JP6668143B2 - Motor, motor with encoder, method of manufacturing motor with encoder, and method of replacing encoder with motor with encoder - Google Patents

Description

  The present invention relates to a motor with an encoder, and more particularly, to a motor with a detachable encoder, a motor with an encoder, a method of manufacturing the same, and a method of replacing the encoder.

  2. Description of the Related Art Conventionally, a motor with an encoder having an encoder attached to one end in the axial direction of the motor has been used. The motor with the encoder is assembled and adjusted so that the position information of the encoder becomes the origin position when the stator and the rotor have a specific positional relationship in the motor. In the case where the encoder is detachable from the motor, if the relative rotational position of the encoder with respect to the motor deviates when the encoder is detached, the origin position of the encoder will be deviated. In the event of an encoder failure, a new encoder for replacement is prepared and installed, but at this time, when the stator and rotor have a specific positional relationship, the existing encoder position information is set to the origin position. The work of adjusting and assembling the motor and the new encoder takes time.

  Therefore, an encoder-equipped motor provided with a positioning mechanism for performing rotational alignment between the encoder and the motor has been proposed. Patent Literature 1 discloses this type of motor with an encoder. In the motor with an encoder disclosed in Patent Document 1, positioning pins (convex portions) are provided on a flange and a shaft of the motor, and a concave portion that fits the pins is provided on the encoder.

JP 2015-105839 A

  The motor with an encoder disclosed in Patent Literature 1 includes a positioning mechanism including a pin (convex portion) and a concave portion. In order to perform accurate positioning in the rotational direction by this positioning mechanism, the stator and the rotor are required. In a state in which the pin has a specific positional relationship, the relative position between the pin and the concave portion must be accurately set so that the pin (convex portion) and the concave portion can be fitted at the same time. If the relative position between the pin and the concave portion is shifted, the origin position of the encoder is shifted, so that it is necessary to adjust the position information of the encoder when mounting the encoder. For example, when replacing an encoder with a new one at the time of failure of the encoder or the like, it is necessary to adjust the position information of the replaced encoder. Since such an operation takes time and effort, there is a demand for a configuration that can easily and accurately position the encoder and the motor in the rotational direction.

  In view of the above problems, an object of the present invention is to provide a positioning mechanism for performing positioning of a rotation direction of an encoder with respect to a motor, in which one of a projection and a recess is provided in a motor, and the other is provided in an encoder, and these are fitted together. An object of the present invention is to easily and accurately position the encoder and the motor in the rotation direction in a motor with an encoder provided with a mechanism for causing the motor to rotate.

In order to solve the above-described problems, the present invention is a motor to which an encoder is attached and detached, and a motor-side rotating shaft coupled to the encoder-side rotating shaft of the encoder via a coupling so as to be relatively non-rotatable. A motor-side fitting portion that can be fitted with an encoder-side fitting portion provided on the encoder, wherein one of the encoder-side fitting portion and the motor-side fitting portion is the encoder-side rotating shaft. And a protrusion protruding in the direction of the rotation axis of the motor-side rotation shaft, the other is a recess or hole into which the protrusion is fitted, and one of the encoder-side fitting portion and the motor-side fitting portion is the Ri adjustable der the circumferential positions around the encoder side rotating shaft and the motor side rotating shaft, the motor-side fitting portion, adjusting the circumferential positions around the motor side rotating shaft Possible There is a motor end face that is an axial end face facing the encoder side, a moving member that is attached to the motor end face so that the circumferential position can be adjusted, and a fixing member that fixes the moving member to the motor end face. Wherein the motor-side fitting portion is provided on the moving member, and the fixed member is located on the inner circumference side of the motor-side fitting portion or on the same circle as the motor-side fitting portion. I do.

As described above, the present invention provides a motor to which an encoder is attached and detached, by providing a motor-side fitting portion to be fitted with the encoder-side fitting portion, and adjusting a circumferential position of the encoder-side fitting portion or the motor-side fitting portion. Making it possible. In this way, when used as a motor with an encoder, it is possible to easily and accurately position the encoder and the motor in the rotational direction. Therefore, the origin position of the encoder can be easily and accurately adjusted, and the replacement work of the encoder can be easily performed when the encoder is out of order. In addition, this makes it possible to easily and accurately position the encoder and the motor in the rotational direction. In addition, this makes it possible to precisely adjust the position of the motor-side fitting portion in the circumferential direction. Therefore, the rotation direction of the encoder and the motor can be accurately positioned.

  In the present invention, it is preferable that the encoder has an encoder end face that is an axial end face facing the motor side, and the motor side fitting portion is provided at a position facing an outer peripheral edge of the encoder end face. With this configuration, the motor-side fitting portion can be arranged on the outer peripheral side, so that the circumferential position of the motor-side fitting portion can be accurately adjusted. Therefore, the rotation direction of the encoder and the motor can be accurately positioned.

  In the present invention, it is preferable that the fixing member is provided on both sides in the circumferential direction of the motor-side fitting portion. With this configuration, the moving member can be reduced in size in the radial direction, and the motor-side fitting portion can be arranged on the outer peripheral side.

  In the present invention, it is preferable that the moving member is an arc-shaped member extending in the circumferential direction. With this configuration, the moving member can be reduced in size in the radial direction, and the motor-side fitting portion can be arranged on the outer peripheral side. Further, even if the motor size is different, it can be used without changing the shape and size of the moving member. Therefore, the members can be shared.

  In the present invention, it is preferable that the arc-shaped member is arranged in an arc-shaped concave portion formed on the motor end surface so as to be movable in the circumferential direction. With this configuration, it is not necessary to provide a shape that allows the movement of the moving member (arc-shaped member) on the encoder end face side.

  Next, the motor with an encoder according to the present invention includes the above-described motor, the encoder detachable from the motor, and the coupling that is connected to the motor-side rotating shaft and the encoder-side rotating shaft so that they cannot rotate relative to each other. And the following.

As described above, the motor with an encoder of the present invention includes the above-described motor, so that the encoder and the motor can be easily and accurately positioned in the rotation direction. Therefore, the origin position of the encoder can be easily and accurately adjusted, and the replacement work of the encoder can be easily performed when the encoder is out of order.

  In the present invention, the coupling includes: a motor-side coupling hub fixed to the motor-side rotation shaft; and an encoder-side coupling hub fixed to the encoder-side rotation shaft. Preferably, the motor is fixed at a predetermined rotation position with respect to the motor-side rotation shaft in a state where a stator and a rotor of the motor have a predetermined positional relationship. With this configuration, the position of the motor-side fitting portion can be adjusted with reference to the motor-side coupling hub. As a result, when replacing the encoder with a new one at the time of encoder failure, if the new encoder has the same position information (output) as the encoder before replacement, replace it at the replacement site. It is possible to adjust the origin position of the encoder without performing the operation of correcting the position information of the encoder for use. Therefore, it is possible to easily replace the encoder when the encoder has failed.

  In the present invention, the coupling is an Oldham coupling including a coupling spacer in which the motor-side coupling hub and the encoder-side coupling hub intersect with the rotation axis direction and are movably assembled in a direction intersecting with each other. Desirably. With this configuration, the coupling between the motor-side rotation shaft and the encoder-side rotation shaft can be absorbed by the coupling.

  In the present invention, the motor-side fitting portion is movable in a predetermined angle range in the circumferential direction, and the encoder is detachable from a master motor including the motor-side rotating shaft and the motor-side fitting portion. The motor includes the encoder-side rotating shaft and the encoder-side fitting portion, and is detachable from a master encoder having a working hole formed therein, and the motor is located on the motor side with respect to the motor-side rotating shaft of the master motor. The positional deviation from the target position when fixing the coupling hub is within a first angle, and the motor-side fitting portion of the master motor has a positional deviation from a predetermined circumferential position within a second angle, A displacement of the motor-side coupling hub with respect to the target position when the motor-side coupling hub is fixed to the motor-side rotation shaft is within a third angle; In some cases, the predetermined angular range, the first angle, the second angle, and it is preferable the at third angle summed total angle or more. With this configuration, a displacement of the motor-side fitting portion occurs when the reference motor (master motor) is assembled, and a displacement occurs when the motor-side coupling hub is fixed to the master motor and the mass-production motor. Even if the error occurs, these positional deviations can be absorbed by adjusting the position of the motor-side fitting portion in the mass-production motor.

  Next, the present invention provides the method for manufacturing a motor with an encoder described above, wherein a master motor including the motor-side rotating shaft and the motor-side fitting portion is prepared, and the encoder-side rotating shaft and the encoder-side fitting are provided. A master encoder having a joint portion and a working hole is prepared, and in a state where the stator and the rotor of the master motor have a predetermined positional relationship, a state where the position information of the master encoder has a predetermined value is formed. A preparing step of assembling the encoder to the master motor, a mass production encoder adjusting step of correcting the position information of the encoder to the predetermined value, and the stator and the rotor of the motor have the predetermined positional relationship. And the motor is temporarily fixed to the motor-side fitting portion so as to be movable in the circumferential direction. And the master encoder is rotated to a rotation position at which the position information of the master encoder becomes the predetermined value, and the motor-side fitting portion of the motor is inserted through the working hole of the master encoder. A mass production motor adjustment step for permanently fixing the mass production motor adjustment step, and an assembly step of assembling the motor that has performed the mass production motor adjustment step and the encoder that has performed the mass production encoder adjustment step to complete the encoder-equipped motor. It is characterized by including.

  The method of manufacturing a motor with an encoder according to the present invention thus prepares a master motor and a master encoder in advance and adjusts them to a predetermined state, and uses the master encoder at the time of mass production for a motor. The position of the motor-side fitting portion is adjusted, and the position information of the encoder for mass production is corrected by using a master motor at the time of manufacture. In this way, a motor with an encoder in a state where the origin position of the encoder is adjusted only by assembling the encoder for mass production with the motor for mass production is completed. Therefore, the origin position of the encoder of the motor with the encoder can be easily and accurately adjusted.

  In the present invention, the preparing step includes forming a motor lock state in which the stator and the rotor of the master motor have the predetermined positional relationship, and the motor-side rotating shaft of the master motor in the motor lock state. A step of fixing the motor-side coupling hub of the coupling at a predetermined first rotation position, and a step of fixing the motor-side fitting portion of the master motor at a predetermined circumferential position. Fixing the encoder-side coupling hub of the coupling with respect to the encoder-side rotation shaft of the master encoder, and the motor-side rotation shaft via the motor-side coupling hub and the encoder-side coupling hub. And the encoder-side rotating shaft are assembled so that they cannot rotate relative to each other, and the motor-side fitting portion is To fit the encoder side fitting portion, assembling the master motor and the master encoder, and correcting the position information of the master encoder assembled to the master motor to the predetermined value, It is desirable to include With this configuration, the rotation position in the motor lock state can be set as the origin position of the encoder.

  In the present invention, in the step of forming the motor lock state, the drive coil of any one of three phases of U-phase, V-phase, and W-phase drive coils provided on the stator of the master motor is used. It is preferable that a DC current be supplied to the three-phase drive coil in a state where the drive coil is connected to the positive terminal of the external power supply and the other two-phase drive coil is connected to the negative terminal of the external power supply. In this case, the motor can be easily locked by external power supply.

  Next, the present invention is an encoder replacement method for the encoder-equipped motor manufactured by the above-described encoder-equipped motor manufacturing method, wherein the mass-production encoder adjustment step is performed by preparing the replacement encoder. The encoder is detached from the motor with an encoder, and the replacement encoder is assembled.

  According to the present invention, the position of the motor-side fitting portion is adjusted using a master encoder during manufacturing for a mass-produced motor, and the position information is corrected using the master motor during manufacturing for a mass-produced encoder. Have been. Therefore, the origin position of the encoder in the encoder-equipped motor can be adjusted without performing the operation of correcting the position information of the replacement encoder at the replacement site. Therefore, it is possible to easily replace the encoder in the motor with the encoder.

  ADVANTAGE OF THE INVENTION According to this invention, since the motor side fitting part which fits with the encoder side fitting part is provided in the motor of a motor with an encoder, and the circumferential position of the motor side fitting part can be adjusted, it is easy and accurate. , The origin position of the encoder of the motor with the encoder can be adjusted. Further, when the encoder is replaced with a new one at the time of failure of the encoder or the like, the origin position of the encoder can be easily and accurately adjusted.

1 is a cross-sectional view of a motor with an encoder including a motor according to the present invention in a rotation axis direction. It is an exploded perspective view of a motor with an encoder. FIG. 3 is a front view of the encoder to which the encoder-side coupling hub is fixed, as viewed from the output side, and a rear view of the motor to which the motor-side coupling hub is fixed, as viewed from the non-output side. It is an exploded perspective view of a motor. It is explanatory drawing which shows typically the manufacturing method of the motor with an encoder. It is a schematic flowchart of the manufacturing method of the motor with an encoder. It is a flowchart of a preparation process. It is a flowchart of a master motor assembly process. It is a flowchart of an encoder adjustment process for mass production. It is a flowchart of a motor adjustment process for mass production.

  Hereinafter, a motor to which the present invention is applied and a motor with an encoder will be described with reference to the drawings. FIG. 1 is a sectional view of a motor with an encoder 1 including a motor 2 according to the present invention in the direction of the rotation axis L, and FIG. 2 is an exploded perspective view of the motor with an encoder. In this specification, of the one side and the other side in the direction of the rotation axis L of the motor with encoder 1, the side on which the output shaft 34 of the motor with encoder 1 protrudes is referred to as the output side L1, and the side on which the output shaft 34 protrudes. The opposite side is referred to as a non-output side L2. Two directions orthogonal to the rotation axis L are defined as an X direction and a Y direction. In the installation posture of the motor with encoder 1, the X direction is the vertical direction and the Y direction is the horizontal direction. The upper part in the vertical direction is the + X direction, and the lower part in the vertical direction is the -X direction. One side of the Y direction is defined as a + Y direction, and the other side is defined as a -Y direction. As shown in FIGS. 1 and 2, a motor with an encoder 1 includes a motor 2, an encoder 3 detachably attached (ie, detachable) to a non-output side L <b> 2 of the motor 2, and an encoder 3 for rotating the motor 2. And a coupling 4 for transmitting the power to the motor.

(motor)
The motor 2 includes a motor housing 10, a cylindrical stator 20 disposed inside the motor housing 10, and a rotor 30 rotatably disposed inside the stator 20. The motor housing 10 includes a tubular portion 11 having an opening directed in the direction of the rotation axis L of the motor 1, a first bearing holder 12 fixed to an end of the tubular portion 11 on the output side L <b> 1, A second bearing holder 13 fixed to an end of the non-output side L2 is provided. A first bearing 14 composed of a ball bearing is held on the inner peripheral side of the first bearing holder 12. A second bearing 15 made of a ball bearing is held on the inner peripheral side of the second bearing holder 13. The tubular portion 11 is a rectangular tubular shape, and has a side surface facing the + X direction, the −X direction, the + Y direction, and the −Y direction. A wiring outlet 16 is formed on a side surface facing the + X direction (upward in the vertical direction), and a bush 17 is attached to the wiring outlet 16.

The second bearing holder 13 is located at an end of the non-output side L <b> 2 of the motor 2 and has a motor end face 131 facing the encoder 3. A positioning pin 70 described later is provided on the motor end face 131. At the center of the second bearing holder 13, a concave portion 132 that is concave on the output side L1 is formed. An annular step surface 133 facing the non-output side L2 is formed on the inner peripheral surface of the concave portion 132, and the second bearing 15 is disposed in a central concave portion 134 formed at the center of the annular step surface 133. A holding plate 135 is attached to the annular step surface 133 so as to cover the outer peripheral portion of the second bearing 15. A first small-diameter portion 35 to which the inner ring of the second bearing 15 is fixed is formed at an end of the motor-side rotary shaft 31 on the non-output side L2. Further, a second small-diameter portion 36 having a smaller diameter than the first small-diameter portion 35 is formed at a tip of the first small-diameter portion 35 on the opposite side to the output side L2. The second small diameter portion 36 protrudes from the circular opening formed in the center of the holding plate 135 to the non-output side L2. 2nd small diameter part 3
When 6 is assembled to the coupling 4, the coupling 4 is arranged in the recess 132.

  The stator 20 includes an annular stator core 21 having a plurality of salient poles projecting radially inward at equal angular intervals, and a drive coil 23 wound around each salient pole of the stator core 21 via an insulating member 22. Stator core 21 is fixed inside cylindrical portion 11. The in-phase coils of the drive coil 23 are connected to each other via a crimp terminal and are connected to a power supply line 24 (see FIG. 2). The drive coil 23 is supplied with three-phase currents of a U-phase, a V-phase, and a W-phase via a power supply line 24. The power supply line 24 is drawn out of the motor housing 10 through a through hole provided in the bush 17. The drive coil 23 is connected to a wiring board (not shown) disposed at the end of the stator core 21, the power supply line 24 is connected to the wiring board, and a current is supplied to the drive coil 23 via the power supply line 24 and the wiring board. You may.

  The rotor 30 includes a motor-side rotating shaft 31 extending in the direction of the rotation axis L of the motor 2, a rotor core 32 fixed to the outer peripheral side of the motor-side rotating shaft 31, and a magnet 33 fixed to the outer peripheral surface of the rotor core 32. Prepare. An output shaft 34 protruding from the first bearing holder 12 is provided at an end of the output side L1 of the motor-side rotary shaft 31. The motor-side rotating shaft 31 is made of a magnetic material, and is rotatably supported by the first bearing 14 and the second bearing 15.

(Encoder)
The encoder 3 is rotatable by a third bearing holder 50 detachably attached to the non-output side L2 of the motor housing 10 and a third bearing 51 and a fourth bearing 52 attached to the inner peripheral side of the third bearing holder 50. An encoder-side rotating shaft 53 is supported. The encoder-side rotation shaft 53 extends in the direction of the rotation axis L. A large diameter portion 531 is formed at the end of the output side L1 of the encoder-side rotary shaft 53. Further, a magnet 54 is fixed via a magnet holder 60 to the tip of the non-output side L2 of the encoder-side rotation shaft 53. The magnet 54 has a circular shape, and is arranged so that a magnetized surface on which different poles are magnetized one by one faces the opposite output side L2. A sensor substrate 55 is disposed on the non-output side L2 of the magnet 54, and a magnetic sensor 56 is mounted on the surface of the sensor substrate 55 on the output side L1. The magnetic sensor 56 is arranged at a position where a predetermined gap is provided between the magnetic sensor 56 and the magnet 54. The magnetic sensor 56 is an MR element. Note that a Hall element may be used as the magnetic sensor 56.

  The sensor substrate 55 is fixed to the third bearing holder 50 via a substrate holder 57 disposed on the outer peripheral side of the magnet holder 60. The non-output side L2 of the sensor substrate 55 and the substrate holder 57 is covered by an encoder cover 58 fixed to the third bearing holder 50. A seal member 59 such as an O-ring is disposed between the encoder cover 58 and the third bearing holder 50. The encoder cover 58 is formed with a wiring take-out portion 581. A bush 582 is attached to the wiring take-out portion 581. The signal line 583 connected to the sensor board 55 is drawn out of the encoder cover 58 from the wiring take-out portion 581.

(Coupling)
The rotation of the motor-side rotation shaft 31 is transmitted to the encoder-side rotation shaft 53 via the coupling 4. The coupling 4 is an Oldham coupling, and has a structure capable of absorbing a deviation (eccentricity) between the motor-side rotation shaft 31 and the encoder-side rotation shaft 53. That is, the coupling 4 includes a motor-side coupling hub 41 fixed to the motor-side rotating shaft 31, an encoder-side coupling hub 42 fixed to the encoder-side rotating shaft 53, the motor-side coupling hub 41 and the encoder-side The coupling hub 42 includes a circular coupling spacer 43 that is movably assembled in a direction crossing each other and crossing the rotation axis L.

As shown in FIG. 2, the motor-side coupling hub 41 includes an annular portion 411 to which the second small-diameter portion 36 provided at the tip of the non-output side L2 of the motor-side rotary shaft 31 is fixed by press-fitting or the like. 411 are provided with engaging projections 412 and 413 projecting in the diameter direction. The encoder-side coupling hub 42 is engaged with an annular portion 421 provided at the end of the output side L1 of the encoder-side rotary shaft 53, to which a large-diameter portion 531 is fixed by press-fitting or the like, and diametrically protruding from the annular portion 421. Protrusions 422 and 423 are provided.

  An engagement recess 431 having a shape corresponding to the motor side coupling hub 41 is formed on the output side L1 surface of the coupling spacer 43, and the encoder side coupling hub 42 is formed on the opposite output side L2 surface of the coupling spacer 43. Are formed. In the engagement recesses 431 and 432, the motor-side coupling hub 41 and the encoder are arranged such that the direction in which the engagement protrusions 412 and 413 project is perpendicular to the direction in which the engagement protrusions 422 and 423 project. The side coupling hub 42 is fitted. As a result, the motor-side coupling hub 41 is mounted so as to be diametrically movable with respect to the coupling spacer 43, and the encoder-side coupling hub 42 is moved in the moving direction of the motor-side coupling hub 41 with respect to the coupling spacer 43. It is mounted so as to be movable in a direction perpendicular to the direction.

(Motor side fitting part and encoder side fitting part)
The motor 2 and the encoder 3 are fitted with the positioning pin 70, which is a motor-side fitting portion provided on the motor 2, and the concave portion 80, which is an encoder-side fitting portion provided on the encoder 3. A peripheral rotational direction is determined. The positioning pin 70 is provided on the second bearing holder 13 of the motor 2. As described above, the second bearing holder 13 is located at the end of the motor 2 on the non-output side L <b> 2, and has the motor end face 131 which is the axial end face facing the encoder 3. The positioning pin 70 is a projection that protrudes from the motor end face 131 to the non-output side L2.

  The concave portion 80 serving as the encoder-side fitting portion is provided in the third bearing holder 50 of the encoder 3. The third bearing holder 50 is located at an end of the output side L <b> 1 of the encoder 3 and has an encoder end face 501 which is an axial end face facing the motor 2. The concave portion 80 is provided on the outer peripheral edge of the encoder end surface 501, and the positioning pin 70 is provided at a position facing the outer peripheral edge of the encoder end surface 501. Therefore, by adjusting the relative rotational position of the motor 2 and the encoder 3, The positioning pin 70 and the concave portion 80 can be fitted so as to face each other in the rotation axis L direction.

  FIG. 3A is a front view of the encoder 3 to which the encoder-side coupling hub 42 is fixed, as viewed from the output side L1. As shown in FIGS. 1 and 3A, an annular concave portion 502 is formed at the center of the encoder end face 501. The outer peripheral edge of the encoder end face 501 is a contact face 503 that contacts the motor end face 131. At the opening edge of the annular concave portion 502, an annular convex portion 504 projecting from the contact surface 503 to the output side L1 is formed. Further, a seal groove 505 is formed on the contact surface 503 on the outer peripheral side of the annular convex portion 504. A seal member (not shown) is disposed in the seal groove 505. The seal groove 505 has a substantially annular shape, and three bulges are provided at equal angular intervals on the outer peripheral side. The concave portion 80 serving as the encoder-side fitting portion is formed on the contact surface 503 and is located on the outer peripheral side of the seal groove 505. Further, fixing holes 506 are formed in the contact surface 503 at a plurality of positions different from the concave portions 80. The encoder 3 is fixed to the motor 2 by tightening a fixing screw 507 passed through the fixing hole 506 into a screw hole 138 on the motor end face 131. The fixing hole 506 is a long hole extending in the circumferential direction. Therefore, the encoder 3 can be assembled in a temporarily fixed state in which the encoder 3 can rotate relative to the motor 2.

FIG. 3B is a rear view of the motor 2 to which the motor-side coupling hub 41 is fixed, as viewed from the non-output side L2. As shown in FIGS. 2 and 3B, the motor end surface 131 of the second bearing holder 13 is a substantially square with four corners cut out. As shown in FIG. 2, an inner annular convex portion 136 is formed on the motor end surface 131 along the opening edge of the concave portion 132 formed at the center of the motor end surface 131 and protrudes to the opposite side L2. An outer annular projection 137 is formed on the outer peripheral side of the inner annular projection 136, and an annular groove is formed between the inner annular projection 136 and the outer annular projection 137.

  In the encoder 3, the annular convex portion 504 formed on the encoder end face 501 is arranged inside the inner annular convex portion 136, and the encoder 3 is assembled so that the contact surface 503 contacts the inner annular convex portion 136. A screw hole 138 for screwing the fixing screw 505 is formed in the inner annular convex portion 136. A seal member (not shown) arranged in the seal groove 505 on the encoder 3 side is in close contact with the inner annular convex portion 136. The seal member arranged in the seal groove 505 seals a gap between the motor end face 131 and the encoder end face 501.

  FIG. 4 is an exploded perspective view of the motor 2. As shown in FIGS. 3B and 4, an arc-shaped concave portion 71 is formed in the inner annular convex portion 136 of the motor end surface 131, and a moving member 72 which is an arc-shaped member is disposed in the arc-shaped concave portion 71. ing. The arc-shaped concave portion 71 and the moving member 72 extend in the circumferential direction around the motor-side rotation shaft 31. The arcuate concave portion 71 has a center in the circumferential direction located on the −X direction side (vertical lower side) with respect to the motor-side rotation shaft 31. The moving member 72 includes circular arc grooves 73 and 74 formed at one end and the other end in the circumferential direction. The arc grooves 73 and 74 extend in the circumferential direction and are located on the same circle with the motor-side rotating shaft 31 as the center. Screw holes 75 and 76 are formed on the bottom surface of the arc-shaped concave portion 71 at positions overlapping the arc grooves 73 and 74. The moving member 72 is temporarily fixed so as to be movable in the circumferential direction by inserting a fixing screw 77 as a fixing member into the circular arc grooves 73 and 74 and screwing a tip of the fixing screw 77 into the screw holes 75 and 76. . The moving member 72 in the temporarily fixed state is movable in the circumferential direction. The moving member 72 is permanently fixed to the motor end face 131 by tightening the fixing screw 77. A washer 78 is arranged between the head of the fixing screw 77 and the moving member 72.

  A positioning pin 70 is formed at the center of the moving member 72 in the circumferential direction. The positioning pin 70 is located on the same circle as the arc grooves 73 and 74 and the fixing screw 77. The arc grooves 73 and 74 and the fixing screw 77 may be arranged on the inner peripheral side of the positioning pin 70. Further, the positioning pin 70 may be formed at a position off the center of the moving member 72 in the circumferential direction. By adjusting the position of the moving member 72 in the circumferential direction, the position of the positioning pin 70 in the circumferential direction can be adjusted. The angle range in which the positioning pin 70 can move corresponds to the circumferential length of the arc grooves 73 and 74 and the angle range in which the arc-shaped recess 71 is provided. When the center in the circumferential direction of the arc-shaped concave portion 71 (that is, the position on the −X direction side (the lower side in the vertical direction) with respect to the motor-side rotation shaft 31) is set as the reference position of the positioning pin 70, the positioning pin 70 The arc grooves 73 and 74 and the arc-shaped concave portion 71 are formed so that the movable angle range is 5 degrees or more on one side in the circumferential direction from the reference position and 5 degrees or more on the other side in the circumferential direction. I have.

  The positioning pin 70 has an angular range (hereinafter, referred to as an adjustment angle D) that can be moved in the circumferential direction. The positioning pin 70 detects the positional deviation of the positioning pin 70 due to an assembly error of members at the time of manufacturing the motor 1 with the encoder. The angle range can be eliminated by position adjustment. That is, the configuration is such that the sum of the first angle D1, the second angle D2, and the third angle D3 described below is equal to or less than the adjustment angle D. The first angle D1 is an assembly error when the motor-side coupling hub 41 is pressed into the motor-side rotating shaft 31 of the master motor 200 described later. Further, the second angle D2 is an assembly error when the motor-side fitting portion (positioning pin 70) of the master motor 200 is fixed. The third angle D3 is an assembly error when the motor-side coupling hub 41 is press-fitted into the motor-side rotating shaft 31 of the mass-production motor 2 described later.

Specifically, the first angle D1 is a target position (in this embodiment, a position where the mark 414 faces the + X direction) when the motor-side coupling hub 41 is press-fitted into the motor-side rotating shaft 31 of the master motor 200. ) Of the actual press-fit position. Further, the second angle D2 is a positional deviation of an actual fixed position from a predetermined circumferential position (in the present embodiment, the center of the circular concave portion 71 in the circumferential direction) when the positioning pin 70 of the master motor 200 is fixed. It is. The third angle D3 is the actual press-fit position with respect to the target position (the position where the mark 414 faces the + X direction) when the motor-side coupling hub 41 is press-fitted into the motor-side rotary shaft 31 of the mass-production motor 2. It is a deviation.

(Method of manufacturing motor with encoder)
FIG. 5 is an explanatory diagram schematically showing a method of manufacturing the motor with encoder 1. When mass-producing the motor with encoder 1, the master motor 200 and the master encoder 300 are used. Hereinafter, the motor 2 and the encoder 3 that are components of the encoder-equipped motor 1 manufactured using the master motor 200 and the master encoder 300 are referred to as a mass production motor 2 and a mass production encoder 3, respectively. The master motor 200 has the same configuration as the mass production motor 2. On the other hand, the master encoder 300 includes a portion different from the mass production encoder 3. That is, the master encoder 300 has the same configuration as the mass production encoder 3 except that the working hole 301 is formed in the third bearing holder 50 of the mass production encoder 3. The working holes 301 are formed at two places indicated by broken lines in FIG. The working hole 301 opens in a region overlapping with the screw holes 75 and 76 when viewed in the direction of the rotation axis L. Therefore, a screw fastening tool can be inserted into the work hole 301 to perform the screw fastening operation of the fixing screw 77.

  FIG. 6 is a schematic flowchart of a method for manufacturing the motor with encoder 1. The method for manufacturing the motor with encoder 1 includes a preparation step S1, a mass production encoder adjustment step S2, a mass production motor adjustment step S3, and an assembly step S4. The master motor 200 and the master encoder 300 are assembled and adjusted in a predetermined state in the preparation step S1. The predetermined state is a state in which the stator 20 and the rotor 30 of the master motor 200 have a predetermined positional relationship (a motor lock state described later), and the position information of the master encoder 300 mounted on the master motor 200. In this state, (output) becomes a predetermined value (in the present embodiment, a value indicating the origin position). In FIG. 5, the master motor 200 and the master encoder 300 on which the preparation step S1 has been performed are shown by broken lines.

  Next, using the master motor 200 from which the master encoder 300 is separated, an encoder adjustment step S2 for mass production is performed. In addition, the mass production motor adjustment step S3 is performed using the master encoder 300 separated from the master motor 200. The mass production encoder adjustment step S2 and the mass production motor adjustment step S3 may be performed in the reverse order, or both steps may be performed in parallel. The mass production encoder adjustment step S2 is performed on all mass production encoders 3 when the mass production encoder 3 is manufactured. The mass production motor adjustment step S3 is performed on all mass production motors 2 when the mass production motor 2 is manufactured. Then, an assembling step S4 of completing the motor 1 with the encoder by assembling the mass-production encoder 3 having undergone the mass-production encoder adjustment step S2 and the mass-production motor 2 having undergone the mass production motor adjustment step S3 is performed.

(Preparation process)
Hereinafter, each of the preparation process S1 to the assembly process S4 will be described in detail. FIG. 7 is a flowchart of the preparation step S1. FIG. 8 is a flowchart of the master motor assembling step S11. As shown in FIG. 7, the preparation step S1 includes a master motor assembling step S11, a master encoder assembling step S12, an assembling step S13, and a master encoder correcting step S14. The master motor assembling step S11 and the master encoder assembling step S12 may be performed in the reverse order, or both steps may be performed in parallel. As shown in FIG. 8, the master motor assembling step S11 includes a step S111 for assembling the master motor 200 in the same manner as the normal motor 2, a step S112 for setting the master motor 200 in the motor locked state, Step S113 of fixing the motor-side coupling hub 41 to the side rotation shaft 31 and step S114 of fixing the positioning pin 70, which is the motor-side fitting portion of the master motor 200, at a predetermined circumferential position are performed.

  The step S112 of bringing the master motor 200 into the motor lock state includes, for example, connecting one phase of the U-phase, V-phase, and W-phase drive coils 23 included in the stator 20 of the master motor 200 to a positive terminal of an external power supply, In this step, the other two phases are connected to the minus terminals, and a direct current is applied to the drive coil 23 from both terminals to attract the rotor 30 to a predetermined angular position and stop the rotor 30. This stopped state is the motor lock state.

  In the step S113 of fixing the motor-side coupling hub 41 to the motor-side rotating shaft 31 of the master motor 200, the motor-side coupling hub 41 is predetermined with respect to the motor-side rotating shaft 31 of the master motor 200 in the motor locked state. It is fixed in accordance with the first rotation position 41A (see FIG. 3B). In the present embodiment, a triangular mark 414 is attached to the engaging protrusion 412 of the motor-side coupling hub 41, and no mark is attached to the other engaging protrusion 413. Therefore, as shown in FIG. 3B, the motor-side coupling hub 41 is positioned at the first rotation position 41A where the mark 414 faces the + X direction (that is, upward in the vertical direction). Fix it. At this time, as described above, the second small-diameter portion 36 of the motor-side rotating shaft 31 is pressed into the annular portion 411 of the motor-side coupling hub 41.

  In the step S114 of fixing the positioning pin 70, which is the motor-side fitting portion of the master motor 200, at a predetermined circumferential position, as shown in FIG. 3B, the positioning pin 70 is located at the center of the circular concave portion 71 in the circumferential direction. Position 70. In the present embodiment, the center in the circumferential direction of the arcuate concave portion 71 is located on the −X direction side (that is, the lower side in the vertical direction) with respect to the rotation axis L of the motor-side rotation shaft 31. In the present embodiment, the positioning pin 70 is positioned in a direction facing the mark 414 of the motor-side coupling hub 41 on the opposite side. In the motor-side coupling hub 41, an engagement protrusion 412 and an engagement protrusion 413 extend in a straight line, and a mark 414 is provided on the engagement protrusion 412. Therefore, the positioning pin 70 is arranged on an extension of the engagement projection 413. Thus, the master motor assembling step S11 is completed.

  The master encoder assembling step S12 includes a step of assembling the master encoder 300 in the same manner as the mass production encoder 3 and a step of fixing the encoder-side coupling hub 42 to the encoder-side rotating shaft 53 of the assembled master encoder 300. Thus, the master encoder assembling step S12 is completed.

  In the assembling step S13, the master motor 200 assembled in the master motor assembling step S11 and the master encoder 300 assembled in the master encoder assembling step S12 are assembled, and the coupling spacer 43 is attached to the motor-side rotating shaft 31 of the master motor 200. The fixed motor-side coupling hub 41 is mounted, and the encoder-side coupling hub 42 fixed to the rotary shaft 53 of the master encoder 300 is mounted. The coupling spacer 43 has a position corresponding to the mark 414 provided on the engagement protrusion 412 of the motor-side coupling hub 41 and the mark 424 provided on the engagement protrusion 422 of the encoder-side coupling hub 42. Is marked. Therefore, the mark 414 of the motor-side coupling hub 41 and the mark 424 of the encoder-side coupling hub 42 are assembled so as to match the mark on the coupling spacer 43 side.

In the master encoder correction step S14, output correction is performed to match the position information of the master encoder 300 assembled with the master motor 200 in the assembly step S13 to the origin position. As a result, the origin of the master encoder 300 is corrected so that the rotation position at which the motor is locked becomes the origin. Thus, the preparation step S1 is completed.

(Encoder adjustment process for mass production)
FIG. 9 is a flowchart of the encoder adjustment step S2 for mass production. The mass production encoder adjustment step S2 includes a step S21 of assembling the mass production encoder 3, a step S22 of assembling the mass production encoder 3 with the master motor 200, and a step S23 of correcting the position information of the mass production encoder 3. The mass production encoder adjustment step S2 is a step of correcting the position information of the mass production encoder 3 using the master motor 200 in which the preparation step S1 has been performed.

  First, in step S21 of assembling the mass-production encoder 3, the mass-production encoder 3 is assembled, and the encoder-side coupling hub 42 is fixed to the encoder-side rotating shaft 53 of the assembled mass-production encoder 3.

  Next, in a step S22 for assembling the master motor 200, the mass production encoder 3 assembled in the step S21 for assembling the mass production encoder and the master motor 200 from which the master encoder 300 is separated after the preparation step S1 is performed. Assemble (see FIG. 5). Subsequently, in step S23 for correcting the position information of the mass-production encoder, correction is performed to match the position information of the mass-production encoder 3 with the origin position. As described above, the master motor 200 is configured so that the mark 414 of the motor-side coupling hub 41 faces a determined direction (+ X direction in the present embodiment) when the motor is locked. The mass production encoder 3 performs the origin correction so that the position information becomes the origin position when the master motor 200 in the motor locked state is assembled (that is, the rotation position at which the motor is locked becomes the origin). . Thereafter, a step S24 of removing the master motor from the encoder 3 for mass production is performed. Thus, the mass production encoder adjustment step S2 is completed.

(Motor adjustment process for mass production)
FIG. 10 is a flowchart of the mass production motor adjustment step S3. The mass-production motor adjusting step S3 includes a step S31 of assembling the mass-production motor 2, a step S32 of setting the mass-production motor 2 in the motor lock state, and a step of attaching the motor-side coupling hub 41 to the motor-side rotating shaft 31 of the mass-production motor 2. A step S33 of fixing, a step S34 of assembling the master encoder 300 with the positioning pin 70, which is a motor side fitting portion, in a temporarily fixed state, a step S35 of rotating the master encoder 300 until the position information reaches the origin position, Step S36 of permanently fixing the positioning pin 70 from the working hole 301 of the encoder 300 and step S37 of removing the master encoder 300 are performed. The mass production motor adjustment step S3 is a step of positioning the positioning pins 70 of the mass production motor 2 in the circumferential direction using the master encoder 300 on which the preparation step S1 has been performed.

  First, a step S31 of assembling the mass-production motor 2, a step S32 of setting the mass-production motor 2 to the motor locked state, and a step S33 of fixing the motor-side coupling hub 41 to the motor-side rotating shaft 31 of the mass-production motor 2 are performed. However, these steps are, respectively, a step S111 for assembling the master motor 200, a step S112 for setting the master motor 200 in the motor locked state, and fixing the motor-side coupling hub 41 to the motor-side rotating shaft 31 of the master motor 200. Since this is the same as step S113, the description is omitted.

Next, in the step S34 for mounting the master encoder 300 with the positioning pin 70, which is the motor-side fitting portion, in a temporarily fixed state, the fixing screw 77 for fixing the moving member 72 is loosened so that the moving member 72 can be moved in the circumferential direction. Then, the master encoder 300 separated from the master motor 200 after the preparation step S1 is performed is assembled to the mass production motor 2 in this state (see FIG. 5). In this state, since the positioning pin 70 is in the temporarily fixed state, the master encoder 300 determines that the positioning pin 70 can be moved within an angular range (in the present invention, 5
(5 degrees on the other side).

  Subsequently, in step S35 of rotating the position information of the master encoder 300 until the position information of the master encoder 300 becomes the origin position, the master encoder 300 is rotated while monitoring the position information of the master encoder 300, and the position at which the position information of the master encoder 300 becomes the origin position. The master encoder 300 is positioned. Then, a tool for screwing is inserted from the working hole 301 of the master encoder 300, the fixing screw 77 is tightened, the moving member 72 is fixed to the motor end face 131, and the step S36 of fixing the positioning pin 70 is performed. Thereafter, a step S37 of removing the master encoder 300 from the mass production motor 2 is performed. Thus, the mass production motor adjustment step S3 is completed.

(Assembling process)
The assembling step S4 is a step of assembling the mass-production encoder 3 having undergone the mass-production encoder adjustment step S2 and the mass-production motor 2 having undergone the mass-production motor adjustment step S3 to complete the motor 1 with the encoder. The position information of the mass production encoder 3 is corrected with reference to the master motor 200, and the positioning pins 70 of the mass production motor 2 are positioned with respect to the master encoder 300. Therefore, only by assembling these components, the encoder-equipped motor 1 is configured such that when the stator 20 and the rotor 30 are in a specific positional relationship in which the motor is locked, the position information of the mass-production encoder 3 becomes the origin position. .

(How to replace the encoder)
Since the encoder 3 is detachable from the motor 2, the encoder-equipped motor 1 can be replaced with a new one by removing only the encoder as described below when the encoder 3 fails. First, as the replacement encoder 3, an encoder 3 (mass production encoder 3) that has been subjected to the mass production encoder adjustment step S2 in the above-described method of manufacturing the motor with encoder 1 is prepared. Then, the failed encoder 3 is removed from the motor 1 with the encoder, and the replacement encoder 3 (encoder 3 for mass production) is assembled. In the present embodiment, the position information of all the encoders 3 (mass production encoders 3) constituting the motor with encoder 1 is corrected based on the master motor 200, and all the motors (motors 2 for mass production) constituting the motor 1 with encoder are provided. The positioning pin 70 is positioned with reference to the master encoder 300. Therefore, by simply replacing the encoder 3, the motor 1 with the replaced encoder has the position information of the encoder (the mass-produced encoder 3) when the stator 20 and the rotor 30 are in a specific positional relationship where the motor is locked. It is configured to be at the origin position.

(Main effects of this embodiment)
As described above, the motor 2 (mass production motor 2) used in the motor 1 with the encoder of the present embodiment has the encoder 3 detachable, and has a concave portion 80 (encoder-side fitting portion) provided in the encoder 3. A positioning pin 70 (motor-side fitting portion) to be fitted is provided, and the position of the positioning pin 70 in the circumferential direction can be adjusted. In this way, when the encoder 3 is assembled to the motor 2 of the present embodiment and used as the encoder-equipped motor 1, it is possible to easily and accurately position the encoder 3 and the motor 2 in the rotation direction. Therefore, the origin position of the encoder 3 can be easily and accurately adjusted. Further, when the encoder 3 fails, the replacement work of the encoder 3 can be easily performed.

In this embodiment, the encoder 3 includes an encoder end face 501 that is an axial end face facing the motor 2 side, and the positioning pin 70 is provided at a position facing a contact face 503 located on an outer peripheral edge of the encoder end face 501. . Thus, when the positioning pin 70 is provided at a position facing the outermost peripheral portion of the encoder end face 501, the positioning pin 70 is arranged at a position on the outer peripheral side away from the motor-side rotary shaft 31. Therefore, the positioning of the positioning pin 70 in the circumferential direction can be accurately performed. Therefore, the positioning of the encoder 3 and the motor 2 in the rotation direction can be performed with high accuracy.

  The motor 2 of the present embodiment has a motor end face 131 which is an axial end face facing the encoder 3 side, a moving member 72 attached to the motor end face 131 so as to be adjustable in a circumferential direction, and the moving member 72 fixed to the motor end face 131. The positioning pin 70 is provided on the moving member 72, and the fixing screw 77 is located on the same circle as the positioning pin 70 or on the inner peripheral side with respect to the positioning pin 70. By arranging the positioning pins 70 on the outer peripheral side in this way, the circumferential position of the positioning pins 70 can be accurately adjusted. Therefore, the positioning of the encoder 3 and the motor 2 in the rotation direction can be performed with high accuracy.

  In the present embodiment, since the moving member 72 is an arc-shaped member extending in the circumferential direction, the moving member 72 can be downsized in the radial direction. In addition, since the fixing screws 77 are provided on both sides of the positioning pin 70 in the circumferential direction, the moving member 72 can be downsized in the radial direction. If the moving member 72 is miniaturized, the degree of freedom of its arrangement increases. Therefore, it is possible to arrange the positioning pins 70 on the outer peripheral side. Further, the arc-shaped moving member 72 can be used without changing the shape and size of the moving member 72 even if the motor size is different. Therefore, the members can be shared.

  In the present embodiment, the moving member 72 (arc-shaped member) is disposed in the arc-shaped concave portion 71 formed on the motor end surface 131 so as to be movable in the circumferential direction. In this case, there is no need to provide a shape that allows the movement of the moving member 72 on the encoder end face 501 side.

  The positioning pin 70 of the present embodiment is movable in a predetermined angular range in the circumferential direction. The angle range in which the positioning pin 70 can move (adjustment angle D) is equal to the first angle D1 which is an assembly error when the motor-side coupling hub 41 is pressed into the motor-side rotation shaft 31 of the master motor 200. A second angle D2, which is an assembling error when fixing the motor-side fitting portion (positioning pin 70) of the master motor 200, and the motor-side coupling hub 41 with respect to the motor-side rotating shaft 31 of the mass-production motor 2. The third angle D3, which is an assembling error at the time of press-fitting, and the total angle obtained by adding the third angle D3 are equal to or smaller than the adjustment angle D. In this case, when the master motor 200 is manufactured, a displacement of the positioning pin 70 as the motor-side fitting portion occurs, and when the motor-side coupling hub 41 is press-fitted into the master motor 200 and the mass-production motor 2. Even if displacement occurs, these displacements can be absorbed by adjusting the position of the positioning pins 70 in the mass-production motor 2.

  In this embodiment, the coupling 4 that connects the motor 2 and the rotation shaft of the encoder 3 includes a motor-side coupling hub 41 fixed to the motor-side rotation shaft 31 and an encoder-side coupling fixed to the encoder-side rotation shaft 53. A motor-side coupling hub 41, which is provided when the motor 2 is in the motor-locked state (ie, when the stator 20 and the rotor 30 have a predetermined positional relationship). At a predetermined rotational position. In this way, the encoder-side rotating shaft 53 can be connected to the motor-side rotating shaft 31 via the coupling 4 at a predetermined rotational position. Therefore, when the encoder 3 is replaced with a new one at the time of a failure of the encoder 3, if the new encoder 3 has the position information corrected to the same state as the encoder 3 before the replacement, the replacement is performed at the replacement site. It is possible to adjust the origin position of the encoder 3 without performing the operation of correcting the position information of the encoder 3 for use. Therefore, when the encoder 3 fails, the replacement work of the encoder 3 can be easily performed.

In the present embodiment, as the coupling 4, an Oldham coupling including a coupling spacer 43 in which a motor-side coupling hub 41 and an encoder-side coupling hub 42 are movably mounted in a direction intersecting the rotation axis L and intersecting with each other. It is. Therefore, it is possible for the coupling 4 to absorb the misalignment between the motor-side rotation shaft 31 and the encoder-side rotation shaft 53.

  In the method of manufacturing the motor with encoder 1 according to the present embodiment, the master motor 200 and the master encoder 300 are prepared in advance, and these are determined in advance (the position information of the master encoder 300 becomes the origin position in the motor locked state of the master motor 200). State), the position of the positioning pin 70 is adjusted for the mass-produced motor 2 using the master encoder 300 during manufacture, and the position of the mass-produced encoder 3 is adjusted using the master motor 200 during manufacture. Correct the information beforehand. In this way, the encoder-equipped motor 1 in a state where the origin position of the encoder 3 is adjusted only by assembling the mass-production encoder 3 with the mass-production motor 2 is completed. Therefore, the origin position of the encoder 3 of the motor with encoder 1 can be easily and accurately adjusted. Further, the rotation position in the motor lock state can be set as the origin position of the encoder 3.

  The encoder replacement method for the motor with encoder 1 of the present embodiment is to prepare a replacement encoder 3 that has been subjected to the mass production encoder adjustment step S2, remove the failed encoder 3 from the motor with encoder 1, and replace the encoder 3 with the replacement encoder. Assemble. In the present embodiment, the position of the positioning pin 70 is adjusted in the mass-production motor 2 using the master encoder 300 at the time of manufacture, and the position information of the mass-production encoder 3 is corrected using the master motor 200 at the time of manufacture. Have been done. Therefore, it is not necessary to perform the work of correcting the position information of the replacement encoder 3 at the replacement site. Therefore, the replacement work of the encoder 3 in the motor with encoder 1 can be easily performed.

  In the present embodiment, as a method of forming the motor lock state, any one of the three-phase drive coils 23 of the U-phase, V-phase, and W-phase provided on the stator 20 is connected to the plus of the external power supply. A method is used in which a DC current is applied to the three-phase drive coil 23 while connected to the terminal and the other two-phase drive coil 23 is connected to the negative terminal of the external power supply. In this case, the motor can be easily locked by external power supply.

(Modification)
In the above embodiment, the motor-side fitting portion is a positioning pin 70 (convex portion), and the encoder-side fitting portion is the concave portion 80. However, the motor-side fitting portion is a concave portion, and the encoder-side fitting portion is a convex portion. Is also good. Further, instead of the concave portion, a hole into which the convex portion can be fitted may be formed. Furthermore, in the above embodiment, the circumferential position of the motor-side fitting portion is adjustable, but the circumferential position of the encoder-side fitting portion may be adjustable.

DESCRIPTION OF SYMBOLS 1 ... Motor with encoder, 2 ... Motor (motor for mass production), 3 ... Encoder (encoder for mass production), 4 ... Coupling, 10 ... Motor housing, 11 ... Cylinder part, 12 ... First bearing holder, 13 ... 2 bearing holder, 14 ... first bearing, 15 ... second bearing, 16 ... wiring outlet, 17 ... bush, 20 ... stator, 21 ... stator core, 22 ... insulating member, 23 ... drive coil, 24 ... power supply line, 30 ... rotor, 31 ... motor side rotating shaft, 32 ... rotor core, 33 ... magnet, 34 ... output shaft, 35 ... first small diameter portion, 36 ... second small diameter portion, 41 ... motor side coupling hub, 41A ... first Rotational position, 42: coupling hub on encoder side, 43: coupling spacer, 50: third bearing holder, 51: first bearing, 52: second bearing, 53: rotary shaft on encoder side, 4 magnet, 55 sensor board, 56 magnetic sensor, 57 substrate holder, 58 encoder cover, 59 seal member, 60 magnet holder, 70 positioning pin, 71 arcuate concave portion, 72 moving member, 73, 74: arc groove, 75, 76: screw hole, 77: fixing screw, 78: washer, 80: concave portion, 131: motor end surface, 132: concave portion, 133: annular step surface, 134: central concave portion, 135: holding down Plate, 136: inner annular convex portion, 137: outer annular convex portion, 138: screw hole, 200: master motor, 300: master encoder, 301: working hole, 411: annular portion, 412: engagement convex portion, 413 ... Engaging convex portion, 414: mark, 421: annular portion, 422: engaging convex portion, 423: engaging convex portion, 424: mark, 431: engaging concave portion, 432: engaging concave portion, 501: d Corder end surface, 502: annular concave portion, 503: abutting surface, 504: annular convex portion, 505: seal groove, 506: fixing hole, 507: fixing screw, 531, large diameter portion, 581: wiring takeout portion, 582: bush , 583 ... signal line, L ... rotation axis line, L1 ... output side, L2 ... opposite output side

Claims (13)

A motor with an encoder attached and detached,
A motor-side rotating shaft connected via a coupling to the encoder-side rotating shaft of the encoder so as to be relatively non-rotatable, and a motor-side fitting portion capable of fitting with the encoder-side fitting portion provided on the encoder And
One of the encoder-side fitting portion and the motor-side fitting portion is a protrusion projecting in the direction of the rotation axis of the encoder-side rotation shaft and the motor-side rotation shaft, and the other is a recess into which the protrusion fits. Or a hole,
The one encoder-side fitting part and of the motor-side fitting portion, Ri adjustable der the circumferential positions around the encoder side rotating shaft and the motor side rotating shaft,
The motor-side fitting portion is capable of adjusting a circumferential position around the motor-side rotation shaft,
A motor end face that is an axial end face facing the encoder side, a moving member attached to the motor end face so that the circumferential position can be adjusted, and a fixing member that fixes the moving member to the motor end face,
The motor-side fitting portion is provided on the moving member,
The motor, wherein the fixing member is located on an inner peripheral side of the motor-side fitting portion or on the same circle as the motor-side fitting portion . The encoder includes an encoder end face that is an axial end face facing the motor side,
The motor according to claim 1 , wherein the motor-side fitting portion is provided at a position facing an outer peripheral edge of the encoder end surface. The fixing member, a motor according to claim 1 or 2, characterized in that provided on both sides of the circumferential direction of the motor-side fitting portion. The motor according to any one of claims 1 to 3, wherein the moving member is an arc-shaped member extending in the circumferential direction. The motor according to claim 4 , wherein the arc-shaped member is disposed in an arc-shaped recess formed in the motor end surface so as to be movable in the circumferential direction. A motor according to any one of claims 1 to 5 ,
The encoder is detachable from the motor,
A motor with an encoder, comprising: the motor-side rotating shaft; and the coupling that is connected to the encoder-side rotating shaft so as to be relatively non-rotatable. The coupling includes a motor-side coupling hub fixed to the motor-side rotation shaft, and an encoder-side coupling hub fixed to the encoder-side rotation shaft,
The motor-side coupling hub is fixed at a predetermined rotation position with respect to the motor-side rotation shaft in a state where a stator and a rotor of the motor have a predetermined positional relationship. 7. The motor with an encoder according to 6 . The coupling is an Oldham coupling including a coupling spacer in which the motor-side coupling hub and the encoder-side coupling hub intersect with the rotation axis direction and are movably mounted in a direction intersecting with each other. The motor with an encoder according to claim 7 . The motor-side fitting portion is movable in a predetermined angle range in the circumferential direction,
The encoder is detachable from a master motor including the motor-side rotating shaft and the motor-side fitting portion, and the motor includes the encoder-side rotating shaft and the encoder-side fitting portion, and has a working hole. Removable master encoder,
A positional deviation from a target position when the motor-side coupling hub is fixed to the motor-side rotation shaft of the master motor is within a first angle;
The motor-side fitting portion of the master motor has a positional deviation from a predetermined circumferential position within a second angle,
When the displacement from the target position when fixing the motor-side coupling hub to the motor-side rotation shaft of the motor is within a third angle,
The predetermined angular range, the first angle, the second angle, and an encoder with the motor according to claim 7 or 8, characterized in that said at third angle summed total angle or more. It is a manufacturing method of the motor with an encoder of any one of Claims 6 to 8 , Comprising:
Prepare a master motor including the motor-side rotating shaft and the motor-side fitting portion, and prepare a master encoder including the encoder-side rotating shaft and the encoder-side fitting portion, and a working hole,
In a state where the stator and the rotor of the master motor have a predetermined positional relationship, a preparation step of forming a state where the position information of the master encoder has a predetermined value,
Assembling the encoder to the master motor, mass production encoder adjustment step of correcting the position information of the encoder to the predetermined value,
The master encoder is assembled to the motor in a state in which the stator and the rotor of the motor have the predetermined positional relationship, and the motor-side fitting portion is temporarily fixed in a state in which the motor-side fitting portion can be moved in the circumferential direction. A mass production motor adjusting step of fully fixing the motor-side fitting portion of the motor from the working hole of the master encoder in a state where the master encoder is rotated to a rotation position at which the position information becomes the predetermined value. When,
Manufacturing an encoder-equipped motor, comprising: assembling the motor that has performed the mass-production motor adjustment step and the encoder that has performed the mass-production encoder adjustment step to complete the motor with the encoder. Method. The preparation step includes:
Forming a motor lock state in which the stator and the rotor of the master motor have the predetermined positional relationship;
Fixing the motor-side coupling hub of the coupling at a predetermined first rotation position with respect to the motor-side rotation shaft of the master motor in the motor locked state;
Fixing the motor-side fitting portion of the master motor at a predetermined circumferential position,
Fixing the encoder-side coupling hub of the coupling to the encoder-side rotation shaft of the master encoder;
The motor side rotating shaft and the encoder side rotating shaft are assembled so as to be relatively non-rotatable via the motor side coupling and the encoder side coupling hub, and the motor side fitting portion and the encoder side fitting portion Assembling the master motor and the master encoder,
The method of manufacturing a motor with an encoder according to claim 10 , further comprising: correcting the position information of the master encoder assembled to the master motor to the predetermined value. In the step of forming the motor lock state,
One of the three-phase drive coils of the U-phase, V-phase, and W-phase provided on the stator of the master motor is connected to a positive terminal of an external power supply; The method of manufacturing an encoder-equipped motor according to claim 11 , wherein a DC current is applied to the three-phase drive coils in a state where the phase drive coils are connected to a negative terminal of the external power supply. An encoder replacement method for the encoder-equipped motor manufactured by the method for manufacturing an encoder-equipped motor according to any one of claims 10 to 12 ,
Prepare the replacement encoder for which the mass production encoder adjustment process was performed,
An encoder replacement method for a motor with an encoder, comprising removing the encoder from the motor with an encoder and assembling the replacement encoder.

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