TW201618437A - Direct drive motor, transport device, inspection device, and machine tool - Google Patents

Abstract

Provided are: a direct drive motor with which an improvement in the detection accuracy of a rotational state is achieved; a transport device using said direct drive motor; an inspection device; and a machine tool. The present invention is provided with: a motor unit (9) having a stator (13) and a rotor (15) capable of rotation relative to the stator (13); an inner housing (3) to which the stator (13) is fixed; a rotor flange (5) to which the rotor (15) is fixed; a bearing (11) that rotatably supports the rotor flange (5) in relation to the inner housing (3); an annular inner ring retainer (29) formed from a non-magnetic material that sandwiches the inner housing (3) and a fixed ring (21) of the bearing (11) in an axial direction; and a resolver (27) for detecting the rotational state of the motor unit (9). Therein, the resolver (27) includes a resolver rotor (33) and a resolver stator (35) that is disposed facing the resolver rotor (33), said resolver rotor being fixed directly to the rotor flange (5), and said resolver stator (35) being fixed directly to the inner ring retainer (29).

Description

Direct drive motor, handling device, inspection device and working machine

The present invention relates to a direct drive motor, a transport device using the direct drive motor, an inspection device, and a work machine.

It is known that a direct drive motor (hereinafter also referred to as a DD motor) that transmits a rotational force directly to a rotating body and that rotates the rotating body in a predetermined direction (a motor load direct type driving method) is used. ). Such a DD motor includes a motor portion, a bearing, a rotation sensor (resolver), and a casing, and the overall outline thereof is formed into a substantially columnar shape. In order to achieve miniaturization of a conveyance device, an inspection device, and a work machine used for the DD motor, a flat structure in which the installation area of the outer casing of the DD motor and the height of the outer casing in the axial direction are reduced is preferable. Therefore, in order to reduce the installation area of the DD motor, it has been proposed to arrange the motor unit, the bearing, and the rotation sensor (the resolver) in the axial direction (for example, refer to Patent Document 1).

[Practical Technical Literature] [Patent Document]

[Patent Document 1] Japanese Laid-Open Patent Publication No. 2012-178926

However, the DD motor is intended to rotate and position the output shaft with high precision, and it is necessary to perform control for detecting the rotation state with higher precision. Therefore, high dimensional accuracy is required in the parts constituting the DD motor. In order to avoid pressure due to interference of each part when combining the parts, it is necessary to allow the allowance for the dimensional tolerance of each part. On the other hand, if the number of parts is increased, the dimensional accuracy at the time of assembling the DD motor by the remaining amount of each part may be lowered. In particular, the assembly position of the resolver used in the rotation sensor that detects the rotation state is different, and there is a possibility that the control accuracy of the DD motor cannot be detected with high precision.

Further, when the resolver generates a magnetic surround from the motor portion, there is a possibility that the detection accuracy of the rotational state of the DD motor is adversely affected.

It is conventionally used to improve the rotation of the DD motor by attaching the resolver to the structure of the DD motor formed of a magnetic material by a mounting member that is made of a non-magnetic material, thereby preventing the magnetic surrounding of the motor from the resolver. The method of detecting the accuracy of the state. However, in this case, the parts constituting the DD motor are increased. Therefore, the position of the resolver rotor and the resolver stator caused by the dimensional tolerances between the parts is variable. Moreover, since the number of manufacturing steps increases as the number of parts constituting the DD motor increases, the cost of the DD motor and The possibility of rising production costs.

The present invention has been made in view of the above problems, and an object of the invention is to provide a direct drive motor capable of improving detection accuracy in a rotating state, a conveying device using the direct drive motor, an inspection device, and a working machine.

In order to solve the above problems, a first aspect of the present invention provides a direct drive motor including a motor including a stator and a rotating member that rotates the stator, and a first housing that is fixed to the stator and a rotating member. a fixed second outer casing, a bearing that rotatably supports the second outer casing with respect to the first outer casing, and a fixed wheel press member made of a non-magnetic material that holds the fixed wheel of the bearing from the axial direction together with the first outer casing. a member and a rotation sensor for detecting a rotation state of the motor portion, and the rotation sensor is a resolver rotor including a resolver rotor and a face of the resolver rotor, and the resolver rotor is directly fixed to The second outer casing, the resolver stator is directly fixed to the fixed wheel press member.

According to the first aspect of the present invention, it is possible to suppress the rotation of the second casing caused by the magnetic surround from the motor portion of the resolver stator and the position of the resolver rotor and the resolver stator being different. The influence of the detection accuracy of the angular position can accurately detect the rotation state of the motor portion.

According to a second aspect of the present invention, in the direct drive motor of the first aspect, the fixed wheel press member may have a rectangular cross section or a square shape in the radial direction. According to this configuration, the rotation of the second outer casing can be made The detection accuracy of the angular position is more precise, and the rotation accuracy of the direct drive motor can be improved.

Further, the third aspect of the present invention is a non-magnetic material constituting the fixed-wheel member of the direct drive motor of the first aspect, and may be an austenitic stainless steel. According to this configuration, the direct drive motor can have a high rigidity structure, and the detection accuracy of the rotation angle position of the second casing and the rotation accuracy of the direct drive motor can be made more precise.

Further, a fourth aspect of the present invention is directed to the direct drive motor of the first aspect, and the rotation sensor may be a single type of incremental type detector that detects relative displacement of the rotating member of the stator. According to this configuration, the height dimension of the direct drive motor in the axial direction can be reduced, and the axial direction of the direct drive motor can be reduced.

According to a fifth aspect of the present invention, in the direct drive motor of the fourth aspect, the power factor detecting unit that detects that the power factor is 0 when the power is supplied to the motor unit is detected, and the power is detected by the power. The commutation control unit that controls the commutation of the motor unit by the position at which the factor becomes 0 and the incremental information output from the resolver may be used. According to this configuration, even if only a single resolver is mounted, the rotation state of the direct drive motor can be accurately detected.

According to a sixth aspect of the present invention, in the direct drive motor of the first aspect, the motor portion, the bearing, and the resolver may be arranged side by side in the axial direction of the bearing. According to this configuration, the expansion of the direct drive motor in the radial direction is suppressed, and the reduction in the installation area can be achieved.

And the seventh aspect of the present invention is straight for the first aspect In the second motor casing, the second outer casing includes a weir portion that extends toward one axial end surface side of the rotating wheel of the bearing, and a rotating wheel press member that is disposed on the other axial end surface side of the rotating wheel. . According to this configuration, even if the adhesive force of the filler filled on the fitting surface of the bearing and the second outer casing is lowered, the bearing and the second outer casing can be prevented from falling off.

According to an eighth aspect of the present invention, in the direct drive motor of the first aspect, the second outer casing has a weir portion extending toward one axial end surface side of the rotating wheel of the bearing, and a crucible portion formed on the rotating wheel. The other annular groove on the axial end surface side and the rotary wheel press member attached to the annular groove may be fixed by the filler and the second outer casing and the rotary wheel. According to this configuration, even if the adhesive force of the filler filled on the fitting surface of the bearing and the second outer casing is lowered, the bearing and the second outer casing can be prevented from falling off by the rotary wheel press member.

Further, in the ninth aspect of the invention, in the case of the direct drive motor of the seventh or eighth aspect, the rotary wheel presser member may be a C-type buckle. According to this configuration, even if the adhesive force of the filler filled on the fitting surface of the bearing and the second outer casing is lowered, the bearing and the second outer casing can be prevented from falling off.

According to a tenth aspect of the present invention, in the direct drive motor of the first aspect, the second outer casing has a substantially cylindrical shape and is disposed outside the first outer casing with respect to the axis of the bearing, and is axially An integrated structure with no slits in the direction is also possible. According to this configuration, the second outer casing does not need to be enlarged in the axial direction, and the bearing can be supported, and the direct drive motor can be downsized.

According to an eleventh aspect of the present invention, there is provided a transport apparatus comprising the direct drive motor of any one of the first to tenth aspects, wherein the transported object is transported by rotation of the second outer casing. According to this configuration, the positional accuracy when the conveyed object is conveyed can be improved, and the handling device can be downsized.

According to a twelfth aspect of the present invention, there is provided an inspection apparatus comprising: the direct drive motor of any one of the first to tenth aspects, and the object that is separately moved by the rotation of the second outer casing Inspection department. According to this configuration, the positional accuracy when the object is moved to the inspection unit can be improved, and the size of the inspection apparatus can be reduced.

According to a thirteenth aspect of the present invention, a working machine includes: a direct drive motor according to any one of the first to tenth aspects, and an object that is moved by rotation of the second outer casing Processing department. According to this configuration, the positional accuracy when the object is moved to the processing unit can be improved, and the size of the machine tool can be reduced.

According to the aspect of the invention, it is possible to provide a direct drive motor capable of improving the detection accuracy in a rotating state, a conveyance device using the direct drive motor, an inspection device, and a work machine.

S‧‧‧Rotary axis

1‧‧‧Abutment

3‧‧‧The inner layer of the outer casing (the first outer casing)

5‧‧‧Rotor flange (2nd outer casing)

5a‧‧‧Resolver rotor fixing

7‧‧‧ Shell

9‧‧ ‧Motor Department

10‧‧‧Direct drive motor (DD motor)

11‧‧‧ bearing

13‧‧‧ Stator

15‧‧‧Rotor (rotary parts)

17‧‧‧Motor core

19‧‧‧statar coil

20‧‧‧Control unit

21‧‧‧Inner wheel (fixed wheel)

21a‧‧‧One end of the inner wheel (fixed wheel) in the axial direction (one axial end face)

21b‧‧‧The other end of the inner wheel (fixed wheel) in the axial direction (the other end of the axial direction)

23‧‧‧Outer wheel (rotary wheel)

23a‧‧‧One end of the outer wheel (rotating wheel) in the axial direction (one axial end face)

23b‧‧‧The other end of the outer wheel (rotating wheel) in the axial direction (the other end of the axial direction)

25‧‧‧Rotating body

27‧‧‧Resolver (rotary sensor)

29‧‧‧Inner wheel press (fixed wheel presser member)

29a‧‧‧Resolver stator fixing

31‧‧‧ Cover

33‧‧‧Resolver rotor

33a‧‧‧Bolts

35‧‧‧Resolver stator

35a‧‧‧Bolts

35b‧‧‧Bolts

41‧‧‧Power Factor Detection Department

43‧‧‧Commutation Control Department

50‧‧‧Outer wheel fixing department

51‧‧‧锷 (rotor flange)

51b‧‧‧ inner circumference

52‧‧‧Ditch

53‧‧‧Outer wheel press (rotary wheel presser member)

60‧‧‧Inner wheel fixing department

61‧‧‧锷 (inner casing)

61b‧‧‧ outer perimeter

80‧‧‧ mounting table

81‧‧‧Inspection object (moving object)

82‧‧‧Camera (inspection department)

91‧‧‧Processing object (object)

92, 93‧‧‧ parts

100‧‧‧Inspection device

101‧‧‧Working machinery

[Fig. 1] A cross-sectional view showing the configuration of a direct drive motor of the present embodiment.

[Fig. 2] A block diagram showing the configuration of controlling the rotational angle position of the direct drive motor of the present embodiment.

[Fig. 3] A schematic configuration diagram of an inspection apparatus using the direct drive motor of the present embodiment.

[Fig. 4] A schematic configuration diagram of a working machine using the direct drive motor of the present embodiment.

The embodiment (embodiment) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited to the contents disclosed in the following embodiments. Further, among the constituent elements disclosed below, those skilled in the art can be easily conceived and substantially identical. Further, the constituent elements disclosed below can be combined as appropriate.

Fig. 1 is a cross-sectional view showing the configuration of the direct drive motor 10 of the present embodiment. The direct drive motor (hereinafter referred to as DD motor) 10 transmits the rotational force directly to the rotating body without transmitting a speed reduction mechanism (for example, a reduction gear or a transmission belt), and can rotate the rotating body in a predetermined direction.

The DD motor 10 of the present embodiment is constituted by an outer rotor type. As shown in Fig. 1, the DD motor 10 includes an annular inner casing layer (first outer casing) 3 fixed to the base 1, and an annular rotor convex disposed outside the outer casing inner layer 3. The outer casing 7 of the rim (second outer casing) 5 and the motor portion 9 incorporated between the outer casing inner layer 3 and the rotor flange 5 to rotate the rotor flange 5 with respect to the outer casing inner layer 3, and the rotor flange 5 are rotatable The bearing 11 is supported on the inner layer 3 of the outer casing.

The outer casing inner layer 3 and the rotor flange 5 have a substantially cylindrical shape in which different diameters are formed, and are arranged concentrically with respect to the rotating shaft S. The rotor flange 5 is an integral structure having no slit in the axial direction of the rotary shaft S (in the vertical direction of the first drawing). In other words, the rotor flange 5 has a substantially cylindrical shape that is continuous over the entire circumference from the lower end portion to the upper end portion in the axial direction of the rotating shaft S, and various workpieces (not shown) are attached to the upper end portion. By rotating the rotor flange 5 by the motor portion 9, it is possible to rotate the various workpieces in a predetermined direction at the same time. As described above, since the rotor flange 5 is rotationally moved about the rotation axis S by the operation of the motor portion 9, it functions as an output shaft. Further, the outer casing 3 is formed in a substantially cylindrical shape that is continuous over the entire circumference from the lower end portion to the bearing 11 in the axial direction of the rotating shaft S, and the inner ring presser (fixed wheel presser member) 29 The bearing 11 is held. Further, in the present embodiment, the outer casing inner layer 3 and the rotor flange 5 are made of a magnetic material, and the inner ring pressing member 29 is made of a non-magnetic material. The reason for this will be described later.

Further, the inner ring presser 29 may have an L-shaped annular shape instead of the cross-sectional shape in the radial direction shown in Fig. 1, and may have an annular shape having a rectangular cross section or a square shape. In this case, the parallelism and flatness of both end faces in the axial direction can be easily made high-precision.

The motor unit 9 is disposed at a lower portion of the casing 7 (near the base 1). The motor unit 9 includes a stator 13 that is fixed to the outer circumferential surface of the outer casing 3 and a rotor (rotary) 15 that is fixed to the inner surface of the rotor flange 5 and faces the stator 13 . The stator 13 is provided with a plurality of motor cores 17 arranged concentrically at predetermined intervals (for example, at equal intervals) in the circumferential direction (rotation direction of the rotor flange 5). The core 17 is fixed with a stator coil 19 that causes the strands to be wound in multiples. In the stator 13, wiring for supplying electric power from the control unit 20 (Fig. 2) is connected, and electric power is supplied to the stator coil 19 through the wiring. The rotor 15 is composed of a plurality of permanent magnets arranged concentrically at predetermined intervals (for example, at equal intervals) in the circumferential direction (rotation direction of the rotor flange 5). When the stator coil 19 is energized by the control unit 20, a rotational force is applied to the rotor flange 5 in accordance with Fleming's left-hand rule, and the rotor flange 5 is rotated in a predetermined direction.

The bearing 11 is disposed at a position farther from the base 1 than the motor portion 9 in the axial direction. The bearing 11 includes an inner wheel (fixed wheel) 21 and an outer wheel (rotary wheel) 23 that are disposed to face each other in a relatively rotatable manner, and a plurality of rotating bodies 25 that are rotatably provided between the inner wheel 21 and the outer wheel 23 . The bearing 11 is preferably one of a loadable axial load and a moment load. For example, a 4-point contact ball bearing, a 3-point contact ball bearing, a deep groove ball bearing or a crossed roller bearing can be used. In the case of using a crossed roller bearing, it is preferable not to use a general inner wheel or an outer wheel to divide the structure, but to use a structure in which the inner and outer wheels are integrated. The inner ring 21 is held by the outer casing inner layer 3 and the inner wheel presser 29, and the outer ring 23 is fixed to the inner circumferential surface of the rotor flange 5. The support structure of the bearing 11 will be described later.

Further, the DD motor 10 is provided above the bearing 11 (that is, at a position farther from the base 1 than the bearing 11 in the axial direction), and is provided with a rotation state (for example, a rotation speed, a rotation direction, a rotation angle, etc.) of the detection motor portion 9. ) A parser (rotation sensor) 27 is used. Thereby, the various workpieces to be mounted on the rotor flange 5 can be rotated only by correctly rotating a predetermined angle. Positioned at the target location. Further, the resolver 27 is shielded from the outside by a disk-shaped cover 31 provided on the upper portion of the inner ring presser 29 connected to the outer casing inner layer 3.

In the present embodiment, the DD motor 10 is disposed in the outer casing 7 in a row in which the motor portion 9, the bearing 11, and the resolver 27 are aligned in the axial direction of the rotating shaft S (vertical direction in the first drawing). Thereby, in the DD motor 10, since the increase in the radial direction around the rotation axis S is suppressed, the reduction in the installation area of the outer casing 7 can be achieved. On the other hand, in recent years, a DD motor having a reduced height dimension in the axial direction is required not only for the installation area of the outer casing.

In the present embodiment, only a single resolver 27 is disposed in the outer casing 7. The resolver 27 is an incremental resolver that detects relative displacement of the rotor 15 of the stator 13. The resolver 27 has an annular resolver rotor 33 that is provided with an inner circumference that is eccentric to the rotation axis S, and a ring that is disposed to face the inner side of the resolver rotor 33 and has a rotation center S. The resolver stator 35 of the shape of the shape and the change in the magnetic resistance between the resolver rotor 33 is detected. As described above, by arranging only the single resolver 27 in the casing 7, it is possible to reduce the DD motor by arranging the two types of the resolvers of the absolute resolver and the incremental resolver in the axial direction. The height dimension of the axis direction of 10.

The resolver rotor 33 is integrated by being attached to the resolver rotor fixing portion 5a formed on the inner circumferential surface of the rotor flange 5 by bolts 33a without passing through other members. Moreover, the resolver stator 35 is directly mounted on the inner wheel presser by bolts 35a without passing through other members. The resolver stator fixing portion 29a of the outer peripheral surface of 29 is integrated.

By eccentricity of the resolver rotor 33, the distance between the resolver rotor 33 and the resolver stator 35 is changed in the circumferential direction, and the magnetic resistance is changed by the position of the resolver rotor 33. Thus, the fundamental wave component of the magnetoresistance change is one revolution per rotor flange 5 for one cycle. The resolver 27 outputs a resolver signal (incremental information) that changes the position of the rotation angle of the rotor flange 5.

Fig. 2 is a block diagram showing a configuration for controlling the rotational angle position of the DD motor 10 of the present embodiment. In the DD motor 10, a control unit 20 that controls the operation of the DD motor 10 is connected. The control unit 20 includes a detecting unit 41 that detects a power factor at a position where the power factor becomes 0 when the power is supplied to the motor unit 9, and a position and a resolver signal that is based on the power factor of 0. The commutation control unit 43 of the commutation control of 9.

In the present embodiment, the power factor detecting unit 41 detects the position of the resolver rotor 33 whose power factor is 0 when the power is supplied to the motor unit 9 (stator coil 19), and sets the detected position as Base position. Then, this reference position is output to the commutation control unit 43. The commutation control unit 43 acquires the resolver signal detected by the resolver 27, and controls the commutation time of the motor current flowing through the motor unit 9 based on the change in the resolver signal and the reference position. Therefore, since the absolute resolver is not required when the commutation time of the motor current is detected, it is not necessary to mount two types of rotary sensors of the absolute resolver and the incremental resolver. Therefore, it can be constituted by a single resolver, and the DD motor 10 can be suppressed. The height in the direction of the axis.

Next, the support structure of the outer ring (rotary wheel) 23 of the bearing 11 will be described. In the inner circumferential surface of the rotor flange 5, the outer ring fixing portion 50 corresponding to the width of the bearing 11 in the axial direction is formed across the entire circumference, and across the entire circumference of the resolver 27 side of the other wheel fixing portion 50 The crotch portion 51 that protrudes inward toward the outer diameter of the outer ring (rotary wheel) 23 of the bearing 11 is formed. Further, on the motor portion 9 side of the outer ring fixing portion 50, a groove portion 52 that is larger than the outer diameter of the outer ring (rotary wheel) 23 of the bearing 11 is formed.

The crotch portion 51 extends toward the one end surface (the end surface of the resolver 27 side) 23a of the outer ring (rotating wheel) 23 in the axial direction. The crotch portion 51 is formed such that the inner circumferential surface 51b of the crotch portion 51 is located outside the inner circumferential surface of the outer ring (rotary wheel) 23, and is located further inside than the chamfered portion of the outer ring (rotary wheel) 23. good. Thereby, the outer wheel (rotary wheel) 23 of the bearing 11 can be reliably supported by the dam portion 51.

Further, in the groove portion 52, an outer ring presser (rotary wheel presser member) 53 having a spring force that expands in the outer diameter direction is attached, and the wheel press member 53 is the other direction toward the outer wheel (rotary wheel) 23 The end surface (the end portion on the side of the motor portion 9) 23b extends. The outer diameter of the groove portion 52 is slightly larger than the outermost diameter of the outer ring (rotary wheel) 23 of the bearing 11, and the allowable load of the bearing 11 itself does not fall off even if it is applied to the outer ring presser 53. Further, the outer ring presser 53 may be, for example, a C-type clasp, and a spring ring may be used.

And a gap (for example, a molding agent, an adhesive) is filled in a gap between the outer wheel (rotary wheel) 23 of the bearing 11 and the outer wheel fixing portion 50 formed in the rotor flange 5, whereby the bearing is solidified by the filler 11 And the rotor flange 5 is fixed.

In this way, the outer ring (rotary wheel) 23 of the bearing 11 is held in the axial direction by the flange 51 and the outer wheel presser 53 provided at the upper and lower sides (both ends) of the outer wheel fixing portion 50 in the axial direction, so as to be filled in the bearing. The filler of the gap between the outer ring fixing portion 50 and the outer ring fixing portion 50 is solidified and fixed.

According to the above configuration, even if the fixing force is lowered by the breakage and deterioration of the filler, the outer ring presser 53 can prevent the rotating wheel 23 from coming off the rotor flange 5.

Next, the support structure of the inner ring (fixed wheel) 21 of the bearing 11 will be described. After the rotor flange 5 and the outer wheel (rotary wheel) 23 of the bearing 11 are fixed, the inner wheel (fixed wheel) 21 of the bearing 11 is held by the inner casing 3 and the inner wheel press 29, and is joined by a plurality of bolts 35b. The inner wheel (fixed wheel) 21 of the bearing 11 is supported to be fixed in the axial direction. Further, in the present embodiment, the bolts 35b through which the outer casing inner layer 3 and the inner wheel presser 29 are inserted and fixed are different from the bolts 35a for fixing the resolver stator 35 to the inner wheel presser 29.

The outer diameter of the inner ring presser 29 is larger than the inner diameter of the inner ring (fixed wheel) 21 of the bearing 11. The outer edge portion of the inner ring presser 29 extends toward the one end surface (the end surface of the resolver 27 side) 21a of the inner wheel (fixed wheel) 21 in the axial direction. The inner ring presser 29 is such that the outer edge portion of the inner ring presser 29 is located further inside than the outer peripheral surface of the inner ring (fixed wheel) 21, and is located outside the chamfered portion of the inner wheel (fixed wheel) 21. The way to form is better. Thereby, the inner wheel (fixed wheel) 21 of the bearing 11 can be reliably supported by the inner wheel presser 29.

Further, in the outer peripheral surface of the outer casing 3, the inner ring fixing portion 60 corresponding to the width from the upper end portion to the axial direction of the bearing 11 is formed across the entire circumference, and the motor portion 9 side of the inner ring fixing portion 60 is provided. In the middle, a crotch portion 61 that protrudes outward beyond the inner diameter of the inner ring (fixed wheel) 21 of the bearing 11 is formed across the entire circumference.

The crotch portion 61 extends toward the other end surface (the end portion on the side of the motor portion 9) 21b of the inner wheel (fixed wheel) 21 in the axial direction. The crotch portion 61 is formed such that the outer peripheral surface 61b of the crotch portion 61 is located further inside than the outer peripheral surface of the inner ring (fixed wheel) 21, and is located outside the chamfered portion of the inner ring (fixed wheel) 21. good. Thereby, the inner wheel (fixed wheel) 21 of the bearing 11 can be reliably supported by the weir portion 61.

And a gap between the inner wheel (fixing wheel) 21 of the bearing 11 and the inner wheel fixing portion 60 formed in the inner layer 3 of the outer casing is filled with a filler (for example, a molding agent, an adhesive), thereby being solidified by the filler. The bearing 11 and the inner casing 3 are fixed.

In this way, the inner ring (fixed wheel) 21 of the bearing 11 is held in the axial direction by the crotch portion 61 provided at the lower end of the inner ring presser 29 and the inner ring fixing portion 60 in the axial direction, so as to be filled in the bearing 11 The filler in the gap between the inner wheel fixing portion 60 is solidified and fixed.

Here, in the DD motor 10 of the present embodiment, the outer casing inner layer 3 and the inner wheel pressing member 29 are defined as a structure constituting a fixing portion of the DD motor 10, and the rotor flange 5 is defined to constitute a rotation of the DD motor 10. The structure of the department.

For example, the structure constituting the rotating portion is a rotor of the lower portion The flange member and the upper outer ring presser member are configured such that the outer wheel (rotary wheel) of the bearing is held by the outer ring presser member and the rotor flange member, and it is necessary to insert a plurality of bolts or the like to press the outer ring. The member member and the rotor flange member are fixed. In this configuration, the bearing is fixed by the outer wheel (rotating wheel) of the bearing being held by the outer wheel pressing member and the rotor flange member, but in this configuration, the number of parts constituting the DD motor is changed. Many, by allowing the margin for the dimensional tolerance of each part, there is a possibility that the dimensional accuracy at the time of assembling the DD motor is lowered.

In the present embodiment, the structure of the rotating portion constituting the DD motor 19, that is, the rotor flange 5, is an integral structure having no slit in the axial direction of the rotating shaft S (vertical direction in the first drawing). In the axial direction of the rotating shaft S, since the entire circumference is continuous from the lower end portion to the upper end portion, a substantially cylindrical shape is formed. Therefore, it is possible to suppress a decrease in dimensional accuracy when the DD motor 10 is assembled. Further, since the number of parts for constituting the DD motor 10 is reduced, the cost and manufacturing cost of the DD motor 10 can be reduced.

Further, in the present embodiment, since only a single resolver 27 is disposed in the outer casing 7 as described above, the height dimension of the DD motor 10 in the axial direction can be reduced, and the axis of the rotor flange 5 can be reduced. The height dimension of the direction. Thereby, the amount of material used for the rotor flange 5 can be reduced, and the cost of the DD motor 10 can be reduced.

Usually, the structure of the DD motor (rotor flange, inner casing, bearing, inner ring press, etc.) is made of a magnetic material. In this case, the resolver 27 detects the rotational angle position of the rotor flange 5 by performing the magnetic induction (detection) as described above, and thus The magnetic circumference of the portion 9 has the possibility of adversely affecting the detection accuracy of the rotational angular position of the rotor flange 5.

Here, for example, in the case where the structure constituting the fixing portion is composed of one outer casing inner layer member, in order to avoid the influence of the magnetic surrounding from the motor portion through the outer casing member made of the magnetic material. It is necessary to mount the resolver stator to the outer casing member through a mounting member made of another non-magnetic material or the like.

In the present embodiment, as described above, the inner casing 3 and the inner ring presser 29 made of a non-magnetic material which is held by the bearing 11 together with the inner casing 3 of the outer casing 3 constitute a fixing portion, and further, the outer casing The bolts 35b to which the inner layer 3 and the inner ring presser 29 are inserted and fixed are different from the bolts 35a for fixing the resolver stator 35 to the inner ring presser 29. That is, the outer casing 3 and the resolver stator 35 made of a magnetic material have a non-conducting structure.

Thereby, it is possible to suppress the influence of the detection accuracy of the rotational angle position of the rotor flange 5 caused by the magnetic surrounding from the motor portion 9, and it is possible to improve the detection accuracy of the rotational angle position of the rotor flange 5. Further, since it is not necessary to transmit other components between the resolver stator 35 and the inner ring presser 29, it is possible to suppress the difference in the mounting position of the resolver stator 35, so that the rotational angle of the rotor flange 5 can be set. The detection accuracy is improved. Further, while the rotor flange 5 has a single structure, since the number of parts constituting the DD motor 10 can be reduced, the cost and production cost of the DD motor 10 can be further reduced.

And as described above, the cross section of the inner wheel pressing member 29 in the radial direction is When the rectangular or square annular shape is formed, the parallelism and flatness of the both end faces in the axial direction can be easily and accurately. Therefore, since the end surface in the axial direction is used as the mounting surface of the resolver stator 35, the difference in the mounting position of the resolver stator 35 can be further suppressed, so that the detection accuracy of the rotational angle position of the rotor flange 5 can be further improved. With high precision, the rotation accuracy of the DD motor 10 can be improved by using the lower end surface in the axial direction as the bearing holding surface.

Further, by making the material of the inner ring presser 29 austenitic stainless steel, it is possible to obtain higher rigidity than the case where the inner ring presser 29 is made of another non-magnetic material such as aluminum. Further, the austenitic stainless steel can be processed with high precision compared with other non-magnetic materials such as aluminum, and the material of the inner ring presser 29 is austenitic stainless steel, and the magnetic force from the motor portion 9 can be suppressed not only. The influence of the detection accuracy of the rotational angular position of the rotor flange 5 caused by the surrounding is improved because the positional accuracy of the resolver stator 35 can be improved, and the detection accuracy of the rotational angular position of the rotor flange 5 and the rotation of the DD motor 10 Accuracy can be more precise.

Fig. 3 is a schematic configuration diagram of an inspection apparatus 100 using the DD motor 10 of the present embodiment. The mounting table 80 on the circular plate is coupled to the upper end of the rotor flange 5 of the DD motor 10, and the mounting table 80 is rotated by the operation of the rotor flange 5. In the edge portion of the mounting table 80, an inspection object (transported object) 81 is disposed at equal intervals. In this configuration, since the inspection object 81 is conveyed and rotated together with the mounting table 80 by the operation of the DD motor 10, the DD motor 10 and the mounting table 80 are provided to constitute a conveying device. Further, a view is arranged above the edge of the mounting table 80. The camera (inspection unit) 82 of each inspection object 81 that is rotated (transported) together with the mounting table 80 is inspected. Further, by the camera 82, the inspection object 81 can be inspected based on the photographed image. According to this configuration, the positional accuracy when the inspection object 81 is moved downward of the camera 82 can be improved, and the size of the inspection apparatus 100 can be reduced.

Fig. 4 is a schematic configuration diagram of the working machine 101 using the DD motor 10 of the present embodiment. The mounting table 80 on the circular plate is coupled to the upper end of the rotor flange 5 of the DD motor 10, and the mounting table 80 is rotated by the operation of the rotor flange 5. In the edge portion of the mounting table 80, an object (object) 91 is disposed at equal intervals. In the edge portion of the mounting table 80, for example, a stowage robot arm (processing portion) that performs processing for loading the new components 92 and 93 on the workpiece 91 is disposed, and the rotation of the mounting table 80 can be matched to the object to be processed. The object 91 is applied. According to this configuration, the positional accuracy when the workpiece 91 is moved to the position of the stowage robot can be improved, and the size of the machine tool 101 can be reduced.

As described above, according to the present embodiment, the motor portion 9 including the stator 13 and the rotor 15 rotatable to the stator 13 and the outer casing inner layer (first outer casing) 3 and the rotor 15 to which the stator 13 is fixed are provided. The fixed rotor flange (second outer casing) 5 and the inner casing (first outer casing) 3 are rotatably supported by the rotor flange (second outer casing) 5, and the outer layer of the outer casing (the 1 outer casing) 3 an inner ring presser (fixed wheel presser member) 29 made of a non-magnetic material that holds the inner ring (fixed wheel) 23 of the bearing 11 together in the axial direction, and the detection motor unit 9 The resolver 27 for the rotation state. The resolver 27 includes a resolver rotor 33 and a resolver stator 35 disposed to face the resolver rotor 33. Further, the resolver rotor 33 is directly fixed to the rotor flange (second outer casing) 5, and the resolver stator 35 is directly fixed to the inner wheel presser (fixed wheel presser member) 29. With this configuration, it is possible to suppress the rotation angle of the second casing caused by the magnetic surroundings from the motor portion 9 of the resolver stator 35 and the positions of the resolver rotor 33 and the resolver stator 35 being different. Since the influence of the detection accuracy of the position is affected, the rotation state of the motor unit 9 can be accurately detected. Further, an increase in the number of parts constituting the DD motor 10 can be suppressed, and the cost of the DD motor 10 and the production cost can be reduced.

According to the present embodiment, the resolver 27 is a single parser that detects the relative displacement of the rotor 15 of the stator 13 in an incremental manner. According to this configuration, the height dimension of the outer casing 7 in the axial direction can be reduced, and the axial direction of the DD motor 10 can be reduced.

Further, according to the present embodiment, the power factor detecting unit 41 that detects the position where the power factor becomes 0 when the power is supplied to the motor unit 9, and the position where the power factor becomes 0 and the output from the resolver 27 are detected. The resolver signal is a commutation control unit 43 that controls the commutation of the motor unit 9. With this configuration, the absolute resolver is not required when the commutation time point of the motor current is detected. Therefore, it is not necessary to provide two types of rotation sensors including an absolute resolver and an incremental resolver, and it can be constituted by a single resolver. Therefore, the rotation state of the motor portion 9 can be accurately detected, and the height of the DD motor 10 in the axial direction can be suppressed.

According to the present embodiment, the motor portion 9, the bearing 11, and the resolver 27 are arranged side by side in the axial direction of the bearing 11. With this configuration, the increase in the radial direction around the rotation axis S is suppressed, and the reduction in the installation area of the DD motor 10 can be achieved.

According to the present embodiment, the rotor flange (second outer casing) 5 includes a flange portion 51 that extends toward the one end surface 23a of the outer ring (rotary wheel) 23 of the bearing 11, and is disposed on the outer wheel (rotary wheel). An outer ring presser (rotary wheel presser member) 53 on the other end face 23b side in the axial direction of 23). According to this configuration, even if the adhesive force of the filler filled in the gap between the bearing 11 and the outer ring fixing portion 50 formed in the rotor flange (second outer casing) 5 is lowered, the rotor convexity can be prevented. The edge (first outer casing) 5 falls off.

The rotor flange (second outer casing) 5 has a flange portion 51 that extends toward the one end surface 23a side of the outer ring (rotary wheel) 23 of the bearing 11, and an axial direction that is disposed on the outer wheel (rotary wheel) 23. The outer ring presser (rotary wheel presser member) 53 on the other end face 23b side has a structure in which the rotor flange (second outer casing) 5 and the outer ring (rotary wheel) 23 are fixed by a filler. Therefore, even if the adhesive force of the filler filled in the gap between the bearing 11 and the outer ring fixing portion 50 formed in the rotor flange (second outer casing) 5 is lowered, the outer wheel presser (rotation) The wheel press member 53 can also prevent the bearing 11 and the rotor flange (first outer casing) 5 from coming off.

Further, according to the present embodiment, the outer wheel pressing member (rotary wheel pressing member) 53 is formed as a C-shaped buckle. Thus, in case, it is filled in the bearing 11 When the adhesive force of the filler formed in the gap between the outer ring fixing portions 50 of the rotor flange (second outer casing) 5 is lowered, the bearing 11 and the rotor flange (first outer casing) 5 can be prevented from falling off.

According to the present embodiment, the rotor flange (second outer casing) 5 is formed in a substantially cylindrical shape and is disposed outside the outer casing inner layer (first outer casing) 3 with respect to the axis of the bearing 11, and is not present in the axial direction. The one-piece construction of the slit. Thereby, the bearing 11 can be supported so as to suppress an increase in the size of the rotor flange (second outer casing) 5 in the axial direction, and the size of the DD motor 10 can be reduced.

The embodiments have been described above, but the embodiments are not limited by the foregoing. The DD motor 10 of the present embodiment is of an outer rotor type, but the inner rotor type may of course be used. Further, in the present embodiment, a configuration in which a single bearing 11 is provided will be described. However, the same effect can be obtained by a configuration in which a plurality of bearings are used in combination (including a case where a spacer is provided between a bearing and a bearing).

S‧‧‧Rotary axis

1‧‧‧Abutment

3‧‧‧The inner layer of the outer casing (the first outer casing)

5‧‧‧Rotor flange (2nd outer casing)

5a‧‧‧Resolver rotor fixing

7‧‧‧ Shell

9‧‧ ‧Motor Department

10‧‧‧Direct drive motor (DD motor)

11‧‧‧ bearing

13‧‧‧stator (stator)

15‧‧‧Rotor (rotary parts)

17‧‧‧Motor core

19‧‧‧statar coil

21‧‧‧Inner wheel (fixed wheel)

21a‧‧‧One end of the inner wheel (fixed wheel) in the axial direction (one axial end face)

21b‧‧‧The other end of the inner wheel (fixed wheel) in the axial direction (the other end of the axial direction)

23‧‧‧Outer wheel (rotary wheel)

23a‧‧‧One end of the outer wheel (rotating wheel) in the axial direction (one axial end face)

23b‧‧‧The other end of the outer wheel (rotating wheel) in the axial direction (the other end of the axial direction)

25‧‧‧Rotating body

27‧‧‧Resolver (rotary sensor)

29‧‧‧Inner wheel press (fixed wheel presser member)

29a‧‧‧Resolver stator fixing

31‧‧‧ Cover

33‧‧‧Resolver rotor

33a‧‧‧Bolts

35‧‧‧Resolver stator

35a‧‧‧Bolts

35b‧‧‧Bolts

50‧‧‧Outer wheel fixing department

51‧‧‧锷 (rotor flange)

51b‧‧‧ inner circumference

52‧‧‧Ditch

53‧‧‧Outer wheel press (rotary wheel presser member)

60‧‧‧Inner wheel fixing department

61‧‧‧锷 (inner casing)

61b‧‧‧ outer perimeter

Claims (13)

A direct drive motor includes: a motor portion having a stator and a rotating member rotatable to the stator; a first outer casing to which the stator is fixed; and a second outer casing to which the rotating member is fixed, and the first outer casing a bearing that is rotatably supported by the second outer casing, and an annular fixed wheel presser member made of a non-magnetic material that holds the fixed wheel of the bearing in the axial direction together with the first outer casing, and detects a rotation sensor for rotating the motor portion, wherein the rotation sensor includes a resolver rotor and a resolver stator disposed to face the resolver rotor, and the resolver rotor is directly fixed to the first 2 The outer casing, the aforementioned resolver stator is directly fixed to the fixed wheel presser member. The direct drive motor of claim 1, wherein the fixed wheel press member has a rectangular or square shape in a radial direction. A direct drive motor according to claim 1, wherein the non-magnetic material constituting the fixed wheel press member is an austenitic stainless steel. A direct drive motor according to claim 1, wherein the rotation sensor is a single analyzer that detects an incremental displacement of the rotating member of the stator. Such as the direct drive motor of claim 4, wherein a power factor detecting unit that detects a position where the power factor becomes 0 when the power is supplied to the motor unit, and a position at which the power factor becomes 0 and incremental information output from the resolver. A commutation control unit for commutation control of the motor unit. The direct drive motor according to claim 1, wherein the motor unit, the bearing, and the rotation sensor are arranged side by side in the axial direction of the bearing. The direct drive motor according to the first aspect of the invention, wherein the second outer casing includes a weir portion extending toward one axial end surface side of the rotating wheel of the bearing, and another one disposed on the rotating wheel A rotating wheel presser member on the side of the axial direction end face. The direct drive motor according to the first aspect of the invention, wherein the second outer casing has a weir portion extending toward one axial end surface side of the rotating wheel of the bearing, and the other side of the rotating wheel An annular groove on the axial end surface side and a rotary wheel press member attached to the annular groove, and the second outer casing and the outer rotating wheel are fixed by a filler. A direct drive motor according to claim 7 or 8, wherein the rotary wheel press member is a C-shaped buckle. The direct drive motor according to claim 1, wherein the second outer casing has a substantially cylindrical shape and is disposed outside the first outer casing with respect to an axis of the bearing, and is not cut in the axial direction. Sewed one-piece construction. A transporting device comprising the direct drive motor according to any one of claims 1 to 10, wherein the transported object is carried by the rotation of the second outer casing. An inspection apparatus comprising: a direct drive motor according to any one of claims 1 to 10; and an inspection unit for inspecting an object moved by the rotation of the second outer casing. A work machine comprising: a direct drive motor according to any one of claims 1 to 10; and a processed portion for processing an object moved by the rotation of the second outer casing.