JP6540704B2 - Method of manufacturing direct drive motor, and jig - Google Patents

Description

  The present invention relates to a method of manufacturing a direct drive motor and a jig.

  In general, a direct drive motor (hereinafter referred to as a DD motor) adopting a drive method (a drive method of motor load direct connection type) for directly transmitting a rotational force to a rotating body and rotating the rotating body in a predetermined direction with respect to a rotating body Also known). This type of DD motor includes a motor unit, a bearing, a rotation detector (resolver), and a housing, and the overall shape of the motor is approximately cylindrical. In order to miniaturize the transfer device, inspection device, machine tool and the like in which the DD motor is used, the installation area (so-called footprint) of the housing of the DD motor and the height in the axial direction of the housing are reduced. It is preferable to make it flat structure. For this reason, conventionally, in order to reduce the footprint of the DD motor, a structure in which motor units, bearings, and a rotation detector (resolver) are arranged in tandem in the axial direction has been proposed (for example, see Patent Document 1).

JP, 2012-178926, A

  By the way, in the DD motor having a structure in which the rotor flange is inlay fitted to the inlay hole provided in the rotating device such as the conveying device, the inspection device, and the machine tool, the swing accuracy of the output shaft corresponds to the rotation accuracy of the rotating body. Direct impact. Heretofore, in order to increase the runout accuracy of the DD motor, the dimensional accuracy of each part has been improved. On the other hand, fitting of each part requires a margin for allowing dimensional tolerance of each part. Therefore, due to the margin of each part, the accuracy of the assembled DD motor may be lower than the dimensional accuracy of each part, and the required rotational accuracy may not be obtained.

  The present invention solves the above-mentioned problems, and an object of the present invention is to provide a method of manufacturing a direct drive motor and a jig capable of obtaining high rotational accuracy.

  In order to solve the above problems, according to a first aspect of the present invention, there is provided a motor portion having a stator and a rotor rotatable relative to the stator, a first housing to which the stator is fixed, and A second housing disposed outside the housing, to which the rotor is fixed, a bearing rotatably supporting the second housing with respect to the first housing, and the first housing axially clamping the fixed ring of the bearing A manufacturing method of a direct drive motor comprising: a fixed ring pressing member; and a rotation detector for detecting a rotation state of the motor unit, wherein a plurality of rotors are configured at predetermined positions in an axial direction of a second housing. The process of arranging and fixing the permanent magnets concentrically at predetermined intervals in the circumferential direction, and inserting the rotating wheel of the bearing into the second housing, filling the gap between the rotating wheel of the bearing and the second housing with a filler housing The step of fixing with a jig in which the radial direction width between the outer peripheral surface and the inner peripheral surface of the fixed ring of the bearing is defined, and a plurality of stators constituting axial fixed positions of the outer peripheral surface of the first housing The steps of concentrically arranging and fixing the motor core at predetermined intervals in the circumferential direction, the step of inserting the first housing into the fixed ring of the bearing, and holding the fixed ring of the bearing between the first housing and the fixed ring pressing member And fixing the fixing ring of the bearing in the axial direction. A method of manufacturing a direct drive motor is provided.

  According to the first aspect of the present invention, the variation in the radial direction width between the outer peripheral surface of the output shaft side end of the second housing of the direct drive motor and the inner peripheral surface of the fixed ring of the bearing is suppressed and high A direct drive motor capable of obtaining rotational accuracy can be obtained.

  Further, according to a second aspect of the present invention, in the direct drive motor manufacturing method according to the first aspect, the direct drive motor includes a resolver rotor and a resolver stator arranged to face the resolver rotor. The method may include the steps of: directly fixing the resolver rotor to the second housing; and directly fixing the resolver stator to the fixed ring pressing member.

  According to the second aspect of the present invention, it is possible to suppress the influence on the detection accuracy of the rotational angle position of the second housing due to the positional dispersion of the resolver rotor and the resolver stator, and detect the rotational state of the motor unit with high accuracy. It is possible to obtain a direct drive motor that can be

  Further, according to a third aspect of the present invention, in the method of manufacturing a direct drive motor according to the second aspect, the resolver rotor is fitted in the second housing, and the space between the outer peripheral surface of the second housing and the inner peripheral surface of the resolver rotor And a step of fixing with a jig whose radial width is defined.

  According to the third aspect of the present invention, the variation in the radial width between the outer peripheral surface on the output side of the second housing and the inner peripheral surface of the resolver rotor is suppressed, and the rotational state of the motor portion can be made more accurate. A direct drive motor that can be detected can be obtained.

Further, according to a fourth aspect of the present invention, there is provided a motor unit having a stator and a rotor rotatable relative to the stator, a first housing to which the stator is fixed, and an outer side of the first housing. A second housing to which the rotor is fixed, a bearing rotatably supporting the second housing with respect to the first housing, and a fixed ring pressing member axially holding the fixed ring of the bearing together with the first housing A jig for use in a method of manufacturing a direct drive motor including a rotation detector for detecting a rotation state of the motor unit, the annular groove portion into which the second housing is fitted, and the fixed ring of the bearing The annular groove portion includes an outer peripheral side wall surface centered on the rotation axis of the motor portion and an inner peripheral side wall surface having a smaller radius than the outer peripheral side wall surface, including a cylindrical convex portion to be fitted; Radial width of the annular groove The outer peripheral side wall surface is in contact with the outer peripheral surface of the output shaft side end of the second housing, which is larger than the radial width of the output shaft side end of the second housing, and the bottom of the annular groove is the output shaft of the second housing The cylindrical convex portion is configured to be in contact with the axial end face of the side end portion, and the cylindrical convex portion has an outer peripheral wall surface centering on the rotation axis of the motor portion. The height to the output shaft side end is greater than the height from the axial end face of the output shaft side end of the second housing to the output shaft side end face of the bearing, and the outer peripheral wall surface is the inner peripheral surface of the fixed ring of the bearing Between the outer peripheral surface of the second housing and the inner peripheral surface of the fixed ring of the bearing depending on the radial distance between the outer peripheral side wall surface of the annular groove and the outer peripheral wall surface of the cylindrical convex portion. Providing a jig for defining the radial width of the

  According to the fourth aspect of the present invention, the variation in the radial direction width between the outer peripheral surface of the output shaft side end of the second housing of the direct drive motor and the inner peripheral surface of the fixed ring of the bearing is suppressed and high A direct drive motor capable of obtaining rotational accuracy can be obtained.

Further, according to a fifth aspect of the present invention, in the jig according to the fourth aspect, the direct drive motor includes an annular ring including a resolver rotor and a resolver stator disposed to face the resolver rotor. the radial distance between the inner side wall and the outer wall surface of the groove may define a radial width between the outer surface and the inner circumferential surface of the record Zorubarota of the second housing.

  According to the fifth aspect of the present invention, the variation in radial width between the outer peripheral surface of the output shaft side end of the second housing of the direct drive motor and the inner peripheral surface of the fixed ring of the bearing, and Dispersion of the radial width between the outer peripheral surface of the output shaft side end of the housing and the inner peripheral surface of the resolver rotor is suppressed, and a direct drive motor capable of enhancing the detection accuracy of the rotation state of the motor unit is obtained. be able to.

  Further, according to a sixth aspect of the present invention, in the direct drive motor manufacturing method of the first aspect, the fixed ring pressing member of the direct drive motor may be made of a nonmagnetic material. According to this configuration, it is possible to suppress the influence on the detection accuracy of the rotational angle position of the second housing due to the magnetic wraparound from the motor unit to the rotation detector, and to detect the rotational state of the motor unit with high accuracy. be able to.

  Further, according to a seventh aspect of the present invention, in the direct drive motor manufacturing method according to the first aspect, the direct drive motor is a single incremental type in which the rotation detector detects relative displacement of the rotor with respect to the stator. It may be a resolver. According to this configuration, the axial height dimension of the direct drive motor can be reduced, and the direct drive motor can be miniaturized in the axial direction.

  Further, according to an eighth aspect of the present invention, in the direct drive motor manufacturing method according to the seventh aspect, the direct drive motor detects a position where the power factor is 0 when power is supplied to the motor portion. And a commutation control unit that controls commutation of the motor unit based on the position where the power factor is 0 and the incremental information output from the resolver. According to this configuration, even in the configuration in which a single resolver is mounted, the rotational state of the direct drive motor can be detected with high accuracy.

  Further, according to a ninth aspect of the present invention, in the direct drive motor manufacturing method according to the first aspect, the direct drive motor may be arranged such that the motor portion, the bearing, and the resolver are aligned in the axial direction of the bearing. . According to this configuration, expansion of the direct drive motor in the radial direction can be suppressed, and the footprint can be reduced.

  Further, according to a tenth aspect of the present invention, in the direct drive motor manufacturing method according to the first aspect, the direct drive motor includes a flange portion in which the second housing extends on one axial end face side of the bearing rotating wheel And a rotary wheel pressing member disposed on the other axial end face side of the rotary wheel. According to this configuration, even if the adhesive strength of the filler filled in the fitting surface between the bearing and the second housing decreases, it is possible to prevent the bearing and the second housing from being detached.

  Further, according to an eleventh aspect of the present invention, in the direct drive motor manufacturing method according to the first aspect, the direct drive motor has an integral structure in which the second housing is formed in a substantially cylindrical shape and has no break in the axial direction. It may be According to this configuration, the bearing can be supported without enlarging the second housing in the axial direction, and the direct drive motor can be miniaturized.

  According to an aspect of the present invention, a method of manufacturing a direct drive motor capable of obtaining high rotational accuracy, and a jig are provided.

FIG. 1 is a cross-sectional view showing the configuration of a direct drive motor according to the present embodiment. FIG. 2 is a block diagram showing a configuration for controlling the rotational angle position of the direct drive motor according to the present embodiment. FIG. 3 is a view for explaining a method of fixing the bearing to the rotor flange of the direct drive motor according to the present embodiment. FIG. 4 is a view showing an example of the shape of the jig according to the present embodiment. FIG. 5 is a view showing an example of a manufacturing procedure of the direct drive motor according to the present embodiment. FIG. 6 is a diagram showing a first step in the method of manufacturing the direct drive motor according to the present embodiment. FIG. 7 is a diagram showing a second step in the method of manufacturing the direct drive motor according to the present embodiment. FIG. 8 is a diagram showing a third step in the method of manufacturing the direct drive motor according to the present embodiment. FIG. 9 is a diagram showing a fourth step in the method of manufacturing a direct drive motor according to the present embodiment. FIG. 10 is a diagram showing a fifth step in the method of manufacturing a direct drive motor according to the present embodiment. FIG. 11 is a schematic configuration diagram of an inspection apparatus using a direct drive motor according to the present embodiment. FIG. 12 is a schematic configuration diagram of a machine tool using the direct drive motor according to the present embodiment.

  A mode (embodiment) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited by the contents described in the following embodiments. Further, the components described below include those which can be easily conceived by those skilled in the art and those which are substantially the same. Furthermore, the components described below can be combined as appropriate.

  FIG. 1 is a cross-sectional view showing the configuration of a direct drive motor 10 according to the present embodiment. A direct drive motor (hereinafter referred to as DD motor) 10 directly transmits the rotational force to the rotating body without interposing a reduction mechanism (for example, a reduction gear, a transmission belt, etc.), and rotates the rotating body in a predetermined direction. be able to.

  The DD motor 10 of the present embodiment is configured as a so-called outer rotor type. As shown in FIG. 1, the DD motor 10 comprises an annular housing inner (first housing) 3 fixed to the base 1 and an annular rotor flange (second housing) 5 disposed outside the housing inner 3. And a motor unit 9 incorporated between the housing inner 3 and the rotor flange 5 to rotate the rotor flange 5 with respect to the housing inner 3 and rotatably supporting the rotor flange 5 on the housing inner 3 And the like.

  The housing inner 3 and the rotor flange 5 are each formed in a substantially cylindrical shape with different diameters, and arranged concentrically with the rotation axis S. The rotor flange 5 has an integral structure without a break in the axial direction (vertical direction in FIG. 1) of the rotation axis S. That is, the rotor flange 5 is formed in a substantially cylindrical shape which is continuous over the entire circumference from the lower end to the upper end in the axial direction of the rotation shaft S, and various kinds of work (not shown) are attached to the upper end It has become. By rotating the rotor flange 5 by the motor unit 9, it is possible to rotate various types of workpieces in a predetermined direction. As described above, the rotor flange 5 functions as an output shaft because it rotates about the rotation axis S by the operation of the motor unit 9. Further, the housing inner 3 is formed in a substantially cylindrical shape which is continuous over the entire circumference from the lower end to the bearing 11 in the axial direction of the rotation shaft S, and the bearing 11 can be held by the inner ring presser (fixed ring presser member) 29. Sandwiching with In the present embodiment, the housing inner 3 and the rotor flange 5 are made of a magnetic material, and the inner ring retainer 29 is made of a nonmagnetic material. The reason will be described later.

  The motor unit 9 is disposed in the lower part of the housing 7 (near the base 1). The motor unit 9 includes a stator (stator) 13 fixed to the outer peripheral surface of the housing inner 3 and a rotor (rotor) 15 fixed to the inner surface of the rotor flange 5 and opposed to the stator 13 . The stator 13 includes a plurality of motor cores 17 arranged concentrically at predetermined intervals (for example, at regular intervals) along a circumferential direction (rotational direction of the rotor flange 5), and the wire is wound around each motor core 17 in multiples. A stator coil 19 which is rotated is fixed. A wire for supplying power from the control unit 20 (FIG. 2) is connected to the stator 13, and power is supplied to the stator coil 19 through the wire. The rotor 15 is constituted by a plurality of permanent magnets concentrically arranged at predetermined intervals (for example, equally spaced) along the circumferential direction (rotational direction of the rotor flange 5). When the stator coil 19 is energized through the control unit 20, a rotational force is applied to the rotor flange 5 according to Fleming's left-hand rule, and the rotor flange 5 rotates in a predetermined direction. In the DD motor 10 according to the present embodiment, the rotor flange 5 is inlay-fitted in the inlay holes 200a provided in the rotating body 200 such as a conveying device, an inspection device, and a machine tool. Rotate. Hereinafter, the axial direction end of the rotor flange 5 on the side to which the rotating body 200 is attached is defined as the output shaft side end.

  The bearing 11 is disposed at a position farther from the base 1 in the axial direction than the motor unit 9. The bearing 11 includes an inner ring (fixed ring) 21 and an outer ring (rotating ring) 23 disposed so as to be relatively rotatably opposed, and a plurality of rolling elements 25 rollably provided between the inner ring 21 and the outer ring 23 Prepare. It is preferable that one bearing 11 be capable of applying both an axial load and a moment load. For example, a four-point contact ball bearing, a three-point contact ball bearing, a deep groove ball bearing, or a cross roller bearing Etc. can be adopted. When the cross roller bearing is adopted, it is desirable that the general inner ring or the outer ring does not have a divided structure, and the inner ring and the outer ring have an integral structure. The inner ring 21 is held between the housing inner 3 and the inner ring 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 detects the rotational state (for example, rotational speed, rotational direction, rotational angle, etc.) of the motor unit 9 above the bearing 11 (that is, at a position farther from the base 1 in the axial direction than the bearing 11). A resolver (rotation detector) 27 is provided for this purpose. As a result, various works attached to the rotor flange 5 can be accurately rotated by a predetermined angle, and can be positioned at the target position with high accuracy. Further, the resolver 27 is isolated from the outside and protected by a disk-shaped cover 31 provided on the upper portion of the inner ring retainer 29 connected to the housing inner 3.

  In this embodiment, the DD motor 10 has a configuration in which the motor unit 9, the bearing 11, and the resolver 27 are arranged in tandem in the housing 7 so as to be aligned in the axial direction (vertical direction in FIG. 1) of the rotating shaft S. Thereby, in the DD motor 10, the increase in the radial direction centering on the rotation axis S is suppressed, so that the installation area (so-called footprint) of the housing 7 can be reduced. On the other hand, in recent years, there has been a demand for a DD motor in which not only the installation area of the housing but also the height dimension in the axial direction is reduced.

  In the present embodiment, only a single resolver 27 is disposed in the housing 7. The resolver 27 is an incremental resolver that detects the relative displacement of the rotor 15 with respect to the stator 13. The resolver 27 is disposed to face the inner side of the annular resolver rotor 33 and the resolver rotor 33, has an annular shape centered on the rotation axis S, and detects a change in reluctance between the resolver rotor 33 and the resolver rotor 33. And the resolver stator 35. As described above, by configuring only the single resolver 27 in the housing 7, the DD motor 10 can be configured more than the configuration in which two types of resolvers, the absolute resolver and the incremental resolver, are axially arranged in tandem. The axial height dimension can be reduced.

  The resolver rotor 33 is directly attached to and integrated with the resolver rotor fixing portion 5a formed on the inner peripheral surface of the rotor flange 5 by a bolt 33a without any other member. Further, the resolver stator 35 is directly attached to and integrated with the resolver stator fixing portion 29a formed on the outer peripheral surface of the inner ring retainer 29 by the bolt 35a without any other member.

  The reluctance changes with the position of the resolver rotor 33 by the said structure. Thereby, the fundamental wave component of the reluctance change becomes one cycle per one rotation of the rotor flange 5. The resolver 27 outputs a resolver signal (incremental information) that changes in accordance with the rotational angle position 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 according to the present embodiment. The DD motor 10 is connected to a control unit 20 that controls the operation of the DD motor 10. The control unit 20 detects a position where the power factor is 0 when the power to the motor unit 9 is turned on, and the motor unit 9 based on the position where the power factor is 0 and the resolver signal. And a commutation control unit 43 that controls the commutation of the

  In the present embodiment, the power factor detection unit 41 detects the position of the resolver rotor 33 where the power factor is 0 when the power to the motor unit 9 (the stator coil 19) is turned on. Set as. Then, the reference position is output to the commutation control unit 43. The commutation control unit 43 acquires a resolver signal detected by the resolver 27 and controls commutation timing of the motor current flowing through the motor unit 9 based on the change of the resolver signal and the reference position. This eliminates the need for an absolute resolver when detecting the commutation timing of the motor current, and therefore, there is no need to mount two types of rotation detectors, an absolute resolver and an incremental resolver. Therefore, a single resolver configuration can be provided, and the axial height of the DD motor 10 can be suppressed.

  Next, the support structure of the outer ring (rotating ring) 23 of the bearing 11 will be described. An outer ring fixing portion 50 having a width corresponding to the axial height of the bearing 11 is formed over the entire circumference on the inner peripheral surface of the rotor flange 5, and on the resolver 27 side of the outer ring fixing portion 50, all Over the circumference, a collar portion 51 is formed, which has a diameter smaller than the outer diameter of the outer ring (rotational ring) 23 of the bearing 11 and protrudes inward. Further, on the motor portion 9 side of the outer ring fixing portion 50, a groove portion 52 having a diameter larger than the outer diameter of the outer ring (rotational ring) 23 of the bearing 11 is formed.

  The flange portion 51 extends on the axial direction one end surface (end surface on the resolver 27 side) 23 a side of the outer ring (rotational ring) 23. The inner peripheral surface 51 b of the collar portion 51 is positioned outside the inner peripheral surface of the outer ring (rotational ring) 23 and is positioned inner than the chamfered portion of the outer ring (rotational ring) 23. Preferably, it is formed. According to this, the outer ring (rotational ring) 23 of the bearing 11 can be reliably supported by the flange portion 51.

  In addition, an outer ring presser (a rotating ring presser member) 53 having a spring force that tries to expand in the outer diameter direction is attached to the groove 52, and the outer ring presser 53 is the other axial end face of the outer ring (a rotating ring) 23 It extends to the (motor part 9 side end face) 23 b side. The outer diameter of the groove 52 is slightly larger than the outermost diameter of the outer ring (rotational ring) 23 of the bearing 11 so that the outer ring retainer 53 will not come off even when the allowable load of the bearing 11 itself is applied. As the outer ring retainer 53, for example, a C-shaped retaining ring may be used, or a spring ring may be used.

  In addition, a filler (for example, a molding agent, an adhesive) is filled in a gap between the outer ring (rotating ring) 23 of the bearing 11 and the outer ring fixing portion 50 formed on the rotor flange 5 and the filler is solidified. By doing this, the bearing 11 and the rotor flange 5 are fixed.

  As described above, the outer ring (rotating ring) 23 of the bearing 11 is axially held by the collar 51 and the outer ring presser 53 provided on the upper and lower (both ends) of the outer ring fixing portion 50 in the axial direction. The filler filled in the gap between the fixing portion 50 is solidified and fixed.

  Next, the support structure of the inner ring (fixed ring) 21 of the bearing 11 will be described. After the rotor flange 5 and the outer ring (rotational ring) 23 of the bearing 11 are fixed, the inner ring (fixed ring) 21 of the bearing 11 is held between the housing inner 3 and the inner ring presser 29 and fastened with a plurality of bolts 35b. Thus, the inner ring (fixed ring) 21 of the bearing 11 is axially fixed and supported. In the present embodiment, the bolt 35 b for inserting and fixing the housing inner 3 and the inner ring presser 29 is a component different from the bolt 35 a for fixing the resolver stator 35 to the inner ring presser 29.

  The outer diameter of the inner ring retainer 29 is larger than the inner diameter of the inner ring (fixed ring) 21 of the bearing 11. The outer edge portion of the inner ring presser 29 extends to the axial direction one end surface (end surface on the resolver 27 side) 21 a side of the inner ring (fixed ring) 21. The inner ring presser 29 is formed such that the outer edge portion of the inner ring presser 29 is positioned inward of the outer circumferential surface of the inner ring (fixed ring) 21 and is positioned outward of the chamfer of the inner ring (fixed ring) 21. It is preferable to do. According to this, the inner ring (fixed ring) 21 of the bearing 11 can be reliably supported by the inner ring presser 29.

  Further, an inner ring fixing portion 60 having a width corresponding to the axial height of the bearing 11 from the upper end portion is formed over the entire circumference on the outer peripheral surface of the housing inner 3. The motor portion 9 of the inner ring fixing portion 60 On the side, over the entire circumference, a flange portion 61 is formed which protrudes from the inner diameter of the inner ring (fixed ring) 21 of the bearing 11 and protrudes outward.

  The collar portion 61 extends on the other end surface (in the motor portion 9 side end surface) 21 b side of the inner ring (fixed ring) 21 in the axial direction. The outer peripheral surface 61 b of the collar portion 61 is positioned inward of the outer peripheral surface of the inner ring (fixed ring) 21 and is positioned outer than the chamfered portion of the inner ring (fixed ring) 21. It is preferable to form. According to this, the collar 61 can support the inner ring (fixed ring) 21 of the bearing 11 with certainty.

  In addition, a filler (for example, a molding agent, an adhesive) is filled in a gap between the inner ring (fixed ring) 21 of the bearing 11 and the inner ring fixing portion 60 formed in the housing inner 3, and the filler is solidified As a result, the bearing 11 and the housing inner 3 are fixed.

  As described above, the inner ring (fixed ring) 21 of the bearing 11 is axially held by the inner ring presser 29 and the flange portion 61 provided at the lower end of the inner ring fixing portion 60 in the axial direction. The filler filled in the gap between the two is solidified and fixed.

  By the way, the DD motor 10 according to the present embodiment is a bearing 11 in order to rotate the rotor flange 5 as the output shaft with high rotational accuracy with respect to the non-rotating components including the housing inner 3 and the inner ring presser 29. It is necessary to increase the accuracy of the radial width of the structure formed by the above and the rotor flange 5. Further, in order to detect the rotation of the rotor flange 5 with high accuracy with respect to the housing inner 3 and the resolver stator 35, it is necessary to increase the accuracy of the radial width of the resolver rotor 33 attached to the rotor flange 5.

  Next, a method of fixing the bearing 11 to the rotor flange 5 and a method of fixing the resolver rotor 33 to the rotor flange 5 will be described with reference to FIG. FIG. 3 is a view for explaining a method of fixing the bearing 11 to the rotor flange 5 of the DD motor 10 according to the present embodiment.

  High dimensional accuracy is required for the components that make up the DD motor 10, such as the bearing 11, the rotor flange 5, the housing inner 3, the inner ring presser 29, etc. However, the dimensional tolerance of each component is allowed when combining the components. Margin is needed to Due to this margin, when the parts are combined, a gap is generated in the fitting surface between the parts. In particular, a fitting surface between the bearing 11 and the rotor flange 5, that is, a gap (for example, 20 μm to 200 μm) between the outer ring (rotation ring) 23 of the bearing 11 and the outer ring fixing portion 50 formed on the rotor flange 5. When the gap is dispersed in the circumferential direction, the rotation accuracy of the DD motor 10 is affected. For this reason, in the present embodiment, as shown in FIG. 3, between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 using the jig 300 The radial width A and the radial width W1 between the outer peripheral surface of the output shaft side end portion of the rotor flange 5 and the inner peripheral surface of the resolver rotor 33 are defined.

  Specifically, the outer ring (rotational ring) 23 of the bearing 11 is fitted into the outer ring fixing portion 50 formed on the rotor flange 5, and the outer ring fixing portion 50 formed on the outer ring (rotation ring) 23 of the bearing 11 and the rotor flange 5 Fill the space with the filler (for example, molding agent, adhesive), attach the outer ring retainer 53, and rotate the outer ring (rotation wheel) 23 of the bearing 11 by the outer ring retainer 53 and the flange 51 of the rotor flange 5 Hold in the direction. Then, the resolver rotor 33 is temporarily fixed by a bolt 33 a to the resolver rotor fixing portion 5 a formed on the rotor flange 5. In that state, the radial width A between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 using the jig 300 and the output of the rotor flange 5 The radial width W1 between the outer peripheral surface of the shaft end and the inner peripheral surface of the resolver rotor 33 is defined, and the gap between the outer ring 23 of the bearing 11 and the outer ring fixing portion 50 formed on the rotor flange 5 is filled. The filler is fixed until it solidifies, and the resolver rotor 33 is fixed with a bolt 33a.

  FIG. 4 is a view showing an example of the shape of the jig 300 according to the present embodiment. In the example shown in FIG. 4, the jig 300 has an annular groove 301 in which the rotor flange 5 is fitted. The groove portion 301 has an outer peripheral side wall surface 302 with a radius R 1 centered on the rotation axis S and an inner peripheral side wall surface 304 with a radius R 2 smaller than the radius R 1. The bottom portion 303 is configured to be in contact with the axial end surface of the output shaft side end portion of the rotor flange 5 in contact with the outer peripheral surface of the end portion. Further, in the groove portion 301, the radial distance between the outer peripheral side wall surface 302 and the inner peripheral side wall surface 304 of the groove portion 301, that is, the radial width W1 of the groove portion 301 is the radial width W2 of the output shaft side end of the rotor flange 5. It is comprised so that it may become larger than (W1> W2).

  The jig 300 is configured such that a cylindrical convex portion 305 into which the inner ring (fixed ring) 21 of the bearing 11 is fitted protrudes to the motor portion 9 side. The convex portion 305 has an outer peripheral wall surface 306 with a radius R3 centered on the rotation axis S, and the height H1 from the bottom portion 303 of the groove portion 301 to the output shaft side end is an output shaft side end of the rotor flange 5 The outer wall surface 306 is in contact with the inner circumferential surface of the inner ring (fixed ring) 21 of the bearing 11 so as to be larger than the height H2 from the axial end face to the output shaft side end face of the bearing 11 (H1> H2) Is configured as. However, when the difference between the height H1 of the convex portion 305 and the height H2 from the axial end face of the output shaft side end of the rotor flange 5 to the end face of the output shaft side of the bearing 11 is small, the outer peripheral wall surface of the convex portion 305 The area in which the bearing 306 and the inner circumferential surface of the inner ring (fixed ring) 21 of the bearing 11 are in contact becomes smaller, and there is a possibility that the axial center of the bearing 11 is inclined and fixed relative to the rotation axis S. For this reason, the height H1 of the convex portion 305 is configured to be equal to or greater than the height H3 from the axial direction end face of the output shaft side end of the rotor flange 5 to the end face of the bearing 11 on the motor portion 9 side. Is more preferable (H1 ≧ H3).

  Further, the height H4 of the inner peripheral side wall surface 304 of the groove portion 301 of the jig 300 is not less than the height H5 from the axial direction end face of the output shaft side end of the rotor flange 5 to the resolver rotor fixing portion 5a It is configured to have a height H2 less than the height H2 from the end face in the axial direction of the output shaft side end of the motor 5 to the end surface of the output shaft side of the bearing 11 (H5 ≦ H4 <H2). It is comprised so that an inner peripheral surface may be touched.

  By using the jig 300 configured as described above, (radius R1 of outer peripheral side wall surface 302 of groove portion 301)-(radius R3 of outer peripheral wall surface 306 of convex portion 305) = (output shaft side end of rotor flange 5) A radial width A) between the outer peripheral surface of the portion and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 can be defined.

  Furthermore, by using the jig 300 configured as described above, (radius R1 of outer peripheral side wall surface 302 of groove portion 301)-(radius R2 of inner peripheral side wall surface 304 of groove portion 301) = (output of rotor flange 5) The radial width W1 between the outer peripheral surface of the shaft side end and the inner peripheral surface of the resolver rotor 33 can be defined.

  The jig 300 may not have a shape extending all around the rotation axis S of the DD motor 10 as shown in FIGS. 3 and 4, for example, at least three directions extending radially from the rotation axis S For example, the radial width A between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 in three directions shifted by 120 ° in the circumferential direction) The radial width W1 between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the resolver rotor 33 may be defined. Further, the jig 300 may have a hollow structure, and the radial width A between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 and Any material may be used as long as it can define the radial width W1 between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the resolver rotor 33.

  Then, after the filler filled in the gap between the outer ring (rotating ring) 23 of the bearing 11 and the outer ring fixing portion 50 formed in the rotor flange 5 is solidified, the bearing 11 and the rotor flange 5 are fixed. , Remove the jig 300.

  In this way, it is possible to suppress the variation in the radial width between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 10 rotation accuracy can be improved. In addition, since the variation in the radial width between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the resolver rotor 33 can also be suppressed, the accuracy of detecting the rotation of the DD motor 10 can be increased. it can.

  Here, in the DD motor 10 according to the present embodiment, the housing inner 3 and the inner ring presser 29 are defined as a structure constituting the fixed portion of the DD motor 10, and the structure in which the rotor flange 5 constitutes the rotating portion of the DD motor 10 Define as a body.

  For example, in a structure in which the structure constituting the rotating portion is configured by the lower rotor flange member and the upper outer ring pressing member, and the outer ring pressing member and the rotor flange member sandwich the outer ring (rotation ring) of the bearing, The outer ring pressing member and the rotor flange member need to be fixed by inserting a plurality of bolts or the like. In such a configuration, the bearing is fixed by holding the outer ring (rotational ring) of the bearing between the outer ring pressing member and the rotor flange member and fastening the bolt. In such a configuration, the components that constitute the DD motor The number of points increases, and the margin for allowing the dimensional tolerance of each part may reduce the dimensional accuracy when the DD motor is assembled.

  In the present embodiment, as described above, the rotor flange 5 which is a structural body that constitutes the rotating portion of the DD motor 10 has an integral structure without a break in the axial direction (vertical direction in FIG. 1) of the rotation axis S. In the axial direction of the rotation axis S, it is formed in a substantially cylindrical shape which is continuous over the entire circumference from the lower end to the upper end. For this reason, it is possible to suppress a decrease in dimensional accuracy when the DD motor 10 is assembled, and the diameter between the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 By suppressing the variation of the directional width, the rotational fluctuation of the gap between the stator (stator) 13 and the rotor (rotor) 15, that is, the motor gap can be suppressed, and thus, the cogging torque can be suppressed. . Further, since the number of parts for forming the DD motor 10 is reduced, the cost and manufacturing cost of the DD motor 10 can be reduced. Furthermore, since the variation in the radial direction width between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the resolver rotor 33 can also be suppressed, the accuracy of detecting the rotation of the DD motor 10 can be increased. it can.

  Further, in the present embodiment, as described above, only the single resolver 27 is disposed in the housing 7, so that the axial height dimension of the DD motor 10 can be reduced. The axial height dimension of the rotor flange 5 can be reduced. As a result, the amount of material used for the rotor flange 5 can be reduced, and the cost of the DD motor 10 can be reduced.

  Next, a method of manufacturing the above-described DD motor 10 according to the present embodiment will be described with reference to FIGS. 5 to 10. FIG. 5 is a view showing an example of a manufacturing procedure of the DD motor 10 according to the present embodiment. FIG. 6 is a diagram showing a first step in the method of manufacturing the DD motor 10 according to the present embodiment. FIG. 7 is a view showing a second step in the method of manufacturing the DD motor 10 according to the present embodiment. FIG. 8 is a diagram showing a third step in the method of manufacturing the DD motor 10 according to the present embodiment. FIG. 9 is a diagram showing a fourth step in the method of manufacturing the DD motor 10 according to the present embodiment. FIG. 10 is a diagram showing a fifth step in the method of manufacturing the DD motor 10 according to the present embodiment.

  In the first step, as shown in FIG. 6, a plurality of permanent magnets constituting the rotor 15 are attached and fixed at predetermined positions in the axial direction of the inner peripheral surface of the rotor flange 5. In this embodiment, the permanent magnets are concentrically arranged and fixed at predetermined intervals (for example, equal intervals) in the circumferential direction (rotational direction of the rotor flange 5) (step ST101 in FIG. 5). The fixing means of the permanent magnet to the rotor flange 5 may be, for example, a known fixing means such as an adhesive, and the present invention is not limited by the fixing means. In the present embodiment, an example is shown in which the permanent magnet is attached and fixed to the inner peripheral surface of the rotor flange 5, but the permanent magnet is embedded in the rotor flange 5 and arranged concentrically in the circumferential direction Also good. Further, the resolver rotor 33 is temporarily fixed to the resolver rotor fixing portion 5a formed on the inner peripheral surface of the rotor flange 5 by a bolt 33a so that the position adjustment can be performed.

  In the second step, as shown in FIG. 7, the output axial direction end of the rotor flange 5 to which the rotor 15 is fixed in the first step is axially fitted in the groove portion 301 of the jig 300 and temporarily fixed to the rotor flange 5. The inner circumferential surface of the resolver rotor 33 is fitted into the inner circumferential side wall surface 304 of the groove portion 301 of the jig 300, and the bearing 11 is fitted into the convex portion 305 of the jig 300 in the axial direction. Then, a filler (for example, a molding agent, an adhesive) is filled in the gap formed between the outer ring (rotational ring) 23 of the bearing 11 and the outer ring fixing portion 50 of the rotor flange 5, and the outer ring presser 53 is a rotor flange. The outer ring (rotational ring) 23 of the bearing 11 is axially held between the outer ring presser 53 and the flange portion 51 of the rotor flange 5 by being attached to the groove 52 formed in 5 (step ST102 in FIG. 5). Then, the bolt 33a of the resolver rotor 33 is fully tightened and fixed. To that end, the jig 300 is provided with a plurality of through holes 307 through which a tool for turning the bolt 33a passes.

  In the above description, the output axial direction end of the rotor flange 5 is inserted into the groove 301 of the jig 300, and the bearing 11 is inserted into the projection 305 of the jig 300. 11 may be fitted into the groove 301 of the jig 300, and the bearing 11 may be fitted into the projection 305 of the jig 300. Also, although an example in which the filler is filled in the gap formed between the outer ring (rotational ring) 23 of the bearing 11 and the outer ring fixing portion 50 of the rotor flange 5 has been described, the outer ring (rotational ring) 23 of the bearing 11 is described in advance. Alternatively, an adhesive may be applied to the outer ring fixing portion 50 of the rotor flange 5 and the rotor flange 5 and the bearing 11 may be combined. However, in this case, when the rotor flange 5 and the bearing 11 are combined, the adhesive applied in advance is scraped at any of the edges, and the gap between the rotor flange 5 and the bearing 11 is sufficiently adhesive. It is thought that it is not satisfied. For this reason, in a state where the rotor flange 5 and the bearing 11 are incorporated into the jig 300, the filler is formed in the gap formed between the outer ring (rotating ring) 23 of the bearing 11 and the outer ring fixing portion 50 of the rotor flange 5. Is preferred.

In the above description, an example in which the jig 300 is fitted in a state in which the resolver rotor 33 is temporarily fixed to the rotor flange is described. However, in the state in which the resolver rotor 33 is fitted in the inner peripheral side wall surface 304 of the groove portion 301, After the tool 300 is fitted into the rotor flange 5, the resolver rotor 33 may be fixed to the rotor flange 5. However, in this case, in order to facilitate insertion of the fixing bolt 33a, the through hole 307 of the jig 300 is preferably large enough to allow the bolt 33a to pass therethrough.
Thereafter, the filler filled in the gap between the bearing 11 and the rotor flange 5 is solidified to fix the bearing 11 and the rotor flange 5, and then the jig 300 is removed. The timing for removing the jig 300 may be any time before the fourth process described later.

  In the third step, as shown in FIG. 8, a plurality of motor cores 17 constituting the stator 13 are attached and fixed to predetermined positions in the axial direction of the outer peripheral surface of the housing inner 3. In the present embodiment, each motor core 17 is concentrically arranged and fixed at predetermined intervals (for example, equal intervals) in the circumferential direction (rotational direction of the rotor flange 5) (step ST103 in FIG. 5). To each motor core 17, a stator coil 19 formed by multiple winding of a wire strand is fixed. The fixing means of the motor core 17 to the housing inner 3 and the fixing means of the stator coil 19 to the motor core 17 may be, for example, known fixing means such as an adhesive, and the present invention is limited by these fixing means. Absent.

  In the fourth step, as shown in FIG. 9, the inner ring fixing portion 60 formed on the outer peripheral surface of the housing inner 3 is inserted into the inner ring (fixed ring) 21 of the bearing 11 (step ST104 in FIG. 5). Then, a filler (for example, a molding agent, an adhesive) is filled in the gap between the inner ring (fixed ring) 21 of the bearing 11 and the inner ring fixing portion 60 formed in the housing inner 3.

  In the fifth step, as shown in FIG. 10, the inner ring (fixed ring) 21 of the bearing 11 is held between the housing inner 3 and the inner ring presser 29 and fastened by a plurality of bolts 35 b. The (fixed wheel) 21 is axially fixed and supported (step ST105 in FIG. 5). Thereafter, the filler filled in the gap between the bearing 11 and the housing inner 3 is solidified to fix the bearing 11 and the housing inner 3.

  In the above description, although the example of filling the filler in the gap between the bearing 11 and the housing inner 3 has been described, the fixing means of the bearing 11 and the housing inner 3 is not limited to this, and other known fixing means may be used. You may use. In addition, when sufficient fixed strength can be obtained by holding the inner ring (fixed ring) 21 of the bearing 11 between the housing inner 3 and the inner ring presser 29 and fastening them with a plurality of bolts 35 b The fixing means may not be used in combination.

  Here, in the present embodiment, the variation in the radial direction width between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 is suppressed in the second step Therefore, even if the gap between the inner ring (fixed ring) 21 of the bearing 11 and the inner ring fixing portion 60 formed in the housing inner 3 varies, theoretically, the rotational accuracy of the DD motor 10 It can be said that it does not affect.

  Then, the resolver stator 35 is integrally attached to the resolver stator fixing portion 29a formed on the outer peripheral surface of the inner ring retainer 29 by bolts 35a, and the cover 31, base 1 and the like are attached to complete the DD motor 10 (see FIG. 1). The attachment timing of the resolver stator 35 is not limited to after the fifth step. For example, before the fifth step, the resolver stator 35 may be attached to the inner ring retainer 29 in advance. The present invention is not limited by the attachment procedure of the resolver stator 35.

  Generally, the structure (a rotor flange, a housing inner, a bearing, an inner ring presser, etc.) of the DD motor is made of a magnetic material. On the other hand, since the resolver 27 detects the rotation angle position of the rotor flange 5 by performing magnetic sensing as described above, the rotation angle of the rotor flange 5 is generated by the magnetic flux from the motor unit 9. It may adversely affect the accuracy of position detection.

  Here, for example, in the case where the structure constituting the fixing portion is constituted by one housing inner member, the influence of the magnetic wraparound from the motor portion is avoided via the housing inner member constituted by the magnetic material. Therefore, it is necessary to attach the resolver stator to the housing inner member via an attachment member or the like made of another nonmagnetic material.

  In the present embodiment, as described above, the fixing portion is constituted by the housing inner 3 and the inner ring presser 29 made of a nonmagnetic material holding the bearing 11 together with the housing inner 3, and further, the housing inner 3 and the inner ring A bolt 35 b for inserting and fixing the presser 29 is a separate component different from the bolt 35 a for fixing the resolver stator 35 to the inner ring presser 29. That is, the structure is such that the housing inner 3 made of a magnetic material and the resolver stator 35 do not conduct.

  Thereby, the influence on the detection accuracy of the rotation angle position of the rotor flange 5 due to the magnetic wraparound from the motor unit 9 can be suppressed, and the detection accuracy of the rotation angle position of the rotor flange 5 can be enhanced. Moreover, since it is not necessary to interpose the resolver stator 35 and the inner ring presser 29, it is possible to suppress the variation in the mounting position of the resolver stator 35, and the detection accuracy of the rotational angle position of the rotor flange 5 can be further improved. It can be enhanced. Further, in addition to the fact that the rotor flange 5 has a one-piece structure, the number of parts constituting the DD motor 10 can be reduced, so the cost and production cost of the DD motor 10 can be further reduced.

FIG. 11 is a schematic configuration diagram of an inspection apparatus 100 using the DD motor 10 according to the present embodiment. A disk- shaped table 80 is connected to the upper end of the rotor flange 5 of the DD motor 10, and the table 80 is rotated by the operation of the rotor flange 5. An inspection object (conveyed object) 81 is disposed at equal intervals on the edge of the table 80. In this configuration, since the inspection object 81 is rotated and transported together with the table 80 by the operation of the DD motor 10, the inspection device 81 includes the DD motor 10 and the table 80 to configure a transport device. Further, above the edge of the table 80, a camera (inspection unit) 82 for individually observing the inspection object 81 rotated (conveyed) with the table 80 is disposed. Then, by photographing with the camera 82, the inspection object 81 can be inspected based on the photographed image. According to this configuration, the positional accuracy when moving the inspection object 81 below the camera 82 can be enhanced, and the miniaturization of the inspection apparatus 100 can be realized.

FIG. 12 is a schematic configuration diagram of a machine tool 101 using the DD motor 10 according to the present embodiment. A disk- shaped table 80 is connected to the upper end of the rotor flange 5 of the DD motor 10, and the table 80 is rotated by the operation of the rotor flange 5. At the edge of the table 80, the processing target (target) 91 is disposed at equal intervals. In addition, at the edge of the table 80, for example, a loading robot (processing unit) for processing to load new parts 92 and 93 on the processing object 91 is disposed, and the processing object is arranged according to the rotation of the table 80. 91 can be processed. According to this configuration, it is possible to increase the position accuracy when moving the processing target object 91 to the position of the loading robot and to realize the miniaturization of the machine tool 101.

  As described above, according to the present embodiment, the DD motor 10 includes the motor unit 9 having the stator 13 and the rotor 15 rotatable with respect to the stator 13, and the housing inner (on which the stator 13 is fixed) A rotor flange (second housing) 5 disposed on the outside of the first housing 3) and the housing inner (first housing) 3 to which the rotor 15 is fixed, and a rotor flange relative to the housing inner (first housing) 3 (Second housing) Bearing 11 rotatably supporting 5 and inner ring presser (fixed ring presser member) 29 axially holding inner ring (fixed ring) 21 of bearing 11 together with housing inner (first housing) 3 And a resolver 27 for detecting the rotational state of the motor unit 9. When manufacturing the DD motor 10, the outer ring (turning ring) 23 of the bearing 11 is fitted in the outer ring fixing portion 50 formed on the rotor flange (second housing) 5, and the outer ring (turning ring) 23 of the bearing 11 and the rotor A filler (for example, a molding agent, an adhesive) is filled in a gap between the flange 5 and the outer ring fixing portion 50, and the outer ring retainer 53 is attached. The outer peripheral surface of the output shaft side end portion of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 are held using the jig 300 in a state of being axially held by the flange portion 51 of the rotor flange 5 The radial width A between the two is defined, and the filler filled in the gap between the outer ring 23 of the bearing 11 and the outer ring fixing portion 50 formed on the rotor flange 5 is fixed until it solidifies. Thereby, the variation in the radial direction width between the outer peripheral surface of the output shaft side end of the rotor flange 5 and the inner peripheral surface of the inner ring (fixed ring) 21 of the bearing 11 can be suppressed, and the rotation of the DD motor 10 Accuracy can be improved.

  Further, according to the present embodiment, the resolver 27 includes the resolver rotor 33 and the resolver stator 35 disposed opposite to the resolver rotor 33, and the output shaft side end portion of the rotor flange 5 using the jig 300. The radial width W1 between the outer peripheral surface of the rotor and the inner peripheral surface of the resolver rotor 33 is defined, the resolver rotor 33 is directly fixed to the rotor flange (second housing) 5, and the resolver stator 35 is pressed against the inner ring (fixed ring It is configured to be fixed directly to the member 29). Therefore, it is possible to suppress the influence on the detection accuracy of the rotational angle position of the rotor flange (second housing) 5 due to the positional dispersion of the resolver rotor 33 and the resolver stator 35, and the rotational state of the motor unit 9 is detected with high accuracy. can do. In addition, it is possible to suppress an increase in the number of parts constituting the DD motor 10, and to reduce the cost and production cost of the DD motor 10.

  Further, according to the present embodiment, by forming the inner ring presser (fixed ring presser member) 29 with a nonmagnetic material, the rotor flange (second housing) 5 due to the magnetic wrap around the resolver stator 35 from the motor unit 9 The influence of the rotation angle position on the detection accuracy can be suppressed, and the rotation state of the motor unit 9 can be detected with higher accuracy.

  Also, according to the present embodiment, the resolver 27 is a single incremental type resolver that detects the relative displacement of the rotor 15 with respect to the stator 13. Therefore, the height dimension of the housing 7 in the axial direction can be reduced, and downsizing of the DD motor 10 in the axial direction can be achieved.

  Further, according to the present embodiment, the power factor detection unit 41 detects a position where the power factor is 0 when the power to the motor unit 9 is turned on, the resolver signal output from the position where the power factor is 0 and the resolver 27 And a commutation control unit 43 that controls commutation of the motor unit 9. This configuration eliminates the need for an absolute resolver when detecting the commutation timing of the motor current. For this reason, it is not necessary to mount two types of rotation detectors, an absolute resolver and an incremental resolver, and a single resolver can be configured. Therefore, the rotational state of the motor unit 9 can be detected with high accuracy, and the height of the DD motor 10 in the axial direction can be suppressed.

  Further, according to the present embodiment, the motor unit 9, the bearing 11, and the resolver 27 are arranged side by side in the axial direction of the bearing 11. Thereby, the enlargement in the radial direction centering on the rotating shaft S is suppressed, and the installation area (so-called footprint) of the DD motor 10 can be reduced.

  Further, according to the present embodiment, the rotor flange (second housing) 5 includes the flange 51 extending to the axial direction one end surface 23 a side of the outer ring (rotating ring) 23 of the bearing 11 and the outer ring (rotating ring) 23. And an outer ring presser (rotary ring presser member) 53 disposed on the side of the other axial end face 23b. Even if the adhesive force of the filler filled in the gap between the bearing 11 and the outer ring fixing portion 50 formed on the rotor flange (second housing) 5 is reduced by this configuration, the rotor flange (second The housing 5 can be prevented from coming off.

  Further, according to the present embodiment, the rotor flange (second housing) 5 is formed in a substantially cylindrical shape and has an integral structure without a break in the axial direction. By this structure, the bearing 11 can be supported while suppressing the rotor flange (second housing) 5 from being enlarged in the axial direction, and the DD motor 10 can be miniaturized.

  As mentioned above, although embodiment was described, embodiment is not limited by the content mentioned above. In the present embodiment, although the configuration including the single bearing 11 is described, the same applies to a configuration in which a plurality of bearings are used in combination (including the case where a spacer is provided between the bearings). You can get the effect of

3 Housing inner (first housing)
5 Rotor flange (second housing)
7 Housing 9 Motor Section 10 DD Motor 11 Bearing 13 Stator (Stator)
15 Rotor
20 control unit 21 inner ring (fixed ring)
21a One axial end face (one axial end face) of the inner ring (fixed ring)
21b The other axial end face (other axial end face) of the inner ring (fixed ring)
23 Outer ring (turning wheel)
23a One axial end face (one axial end face) of the outer ring (turning ring)
23b Axially other end face (other axial end face) of outer ring (turning ring)
25 Rolling element 27 Resolver (rotation detector)
29 Inner ring presser (fixed ring presser)
33 resolver rotor 35 resolver stator 41 power factor detection unit 43 commutation control unit 51 flange portion (rotor flange)
52 Groove portion 53 Outer ring presser (Rotary ring presser)
60 inner ring fixing part 61 buttocks (housing inner)
80 table 81 inspection object (carried goods)
82 Camera (Inspection Department)
91 Processing target (target)
100 inspection apparatus 101 machine tool 200 to-be-rotated body 200a inlay hole (to-be-rotated body)
300 jig 301 groove part (jig)
302 Outer side wall surface (groove)
303 Bottom (groove)
304 Inner side wall surface (groove)
305 convex part (jig)
306 Outer peripheral wall (convex)
307 Through hole S rotation axis

Claims (8)

A motor unit having a stator and a rotor rotatable relative to the stator, a first housing to which the stator is fixed, and an outer side of the first housing, the rotor being fixed A second housing, a bearing rotatably supporting the second housing with respect to the first housing, a fixed ring pressing member axially holding a fixed ring of the bearing together with the first housing, the motor unit A method of manufacturing a direct drive motor , comprising: a rotation detector for detecting a rotation state of the motor; and the rotation detector including a resolver rotor and a resolver stator disposed opposite to the resolver rotor ,
Arranging and fixing a plurality of permanent magnets constituting the rotor at predetermined positions in the axial direction of the second housing at predetermined intervals in the circumferential direction;
Temporarily fixing the resolver rotor to the second housing in a position-adjustable manner;
Inserting the second housing into a jig;
Inserting a rotary wheel of the bearing into the second housing, and filling a space between the rotary wheel of the bearing and the second housing with a filler ;
Securing the resolver rotor to the second housing;
Arranging and fixing a plurality of motor cores constituting the stator concentrically at predetermined intervals in a circumferential direction at predetermined positions in an axial direction of an outer peripheral surface of the first housing;
Inserting the first housing into a fixed ring of the bearing;
Holding the fixed ring of the bearing between the first housing and the fixed ring pressing member, and fixing the fixed ring of the bearing in the axial direction;
Fixing the resolver stator to the fixed ring pressing member;
I have a,
The jig is
An annular groove into which the second housing is fitted;
A cylindrical convex portion into which the fixed ring of the bearing is fitted;
Including
The annular groove portion is
An outer peripheral side wall surface centered on the rotation axis of the motor unit;
An inner circumferential sidewall surface having a radius smaller than that of the outer circumferential sidewall surface;
Have
The radial width of the annular groove is larger than the radial width of the output shaft side end of the second housing, and the outer peripheral side wall surface of the annular groove is the output shaft side end of the second housing The bottom of the annular groove is in contact with the outer circumferential surface, the bottom of the annular groove is in contact with the axial end face of the output shaft side end of the second housing, and the inner circumferential wall surface of the annular groove is on the inner circumferential surface of the resolver rotor Configured to meet,
The cylindrical convex portion is
It has an outer peripheral wall surface centered on the rotation axis of the motor unit,
The height from the bottom surface of the annular groove to the opposite output shaft side end of the cylindrical convex portion is from the axial end face of the output shaft side end of the second housing to the output shaft side end face of the bearing The outer circumferential wall is configured to be in contact with the inner circumferential surface of the fixed ring of the bearing, which is larger than the height,
The outer peripheral side wall surface of the annular groove abuts on the outer peripheral surface of the output shaft side end of the second housing, and the outer peripheral wall surface of the cylindrical convex portion contacts the inner peripheral surface of the fixed ring of the bearing By contacting, the radial width between the outer peripheral surface of the output shaft side end of the second housing and the inner peripheral surface of the fixed ring of the bearing is defined, and the inner peripheral side wall surface of the annular groove portion A method of manufacturing a direct drive motor, wherein the radial width between the outer peripheral surface of the second housing and the inner peripheral surface of the resolver rotor is defined by contacting the inner peripheral surface of the resolver rotor . A motor unit having a stator and a rotor rotatable relative to the stator, a first housing to which the stator is fixed, and an outer side of the first housing, the rotor being fixed A second housing, a bearing rotatably supporting the second housing with respect to the first housing, a fixed ring pressing member axially holding a fixed ring of the bearing together with the first housing, the motor unit Jig for use in a method of manufacturing a direct drive motor , comprising: a rotation detector for detecting a rotation state of the head, the rotation detector including a resolver rotor and a resolver stator disposed to face the resolver rotor And
An annular groove into which the second housing is fitted;
A cylindrical convex portion into which the fixed ring of the bearing is fitted;
Including
The annular groove portion is
An outer peripheral side wall surface centered on the rotation axis of the motor unit;
An inner circumferential sidewall surface having a radius smaller than that of the outer circumferential sidewall surface;
Have
It said annular greater than the radial width of the output shaft side end portion of the radial width is the second housing groove, said outer peripheral side wall surface of the groove of the annular output shaft side end portion of the second housing contact with the outer peripheral surface, the bottom of the groove of the annular and against the axial end surface of the output shaft side end portion of the second housing, the inner peripheral surface of the inner peripheral side wall surface of the groove of the annular said resolver rotor It is configured to contact the,
The cylindrical convex portion is
It has an outer peripheral wall surface centered on the rotation axis of the motor unit,
Wherein the bottom surface of the groove of the annular from the axial end surface of the height of the counter-output shaft side end portion of the columnar protrusion output shaft side end portion of the second housing to the output shaft side end surface of the bearing The outer circumferential wall is configured to be in contact with the inner circumferential surface of the fixed ring of the bearing, which is larger than the height,
The outer peripheral side wall surface of the annular groove abuts on the outer peripheral surface of the output shaft side end of the second housing, and the outer peripheral wall surface of the cylindrical convex portion contacts the inner peripheral surface of the fixed ring of the bearing By contacting, the radial width between the outer peripheral surface of the output shaft side end of the second housing and the inner peripheral surface of the fixed ring of the bearing is defined , and the inner peripheral side wall surface of the annular groove portion A jig in which a radial direction width between an outer peripheral surface of the second housing and an inner peripheral surface of the resolver rotor is defined by abutting on an inner peripheral surface of the resolver rotor .   The method for manufacturing a direct drive motor according to claim 1, wherein in the direct drive motor, the fixed ring pressing member is made of a nonmagnetic material.   The method for manufacturing a direct drive motor according to claim 1, wherein the direct drive motor is a single incremental resolver in which the rotation detector detects relative displacement of the rotor with respect to the stator. The direct drive motor is
A power factor detection unit that detects a position where a power factor is 0 when power is supplied to the motor unit;
A commutation control unit that controls commutation of the motor unit based on the position where the power factor is 0 and the incremental information output from the resolver;
The method of manufacturing a direct drive motor according to claim 4 , comprising:   The method for manufacturing a direct drive motor according to claim 1, wherein in the direct drive motor, the motor unit, the bearing, and the rotation detector are arranged in the axial direction of the bearing.   The direct drive motor includes a collar portion in which the second housing extends on one axial end face side of the rotating wheel of the bearing, and a rotary wheel pressing member disposed on the other axial end face side of the rotary wheel The method of manufacturing a direct drive motor according to claim 1, comprising:   The method for manufacturing a direct drive motor according to claim 1, wherein the direct drive motor has an integral structure in which the second housing is formed in a substantially cylindrical shape and has no break in the axial direction.

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