WO2022202650A1 - アブソリュート式回転センサ付軸受装置 - Google Patents

アブソリュート式回転センサ付軸受装置 Download PDF

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Publication number
WO2022202650A1
WO2022202650A1 PCT/JP2022/012537 JP2022012537W WO2022202650A1 WO 2022202650 A1 WO2022202650 A1 WO 2022202650A1 JP 2022012537 W JP2022012537 W JP 2022012537W WO 2022202650 A1 WO2022202650 A1 WO 2022202650A1
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WO
WIPO (PCT)
Prior art keywords
sensor
bearing
rotation sensor
bearing device
rotation
Prior art date
Application number
PCT/JP2022/012537
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
声一 高田
康之 浜北
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Priority to CN202280024117.6A priority Critical patent/CN117062994A/zh
Priority to DE112022001736.8T priority patent/DE112022001736T5/de
Publication of WO2022202650A1 publication Critical patent/WO2022202650A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • G01D5/2452—Incremental encoders incorporating two or more tracks having an (n, n+1, ...) relationship
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
    • F16C41/007—Encoders, e.g. parts with a plurality of alternating magnetic poles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24428—Error prevention
    • G01D5/24433—Error prevention by mechanical means
    • G01D5/24442—Error prevention by mechanical means by mounting means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C19/00—Bearings with rolling contact, for exclusively rotary movement
    • F16C19/02—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows
    • F16C19/04—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly
    • F16C19/06—Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row or balls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2322/00—Apparatus used in shaping articles
    • F16C2322/50—Hand tools, workshop equipment or manipulators
    • F16C2322/59—Manipulators, e.g. robot arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2370/00—Apparatus relating to physics, e.g. instruments

Definitions

  • the present invention relates to a bearing device equipped with an absolute rotation sensor.
  • a bearing device equipped with an absolute rotation sensor capable of high-precision control is used as a bearing that rotatably supports the joints of industrial robots.
  • an absolute rotation sensor for example, one having one origin detector and two absolute angle detectors has been proposed (see Patent Document 1, for example).
  • This bearing device requires a total of three sensors and cables to be connected to these sensors, resulting in a large number of parts. Since it is necessary, the assembly work becomes complicated.
  • a double track type rotation sensor as an absolute type rotation sensor combined with a bearing.
  • This double-track type rotation sensor is provided with two magnetic tracks, a magnetic track (main track) for angle detection and a magnetic track (sub-track) for phase difference detection, on the peripheral surface of an annular core bar. , the rotation angle, rotation speed, rotation direction, etc., can be detected with high precision using only one sensor.
  • an object of the present invention is to provide a bearing device with an absolute type rotation sensor which can be simplified in construction with a small number of parts and which is easy to assemble by combining a double-track type rotation sensor with a bearing. .
  • the absolute rotation sensor type bearing device comprises: a bearing having a rotating bearing ring, a stationary bearing ring arranged to face the rotating bearing ring, and rolling elements interposed between the rotating bearing ring and the stationary bearing ring;
  • An annular detected member fixed to the rotating raceway ring of the bearing comprising an annular core metal and a detected portion having two rows of magnetic tracks provided along the circumferential direction of the core metal a member to be detected having
  • a rotation sensor unit fixed to the stationary raceway ring of the bearing comprising: one rotation sensor for detecting rotation of the detected part in a non-contact manner; a sensor substrate on which the rotation sensor is mounted; and the sensor a rotary sensor unit having a sensor housing covering a substrate and having the sensor substrate mounted thereon; It has
  • the part to be detected of the rotation sensor is of a double track type, and the rotation sensor is mounted on the sensor substrate and attached to the sensor housing. In addition, assembly work becomes easier.
  • the sensor housing may be provided with a mounting groove into which the sensor substrate is inserted and for positioning the sensor substrate in the axial direction and the radial direction. According to this configuration, the rotation sensor and the part to be detected are positioned simply by inserting the sensor substrate into the mounting groove, and the sensor gap is ensured. It can be assembled with a lot of work.
  • the sensor substrate may be positioned with reference to the end of the member to be detected. According to this configuration, the rotation sensor can be easily positioned by using the end portion of the member to be detected as a reference.
  • the protrusion provided on the sensor housing may have a guide surface capable of guiding a member fitted onto the protrusion in a direction orthogonal to the axial direction.
  • the sensor housing may be configured so that the sensor substrate can be inserted into the mounting groove from the side opposite to the bearing. According to this configuration, the sensor substrate can be easily mounted from the opposite side of the bearing in the process of assembling the bearing device, so that the bearing device capable of highly accurate rotation detection can be assembled with simpler work.
  • the accommodating portion for accommodating the sensor substrate of the sensor housing includes: a resin material filled in a space between the inner wall surface of the accommodating portion and the sensor substrate; A lid member covering the end opposite to the bearing may be provided. According to this configuration, the rotation sensor and the sensor substrate attached to the sensor housing can be securely fixed.
  • a shaft housing device is a bearing device that is mounted on an electric vertical take-off and landing aircraft that has a plurality of drive units having rotor blades and motors that rotate the rotor blades, and that flies by the rotation of the rotor blades. It may be provided with a bearing that rotatably supports the rotating shaft of the drive unit. According to this configuration, even when the bearing device is applied to an electric vertical take-off and landing aircraft (a so-called flying car), which is expected to replace automobiles, the advantages described above can be obtained.
  • a so-called flying car an electric vertical take-off and landing aircraft
  • FIG. 1 is a longitudinal sectional view showing a schematic configuration of an absolute rotation sensor type bearing device according to an embodiment of the present invention
  • FIG. 2 is a longitudinal sectional view showing a member to be detected used in the bearing device of FIG. 1
  • FIG. 2 is a plan view showing a member to be detected used in the bearing device of FIG. 1
  • FIG. 2 is a front view showing a sensor unit used in the bearing device of FIG.
  • FIG. 2 is a cross-sectional view schematically showing a radial internal clearance of a bearing used in the bearing device of FIG. 1;
  • FIG. 2 is a cross-sectional view schematically showing an axial internal clearance of a bearing used in the bearing device of FIG. 1;
  • FIG. 2 is a cross-sectional view schematically showing an axial internal clearance of a bearing used in the bearing device of FIG. 1;
  • FIG. 2 is a schematic diagram showing an example of a method of assembling the bearing device of FIG. 1;
  • FIG. 7 is a front view showing a pressing member and a pedestal used in the assembly method of FIG. 6 of FIG. 1;
  • FIG. 2 is a schematic diagram showing an example of a method for aligning sensor units used in the bearing device of FIG. 1;
  • FIG. 6 is a longitudinal sectional view showing a schematic configuration of an absolute rotation sensor type bearing device according to another embodiment of the present invention
  • FIG. 10 is a schematic diagram showing an example of a method of assembling the bearing device of FIG. 9
  • 1 is a perspective view showing an electric vertical take-off and landing aircraft to which an absolute rotation sensor type bearing device according to an embodiment of the present invention is applied
  • FIG. FIG. 12 is a vertical cross-sectional view showing part of a motor in the drive section of the electric vertical take-off and landing aircraft of FIG. 11;
  • FIG. 1 shows an absolute rotation sensor type bearing device (hereinafter simply referred to as “bearing device”) 1 according to one embodiment of the present invention.
  • the bearing device 1 includes a bearing 3 , an annular detected member 5 whose rotation is to be detected, and a rotation sensor unit 7 .
  • the bearing of this embodiment is configured as a ball bearing 3, and includes an inner ring 11, an outer ring 13 arranged to face the inner ring 11, and rolling elements 15 interposed between the inner ring 11 and the outer ring 13. with a ball.
  • the bearing 3 is constructed as an inner ring rotating type.
  • the inner ring 11 is configured as a rotating bearing ring
  • the outer ring 13 is configured as a stationary bearing ring.
  • the member 5 to be detected is attached to the inner ring 11, which is the rotating bearing ring.
  • the detected member 5 has an annular core 17 and a detected portion 19 having two rows of magnetic tracks provided along the circumferential direction of the core 17 .
  • the core metal 17 has a cylindrical portion 17a and a mounting portion 17b having a diameter smaller than that of the cylindrical portion 17a, and the detected portion 19 is formed on the outer peripheral surface of the cylindrical portion 17a. ing.
  • the member to be detected 5 of the present embodiment is formed by forming an annular non-magnetized magnetic member including the metal core 17, and then applying a plurality of magnetic pole pairs having different numbers of magnetized pole pairs on the surface of the non-magnetized magnetic member. It is formed by magnetizing a row (two rows in this example) of magnetic tracks. A double-row magnetic track serves as the detected portion 19 .
  • the non-magnetized magnetic member is formed, for example, by putting a rubber material kneaded with magnetic powder into the outer peripheral surface of the core metal 17 made of a metal ring and putting it into a mold together with the core metal 17 and vulcanizing and bonding it, or by vulcanizing and bonding a plastic material. and magnetic powder, and the metal core 17 are integrally molded.
  • the cored bar 17 is formed, for example, by press forming an iron-based rolled steel plate.
  • a portion to be detected 19 is formed on the outer peripheral surface of the cylindrical portion 17a of the cored bar 17 .
  • the magnetization patterns of the two magnetic tracks of the detected portion 19 are made different, and the absolute angle of the rotation axis can be detected by utilizing the fact that, for example, one rotation produces a difference of one pole pair. making it possible.
  • the rotation sensor unit 7 is attached to the outer ring 13, which is the stationary raceway ring of the bearing 3.
  • the rotation sensor unit 7 covers one rotation sensor 21 that detects the rotation of the detected part 19 without contact, a sensor substrate 23 on which the rotation sensor 21 is mounted, and the sensor substrate 23.
  • the sensor substrate 23 is attached. and a sensor housing 25 .
  • the rotation sensor 21 is mounted on the surface of the sensor substrate 23 facing inward in the radial direction of the bearing 3 so as to face the member 5 to be detected.
  • the surface of the sensor substrate 23 on which the rotation sensor 21 is mounted is called the front surface 23a, and the opposite surface is called the back surface 23b.
  • a magnetic sensor that generates an output signal corresponding to the magnetic flux density is used.
  • a connector 27 is mounted on the rear surface 23 b of the sensor substrate 23 , and a cable for outputting signals from the rotation sensor 21 to the outside and supplying power to the rotation sensor 21 is provided to the rotation sensor 21 via the connector 27 . 29 are connected.
  • the sensor housing 25 includes an arcuate portion 31 arranged concentrically with the bearing 3 (FIG. 1), and a housing portion 33 having a shape protruding radially outward from the arcuate portion 31.
  • the accommodation portion 33 is formed as a protrusion projecting from the arc-shaped portion 31 .
  • a mounting groove 35 is formed in the inner wall surface of the accommodating portion 33 to receive the sensor board 23 and to position the sensor board 23 in the axial direction and the radial direction.
  • a side wall surface on the outside of the accommodation portion 33 is formed as a guide surface 37 capable of guiding a member fitted to the accommodation portion 33 in a direction perpendicular to the axial direction.
  • the accommodating portion 33 of the sensor housing 25 has a substantially rectangular portion protruding from the arc-shaped portion 31, and has a top wall 33a that covers the outside in the radial direction and a top wall 33a that covers the outside in the radial direction.
  • a front wall 33b (FIG. 1) extending in a direction orthogonal to the top wall 33a from one side (bearing 3 side) of the axial direction of the top wall 33a, and a front wall 33b (FIG.
  • the two side walls of the housing portion 33 have outer side wall surfaces that extend perpendicularly to the side opposite to the bearing 3 and parallel to each other from each side of both end portions of the front wall. These two side wall surfaces function as a guide surface 37 capable of guiding a member fitted in the housing portion 33 in a direction perpendicular to the axial direction.
  • mounting grooves 35 extending parallel to the axial direction are formed in the inner wall surfaces of the two side walls 33c of the accommodating portion 33.
  • the opening of the sensor housing 25 on the side opposite to the bearing 3, including the housing portion 33 is formed separately from the sensor housing 25 and is detachably attached to the sensor housing 25 by a cover member 39. covered.
  • the sensor housing 25 is attached to the outer ring 13, which is the stationary side member of the bearing 3, via the outer ring member 41.
  • the outer ring member 41 has a cylindrical large-diameter portion fitted to the outer peripheral surface of the arcuate portion 31 of the sensor housing 25 and a cylindrical small-diameter portion fitted to the inner peripheral surface of the outer ring 13 .
  • the member to be detected 5 is attached to the inner ring 11, which is the rotation-side member of the bearing 3, via an annular adapter member 43. As shown in FIG.
  • the adapter member 43 has a cylindrical small-diameter portion fitted to the inner peripheral surface of the mounting portion 17b of the core metal 17 of the detected member 5 and a cylindrical large-diameter portion fitted to the outer peripheral surface of the inner ring 11 . is doing.
  • the sensor housing 25 may be directly attached to the fixed side member (the outer ring 13 in this example) of the bearing 3, and the detected member 5 is directly attached to the rotating side member (the inner ring 11 in this example) of the bearing 3. may be
  • the rolling elements 15 are generally incorporated so that a radial internal clearance ⁇ and axial internal clearances ⁇ 1 and ⁇ 2 exist between the inner ring 11 and the outer ring 13.
  • the radial internal clearance ⁇ and the axial internal clearances ⁇ 1 and ⁇ 2 refer to the amount of movement when either the inner ring 11 or the outer ring 13 is fixed and the other is moved in the radial direction or the axial direction.
  • the axial internal clearances ⁇ 1, ⁇ 2 are eight to ten times as large as the radial internal clearance ⁇ .
  • the inner ring 11 moves in the axial direction by the same distance around the raceway groove bottoms of the inner ring 11 and the outer ring 13. be possible.
  • the rotation sensor 21 shown in FIG. the amount of movement of the detected member 5 in the axial direction is within 4 to 5 times the radial internal clearance ⁇ around the groove bottom of the bearing ring.
  • the rotation sensor 21 may be assembled with the inner ring 11 biased in one axial direction. be.
  • the bearing 3 moves in this opposite direction, it can move axially a distance of up to 8 to 10 times the radial internal clearance ⁇ .
  • the center of the rotation sensor 21 and the center of the two tracks of the detected portion 19 are largely misaligned, and the rotation sensor 21 may not be able to detect the rotation of the detected portion 19 .
  • the bearing device 1 of the present embodiment is positioned in the axial direction by the method described below, as shown in FIG. 6, during the assembly process.
  • FIG. 6 a plan view is shown in the upper part of each step, and a longitudinal sectional view is shown in the lower part.
  • the inner ring 11 of the bearing 3 is fitted to the temporary shaft 47 for positioning vertically attached to the pedestal 45 .
  • the temporary shaft 47 is inserted so that the bearing 3 is positioned downward and the sensor housing 25 and the member to be detected 5 are positioned upward.
  • a guide groove 49 extending along the radial direction of the bearing 3 passing through the center of the housing portion 33 of the sensor housing 25 in a plan view is formed on the upper surface of the base 45 .
  • a generally rectangular pressing member 51 is installed at a position above the guide groove 49 of the base 45 .
  • a guide protrusion 53 having a shape that engages with the guide groove 49 is provided on the bottom surface of the pushing member 51 . 51 is installed (step A).
  • the upper portion of the pressing member 51 faces the accommodating portion 33 of the sensor housing 25, as shown in FIG.
  • a guide recess 55 having a shape corresponding to the outer shape of the housing portion 33 of the sensor housing 25 is formed in the upper portion of the pressing member 51 .
  • the pushing member 51 having such a structure is pushed over the guide groove 49 toward the center of the bearing 3 so that the guide concave portion 55 is aligned with the guide surface 37 of the housing portion 33 (Step B).
  • the planar pressing portion 57 formed below the guide recessed portion 55 of the pressing member 51 is pressed against the outer peripheral surface of the outer ring 13 of the bearing 3 , and the rolling elements 15 move to the respective raceways of the inner ring 11 and outer ring 13 of the bearing 3 . Since they abut on the ring groove bottoms 11a and 13a, the inner ring 11 and the outer ring 13 of the bearing 3 are aligned with the bearing ring groove bottoms 11a and 13a as a reference (Step C).
  • the guide surface 37 capable of guiding the pressing member 51 in the accommodating portion 33 of the sensor housing 25
  • the work of pressing in the direction perpendicular to the axial direction using the guide surface 37 becomes possible to do.
  • the sensor substrate 23 is positioned using the end of the detected member 5 as a reference. Specifically, as shown in FIG. 2, the width dimension of each of the two rows of tracks of the detected portion 19 of the detected member 5 is the same L. As shown in FIG. Furthermore, as shown in FIG. 8, the width dimension of the sensor substrate 23 (the axial dimension of the bearing 3) is set to 2L, which is the same as the width dimension of the entire detected portion 19, and then the center position of the rotation sensor 21 is set.
  • a sensor substrate 23 is prepared by mounting the sensor 21 so that the distance from the end surface of the sensor substrate 23 of M becomes L.
  • the sensor substrate 23 manufactured in this manner is inserted into the mounting groove 35 of the sensor housing 25 attached to the bearing 3 in the positioned state shown in FIG. Match the position of each end face on the opposite side.
  • the center position M of the rotation sensor 21 can be aligned with the boundary line between the two rows of tracks of the annular detected portion 19 with reference to the bearing ring groove bottoms 11a and 13a of the bearing 3 .
  • the rotation sensor 21 can be easily positioned.
  • the inner dimension of the mounting groove 35 in the axial direction is set to the same length as the width dimension of the sensor substrate 23 from the end surface of the accommodating portion 33 opposite to the bearing 3 . Accordingly, by simply inserting the sensor substrate 23 into the mounting groove 35 and pushing it to the end on the bearing 3 side, the detection target portion 19 and the rotation sensor 21 can be easily positioned.
  • the accommodating portion 33 of the sensor housing 25 is configured so that the sensor substrate 23 can be inserted into the mounting groove 35 from the side opposite to the bearing 3 .
  • the end of the sensor housing 25 opposite to the bearing 3, including the housing portion 33, is open, and the sensor housing 25 is detachably attached to this end. It has a lid member 39 that covers the opening. Therefore, in the positioning stage described above, by removing the cover member 39 of the sensor housing 25, the sensor substrate 23 can be inserted into the mounting groove 35 from the opposite side of the bearing 3 to the accommodating portion 33. .
  • T1 is the distance from the center of the sensor housing 25 to the bottom surface of the mounting groove 35
  • T2 is the radial dimension of the outer peripheral surface of the detected portion 19 of the detected member 5
  • T2 is the sensor substrate 23 after mounting the sensor.
  • the position of the mounting groove 35 and the dimensions of the rotation sensor 21 and the sensor substrate 23 are determined in advance so as to satisfy the following equation, where T3 is the distance from the surface 23a to the sensor surface (the surface facing the detected portion 19). be set.
  • ⁇ T T1-T2-T3
  • the sensor gap ⁇ T can be obtained by simply inserting the sensor substrate 23 into the mounting groove 35 of the accommodating portion 33 of the sensor housing 25 while the bearing 3 side is positioned in the axial direction by the method described with reference to FIG. can be retained.
  • the housing portion 33 has a resin material 61 that fills the space between the inner wall surface of the housing portion 33 and the sensor substrate 23 .
  • the resin material 61 also covers the rotation sensor 21 mounted on the sensor substrate 23 .
  • a resin material blocking plate (not shown) is inserted between the rotation sensor 21 and the member to be detected 5, and the sensor housing 25 is accommodated.
  • the inside of the portion 33 is fixed with a resin material 61 .
  • a caulking agent may be applied to the connector 27 to prevent the resin material 61 from entering the connector 27 .
  • the lid member 39 covering the sensor housing 25 is attached.
  • the bearing 3 according to this embodiment is configured as an outer ring rotating type. That is, the inner ring 11 is configured as a fixed side raceway ring, and the outer ring 13 is configured as a rotating side raceway ring.
  • the detected member 5 is attached to the outer ring 13, which is the rotating bearing ring, and the rotation sensor unit 7 is attached to the inner ring 11, which is the stationary bearing ring.
  • the rotation sensor 21 is attached to the sensor housing 25 by inserting the sensor board 23 on which the rotation sensor 21 is mounted into the attachment groove 35 provided in the sensor housing 25 .
  • the sensor housing 25 is provided with a generally rectangular guide portion 63 protruding in the axial direction opposite to the bearing 3 .
  • the guide portion 63 is formed as a protrusion projecting from the sensor housing 25 .
  • a side surface of the guide portion 63 is formed as a guide surface 37 capable of guiding a member (the pushing member 51 shown in FIG. 10) fitted to the guide portion 63 of the sensor housing 25 in a direction perpendicular to the axial direction.
  • the part 19 to be detected of the rotation sensor 21 is of a double-track type, and the rotation sensor 21 is mounted on the sensor substrate 23 to detect the sensor.
  • the structure of the bearing device 1 can be simplified with a small number of parts, and the assembly work can be facilitated.
  • the application of this bearing device 1 is not particularly limited, but it can be used, for example, in an electric vertical take-off and landing aircraft 71 shown in FIG.
  • flying cars have attracted attention as a means of transportation that can replace cars. Flying cars are expected to solve the above social problems, and are expected to be used in various situations such as movement within and between regions, tourism and leisure, emergency medical care, and disaster relief.
  • VTOL vertical take-off and landing aircraft
  • eVTOL electric vertical take-off and landing aircraft 71
  • the electric vertical take-off and landing aircraft 71 shown in FIG. 11 is a multicopter having a main body portion 73 located in the center of the aircraft body and four drive units 75 arranged in the front, rear, left, and right.
  • the drive unit 75 is a device that generates lift and propulsion of the electric vertical take-off and landing aircraft 71 , and the electric vertical take-off and landing aircraft 71 flies by driving the drive unit 75 .
  • the electric vertical take-off and landing aircraft 71 may have a plurality of driving units 75, and the number is not limited to four.
  • the body part 73 has a living space in which crew members (for example, about 1-2 people) can board.
  • This living space is equipped with an operating system for determining the direction of travel and altitude, as well as instruments that indicate altitude, speed, flight position, and so on.
  • Four arms 77 extend from the body portion 73 , and a drive portion 75 is provided at the tip of each arm 77 .
  • the arm 77 is integrally provided with an annular portion 81 that covers the rotating circumference of the rotor blade 79 in order to protect the rotor blade 79 .
  • a skid 83 is provided at the bottom of the main body 73 to support the aircraft during landing.
  • the drive unit 75 has a rotor blade 79 and a motor 85 that rotates the rotor blade 79 .
  • a pair of rotor blades 79 are provided on both sides in the axial direction with the motor 85 interposed therebetween.
  • Each rotor blade 79 has two blades extending radially outward.
  • a battery (not shown) and a control device (not shown) are provided in the main body 73 . Controllers are also called flight controllers. Control of the electric vertical take-off and landing aircraft 71 is performed by the control device, for example, as follows. Based on the difference between the current attitude and the target attitude, the control device outputs a rotation speed change command to the motor 85 to adjust the lift force. Based on the command, the inverter provided in the motor 85 adjusts the amount of electric power sent from the battery to the motor 85, and the rotation speed of the motor 85 (and the rotor blades 79) is changed. In addition, the adjustment of the number of rotations of the motors 85 is performed simultaneously for a plurality of motors 85, thereby determining the attitude of the airframe.
  • FIG. 12 shows a partial cross-sectional view of the motor 85 in the driving section 75.
  • the rotating blade 79 is attached to one end (upper side in the drawing) of the rotating shaft 87 of the motor 85, and the rotor is attached to the other end side (lower side in the drawing).
  • the rotor is arranged to face a stator fixed to housing 89 and is rotatable relative to the stator.
  • the motor 85 can adopt the configuration of an outer rotor type brushless motor 85 or an inner rotor type brushless motor 85 .
  • the motor 85 includes a housing (device housing) 89, a rotor (not shown), a stator (not shown), an inverter (not shown), and two bearings 3.
  • a housing (device housing) 89 a rotor (not shown), a stator (not shown), an inverter (not shown), and two bearings 3.
  • an inner ring rotating type rolling bearing 3 (more specifically, a deep groove ball bearing) is used as the bearing 3 .
  • the housing 89 has an outer cylinder 89a and an inner cylinder 89b, between which a cooling medium flow path 89c is provided. Excessive temperature rise can be prevented by flowing the cooling medium through the cooling medium flow path 89c.
  • the material of the housing 89 is not particularly limited, and for example, an iron-based material, CFRP (carbon fiber reinforced plastic), or the like can be used.
  • the bearing 3 rotatably supports the rotating shaft 87 within the housing 89 .
  • the outer ring 13 of the bearing 3 has the same outer diameter shape as the fitting portion on the inner circumference of the housing 89, and is directly fitted to the housing 89 without interposing the bearing 3 housing or the like.
  • An inner ring spacer 91 and an outer ring spacer 93 are inserted between the two bearings 3, and preload is applied.
  • FIG. 12 shows an example in which the rotating shaft 87 of the motor 85 and the rotating shaft of the rotor blades 79 are the same rotating shaft 87. It may be configured to be connected via.
  • the bearing 3 supporting the rotating shaft 87 in the driving portion 75 may be the bearing 3 supporting the rotating shaft 87 of the motor 85 or the bearing 3 supporting the rotating shaft of the rotor blade 79 .
  • the bearing 3 is provided with the bearing device 1 in which the member to be detected 5 having the structure described above and the rotation sensor unit 7 are attached, so that the rotation can be detected with high accuracy. can.
  • the bearing 3 is not limited to the illustrated deep groove ball bearing, and an angular ball bearing, for example, may be used.
  • Reference Signs List 1 absolute rotation sensor type bearing device 3 bearing 5 member to be detected 7 sensor unit 9 electrical connection means 11 inner ring (rotation side bearing ring) 13 Outer ring (fixed bearing ring) 15 Rolling element 17 Core metal 19 Part to be detected 21 Rotation sensor 23 Sensor substrate 25 Sensor housing 35 Mounting groove 37 Guide surface 61 Resin material 71 Electric vertical take-off and landing aircraft

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Rolling Contact Bearings (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
PCT/JP2022/012537 2021-03-25 2022-03-18 アブソリュート式回転センサ付軸受装置 WO2022202650A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202280024117.6A CN117062994A (zh) 2021-03-25 2022-03-18 带有绝对式旋转传感器的轴承装置
DE112022001736.8T DE112022001736T5 (de) 2021-03-25 2022-03-18 Lagervorrichtung mit montiertem absolutdrehgeber

Applications Claiming Priority (2)

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JP2021-051481 2021-03-25
JP2021051481A JP2022149362A (ja) 2021-03-25 2021-03-25 アブソリュート式回転センサ付軸受装置

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JP (1) JP2022149362A (de)
CN (1) CN117062994A (de)
DE (1) DE112022001736T5 (de)
WO (1) WO2022202650A1 (de)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168874A (ja) * 2000-11-30 2002-06-14 Nippon Seiki Co Ltd 回転検出装置
JP2006207750A (ja) * 2005-01-31 2006-08-10 Ntn Corp センサ付軸受および軸受装置
JP2015125103A (ja) * 2013-12-27 2015-07-06 日本精機株式会社 ストロークセンサ
JP2018077189A (ja) * 2016-11-11 2018-05-17 Ntn株式会社 磁気エンコーダおよびその製造方法と角度検出装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4587656B2 (ja) 2003-10-22 2010-11-24 Ｎｔｎ株式会社 アブソリュートエンコーダ付軸受
JP2021051481A (ja) 2019-09-24 2021-04-01 沖電気工業株式会社 制御装置、制御プログラム、制御方法、支援装置、支援プログラム、支援方法、及び支援システム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002168874A (ja) * 2000-11-30 2002-06-14 Nippon Seiki Co Ltd 回転検出装置
JP2006207750A (ja) * 2005-01-31 2006-08-10 Ntn Corp センサ付軸受および軸受装置
JP2015125103A (ja) * 2013-12-27 2015-07-06 日本精機株式会社 ストロークセンサ
JP2018077189A (ja) * 2016-11-11 2018-05-17 Ntn株式会社 磁気エンコーダおよびその製造方法と角度検出装置

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JP2022149362A (ja) 2022-10-06
CN117062994A (zh) 2023-11-14

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