WO2023074188A1 - Motor, articulated robot and unmanned aircraft - Google Patents

Motor, articulated robot and unmanned aircraft Download PDF

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Publication number
WO2023074188A1
WO2023074188A1 PCT/JP2022/034870 JP2022034870W WO2023074188A1 WO 2023074188 A1 WO2023074188 A1 WO 2023074188A1 JP 2022034870 W JP2022034870 W JP 2022034870W WO 2023074188 A1 WO2023074188 A1 WO 2023074188A1
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Prior art keywords
bracket
motor
stator core
motor according
axial direction
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PCT/JP2022/034870
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French (fr)
Japanese (ja)
Inventor
貴浩 三成
泰三 山本
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住友重機械工業株式会社
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Priority to JP2023556193A priority Critical patent/JPWO2023074188A1/ja
Publication of WO2023074188A1 publication Critical patent/WO2023074188A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/12—Stationary parts of the magnetic circuit
    • H02K1/20—Stationary parts of the magnetic circuit with channels or ducts for flow of cooling medium
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges

Definitions

  • the present invention relates to motors, articulated robots and unmanned aerial vehicles.
  • stator heat generation may be an issue.
  • the frame (casing) for housing the stator is made of resin, the heat radiation performance is worse than that of a metal frame, which may lead to an increase in the temperature of the coil and limit the output.
  • the bolt that fastens the stator core to the motor case has a hollow portion filled with a heat medium and functions as a heat pipe. This promotes heat dissipation from the stator core to the motor case through the bolts that function as heat pipes.
  • the present invention is a motor, a stator core; a bracket arranged in the axial direction of the stator core; a metal fastening member that fastens the bracket in the axial direction; with The fastening member is inserted through the insertion hole of the stator core, The through hole is filled with a material having higher thermal conductivity than air.
  • the present invention also provides an articulated robot having a plurality of joints,
  • the motor described above is mounted on at least one of the plurality of joints.
  • the present invention is an unmanned aerial vehicle,
  • the motor described above is mounted as a power source.
  • the heat dissipation of the motor stator can be improved with a simple configuration.
  • FIG. 1 is a longitudinal sectional view of a motor according to an embodiment
  • FIG. 3 is a cross-sectional view of the motor taken along line III-III of FIG. 2
  • FIG. 5 is a diagram showing a modification of bolt insertion holes formed in the motor stator 3
  • FIG. 5 is a diagram showing a modification of bolt insertion holes formed in the motor stator 3 ;
  • FIG. 1 is a diagram showing a schematic configuration of a robot 100 to which a motor 1 according to this embodiment is applied.
  • the motor 1 according to this embodiment is incorporated in a joint portion 102 that connects arms 101 (101a, 101b) of a robot 100, and drives the joint portion 102.
  • the robot 100 is, for example, a collaborative robot that performs a predetermined task in cooperation with humans, and is an articulated robot that includes a plurality of joints 102 connecting a plurality of arms 101 in series. controlled.
  • the motor 1 of the present embodiment may be mounted on at least one of the joints 102, and the position and number of the joints 102 to be mounted are not particularly limited.
  • the motors 1 of the present embodiment may be mounted on the two joints 102 on the distal end side, and conventional general-purpose motors may be mounted on the remaining joints 102 .
  • FIG. 3 is a lateral sectional view of the motor 1 taken along line III--III in FIG.
  • the motor 1 includes a motor rotor (rotor) 2 and a motor stator (stator) 3 .
  • the motor rotor 2 has a shaft (output shaft) 21 and a rotor core 22 .
  • the rotor core 22 is made of laminated steel plates in which conductor bars are embedded, for example, and is fitted and fixed to the outer peripheral surface of the shaft 21 .
  • the rotor core 22 may be of a permanent magnet type having a rotor yoke and permanent magnets.
  • the direction along the central axis Ax of the shaft 21 is “axial direction”
  • the direction perpendicular to the central axis Ax is “radial direction”
  • the direction of rotation about the central axis Ax is “circumferential direction”. It says.
  • the side (left side in the figure) connected to an external device E, which will be described later, is called the “output side”
  • the side opposite to the output side is called the “counter-output side”.
  • the motor stator 3 is constructed by winding a coil around a stator core 31 made of laminated steel plates.
  • the motor stator 3 is arranged concentrically on the outer diameter side of the motor rotor 2 .
  • Coil ends 32 which are exposed coils wound around the stator core 31 , protrude from both sides of the stator core 31 in the axial direction.
  • the stator core 31 is formed in a substantially cylindrical shape and has two protruding portions 311 that protrude from the outer peripheral surface to the outer diameter side.
  • Each projecting portion 311 is formed in a substantially triangular shape in which the width gradually narrows toward the outer diameter side when viewed from the axial direction.
  • Each protruding portion 311 is formed with an insertion hole 311a through which a metal fastening bolt (fastening member) 11 for fastening the first bracket 5 and the external device E, which will be described later, is inserted.
  • the insertion hole 311a penetrates the stator core 31 (projecting portion 311) along the axial direction.
  • the insertion hole 311a is filled with a filler (for example, heat transfer silicon) 12 having a higher thermal conductivity than air.
  • the filler 12 is not particularly limited as long as it has a high thermal conductivity. ) is preferred. Moreover, the opening end of the insertion hole 311a (the gap between the fastening bolt 11 and the fastening bolt 11) may be closed so that the filler 12 does not leak out from the insertion hole 311a. As a result, the heat generated by the stator core 31 and coils can be suitably transmitted to the fastening bolts 11 and released to the external device E and the first bracket 5 through the fastening bolts 11 . Therefore, the heat dissipation of the motor stator 3 can be accelerated.
  • the motor rotor 2 and motor stator 3 are housed inside a frame (casing) 4 , first bracket 5 and second bracket 6 .
  • the frame 4 is formed in a substantially square tubular shape, and holds the motor stator 3 inside with the stator core 31 fitted therein. More specifically, the portion of the outer peripheral portion of stator core 31 other than projecting portion 311 is fitted inside frame 4 , and a gap is interposed between projecting portion 311 and frame 4 .
  • the frame 4 is made of an insulating resin.
  • the fixing structure of the stator core 31 to the frame 4 may be adhesion or the like instead of fitting.
  • the first bracket 5 is formed in a substantially square plate shape corresponding to the frame 4, and is arranged on the non-output side of the motor rotor 2 (rotor core 22) and the motor stator 3. cover.
  • a bearing 51 that rotatably supports the shaft 21 is arranged on the inner peripheral portion of the first bracket 5 .
  • the first bracket 5 is made of resin.
  • the second bracket 6 is formed in a substantially square plate shape corresponding to the frame 4, is arranged on the output side of the motor rotor 2 (rotor core 22) and the motor stator 3, and covers the motor rotor 2 and the motor stator 3 from the output side.
  • a bearing 61 that rotatably supports the shaft 21 is arranged on the inner peripheral portion of the second bracket 6 .
  • the second bracket 6 is made of resin.
  • An external device E is attached to the surface of the output side of the second bracket 6 .
  • the external device E is, but not limited to, a reduction gear, for example, to which the motor output from the shaft 21 is input.
  • the first bracket 5 and the second bracket 6 are fastened with two fastening bolts 11 .
  • the first bracket 5 and the external device E are axially fastened with a metal fastening bolt 11 with the frame 4 and the second bracket 6 interposed therebetween.
  • the insertion holes 311a of the stator core 31 through which the fastening bolts 11 are inserted are filled with the filler 12 having higher thermal conductivity than air.
  • the heat generated by the stator core 31 and the coil can be suitably transmitted to the fastening bolt 11 and released to its fastening partner (the external device E and the first bracket 5 in this embodiment) through the fastening bolt 11 . Therefore, the heat dissipation of the motor stator 3 can be improved with a simple configuration, unlike the conventional art that required special bolts.
  • the frame 4 in which the motor stator 3 (stator core 31) is fitted is made of resin, so that the weight can be reduced as compared with the case where the frame is made of metal.
  • the resin frame 4 has poorer heat dissipation than the metal frame, in the present embodiment heat dissipation from the motor stator 3 can be released by the fastening bolts 11, thereby improving the heat dissipation and further increasing the output torque of the motor stator 3. can be increased.
  • the resin frame 4 generally has a higher coefficient of linear expansion than the stator core 31 made of laminated steel plates, and there is a possibility that the fitting with the stator core 31 may loosen due to temperature rise. Such loosening of fitting can be suppressed by restraining. Therefore, it is possible to suitably improve the heat dissipation while reducing the weight.
  • the motor stator 3 is fitted inside the frame 4 which is separate from the second bracket 6 .
  • the frame 4 and the motor stator 3 fitted therein can be reused.
  • the fastening bolts 11 may fasten a bracket arranged in the axial direction of the motor stator 3 (stator core 31).
  • the bracket 6 may be fastened.
  • the fastening bolt 11 is not particularly limited as long as it is inserted through the stator core 31 , and may fasten the motor stator 3 (stator core 31 ) or the frame 4 , for example. Further, the number of fastening bolts 11, their positions in the circumferential direction, and the like are not particularly limited.
  • the insertion hole 311 a of the stator core 31 should just correspond to the fastening bolt 11 .
  • the insertion hole 311a does not have to pass through the stator core 31, it does not have to be along the axial direction, and it is provided in the main body (cylindrical portion) of the stator core 31 instead of the protruding portion 311.
  • the insertion hole 311a may have a substantially semicircular notched shape as shown in FIGS. 4A and 4B, for example.
  • the frame 4, the first bracket 5 and the second bracket 6, which are the housings, are made of resin for the sole purpose of weight reduction. However, they may also be made of metal.
  • the fastening bolt 11 is fastened to the first bracket 5 or the second bracket 6, the first bracket 5 or the second bracket 6 may be made of metal in order to promote heat transfer from the fastening bolt 11. good.
  • the frame 4 is made of metal, it is of course necessary to ensure insulation with the stator core 31 .
  • the frame 4 is separate from the first bracket 5 and the second bracket 6, but the frame 4 and the second bracket 6 (or the first bracket 5) are integrally constructed. may be Also, the external device E may be attached to the frame 4 instead of the second bracket 6 .
  • the motor stator 3 may be one in which a coil is wound around the stator core 31, and its form and electrical structure including the motor rotor 2 are not particularly limited.
  • the present invention is particularly suitable for small motors. If the size of the motor is small, the heat capacity of the motor is also small. That is, according to the present invention, even a small motor that is relatively difficult to cool can preferably improve heat dissipation.
  • the motor 1 is applied to the robot 100, but the application of the motor according to the present invention is not limited to robots. However, the present invention can be particularly suitably applied to applications where there is a strong demand for weight reduction, such as those mounted on operating bodies (moving bodies) such as AGVs (Automatic Guided Vehicles) and unmanned aerial vehicles (so-called drones).
  • operating bodies moving bodies
  • AGVs Automatic Guided Vehicles
  • drones unmanned aerial vehicles
  • the use of the motor 1 in these operating bodies is not particularly limited, it is, for example, a power source.
  • the details shown in the above embodiments can be changed as appropriate without departing from the scope of the invention.
  • the present invention is useful for improving heat dissipation of a motor stator with a simple configuration.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Motor Or Generator Frames (AREA)

Abstract

A motor 1 is equipped with a stator core 31, a first bracket 5 positioned in the axial direction of the stator core 31, and a metal fastening bolt 11 for fastening the first bracket 5 in the axial direction. The fastening bolt 11 is inserted into an insertion hole 311a in the stator core 31. The insertion hole 311a is filled with a filler 12 which has a higher thermal conductivity than does air.

Description

モータ、多関節ロボット及び無人航空機Motors, articulated robots and unmanned aerial vehicles
　本発明は、モータ、多関節ロボット及び無人航空機に関する。 The present invention relates to motors, articulated robots and unmanned aerial vehicles.
　モータにおいては、ステータの発熱が課題となる場合がある。特にステータを収容するフレーム（ケーシング）を樹脂製とした場合には、金属製のもの比べて放熱性が悪くなるため、コイルの温度上昇を招来して出力が制限されるおそれがある。 　For motors, stator heat generation may be an issue. In particular, when the frame (casing) for housing the stator is made of resin, the heat radiation performance is worse than that of a metal frame, which may lead to an increase in the temperature of the coil and limit the output.
　そこで、例えば特許文献１に記載のモータでは、ステータコアをモータケースに締結するボルトが、熱媒体が封入された中空部を有しており、ヒートパイプとして機能する。これにより、ヒートパイプとして機能するボルトを通じて、ステータコアからモータケースへの放熱を促進させている。 Therefore, in the motor described in Patent Document 1, for example, the bolt that fastens the stator core to the motor case has a hollow portion filled with a heat medium and functions as a heat pipe. This promotes heat dissipation from the stator core to the motor case through the bolts that function as heat pipes.
特開２００８－２８９２４４号公報JP 2008-289244 A
　しかしながら、上記特許文献１に記載のモータでは、熱媒体が封入された中空部を有するという極めて特殊なボルトが必要となる。
　本発明は、上記事情に鑑みてなされたもので、簡便な構成でモータステータの放熱性を向上させることを目的とする。 However, the motor described in Patent Document 1 requires a very special bolt having a hollow portion in which a heat medium is enclosed.
SUMMARY OF THE INVENTION It is an object of the present invention to improve heat dissipation of a motor stator with a simple structure.
　本発明は、モータであって、
　ステータコアと、
　前記ステータコアの軸方向に配置されたブラケットと、
　前記ブラケットを軸方向に締結する金属製の締結部材と、
　を備え、
　前記締結部材は前記ステータコアの挿通孔に挿通され、
　前記挿通孔には空気よりも熱伝導率の高い材料が充填される。 The present invention is a motor,
a stator core;
a bracket arranged in the axial direction of the stator core;
a metal fastening member that fastens the bracket in the axial direction;
with
The fastening member is inserted through the insertion hole of the stator core,
The through hole is filled with a material having higher thermal conductivity than air.
　また、本発明は、複数の関節部を備える多関節ロボットであって、
　上記のモータが、前記複数の関節部のうち少なくとも一の関節部に搭載されている。 The present invention also provides an articulated robot having a plurality of joints,
The motor described above is mounted on at least one of the plurality of joints.
　また、本発明は、無人航空機であって、
　上記のモータが、動力源として搭載されている。 Further, the present invention is an unmanned aerial vehicle,
The motor described above is mounted as a power source.
　本発明によれば、簡便な構成でモータステータの放熱性を向上させることができる。 According to the present invention, the heat dissipation of the motor stator can be improved with a simple configuration.
実施形態に係るロボットの概略構成を示す図である。It is a figure which shows schematic structure of the robot which concerns on embodiment. 実施形態に係るモータの縦断面図である。1 is a longitudinal sectional view of a motor according to an embodiment; FIG. 図２のIII－III線でのモータの横断面図である。3 is a cross-sectional view of the motor taken along line III-III of FIG. 2; FIG. モータステータ３に形成されるボルトの挿通孔の変形例を示す図である。FIG. 5 is a diagram showing a modification of bolt insertion holes formed in the motor stator 3 ; モータステータ３に形成されるボルトの挿通孔の変形例を示す図である。FIG. 5 is a diagram showing a modification of bolt insertion holes formed in the motor stator 3 ;
　以下、本発明の実施形態について、図面を参照して詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
［ロボットの概略構成］
　図１は、本実施形態に係るモータ１が適用されたロボット１００の概略構成を示す図である。
　この図に示すように、本実施形態に係るモータ１は、ロボット１００のうち、アーム１０１（１０１ａ、１０１ｂ）間を連結する関節部１０２に組み込まれ、当該関節部１０２を駆動する。ロボット１００は、例えば人間と協働して所定の作業を行う協働ロボットであって、複数のアーム１０１を直列に連結する複数の関節部１０２を備える多関節ロボットであり、制御部１１０に動作制御される。
　なお、本実施形態のモータ１は、複数の関節部１０２のうち少なくとも１つの関節部１０２に搭載されていればよく、搭載される関節部１０２の位置や数量は特に限定されない。ただし、より軽量化の要求が強い先端側の関節部１０２に搭載されるのが好ましく、最も先端側の関節部１０２に搭載されるのがより好ましい。あるいは、重量とコストのバランスを取って、先端側の２つの関節部１０２に本実施形態のモータ１を搭載し、残りの関節部１０２には従来の汎用モータを搭載するなどしてもよい。 [Outline configuration of robot]
FIG. 1 is a diagram showing a schematic configuration of a robot 100 to which a motor 1 according to this embodiment is applied.
As shown in this figure, the motor 1 according to this embodiment is incorporated in a joint portion 102 that connects arms 101 (101a, 101b) of a robot 100, and drives the joint portion 102. FIG. The robot 100 is, for example, a collaborative robot that performs a predetermined task in cooperation with humans, and is an articulated robot that includes a plurality of joints 102 connecting a plurality of arms 101 in series. controlled.
Note that the motor 1 of the present embodiment may be mounted on at least one of the joints 102, and the position and number of the joints 102 to be mounted are not particularly limited. However, it is preferable to be mounted on the distal end side joint portion 102 where the demand for weight reduction is stronger, and it is more preferable to be mounted on the most distal end side joint portion 102 . Alternatively, by balancing weight and cost, the motors 1 of the present embodiment may be mounted on the two joints 102 on the distal end side, and conventional general-purpose motors may be mounted on the remaining joints 102 .
［モータの構成］
　図２は、本実施形態に係るモータ１の縦断面図であり、図３は、図２のIII－III線でのモータ１の横断面図である。
　これらの図に示すように、モータ１は、モータロータ（ロータ）２と、モータステータ（ステータ）３とを備える。
　モータロータ２は、シャフト（出力軸）２１と、ロータコア２２とを有する。ロータコア２２は、例えば導体バーが埋設された積層鋼板からなるものであり、シャフト２１の外周面に嵌合固定される。ただし、ロータコア２２は、ロータヨークと永久磁石とを有する永久磁石型であってもよい。
　なお、以下の説明では、シャフト２１の中心軸Ａｘに沿った方向を「軸方向」、中心軸Ａｘに垂直な方向を「径方向」、中心軸Ａｘを中心とする回転方向を「周方向」という。また、軸方向のうち、後述の外部装置Ｅと連結される側（図中の左側）を「出力側」といい、出力側とは反対側（図中の右側）を「反出力側」という。 [Motor configuration]
2 is a longitudinal sectional view of the motor 1 according to this embodiment, and FIG. 3 is a lateral sectional view of the motor 1 taken along line III--III in FIG.
As shown in these figures, the motor 1 includes a motor rotor (rotor) 2 and a motor stator (stator) 3 .
The motor rotor 2 has a shaft (output shaft) 21 and a rotor core 22 . The rotor core 22 is made of laminated steel plates in which conductor bars are embedded, for example, and is fitted and fixed to the outer peripheral surface of the shaft 21 . However, the rotor core 22 may be of a permanent magnet type having a rotor yoke and permanent magnets.
In the following description, the direction along the central axis Ax of the shaft 21 is "axial direction", the direction perpendicular to the central axis Ax is "radial direction", and the direction of rotation about the central axis Ax is "circumferential direction". It says. In addition, in the axial direction, the side (left side in the figure) connected to an external device E, which will be described later, is called the "output side", and the side opposite to the output side (the right side in the figure) is called the "counter-output side". .
　モータステータ３は、積層鋼板からなるステータコア３１にコイルが巻回されて構成される。このモータステータ３は、モータロータ２の外径側に同心状に配置されている。ステータコア３１の軸方向両側には、ステータコア３１に巻回されたコイルが露出してなるコイルエンド３２が突出している。 The motor stator 3 is constructed by winding a coil around a stator core 31 made of laminated steel plates. The motor stator 3 is arranged concentrically on the outer diameter side of the motor rotor 2 . Coil ends 32 , which are exposed coils wound around the stator core 31 , protrude from both sides of the stator core 31 in the axial direction.
　ステータコア３１は、略円筒状に形成されるとともに、外周面から外径側に突出した２つの突出部３１１を有している。各突出部３１１は、軸方向から見て、外径側に位置するに連れて次第に幅が狭くなる略三角形状に形成されている。
　各突出部３１１には、後述する第１ブラケット５と外部装置Ｅを締結する金属製の締結ボルト（締結部材）１１が挿通された挿通孔３１１ａが形成されている。挿通孔３１１ａは、軸方向に沿ってステータコア３１（突出部３１１）を貫通している。
　挿通孔３１１ａ内には、空気よりも熱伝導率の高い充填剤（例えば伝熱シリコン）１２が充填される。充填剤１２は、高熱伝導率のものであれば特に限定されないが、モータ１の動作時や姿勢変化時でも挿通孔３１１ａから漏れ出さないように、固体、それも流動性の低い（粘性の高い）ものであるのが好ましい。また、充填剤１２が挿通孔３１１ａから漏れ出さないように、挿通孔３１１ａの開口端（締結ボルト１１との隙間）を閉塞させてもよい。
　これにより、ステータコア３１やコイルの発熱を好適に締結ボルト１１に伝え、この締結ボルト１１を通じて外部装置Ｅや第１ブラケット５に逃がすことができる。したがって、モータステータ３の放熱を促進させることができる。 The stator core 31 is formed in a substantially cylindrical shape and has two protruding portions 311 that protrude from the outer peripheral surface to the outer diameter side. Each projecting portion 311 is formed in a substantially triangular shape in which the width gradually narrows toward the outer diameter side when viewed from the axial direction.
Each protruding portion 311 is formed with an insertion hole 311a through which a metal fastening bolt (fastening member) 11 for fastening the first bracket 5 and the external device E, which will be described later, is inserted. The insertion hole 311a penetrates the stator core 31 (projecting portion 311) along the axial direction.
The insertion hole 311a is filled with a filler (for example, heat transfer silicon) 12 having a higher thermal conductivity than air. The filler 12 is not particularly limited as long as it has a high thermal conductivity. ) is preferred. Moreover, the opening end of the insertion hole 311a (the gap between the fastening bolt 11 and the fastening bolt 11) may be closed so that the filler 12 does not leak out from the insertion hole 311a.
As a result, the heat generated by the stator core 31 and coils can be suitably transmitted to the fastening bolts 11 and released to the external device E and the first bracket 5 through the fastening bolts 11 . Therefore, the heat dissipation of the motor stator 3 can be accelerated.
　モータロータ２及びモータステータ３は、フレーム（ケーシング）４、第１ブラケット５及び第２ブラケット６の内部に収容されている。
　フレーム４は、本実施形態では略四角筒状に形成され、ステータコア３１が内嵌された状態でモータステータ３を内側に保持している。より詳しくは、ステータコア３１の外周部のうち突出部３１１以外の部分がフレーム４に内嵌されており、突出部３１１とフレーム４との間には隙間が介在している。また、フレーム４は、絶縁性を有する樹脂で構成されている。なお、フレーム４に対するステータコア３１の固定構造は、嵌合でなく接着等であってもよい。 The motor rotor 2 and motor stator 3 are housed inside a frame (casing) 4 , first bracket 5 and second bracket 6 .
In this embodiment, the frame 4 is formed in a substantially square tubular shape, and holds the motor stator 3 inside with the stator core 31 fitted therein. More specifically, the portion of the outer peripheral portion of stator core 31 other than projecting portion 311 is fitted inside frame 4 , and a gap is interposed between projecting portion 311 and frame 4 . In addition, the frame 4 is made of an insulating resin. The fixing structure of the stator core 31 to the frame 4 may be adhesion or the like instead of fitting.
　第１ブラケット５は、フレーム４に対応した略四角板状に形成されて、モータロータ２（ロータコア２２）及びモータステータ３の反出力側に配置され、これらモータロータ２及びモータステータ３を反出力側から覆う。第１ブラケット５の内周部には、シャフト２１を回転自在に支持する軸受５１が配置されている。この第１ブラケット５は樹脂で構成されている。 The first bracket 5 is formed in a substantially square plate shape corresponding to the frame 4, and is arranged on the non-output side of the motor rotor 2 (rotor core 22) and the motor stator 3. cover. A bearing 51 that rotatably supports the shaft 21 is arranged on the inner peripheral portion of the first bracket 5 . The first bracket 5 is made of resin.
　第２ブラケット６は、フレーム４に対応した略四角板状に形成されて、モータロータ２（ロータコア２２）及びモータステータ３の出力側に配置され、これらモータロータ２及びモータステータ３を出力側から覆う。第２ブラケット６の内周部には、シャフト２１を回転自在に支持する軸受６１が配置されている。この第２ブラケット６は樹脂で構成されている。
　第２ブラケット６の出力側の面には、外部装置Ｅが取り付けられている。外部装置Ｅは、特に限定はされないが、例えば減速機であり、シャフト２１からのモータ出力が入力される。 The second bracket 6 is formed in a substantially square plate shape corresponding to the frame 4, is arranged on the output side of the motor rotor 2 (rotor core 22) and the motor stator 3, and covers the motor rotor 2 and the motor stator 3 from the output side. A bearing 61 that rotatably supports the shaft 21 is arranged on the inner peripheral portion of the second bracket 6 . The second bracket 6 is made of resin.
An external device E is attached to the surface of the output side of the second bracket 6 . The external device E is, but not limited to, a reduction gear, for example, to which the motor output from the shaft 21 is input.
　第１ブラケット５と第２ブラケット６は、２本の締結ボルト１１で締結されている。具体的には、第１ブラケット５と外部装置Ｅが、その間にフレーム４と第２ブラケット６を挟んだ状態で、金属製の締結ボルト１１により軸方向に締結されている。 The first bracket 5 and the second bracket 6 are fastened with two fastening bolts 11 . Specifically, the first bracket 5 and the external device E are axially fastened with a metal fastening bolt 11 with the frame 4 and the second bracket 6 interposed therebetween.
［本実施形態の技術的効果］
　以上のように、本実施形態のモータ１によれば、締結ボルト１１が挿通されたステータコア３１の挿通孔３１１ａには、空気よりも熱伝導率の高い充填剤１２が充填される。
　これにより、ステータコア３１やコイルの発熱を好適に締結ボルト１１に伝え、この締結ボルト１１を通じてその締結相手（本実施形態では外部装置Ｅや第１ブラケット５）に逃がすことができる。したがって、特殊なボルトが必要であった従来と異なり、簡便な構成でモータステータ３の放熱性を向上させることができる。 [Technical effect of the present embodiment]
As described above, according to the motor 1 of the present embodiment, the insertion holes 311a of the stator core 31 through which the fastening bolts 11 are inserted are filled with the filler 12 having higher thermal conductivity than air.
As a result, the heat generated by the stator core 31 and the coil can be suitably transmitted to the fastening bolt 11 and released to its fastening partner (the external device E and the first bracket 5 in this embodiment) through the fastening bolt 11 . Therefore, the heat dissipation of the motor stator 3 can be improved with a simple configuration, unlike the conventional art that required special bolts.
　また、本実施形態のモータ１によれば、モータステータ３（ステータコア３１）が内嵌されるフレーム４が樹脂製であるので、これが金属製の場合に比べて軽量化を図ることができる。また、樹脂製のフレーム４は金属製のものよりも放熱性が悪いところ、本実施形態ではモータステータ３の発熱を締結ボルト１１で逃がすことで放熱性を向上でき、ひいてはモータステータ３の出力トルクを大きくできる。さらに、樹脂製のフレーム４は一般的に積層鋼板のステータコア３１よりも線膨張係数が高く、温度上昇によりステータコア３１との嵌合が緩むおそれがあるところ、本実施形態ではフレーム４の温度上昇を抑えることにより、このような嵌合の緩みを抑制できる。
　したがって、軽量化を図りつつ、好適に放熱性を向上させることができる。 Further, according to the motor 1 of the present embodiment, the frame 4 in which the motor stator 3 (stator core 31) is fitted is made of resin, so that the weight can be reduced as compared with the case where the frame is made of metal. Also, while the resin frame 4 has poorer heat dissipation than the metal frame, in the present embodiment heat dissipation from the motor stator 3 can be released by the fastening bolts 11, thereby improving the heat dissipation and further increasing the output torque of the motor stator 3. can be increased. Furthermore, the resin frame 4 generally has a higher coefficient of linear expansion than the stator core 31 made of laminated steel plates, and there is a possibility that the fitting with the stator core 31 may loosen due to temperature rise. Such loosening of fitting can be suppressed by restraining.
Therefore, it is possible to suitably improve the heat dissipation while reducing the weight.
　また、本実施形態のモータ１によれば、モータステータ３が第２ブラケット６とは別体のフレーム４に内嵌される。
　これにより、例えば外部装置Ｅとの取り合いを変更する場合などでも、第２ブラケット６だけを交換すれば足り、フレーム４及びこれに内嵌されたモータステータ３を使い回すことができる。 Further, according to the motor 1 of this embodiment, the motor stator 3 is fitted inside the frame 4 which is separate from the second bracket 6 .
As a result, even when changing the connection with the external device E, for example, it is sufficient to replace only the second bracket 6, and the frame 4 and the motor stator 3 fitted therein can be reused.
＜その他＞
　以上、本発明の実施形態について説明したが、本発明は上記の実施形態に限られない。
　例えば、締結ボルト１１は、モータステータ３（ステータコア３１）の軸方向に配置されたブラケットを締結するものであればよく、例えば、フレーム４（モータステータ３）を挟んで第１ブラケット５と第２ブラケット６を締結するものであってもよい。さらに言えば、締結ボルト１１は、ステータコア３１に挿通されていれば、その締結対象は特に限定されず、例えばモータステータ３（ステータコア３１）又はフレーム４を締結するものであってもよい。
　また、締結ボルト１１の本数や周方向の位置等は特に限定されない。締結ボルト１１が挿通されるステータコア３１の挿通孔３１１ａは、締結ボルト１１に対応したものであればよい。具体的には、挿通孔３１１ａは、例えば、ステータコア３１を貫通していなくともよいし、軸方向に沿っていなくともよいし、突出部３１１でなくステータコア３１の本体部（円筒部）に設けられてもよい。また、挿通孔３１１ａは、例えば図４Ａ及び図４Ｂに示すように、略半円状等に切り欠いた形状であってもよい。 <Others>
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, the fastening bolts 11 may fasten a bracket arranged in the axial direction of the motor stator 3 (stator core 31). The bracket 6 may be fastened. Furthermore, the fastening bolt 11 is not particularly limited as long as it is inserted through the stator core 31 , and may fasten the motor stator 3 (stator core 31 ) or the frame 4 , for example.
Further, the number of fastening bolts 11, their positions in the circumferential direction, and the like are not particularly limited. The insertion hole 311 a of the stator core 31 , through which the fastening bolt 11 is inserted, should just correspond to the fastening bolt 11 . Specifically, for example, the insertion hole 311a does not have to pass through the stator core 31, it does not have to be along the axial direction, and it is provided in the main body (cylindrical portion) of the stator core 31 instead of the protruding portion 311. may Further, the insertion hole 311a may have a substantially semicircular notched shape as shown in FIGS. 4A and 4B, for example.
　また、上記実施形態では、専ら軽量化の目的で、筐体であるフレーム４、第１ブラケット５及び第２ブラケット６を樹脂製とした。しかし、これらは金属製であってもよい。例えば、締結ボルト１１が第１ブラケット５や第２ブラケット６に締結される場合に、当該締結ボルト１１からの伝熱を促進させるために、第１ブラケット５や第２ブラケット６を金属製としてもよい。ただし、フレーム４を金属製とする場合には、ステータコア３１との絶縁性を確保する必要があるのは勿論である。 Further, in the above embodiment, the frame 4, the first bracket 5 and the second bracket 6, which are the housings, are made of resin for the sole purpose of weight reduction. However, they may also be made of metal. For example, when the fastening bolt 11 is fastened to the first bracket 5 or the second bracket 6, the first bracket 5 or the second bracket 6 may be made of metal in order to promote heat transfer from the fastening bolt 11. good. However, when the frame 4 is made of metal, it is of course necessary to ensure insulation with the stator core 31 .
　また、上記実施形態では、フレーム４が第１ブラケット５及び第２ブラケット６とは別体であることとしたが、フレーム４と第２ブラケット６（又は第１ブラケット５）とは一体に構成されていてもよい。
　また、外部装置Ｅは第２ブラケット６ではなくフレーム４に取り付けられてもよい。 Also, in the above embodiment, the frame 4 is separate from the first bracket 5 and the second bracket 6, but the frame 4 and the second bracket 6 (or the first bracket 5) are integrally constructed. may be
Also, the external device E may be attached to the frame 4 instead of the second bracket 6 .
　また、モータステータ３は、ステータコア３１にコイルが巻回されたものであればよく、モータロータ２も含めて、その形式・電気的構造は特に限定されない。 In addition, the motor stator 3 may be one in which a coil is wound around the stator core 31, and its form and electrical structure including the motor rotor 2 are not particularly limited.
　また、本発明は特に小型のモータに好適に適用できる。モータはサイズが小さいと熱容量も小さくなるため、動作時に瞬間的に温度が上がって焼損するおそれが増す。すなわち、本発明は、相対的に冷却が困難になる小型のモータであっても、好適に放熱性を向上できる。 In addition, the present invention is particularly suitable for small motors. If the size of the motor is small, the heat capacity of the motor is also small. That is, according to the present invention, even a small motor that is relatively difficult to cool can preferably improve heat dissipation.
　また、上記実施形態では、モータ１がロボット１００に適用されることとしたが、本発明に係るモータの用途はロボットに限定されない。ただし、本発明は、軽量化の要求が強い用途、例えばＡＧＶ（Automatic Guided Vehicle）や無人航空機（いわゆるドローン）等の動作体（移動体）に搭載されるものに、特に好適に適用できる。これら動作体におけるモータ１の用途は特に限定されないが、例えば動力源である。
　その他、上記実施形態で示した細部は、発明の趣旨を逸脱しない範囲で適宜変更可能である。 Also, in the above embodiment, the motor 1 is applied to the robot 100, but the application of the motor according to the present invention is not limited to robots. However, the present invention can be particularly suitably applied to applications where there is a strong demand for weight reduction, such as those mounted on operating bodies (moving bodies) such as AGVs (Automatic Guided Vehicles) and unmanned aerial vehicles (so-called drones). Although the use of the motor 1 in these operating bodies is not particularly limited, it is, for example, a power source.
In addition, the details shown in the above embodiments can be changed as appropriate without departing from the scope of the invention.
産業上の利用の可能性Possibility of industrial use
　以上のように、本発明は、簡便な構成でモータステータの放熱性を向上させるのに有用である。 As described above, the present invention is useful for improving heat dissipation of a motor stator with a simple configuration.
１　　　モータ
２　　　モータロータ
３　　　モータステータ
　３１　ステータコア
　３１１　突出部
　３１１ａ　挿通孔
４　　　フレーム
５　　　第１ブラケット（ブラケット）
６　　　第２ブラケット（他のブラケット）
１１　　締結ボルト（締結部材）
１２　　充填剤
Ａｘ　　中心軸
Ｅ　　　外部装置 Reference Signs List 1 motor 2 motor rotor 3 motor stator 31 stator core 311 protrusion 311a insertion hole 4 frame 5 first bracket (bracket)
6 second bracket (other bracket)
11 fastening bolt (fastening member)
12 filler Ax central axis E external device

Claims (9)

  1. 　ステータコアと、
    　前記ステータコアの軸方向に配置されたブラケットと、
    　前記ブラケットを軸方向に締結する金属製の締結部材と、
    　を備え、
    　前記締結部材は前記ステータコアの挿通孔に挿通され、
    　前記挿通孔には空気よりも熱伝導率の高い材料が充填される、
    　モータ。     a stator core;
    a bracket arranged in the axial direction of the stator core;
    a metal fastening member that fastens the bracket in the axial direction;
    with
    The fastening member is inserted through the insertion hole of the stator core,
    The through hole is filled with a material having a higher thermal conductivity than air,
    motor.
  2. 　前記ステータコアが内嵌される樹脂製のフレームを備える、
    　請求項１に記載のモータ。     comprising a resin frame in which the stator core is fitted;
    A motor according to claim 1.
  3. 　前記ステータコアは、外周面から外径側に突出した突出部を有し、
    　前記挿通孔は、前記突出部に形成されている、
    　請求項１又は請求項２に記載のモータ。     The stator core has a protruding portion that protrudes from the outer peripheral surface to the outer diameter side,
    The insertion hole is formed in the protrusion,
    A motor according to claim 1 or 2.
  4. 　前記ステータコアの軸方向のうち、前記ブラケットとは反対側に配置された他のブラケットを備え、
    　前記締結部材は、前記ブラケットと前記他のブラケットを締結する、
    　請求項１から請求項３のいずれか一項に記載のモータ。     Another bracket arranged on the opposite side of the bracket in the axial direction of the stator core,
    The fastening member fastens the bracket and the other bracket,
    A motor according to any one of claims 1 to 3.
  5. 　前記ステータコアの軸方向のうち、前記ブラケットとは反対側に配置された他のブラケットを備え、
    　前記他のブラケットには外部装置が接触しており、
    　前記締結部材は、前記ブラケットと前記外部装置を締結する、
    　請求項１から請求項３のいずれか一項に記載のモータ。     Another bracket arranged on the opposite side of the bracket in the axial direction of the stator core,
    An external device is in contact with the other bracket,
    The fastening member fastens the bracket and the external device,
    A motor according to any one of claims 1 to 3.
  6. 　動作体に搭載される、
    　請求項１から請求項５のいずれか一項に記載のモータ。     mounted on the operating body,
    A motor according to any one of claims 1 to 5.
  7. 　複数の関節部を備える多関節ロボットであって、
    　請求項１から請求項６のいずれか一項に記載のモータが、前記複数の関節部のうち少なくとも一の関節部に搭載されている、
    　多関節ロボット。     An articulated robot comprising a plurality of joints,
    The motor according to any one of claims 1 to 6 is mounted on at least one of the plurality of joints,
    Articulated robot.
  8. 　前記複数の関節部は、複数のアームを直列に連結し、
    　前記一の関節部は、前記複数の関節部のうち最も先端側の関節部である、
    　請求項７に記載の多関節ロボット。     The plurality of joints connect the plurality of arms in series,
    The one joint portion is a joint portion closest to the distal end of the plurality of joint portions,
    The articulated robot according to claim 7.
  9. 　請求項１から請求項６のいずれか一項に記載のモータが、動力源として搭載されている、
    　無人航空機。     The motor according to any one of claims 1 to 6 is mounted as a power source,
    unmanned aircraft.
PCT/JP2022/034870 2021-10-29 2022-09-20 Motor, articulated robot and unmanned aircraft WO2023074188A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005295758A (en) * 2004-04-05 2005-10-20 Matsushita Electric Ind Co Ltd Circuit integral type geared motor and its manufacturing method
JP2007306751A (en) * 2006-05-15 2007-11-22 Toyota Motor Corp Structure for fixing stator and vehicle
JP2013126274A (en) * 2011-12-13 2013-06-24 Sumitomo Heavy Ind Ltd Gear motor
JP2015019548A (en) * 2013-07-12 2015-01-29 株式会社東芝 Motor for vehicle and railway vehicle
JP2019097363A (en) * 2017-11-28 2019-06-20 住友重機械工業株式会社 Gear motor and cooperative robot

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005295758A (en) * 2004-04-05 2005-10-20 Matsushita Electric Ind Co Ltd Circuit integral type geared motor and its manufacturing method
JP2007306751A (en) * 2006-05-15 2007-11-22 Toyota Motor Corp Structure for fixing stator and vehicle
JP2013126274A (en) * 2011-12-13 2013-06-24 Sumitomo Heavy Ind Ltd Gear motor
JP2015019548A (en) * 2013-07-12 2015-01-29 株式会社東芝 Motor for vehicle and railway vehicle
JP2019097363A (en) * 2017-11-28 2019-06-20 住友重機械工業株式会社 Gear motor and cooperative robot

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