detectors can be adjusted independently.

Further, by preloading the bearings 262, 263, 266, 267, the displacement of the inner rotor 110 and the outer rotor 10 due to external load can be further reduced.

In addition, since the inner stator 120 has the coils 150 and the outer stator 20 has the coils 50, the configurations of the rotating inner rotor 110 and the outer rotor 10 can be simplified.

In addition, the inner rotor 110, the inner stator 120, the outer stator 20, and the outer rotor 10 are arranged in this order from the rotation axis P toward the radial direction. Since the non-magnetic bodies 45 and the like are interposed at adjacent positions, the non-magnetic bodies 45 and the like can suppress the interference of the magnetic fields generated in the inner stator 120 and the outer stator 20 by the non-magnetic bodies 45 and the like. Therefore, magnetic field interference can be further suppressed.

In addition, the inner stator 120 has an inner motor core 130 provided with a coil 150, the outer stator 20 has an outer motor core 30 provided with a coil 50, and the non-magnetic material 45, etc. It is located between the shaft motor core 130 and the outer shaft motor core 30 . Therefore, since the non-magnetic material 45 or the like is interposed between the inner motor core 130 provided with the coils 50 and 150 that generate the magnetic field and the outer motor core 30, the interference of the magnetic fields can be suppressed more reliably.

The inner stator 120 has a cylindrical inner stator back yoke 140 provided outside the inner motor core 130 , and the outer stator 20 has a cylindrical inner stator back yoke 140 provided inside the outer motor core 30 . It has an outer stator back yoke 40 , and the nonmagnetic material 45 and the like are positioned between the inner stator back yoke 140 and the outer stator back yoke 40 . Therefore, the shape of the non-magnetic body 45 and the like may be any shape that fits between the cylindrical inner stator back yoke 140 and the outer stator back yoke 40 . Therefore, the nonmagnetic material 45 and the like can be provided more easily.

In addition, the non-magnetic body 45 and the like are members whose cross-sectional shape in the direction orthogonal to the rotation axis P is circular with the rotation axis P as the center. Therefore, the two-shaft integrated motor 1 can be easily accommodated in a cylindrical shape with the rotation axis P as the center.

Also, the non-magnetic material 45 and the like are non-magnetic alloys or resins. Therefore, magnetic field interference can be more reliably suppressed by the non-magnetic material 45 or the like. In addition, the non-magnetic material 45 and the like can be provided with relatively easily available materials, and the interference of the magnetic field can be suppressed at a lower cost.

Furthermore, since the second detection portion 250 is located on the one end side of the bearing portion 260 and the stator core portion 70, that is, on the output shaft side of the inner shaft rotor 110 and the outer shaft rotor 10, the first detection portion 240 and the second detection portion The centering of the detection unit 250 and the gap adjustment of the rotation angles at which the inner rotor 110 and the outer rotor 10 are detected as 0 degrees can be performed on the output shaft of the two-shaft integrated motor 1 . Therefore, it is possible to suppress the influence of physical shielding due to the arrangement of the bearing portion 260 and the stator core portion 70 when accessing the second detection portion 250 in centering and gap adjustment performed on the output shaft side. It is possible to more easily ensure detection accuracy of the second detection unit 250 that detects the rotation angle of the rotor. Furthermore, since the bearing portion 260 is positioned between the second detection portion 250 and the stator core portion 70 , the second detection portion 250 and the stator core portion 70 can be separated, and the magnetic field from the stator core portion 70 to the second detection portion 250 is detected. effect can be further reduced.

Furthermore, since the magnitude of the output torque of the electric motor is related to the magnitude of the distance from the rotation axis P to the thrust generating position (between the magnet and the coil), the output torque of the outer rotor 10 is relatively higher than that of the inner rotor 110. Considering that the magnets 112 provided on the inner shaft rotor 110 and the inner shaft stator 120 are longer than the magnets 12 provided on the outer shaft rotor 10 and the outer shaft stator 20 in the direction of the rotation axis, considering that they tend to be large. ing. Therefore, the thrust of the inner rotor 110 can be made larger than the thrust of the outer rotor 10, making it easier to reduce the difference between the output torque of the outer rotor 10 and the output torque of the inner rotor 110. .

Furthermore, the position of the first detection section 240 in the direction of the rotation axis and the position of the second detection section 250 in the direction of the rotation axis are the same. Therefore, the shaft length of the two-shaft integrated motor 1 can be made more compact. In addition, since one of the first detection unit 240 and the second detection unit 250 does not block the other in the rotation axis direction, the detection accuracy of the second detection unit 250 that detects the rotation angles of the two rotors can be ensured. It can be done more easily.

Furthermore, the position of the one end of the first bearing portion 261 in the rotational axis direction and the position of the one end of the second bearing portion 265 in the rotational axis direction are the same. Therefore, the shaft length of the two-shaft integrated motor 1 can be made more compact.

Further, radially outward from the rotation axis P, the inner rotor 110, the stator core portion 70, and the outer rotor 10 are arranged in this order. Therefore, since the inner stator 120 and the outer stator 20 can be collectively arranged between the inner rotor 110 and the outer rotor 10, the diameter of the two-shaft integrated motor 1 can be made more compact. can.

Further, radially outward from the rotation axis P, the first rotating portion 241, the first fixing portion 242, the second fixing portion 252, and the second rotating portion 251 are arranged in this order. Therefore, since the first fixed part 242 and the second fixed part 252 can be collectively arranged between the first rotating part 241 and the second rotating part 251, the diameter of the two-shaft integrated motor 1 can be made more compact. can be

Furthermore, a cover 291 that covers the first detection section 240 and the second detection section 250 is provided on one end side of the first detection section 240 and the second detection section 250 . Therefore, the second detection section 250 can be protected by providing the cover 291 after centering and gap adjustment are completed.

Furthermore, one magnetic steel sheet 60 has two teeth 61, and by arranging the magnetic steel sheets 60 in an annular manner, more teeth 61 are provided in one magnetic steel sheet layer, so variations in the shape of the teeth 61 can be further reduced. can be reduced. That is, since two teeth 61 are integrally formed for one electromagnetic steel sheet 60, the shape consistency of all the teeth 61 can be improved by ensuring the accuracy of the shape consistency of the two teeth 61. Accuracy can be ensured. In addition, by arranging a plurality of electromagnetic steel sheets 60 in an annular shape in one electromagnetic steel sheet layer, even if one electromagnetic steel sheet 60 has magnetic directionality, one electromagnetic steel sheet layer is one electromagnetic steel sheet. The magnetic directionality of the teeth 60 is less likely to dominate, and variations in the magnetic properties of the teeth 61 can be further reduced. In addition, since the electromagnetic steel sheet layers in which the electromagnetic steel sheets 60 having the two teeth 61 are arranged in an annular shape are laminated in two different phases, sufficient rigidity can be ensured by the three-dimensional structure obtained by laminating the electromagnetic steel sheet layers with different phases. can be done.

Furthermore, the phases of the arrangement of the electromagnetic steel sheets 60 are shifted by one tooth 61 between the two phases. Therefore, the magnetic steel sheets 60 having two teeth 61 are alternated at the positions where the magnetic steel sheets of different phases are laminated. Therefore, by stacking the electromagnetic steel sheets 60 having different phases, it is possible to form a structure that is continuous in an annular shape, so that it is possible to secure sufficient rigidity as an annular structure.

Furthermore, the two teeth 61 of the electromagnetic steel sheet 60 are discontinuous on the opposite side of the outer rotor 10 . Therefore, the pre-formed coil 50 can be fitted to the core on which the teeth 61 are laminated, and the coil 50 can be easily provided.

Furthermore, the plurality of electromagnetic steel sheets 60 in one electromagnetic steel sheet layer are arranged with a gap therebetween. Therefore, the weight can be reduced as compared with a structure in which the electromagnetic steel sheet layer is completely continuous in an annular shape. In addition, since it is possible to reduce magnetic wraparound generated between the coils 50, the efficiency of the two-shaft integrated motor 1 can be further enhanced.

Furthermore, the number of each of the two phases of the magnetic steel sheet layers is equal. Therefore, it becomes easier to balance the strength and magnetic properties of the outer stator 20 as a whole.

Furthermore, the phases of arrangement of the plurality of electromagnetic steel sheets 60 in the magnetic steel sheet layers adjacent to each other in the rotation axis direction are different. Therefore, the electromagnetic steel sheets 60 having two teeth 61 are alternated at the position where the two layers of the electromagnetic steel sheets are laminated. Therefore, by stacking the electromagnetic steel sheets 60 having different phases, it is possible to form a structure that is continuous in an annular shape, so that it is possible to more reliably secure sufficient rigidity as an annular structure.

Furthermore, the base portion 62 that physically connects the two teeth 61 in one electromagnetic steel sheet 60 has a portion corresponding to the midpoint between the two teeth 61 that is thinner than the other portions. Therefore, it is possible to reduce the wraparound of the magnetism generated between the coils 50 adjacent to each other in the annular direction, so that the efficiency of the two-shaft integrated motor 1 can be made higher.

Furthermore, the outer stator 20 has a cylindrical yoke provided on the opposite side of the outer rotor 10 with respect to the teeth 61, and the yoke is integral with respect to the rotation axis direction. Therefore, since the outer stator 20 is supported by the yoke that is integral with respect to the stacking direction of the electromagnetic steel sheet layers, it is possible to ensure sufficient rigidity more reliably.

In addition, although the second detection unit 250 in the above embodiment is a magnetic encoder, this is an example and is not limited to this. The second detector 250 may be, for example, an optical encoder.

The two-axis integrated type motor according to the first embodiment can be used as an actuator for various industrial machines such as a conveying device for small parts, an electronic component inspection device, and a semiconductor inspection device, but is not limited to these.

(Embodiment 2)
FIG. 14 is a partial cross-sectional view of the actuator 301 of Embodiment 2. FIG. The cross section of FIG. 14 is taken along a plane including the rotation axis P, but the internal configuration of a nut 351, which will be described later, is omitted. In the cross-section of FIG. 14, partial cross-sections are shown so that other cross-sections can be seen as appropriate in order to indicate the position of the fixing member. FIG. 15 is a cross-sectional view of a main part (two-shaft integrated motor 1) shown in FIG. 16 is a cross-sectional view of a main part (a housing for a spline outer cylinder to be described later) in FIG. 14. FIG. FIG. 17 is a diagram showing a state in which the screw portion is raised.

The actuator 301 shown in FIG. 14 is used, for example, as a pick-and-place device. The actuator 301 has an arm portion 380 that transfers a workpiece, a two-axis integrated motor 1 that drives the arm portion 380, and a ball screw 350 and a ball spline 360 that are connected to the two-axis integrated motor 1. In the following description, the direction parallel to the Z-axis, from the dual-axis motor 1 to the arm portion 380, is defined as upward, and the direction from the arm portion 380 to the dual-axis motor 1 is defined as downward.

Arm portion 380 is, for example, a cantilevered arm having only a single arm. The actuator 301 is, for example, fixed to a support stand (not shown) with the rotation axis P of the arm portion 380 directed in the Z direction. As shown in FIG. 14, the actuator 301 moves the arm portion 380 in the Z direction (linear motion direction) to move the arm portion 380 up and down in the Z direction, and moves the arm portion 380 within an arbitrary plane orthogonal to the Z direction. , rotates or pivots about the rotation axis P to transfer the work to a desired position.

The actuator 301 has connection brackets 323 and 324 that are connected to a nut 351, which will be described later. The inner rotor yoke 111 is provided around the rotation axis P in a cylindrical shape. The inner rotor yoke 111 can also be said to be a cylindrical output shaft on the inner diameter side. The inner diameter of the inner shaft rotor 110 is smaller than the outer dimensions of a nut 351 and a spline outer cylinder 361, which will be described later.

The connection bracket 323 is formed in a cylindrical shape and arranged on the inner peripheral side of the inner shaft rotor yoke 111 . In the second embodiment, the connection bracket 323 is fixed to the upper end of the inner rotor yoke 111 and extends downward along the inner circumference of the inner rotor yoke 111 . The connecting bracket 324 is fixed to the lower end of the connecting bracket 323 and extends downward from the connecting bracket 323 . Therefore, between the inner rotor yoke 111 and a nut 351, which will be described later, the connecting brackets 323 and 324 are connected so that the upper end of the inner rotor yoke 111 is folded back inward and downward.

The ball screw 350 has a nut 351, a screw shaft (first portion) 352, and rolling elements (not shown). The nut 351 is arranged below the inner shaft rotor yoke 111 . That is, the nut 351 is arranged below and outside the inner shaft rotor 110 in the rotation axis direction. Nut 351 is arranged coaxially with inner rotor 110 and rotates as inner rotor 110 rotates. The nut 351 has a flange portion 351a. The flange portion 351a is fixed to the connection bracket 324 by a fixing member 351b. The nut 351 is connected to the inner rotor yoke 111 via the connecting bracket 324 and the connecting bracket 323 . For example, the inner shaft rotor yoke 111 and the connection bracket 323 are fixed by a fixing member 326 . Moreover, the connecting bracket 323 and the connecting bracket 324 are fixed by a fixing member 327 . Bolts, for example, are used as the fixing members 326 and 27 . The nut 351 is provided integrally with the inner shaft rotor yoke 111 by connecting brackets 323 and 324 . Therefore, when the inner rotor 110 rotates, the nut 351 rotates around the rotation axis P integrally with the inner rotor 110 .

The screw shaft 352 protrudes downward from the inner rotor 110 . The screw shaft 352 is inserted inside the nut 351 . The screw shaft 352 is screwed with the nut 351 . When the nut 351 rotates, the screw shaft 352 moves in the axial direction (Z direction) according to the rotation. A rolling element is arranged inside the nut 351 .

The ball screw 350 is provided with a negative actuation electromagnetic brake 353 . The negative actuation electromagnetic brake 353 has a field 353a, a side plate 353b, an armature 353c, a brake disk 353d and an electromagnetic coil 353e. A coil spring (not shown) is arranged in the field 353a. The coil spring presses the armature 353c toward the brake disc 353d. When the electromagnetic coil 353e is energized, the armature 353b is attracted toward the field 353a by a force stronger than the elastic force of the coil spring, and the brake disc 353d is released. Also, when the electromagnetic coil 353e is not energized, the attracting force of the electromagnetic coil 353e ceases to act, so the elastic force of the coil spring rapidly presses the armature 353c toward the brake disc 353d. The brake disc 353 d is connected to the lower end 324 a of the connection bracket 324 and connected to the nut 351 via the connection bracket 324 . When the brake disc 353d is released, the nut 351 is rotatable. Further, when the armature 353c is pressed against the brake disc 353d, the rotation of the brake disc 353d is restricted, and thus the rotation of the nut 351 is restricted. Therefore, when the electromagnetic coil 353e is not energized, the screw shaft 352 is prevented from falling. It should be noted that the configuration of the negative actuation electromagnetic brake 353 is not limited to the configuration described above, and may be another configuration.

A stopper 354 is attached to the lower end of the screw shaft 352 . A stopper 354 restricts the upward movement of the screw shaft 352 .

The ball spline 360 has a spline outer cylinder 361, a shaft (second portion) 362, and rolling elements (not shown). The spline outer cylinder 361 is arranged above the outer rotor yoke 11 . In other words, the spline outer cylinder 361 is arranged above and outside the inner shaft rotor 110 in the rotation axis direction. The spline outer cylinder 361 is arranged coaxially with the outer rotor 10 and rotates together with the rotation of the outer rotor 10 . The spline outer cylinder 361 is connected to the outer shaft rotor yoke 11 via a connection bracket 333 . For example, the fixing member 36 is fixed between the outer rotor yoke 11 and the connection bracket 333 . A bolt or the like, for example, is used as the fixing member 36 . The spline outer cylinder 361 is provided integrally with the outer shaft rotor yoke 11 by a connection bracket 333 . Therefore, when the outer rotor 10 rotates, the spline outer cylinder 361 rotates around the rotation axis P integrally with the outer rotor 10 .

A connection bracket 334 is arranged at the upper end of the spline outer cylinder 361 . The connection bracket 334 is fixed to the connection bracket 333 by a fixing member 337 . For example, a bolt or the like is used as the fixing member 337 .

Shaft 362 protrudes upward from inner shaft rotor 110 . The shaft 362 is inserted into the inner diameter side of the spline outer cylinder 361 . The shaft 362 is integrally connected to the screw shaft 352 via a connecting portion 356 on the lower end side. In Embodiment 2, the threaded shaft 352 and the shaft 362 are press-fitted at the connecting portion 356 and integrally constitute the shaft member SF. The connecting portion 356 is provided with a hole portion 356a for releasing air when the screw shaft 352 and the shaft 362 are press-fitted. The shaft 362 is provided with a plurality of grooves 362a parallel to the direction of the rotation axis arranged in a circumferential direction. The shaft 362 has a reduced diameter portion 362b at its upper end. The reduced diameter portion 362b is fixed to an arm attachment member 370, which will be described later.

In addition, on the inner peripheral surface of the spline outer cylinder 361, a plurality of projections corresponding to the grooves 362a of the shaft 362 are arranged in the circumferential direction. By inserting the projecting portion of the spline outer cylinder 361 into the groove 362a of the shaft 362, the relative movement between the spline outer cylinder 361 and the shaft 362 in the direction around the rotation axis P is restricted, and the spline in the direction of the rotation axis is restricted. Relative movement between the outer cylinder 361 and the shaft 362 is allowed. Therefore, when the spline outer cylinder 361 rotates, the shaft 362 moves in the axial direction (Z direction) according to the rotation. Further, when the screw shaft 352 moves in the rotation axis direction due to the rotation of the nut 351 while the spline outer cylinder 361 is not rotated, the shaft 362 moves in the rotation axis direction together with the screw shaft 352 . Rolling elements are arranged inside the spline outer cylinder 361 .

The housing 340 has a motor housing 341 , a nut housing 342 , and a spline outer cylinder housing 343 . The motor housing 341 is formed in a cylindrical shape, for example, and accommodates the two-shaft integrated motor 1 .

The nut housing 342 has a flange portion 342a and a cylindrical portion 342b. The flange portion 342a is formed in an annular shape and fixed to the lower end of the motor housing 341 by the fixing member 44. As shown in FIG. A fixing member 45 for fixing the stator core fixing housing 17 is attached to the flange portion 342a. Stator core 11 is fixed to housing 340 by fixing member 45 . The tubular portion 342b extends downward from the inner periphery of the flange portion 342a. The cylindrical portion 342b accommodates the nut 351 of the ball screw 350. As shown in FIG. A negative actuation electromagnetic brake 353 is fixed to the lower end of the tubular portion 342b.

Also, the nut housing 342 holds the third bearing portion 328 with the connection bracket 324 . The third bearing portion 328 has one or more rolling bearings. The third bearing portion 328 rotatably supports the nut 351 . The third bearing portion 328 is, for example, a rolling bearing. The third bearing portion 328 is supported by the flange portion 342a via a wave washer 329a and a pressing member 329b. The third bearing portion 328 is pressed against the cylindrical portion 342b by a wave washer 329a and a pressing member 329. As shown in FIG. For example, when an object is supported by the arm portion 380 and the center of gravity of the load of the arm portion 380 and the object does not coincide with the rotational axis P, or when the rotational moment of the arm portion 380 and the object is received, the shaft member SF There is a possibility that a force will be applied in a direction that is tilted with respect to the On the other hand, since the third bearing portion 328 is radially supported by the nut housing 342 and the fixing base ST via the wave washer 329a and the pressing member 329b, the nut 351 in the direction perpendicular to the rotation axis direction is supported. displacement or vibration is suppressed.

The spline outer cylinder housing 343 has a flange portion 343a, a first tubular portion 343b, and a second tubular portion 343c. The flange portion 343 a is formed in an annular shape and fixed to the upper end of the motor housing 341 by a fixing member 346 . Further, the flange portion 343a is fixed to the fixed base ST by a fixing member 347. As shown in FIG. By fixing the flange portion 343a to the fixing base ST, the actuator 301 is fixed to the fixing base ST.

The first tubular portion 343b is formed in a cylindrical shape and extends upward from the inner circumference of the flange portion 343a. The first tubular portion 343 b accommodates the spline outer cylinder 361 of the ball spline 360 . The first tubular portion 343b is connected to the second tubular portion 343c via a first stepped portion 343d and a second stepped portion 343e.

The first tubular portion 343b holds the fourth bearing portion 338 with the connection bracket 334 at the first stepped portion 343d. The fourth bearing portion 338 has one or more rolling bearings. The fourth bearing portion 338 rotatably supports the spline outer cylinder 361 . The fourth bearing portion 338 is, for example, a rolling bearing. The fourth bearing portion 338 is supported by the second stepped portion 343e via a wave washer 339a and a pressing member 339b. The fourth bearing portion 338 is pressed against the connecting bracket 334 by a wave washer 339a and a pressing member 339b. The fourth bearing portion 338 is radially supported by the spline outer cylinder housing 343 and the fixing base ST (see FIG. 14). For example, when an object is supported by the arm portion 380 and the center of gravity of the load of the arm portion 380 and the object does not coincide with the rotational axis P, or when the rotational moment of the arm portion 380 and the object is received, the shaft member SF There is a possibility that a force will be applied in a direction that is tilted with respect to the On the other hand, since the fourth bearing portion 338 is radially supported by the spline outer cylinder housing 343 and the fixed base ST via the wave washer 339a and the pressing member 339b, Displacement or vibration of the spline outer cylinder 361 is suppressed.

An air supply portion 343f is provided in the second stepped portion 343e. An air joint for air purge can be attached to the air supply portion 343f. The air supply portion 343f communicates between the outside and the space formed between the second tubular portion 343c and the shaft 362. As shown in FIG. The air supply portion 343f is provided with a closing bolt 343g. The bolt 343g is detachably attached to the air supply portion 343f. The bolt 343g closes the air supply portion 343f so that foreign matter such as dust does not enter.

The second tubular portion 343c is formed in a cylindrical shape and extends upward from the upper end of the first tubular portion 343b. The second tubular portion 343c has a smaller diameter than the first tubular portion 343b. The second tubular portion 343c is arranged to cover part of the outer peripheral surface of the shaft 362 . For example, as shown in FIG. 14, the dimension of the second tubular portion 343c in the direction of the rotation axis is such that the upper end of the second tubular portion 343c and the shaft member SF are the same when the shaft member SF is arranged at the lowest end. It is set to be flush with the upper end (the upper end of the shaft 362).

The arm attachment member 370 is connected to the tip (upper end) of the shaft 362 . The arm attachment member 370 has a connecting portion 371 , a tubular portion 372 and a lid portion 373 . The connecting portion 371 is connected to the reduced diameter portion 362 b of the shaft 362 . The connecting portion 371 includes a through portion 371a through which the diameter-reduced portion 362b is passed, a depressed portion 371b into which the connecting member 374 is inserted, an arm mounting surface 371c for mounting the arm 380, and a lid portion mounting surface 371d for mounting the lid portion 373. have.

The through portion 371a is formed corresponding to the shape of the reduced diameter portion 362b. The depressed portion 371b forms a space with the reduced diameter portion 362b when the reduced diameter portion 362b is inserted into the through portion 371a. A connecting member 374 is arranged in this space. The connecting member 374 has a concave member 374a and a convex member 374b formed with opposing tapered surfaces of equal slope. The concave member 374a is formed in an annular shape and arranged in contact with the inner periphery of the depressed portion 371b. The convex member 374b is formed in an annular shape and is inserted inside the recessed portion 371b. The inner periphery of the protruding member 374b is arranged in contact with the outer periphery of the reduced diameter portion 362b. The connecting member 374 is fixed by the fixing member 75 press-fitting the convex member 374 b into the inner side of the concave member 374 a. As a result, between the inner circumference of the depressed portion 371b and the outer circumference of the concave member 374a, between the tapered surface of the concave member 374a and the tapered surface of the convex member 374b, and between the inner circumference of the convex member 374b and the reduced diameter portion. 362b are pressed against each other. Therefore, a frictional force is generated between the depressed portion 371b, the concave member 374a, the convex member 374b, and the reduced diameter portion 362b. Due to this frictional force, the arm attachment member 370 is integrally connected to the reduced diameter portion 362b.

An arm 380 is attached to the arm attachment surface 371c. The arm attachment surface 371c is provided with an insertion hole 371e into which a fixing member (not shown) for fixing the arm 380 is inserted. A lid portion 373, which will be described later, is attached to the lid portion attachment surface 371d.

The cylindrical portion 372 is formed in a cylindrical shape and provided in a state of extending from the connecting portion 371 toward the spline outer cylinder 361 (downward). The cylindrical portion 372 is arranged outside the second cylindrical portion 343c of the spline outer cylinder housing 343, and accommodates the tip (upper end) of the second cylindrical portion 343c. The cylindrical portion 372 has a stepped portion 372a at its lower end. The stepped portion 372a has a configuration in which the lower end of the inner peripheral surface is enlarged in diameter. A seal portion 377 is arranged on the stepped portion 372a. The seal portion 377 seals a gap formed between the tubular portion 372 and the second tubular portion 343 c of the housing 343 for spline outer cylinder. As the seal portion 377, for example, a structure in which a U-shaped or U-shaped member in a cross-sectional view is formed into a ring shape, or the like can be used. The seal portion 377 is formed using, for example, an elastically deformable material. The seal portion 377 is arranged in an elastically deformed state in contact between the inner peripheral surface of the stepped portion 372a and the outer peripheral surface of the second cylindrical portion 343c. The shaft 362 is protected from the outside by the seal portion 377 . A protrusion projecting inward is formed at the lower end of the stepped portion 372a. This projection prevents the sealing portion 377 from falling. Further, when the power is cut off, the rotation of the shaft 362 (shaft member SF) is suppressed by the seal resistance of the seal portion 377 .

Also, as shown in FIGS. 14 and 16, a cylindrical gap is formed between the tubular portion 372 and the second tubular portion 343c. This gap forms a labyrinth structure between the shaft 362 and the outside, thus enhancing dust resistance and water resistance.

The lid portion 373 is attached to the lid portion attachment surface 371d of the connecting portion 371 with a fixing member 376 such as a bolt. The lid portion 373 protects the reduced diameter portion 362b of the shaft 362 from the external environment.

When moving the arm 380 in the rotation axis direction (Z direction) in the actuator 301, the controller 420 moves the inner rotor 110 in one or the other direction around the rotation axis P without rotating the outer rotor 10. rotate. In this case, the nut 351 of the ball screw 350 rotates together with the rotation of the inner shaft rotor 110 . As the nut 351 rotates, the nut 351 and the screw shaft 352 rotate relative to each other in the direction around the rotation axis P, so that the screw shaft 352 moves in the Z direction. As the screw shaft 352 moves, the shaft 362 integrally connected with the screw shaft 352, that is, the shaft member SF moves in the Z direction. Movement of the shaft member SF causes the arm attachment member 370 and the arm 380 connected to the upper end of the shaft 362 to move in the Z direction. When the shaft member SF is moved upward, as shown in FIG. 17, the stopper 354 at the lower end of the screw shaft 352 contacts the lower end of the connection bracket 324 to restrict the upward movement of the shaft member SF. When the shaft member SF is moved downward, as shown in FIGS. 14 and 16, the connecting portion 371 abuts on the upper end of the second cylindrical portion 343c of the spline outer cylinder bracket 343, thereby moving downward the shaft member SF. movement is restricted.

In the actuator 301, when the arm 380 is moved in the direction around the rotation axis P, the controller 420 rotates the inner rotor 110 and the outer rotor 10 synchronously. In this case, the nut 351 of the ball screw 350 rotates together with the rotation of the inner shaft rotor 110 . In addition, the spline outer cylinder 361 of the ball spline 360 rotates together with the rotation of the outer shaft rotor 10 . As the spline outer cylinder 361 rotates, the shaft 362 rotates together with the spline outer cylinder 361 . The rotation of the shaft 362 rotates the screw shaft 362 connected to the shaft 362, that is, the shaft member SF. Therefore, in the ball screw 350 , the nut 351 and the screw shaft 352 do not rotate relative to each other, and the screw shaft 352 of the ball screw 350 does not move in the Z direction with respect to the nut 351 . That is, the shaft member SF rotates around the rotation axis P without moving in the Z direction. The rotation of the shaft member SF causes the arm attachment member 370 and the arm 380 to rotate about the rotation axis P. As shown in FIG.

The actuator 301 of the second embodiment described above includes a housing 340, an inner rotor 110, an outer rotor 10, a shaft member SF (screw shaft 352 and shaft 362), a nut 351, a spline outer cylinder 361, Prepare. Inner rotor 110 is rotatable with respect to housing 340 . The outer rotor 10 is arranged radially outside of the inner rotor 110 and is rotatable with respect to the housing 340 . The shaft member SF is arranged to pass through the inner rotor 110 in the direction of the rotation axis of the inner rotor 110 , has a screw shaft 352 projecting from the inner rotor 110 in one direction of the rotation axis, and extends from the inner rotor 110 . A shaft 362 protruding in the other direction of the rotation axis has a groove portion 362a along the direction of the rotation axis. The nut 351 is arranged below and outside the inner rotor 110 in the direction of the rotation axis, is screwed onto the screw shaft 352, rotates together with the inner rotor 110, and moves the shaft member SF in the direction of the rotation axis. The spline outer cylinder 361 is disposed on the outer side of the inner shaft rotor 110 in the direction of the rotation axis, guides the shaft member SF in the direction of the rotation axis along the groove 362a, and rotates together with the outer rotor 10 to rotate the shaft member SF. The member SF is rotated around the rotation axis P of the outer rotor 10 .

According to this configuration, since the nut 351 and the spline outer cylinder 361 are arranged outside the inner rotor 110 in the rotation axis direction, the inner rotor 110 and the outer rotor 10 can be made smaller in the radial direction. can. This makes it possible to reduce the footprint. In addition, the spline outer cylinder 361 makes it possible to suppress co-rotation of the shaft member SF when the outer shaft rotor 10 is rotated.

In the actuator 301 of Embodiment 2, the inner diameter of the inner shaft rotor 110 is smaller than the outer diameters of the nut 351 and the spline outer cylinder 361 . According to this configuration, the inner rotor 110 and the outer rotor 10 can be made smaller in the radial direction.

The actuator 301 of Embodiment 2 further includes an arm attachment member 370 that is connected to the tip of the shaft 362 and attaches the arm 380 . According to this configuration, by attaching the arm 380 to the arm attachment member 370, a transport device can be configured.

In the actuator 301 of Embodiment 2, the housing 340 has a spline outer cylinder housing 343 that accommodates the spline outer cylinder 361 and partially covers the shaft 362 , and the arm attachment member 370 extends toward the spline outer cylinder 361 side. It has a cylindrical portion 372 that accommodates the tip of the spline outer cylinder housing 343 in the rotational axis direction. According to this configuration, it is possible to ensure sealing performance from the external environment.

In the actuator 301 of Embodiment 2, the nut 351 is supported by the housing 340 via the third bearing portion 328 , and the spline outer cylinder 361 is supported by the housing 340 via the fourth bearing portion 338 . According to this configuration, displacement of the nut 351 and the spline outer cylinder 361 can be suppressed.

The actuator 301 of Embodiment 2 further comprises a negative actuation electromagnetic brake 353 connected to the nut 351 . According to this configuration, it is possible to prevent the shaft member SF from falling.

Further, the actuator 301 of Embodiment 2 includes a housing 340, an inner rotor 110, an outer rotor 10, a shaft member SF (screw shaft 352 and shaft 362), a nut 351, and a spline outer cylinder 361. Prepare. Inner rotor 110 is rotatable with respect to housing 340 . The outer rotor 10 is arranged radially outside of the inner rotor 110 and is rotatable with respect to the housing 340 . The shaft member SF is arranged to pass through the inner rotor 110 in the direction of the rotation axis of the inner rotor 110 , has a screw shaft 51 protruding from the inner rotor 110 in one direction of the rotation axis, and extends from the inner rotor 110 . A shaft 362 protruding in the other direction of the rotation axis has a groove portion 362a along the direction of the rotation axis. The nut 351 is screwed onto the screw shaft 352 and rotates together with the inner shaft rotor 110 to move the shaft member SF in the rotation axis direction. The spline outer cylinder 361 guides the shaft member SF in the rotation axis direction along the groove 362a and rotates together with the outer rotor 10 to rotate the shaft member SF in the direction around the rotation axis P of the outer rotor 10. .

According to this configuration, the spline outer cylinder 361 can suppress the rotation of the shaft member SF when the outer shaft rotor 10 is rotated.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to those described in the above embodiments. For example, in the above embodiment, the nut 351 of the ball screw 350 is connected to the inner rotor 110 on the inside, and the spline outer cylinder 361 of the ball spline 360 is connected to the outer rotor 10 on the outside. Not limited. For example, a configuration may be adopted in which the spline outer cylinder 361 of the ball spline 360 is connected to the inner rotor 110 on the inner side, and the nut 351 of the ball screw 350 is connected to the outer rotor 10 on the outer side.

In the above embodiment, the ball spline 360 is arranged on the upper side and the ball screw 350 is arranged on the lower side with respect to the two-shaft integrated motor 1, but the present invention is not limited to this. For example, a configuration in which the ball screw 350 is arranged on the upper side of the dual-shaft integrated motor 1 and the ball spline 360 is arranged on the lower side may be employed.

1 Twin-shaft Integrated Motor 10 Outer Rotor 11 Outer Rotor Yoke 11a, 111a Output End 12, 112 Magnet 20 Outer Stator 30 Outer Motor Core 40 Outer Stator Back Yoke 45, 45a Non-Magnetic Materials 45b, 45c Non-Magnetic Member 50, 150 Coil 70 Stator core portion 110 Inner rotor 111 Inner rotor yoke 120 Inner stator 130 Inner motor core 140 Inner stator back yoke 240 First detector 250 Second detector 261 First bearing 265 Second bearing 283 Magnetic shielding member 301 Actuator 328 Third bearing 338 Fourth bearing 340 Housing 341 Motor housing 342 Nut housing 342a, 343a Flange portions 342b, 372 Cylindrical portion 343 Spline outer cylinder housing 343b First cylindrical portion 343c Second cylinder Shaped portion 350 Ball screw 351 Nut 352 Screw shaft 353 Negative actuation electromagnetic brake 354 Stoppers 356, 371 Connecting portion 360 Ball spline 361 Spline outer cylinder 362 Shaft 362a Groove 362b Diameter reduction portion 370 Arm mounting member 372a Stepped portion 372b Gap 374 Connecting member 374a Concave member 374b Convex member 380 Arm part, arm P Rotating shaft SF Shaft member ST Fixing table

Claims (16)

It has an inner rotor and an outer rotor which are rotatably provided and have the same rotation axis direction, and the output shaft of the inner rotor and the output shaft of the outer rotor are positioned at one end side of the rotation axis direction. A two-axis integrated motor that
an inner stator, which is a stator core of the inner rotor;
an outer stator, which is a stator core of the outer rotor;
a first bearing portion that rotates in conjunction with the inner shaft rotor;
a second bearing portion that rotates in conjunction with the outer shaft rotor;
a first detector that detects the rotation angle of the inner shaft rotor;
a second detector that detects the rotation angle of the outer shaft rotor;
A magnetic shielding member arranged between the inner shaft stator and the first detection unit,
The first bearing portion, the inner shaft stator, the magnetic shielding member, and the first detection portion are arranged in this order from the one end side on the outer peripheral side of the inner shaft rotor,
The second detector, the second bearing, and the outer stator are arranged in order from the one end side on the inner peripheral side of the outer rotor,
The inner stator and the outer stator have a plurality of electromagnetic steel sheet layers laminated in the direction of the rotation axis,
The electromagnetic steel sheet layer is formed by annularly arranging a plurality of electromagnetic steel sheets having two teeth,
The electromagnetic steel plates arranged in the ring are arranged with a gap therebetween,
Arrangement of gaps between the electromagnetic steel sheets forming one of the electromagnetic steel sheet layers possessed by the outer stator; The positions of the gaps between the electromagnetic steel sheets forming one of the electromagnetic steel sheet layers are different,
Two-axis integrated motor. 2. The dual shaft integrated motor of claim 1, wherein the first bearing portion and the second bearing portion have preloaded bearings. The inner rotor and the outer rotor have rotor yokes and magnets,
3. The twin-shaft integrated motor according to claim 1, wherein the inner stator and the outer stator have coils. The inner rotor, the inner stator, the outer stator, and the outer rotor are arranged in this order from the rotating shaft in the radial direction,
A non-magnetic material is provided between the inner stator and the outer stator, and intervenes at a position adjacent to the inner stator and the outer stator along the circumferential direction about the rotating shaft. A two-axis integrated motor according to any one of items 1 to 3. The inner stator has an inner motor core provided with the coil,
The outer stator has an outer motor core provided with the coil,
5. The dual shaft integrated motor according to claim 4, wherein the non-magnetic body is positioned between the inner motor core and the outer motor core. The inner stator has a cylindrical inner stator back yoke provided outside the inner motor core,
The outer stator has a cylindrical outer stator back yoke provided inside the outer motor core,
The twin-shaft integrated motor according to claim 5, wherein the non-magnetic body is positioned between the inner stator back yoke and the outer stator back yoke. The twin-shaft integrated motor according to any one of claims 4 to 6, wherein the non-magnetic body is a member whose cross-sectional shape in a direction perpendicular to the rotating shaft is an arc centered on the rotating shaft. The twin-shaft integrated motor according to any one of claims 4 to 7, wherein the non-magnetic material is a non-magnetic alloy or resin. 9. The magnets provided on the inner rotor and the inner stator have axial lengths in the direction of the rotating shaft that are longer than those of the magnets provided on the outer rotor and the outer stator. A two-axis integrated motor according to . a two-shaft integrated motor according to any one of claims 1 to 8;
a housing enclosing the twin-shaft integrated motor;
It is arranged to pass through the inner rotor in the direction of the rotation axis, has a threaded portion in a first portion projecting from the inner rotor in one direction in the direction of the rotation axis, and extends from the inner rotor in the direction of the rotation axis. a shaft member having a groove along the rotation axis direction in a second portion projecting in the other direction;
a nut disposed on the one outer side of the inner rotor in the direction of the rotation axis, screwed into the threaded portion, and rotated together with the inner rotor to move the shaft member in the direction of the rotation axis;
is disposed on the other outside in the direction of the rotation axis with respect to the inner rotor, guides the shaft member in the direction of the rotation axis along the groove, and rotates together with the outer rotor to move the shaft member An actuator comprising a spline outer cylinder that rotates in a direction around an axis. The actuator according to claim 10, wherein the inner diameter of the inner shaft rotor is smaller than the outer diameters of the nut and the spline outer cylinder. 12. The actuator according to claim 10, further comprising an arm attachment member connected to the tip of the second portion and attaching an arm. the housing has a spline outer cylinder housing that accommodates the ball spline and covers a portion of the second portion;
The arm attachment member has a cylindrical portion extending toward the ball spline and accommodating a tip end of the spline outer cylinder housing in the rotation axis direction,
13. The actuator according to claim 12, wherein the cylindrical portion has a gap between it and the spline outer cylinder housing. The nut is supported by the housing via a third bearing,
The actuator according to any one of claims 10 to 13, wherein the spline outer cylinder is supported by the housing via a fourth bearing portion. 15. An actuator according to any one of claims 10 to 14, further comprising a negative acting electromagnetic brake connected to said nut. a two-shaft integrated motor according to any one of claims 1 to 8;
a housing enclosing the twin-shaft integrated motor;
It is arranged to pass through the inner rotor in the direction of the rotation axis, has a threaded portion in a first portion projecting from the inner rotor in one direction in the direction of the rotation axis, and extends from the inner rotor in the direction of the rotation axis. a shaft member having a groove along the rotation axis direction in a second portion projecting in the other direction;
a nut that is screwed onto the threaded portion and rotates together with the inner shaft rotor to move the shaft member in the direction of the rotation axis;
A spline outer cylinder that guides the shaft member along the groove in the direction of the rotation axis and rotates together with the outer rotor to rotate the shaft member in a direction around the axis.

Images