JP5764338B2 - Rotating device - Google Patents

Rotating device Download PDF

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Publication number
JP5764338B2
JP5764338B2 JP2011020476A JP2011020476A JP5764338B2 JP 5764338 B2 JP5764338 B2 JP 5764338B2 JP 2011020476 A JP2011020476 A JP 2011020476A JP 2011020476 A JP2011020476 A JP 2011020476A JP 5764338 B2 JP5764338 B2 JP 5764338B2
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Prior art keywords
hole
support member
bearing
bearing support
input shaft
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JP2012157954A (en
Inventor
俊幸 山岸
俊幸 山岸
信和 宮内
信和 宮内
寿尚 加藤
寿尚 加藤
貴司 大石
貴司 大石
高橋　俊樹
俊樹 高橋
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Sankyo Manufacturing Co Ltd
Yaskawa Electric Corp
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Sankyo Manufacturing Co Ltd
Yaskawa Electric Corp
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Priority to JP2011020476A priority Critical patent/JP5764338B2/en
Priority to CN201210021818.2A priority patent/CN102629798B/en
Priority to TW101103374A priority patent/TWI566881B/en
Priority to KR1020120010796A priority patent/KR101905901B1/en
Publication of JP2012157954A publication Critical patent/JP2012157954A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/02—Driving main working members
    • B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
    • B23Q5/043—Accessories for spindle drives
    • B23Q5/048—Speed-changing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
    • B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
    • B23Q5/46—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously with variable speed ratio

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Machine Tool Positioning Apparatuses (AREA)
  • Machine Tool Units (AREA)
  • Motor Or Generator Frames (AREA)

Description

本発明は、回転テーブル装置等の駆動源に用いられる回転装置に関する。   The present invention relates to a rotating device used for a driving source such as a rotating table device.

従来、例えば工作機械等の分野において、ワークの載置台として採用される回転テーブル装置の駆動源として、回転電機と減速機を備えた回転装置が用いられている（例えば、特許文献１参照）。この回転装置では、回転電機の回転子が、減速機の入力軸に対して取付フランジを介してボルトで連結されている。また、減速機の入力軸にはローラギヤカムが設けられており、出力軸の外周に設けられたカムフォロアがローラギヤカムに順次係合することにより、入力軸の回転が減速されて出力軸に伝達される。入力軸と出力軸は、各軸の軸方向が略直角且つねじれの位置関係となるようにハウジング内に回転自在に配設されている。   2. Description of the Related Art Conventionally, in the field of machine tools, for example, a rotating device including a rotating electrical machine and a speed reducer has been used as a drive source for a rotary table device that is employed as a work table (for example, see Patent Document 1). In this rotating device, the rotor of the rotating electrical machine is connected to the input shaft of the reduction gear by a bolt via a mounting flange. Also, a roller gear cam is provided on the input shaft of the speed reducer, and the cam follower provided on the outer periphery of the output shaft is sequentially engaged with the roller gear cam, whereby the rotation of the input shaft is decelerated and transmitted to the output shaft. The input shaft and the output shaft are rotatably disposed in the housing so that the axial directions of the respective axes are substantially perpendicular to each other and twisted.

実開平３−１２６５４５号公報Japanese Utility Model Publication No. 3-126545

回転電機においては、回転子と固定子とが互いに同軸となるように精度良く位置決めされる必要がある。   In a rotating electrical machine, it is necessary to accurately position the rotor and the stator so that they are coaxial with each other.

このとき、上記従来技術の回転装置では、回転電機の回転子が取付フランジを介して減速機の入力軸に連結されている。一方で、入力軸を支持する軸受は軸受スリーブを介して減速機のハウジングに固定されており、回転電機の固定子はこのハウジングに対して支持板を介して固定されている。このように、回転子と固定子との間に多数の部材が介在する構造となっているため、回転電機における回転子と固定子の同軸度を出しにくいという問題があった。また部材が多いために、回転装置の組立作業に手間を要するという問題もあった。   At this time, in the above-described conventional rotating device, the rotor of the rotating electrical machine is connected to the input shaft of the reduction gear via the mounting flange. On the other hand, the bearing that supports the input shaft is fixed to the housing of the reduction gear via a bearing sleeve, and the stator of the rotating electrical machine is fixed to the housing via a support plate. As described above, since a large number of members are interposed between the rotor and the stator, there is a problem in that it is difficult to achieve the coaxiality of the rotor and the stator in the rotating electrical machine. Moreover, since there are many members, there also existed a problem that an assembly operation | work of a rotating apparatus would require an effort.

本発明はこのような問題点を鑑みてなされたものであり、回転電機の回転子と固定子の同軸度を出しつつ、組立作業を効率良く行うことができる回転装置を提供することを目的とする。   The present invention has been made in view of such problems, and an object of the present invention is to provide a rotating device that can efficiently perform an assembly operation while providing a coaxiality between a rotor and a stator of a rotating electrical machine. To do.

上記目的を達成するために、本願発明は、界磁と電機子のいずれか一方を回転子、他方を固定子とする回転電機と、減速機と、を一体的に備えた回転装置であって、前記減速機は、ローラギヤカムが設けられた入力軸と、前記ローラギヤカムに順次係合するカムフォロアが外周に設けられ、前記入力軸に対し垂直な方向に伸びる出力軸と、前記入力軸を回転自在に支持する軸受と、を有し、前記回転電機は、前記回転子が固定され、前記減速機の前記入力軸に同軸に連結された回転軸を有し、前記軸受を支持する軸受支持部材と、前記固定子が取り付けられる取付部材とが、共通化されている。
In order to achieve the above object, the present invention is a rotating device that integrally includes a rotating electric machine having one of a field and an armature as a rotor and the other as a stator, and a speed reducer. The speed reducer includes an input shaft provided with a roller gear cam, a cam follower that is sequentially engaged with the roller gear cam, an output shaft extending in a direction perpendicular to the input shaft, and the input shaft rotatably. has a bearing for supporting the said rotary electrical machine, the rotor is fixed, has a rotational shaft coupled coaxially to the input shaft of the reduction gear, a bearing support member supporting the bearing, a mounting member which is pre-Symbol stator attached, are common.

好ましくは、前記減速機は、前記入力軸が貫通する貫通孔を有し、前記入力軸の軸方向と直交する方向に分割可能なハウジングを有しており、前記軸受支持部材は、前記ハウジングの前記貫通孔に設けられている。 Preferably, the reduction gear has a through hole through which the input shaft passes, has a dividable housing in a direction perpendicular to the axial direction of the input shaft, pre SL bearing support member, said housing Provided in the through hole.

また好ましくは、前記軸受支持部材は、前記軸受が嵌合される嵌合部を有し、外径が前記貫通孔の内径よりも小さな支持部と、外径が前記貫通孔の内径よりも大きな鍔部と、を有する。   Preferably, the bearing support member has a fitting portion into which the bearing is fitted, and has an outer diameter smaller than the inner diameter of the through hole and an outer diameter larger than the inner diameter of the through hole. And a buttock.

また好ましくは、前記軸受支持部材は、前記固定子にインロー結合するインロー結合部を有する。   Preferably, the bearing support member has a spigot joint part that sprockets to the stator.

本発明によれば、回転電機の回転子と固定子の同軸度を出しつつ、回転装置の組立作業を効率良く行うことができる。   ADVANTAGE OF THE INVENTION According to this invention, the assembly operation | work of a rotating apparatus can be performed efficiently, taking out the coaxiality of the rotor and stator of a rotary electric machine.

本発明の一実施形態である回転装置の全体構成を表す縦断面図である。It is a longitudinal section showing the whole rotation device composition which is one embodiment of the present invention. 本発明の一実施形態である回転装置の全体構成を表す、エンコーダ部側から見た側面図である。It is the side view seen from the encoder part side showing the whole structure of the rotating apparatus which is one Embodiment of this invention. 図１に示す回転装置の縦断面図のうち軸受支持部材近傍を抽出して示す部分拡大図、及び、図３（ａ）中ＩＩＩＢ−ＩＩＩＢ断面に相当する断面図である。It is the elements on larger scale which extract and show the bearing support member vicinity among the longitudinal cross-sectional views of the rotating apparatus shown in FIG. 1, and sectional drawing equivalent to the IIIB-IIIB cross section in Fig.3 (a). 軸受支持部材をエンコーダ部側にも設ける変形例における、回転装置の全体構成を表す縦断面図である。It is a longitudinal cross-sectional view showing the whole structure of the rotating apparatus in the modification which provides a bearing support member also in the encoder part side. 軸受支持部材を外周に形成されたねじ部により固定する変形例における、回転装置の全体構成を表す縦断面図である。It is a longitudinal cross-sectional view showing the whole rotation apparatus structure in the modification which fixes a bearing support member with the thread part formed in the outer periphery.

以下、本発明の実施形態を図面を参照しつつ説明する。   Embodiments of the present invention will be described below with reference to the drawings.

まず、図１及び図２を用いて、本発明の一実施形態である回転装置の全体構成について説明する。図１は、本発明の一実施形態である回転装置の全体構成を表す縦断面図である。図２は、本発明の一実施形態である回転装置の全体構成を表す、エンコーダ部側から見た側面図である。   First, the whole structure of the rotating apparatus which is one embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a longitudinal sectional view showing the overall configuration of a rotating device according to an embodiment of the present invention. FIG. 2 is a side view showing the entire configuration of the rotating device according to the embodiment of the present invention as viewed from the encoder unit side.

図１に示すように、回転装置１は、回転電機としてのモータ１００と、減速機２００とを一体的に備えている。モータ１００は、モータ電磁部１１０と、エンコーダ部１２０とを有している。モータ電磁部１１０とエンコーダ部１２０との間には、減速機２００が配置されている。   As shown in FIG. 1, the rotating device 1 is integrally provided with a motor 100 as a rotating electrical machine and a speed reducer 200. The motor 100 includes a motor electromagnetic unit 110 and an encoder unit 120. A reduction gear 200 is disposed between the motor electromagnetic unit 110 and the encoder unit 120.

モータ電磁部１１０は、回転軸１０１と同軸となるように固定された回転子１１１と、この回転子１１１の外周面と径方向に対向するようにモータフレーム１１２に固定された固定子１１３とを備えている。回転軸１０１は、減速機２００の入力軸２１１と１本の軸として一体成形されている。   The motor electromagnetic unit 110 includes a rotor 111 fixed so as to be coaxial with the rotary shaft 101, and a stator 113 fixed to the motor frame 112 so as to face the outer peripheral surface of the rotor 111 in the radial direction. I have. The rotating shaft 101 is integrally formed with the input shaft 211 of the speed reducer 200 as a single shaft.

回転子１１１は、ヨーク１１４及びマグネット１１５を有しており、回転軸１０１の反減速機２００側（反負荷側。図１中右側）から挿入され、回転軸１０１の外周に接着固定されている。   The rotor 111 has a yoke 114 and a magnet 115, is inserted from the anti-reduction gear 200 side (anti-load side, right side in FIG. 1) of the rotating shaft 101, and is fixedly bonded to the outer periphery of the rotating shaft 101. .

固定子１１３は、積層鉄心体１１３１と、積層鉄心体１１３１を挿通したボビン１１３２と、ボビン１１３２に巻き回されたコイル線１１３３と、コイル線１１３３の結線基板１１３５と、結線基板１１３５に接続された入力端子１１３６とを有している。ボビン１１３２は、積層鉄心体１１３１とコイル線１１３３とを電気的に絶縁するために、樹脂等の絶縁性材料で構成されている。積層鉄心体１１３１、ボビン１１３２、コイル線１１３３、結線基板１１３５、入力端子１１３６は、樹脂１１３４によりモールドされている。固定子１１３の反減速機２００側には、ブラケット１１６が設けられており、このブラケット１１６のさらに反減速機２００側には、カバー１０２が設けられている。   Stator 113 is connected to laminated iron core body 1131, bobbin 1132 inserted through laminated iron core body 1131, coil wire 1133 wound around bobbin 1132, connection board 1135 of coil wire 1133, and connection board 1135. And an input terminal 1136. The bobbin 1132 is made of an insulating material such as resin in order to electrically insulate the laminated core body 1131 and the coil wire 1133. Laminated iron core body 1131, bobbin 1132, coil wire 1133, connection board 1135, and input terminal 1136 are molded with resin 1134. A bracket 116 is provided on the anti-reduction gear 200 side of the stator 113, and a cover 102 is provided on the further anti-reduction gear 200 side of the bracket 116.

エンコーダ部１２０は、減速機２００を挟み、モータ電磁部１１０とは反対側に配置されている。エンコーダ部１２０は、例えば光学式あるいは磁気式のエンコーダ１２１と、このエンコーダ１２１を覆うエンコーダカバー１２２を有している。エンコーダ１２１は、回転軸１０１の回転角度等を検出する。   The encoder unit 120 is disposed on the opposite side of the motor electromagnetic unit 110 with the speed reducer 200 interposed therebetween. The encoder unit 120 includes, for example, an optical or magnetic encoder 121 and an encoder cover 122 that covers the encoder 121. The encoder 121 detects the rotation angle of the rotating shaft 101 and the like.

次に、減速機２００について説明する。減速機２００は、ローラギヤカム２１２が設けられた入力軸２１１と、ローラギヤカム２１２に順次係合するカムフォロア２２２が外周に設けられた出力軸２２１と、これら入力軸２１１と出力軸２２１を、各軸の軸方向が略直角且つねじれの位置関係となるように内部に配設したハウジング２０１とを有する、いわゆるローラギヤ減速機である。   Next, the speed reducer 200 will be described. The speed reducer 200 includes an input shaft 211 provided with a roller gear cam 212, an output shaft 221 provided with a cam follower 222 that is sequentially engaged with the roller gear cam 212, and the input shaft 211 and the output shaft 221. This is a so-called roller gear reducer having a housing 201 disposed therein so that the direction is substantially perpendicular and a positional relationship of torsion.

入力軸２１１は、軸方向両側に配置された軸受２１３により、ハウジング２０１に対し回転自在に支持されている。入力軸２１１には、ローラギヤカム２１２が一体的に設けられており、このローラギヤカム２１２には、その回転角度に応じて軸方向の変位が一様に与えられた螺旋状のテーパリブ２１４が形成されている。また前述したように、入力軸２１１は、モータ１００の回転軸１０１と１本の軸として一体成形されている。   The input shaft 211 is rotatably supported with respect to the housing 201 by bearings 213 arranged on both sides in the axial direction. The input shaft 211 is integrally provided with a roller gear cam 212, and the roller gear cam 212 is formed with a helical taper rib 214 that is uniformly given axial displacement according to its rotation angle. . Further, as described above, the input shaft 211 is integrally formed with the rotating shaft 101 of the motor 100 as one shaft.

出力軸２２１は中空軸であり、軸方向両側に配置された図示しない軸受により、ハウジング２０１に対し回転自在に支持されている。出力軸２２１の外周面には、周方向に沿って所定の間隔で複数のカムフォロア２２２が放射状に設けられている。これらのカムフォロア２２２のうちの隣接する２つのカムフォロア２２２が、ローラギヤカム２１２の回転に伴い順次テーパリブ２１４の両側面に対して予圧を加えつつ当接係合することにより、入力軸２１１の回転が減速されて出力軸２２１に伝達される。   The output shaft 221 is a hollow shaft and is rotatably supported with respect to the housing 201 by bearings (not shown) arranged on both sides in the axial direction. A plurality of cam followers 222 are radially provided on the outer peripheral surface of the output shaft 221 at predetermined intervals along the circumferential direction. Two adjacent cam followers 222 among these cam followers 222 are brought into contact with and engaged with both side surfaces of the tapered rib 214 sequentially with the rotation of the roller gear cam 212, whereby the rotation of the input shaft 211 is decelerated. Is transmitted to the output shaft 221.

図２に示すように、ハウジング２０１は、入力軸２１１の軸方向と直交する方向（すなわち出力軸２２１の軸方向。図２中左右方向）に分割可能な構造となっており、第１ハウジング部２０１ｕと第２ハウジング部２０１ｄの２つのハウジング部を有している。これら第１ハウジング部２０１ｕと第２ハウジング部２０１ｄとは、ボルト２０７（図１参照）により連結されている。またハウジング２０１は、入力軸２１１が貫通する貫通孔２０２を有している。この貫通孔２０２のうち、エンコーダ部１２０側の貫通孔２０２ａには軸受２１３が設けられている。この軸受２１３の軸端側（図１中左側）には、オイルシール２０３と、このオイルシール２０３を支持するとともに、軸受２１３に予圧を与えるオイルシールホルダ２０４とが設けられている。貫通孔２０２ａのさらに軸端側は、ハウジング２０１の表面に開口しており、この開口２０６にはエンコーダカバー１３２が所定の位置に固定されている。   As shown in FIG. 2, the housing 201 has a structure that can be divided in a direction orthogonal to the axial direction of the input shaft 211 (that is, the axial direction of the output shaft 221; the left-right direction in FIG. 2). It has two housing parts 201u and the second housing part 201d. The first housing part 201u and the second housing part 201d are connected by a bolt 207 (see FIG. 1). The housing 201 has a through hole 202 through which the input shaft 211 passes. A bearing 213 is provided in the through hole 202a on the encoder unit 120 side of the through hole 202. An oil seal 203 and an oil seal holder 204 that supports the oil seal 203 and preloads the bearing 213 are provided on the shaft end side (left side in FIG. 1) of the bearing 213. A further shaft end side of the through hole 202a is opened in the surface of the housing 201, and the encoder cover 132 is fixed to a predetermined position in the opening 206.

貫通孔２０２のうち、モータ電磁部１１０側の貫通孔２０２ｂには、軸受２１３を支持すると共に、当該軸受２１３に一定の予圧を与える軸受支持部材１４０が設けられている。なお、軸受２１３が予圧を与える必要のない軸受（例えば円筒ころ軸受等）である場合には、軸受支持部材１４０は予圧を与えない状態で軸受２１３を支持する。貫通孔２０２ｂの軸端側（図１中右側）は孔径が拡大されてハウジング２０１の表面に開口しており、この開口２０５には軸受支持部材１４０を介してモータ電磁部１１０が所定の位置に位置決めされて固定されている。   In the through hole 202, a bearing support member 140 that supports the bearing 213 and applies a certain preload to the bearing 213 is provided in the through hole 202 b on the motor electromagnetic unit 110 side. In the case where the bearing 213 is a bearing that does not require preload (for example, a cylindrical roller bearing), the bearing support member 140 supports the bearing 213 without applying preload. The shaft end side (the right side in FIG. 1) of the through hole 202b has an enlarged hole diameter and opens on the surface of the housing 201. The motor electromagnetic unit 110 is placed in a predetermined position via the bearing support member 140 in the opening 205. Positioned and fixed.

次に、図３を用いて軸受支持部材１４０について説明する。図３（ａ）は、図１に示す回転装置１の縦断面図のうち軸受支持部材１４０近傍を抽出して示す部分拡大図、図３（ｂ）は、図３（ａ）中ＩＩＩＢ−ＩＩＩＢ断面に相当する断面図である。   Next, the bearing support member 140 will be described with reference to FIG. 3A is a partially enlarged view showing the vicinity of the bearing support member 140 in the longitudinal sectional view of the rotating device 1 shown in FIG. 1, and FIG. 3B is IIIB-IIIB in FIG. 3A. It is sectional drawing equivalent to a cross section.

図３（ａ）及び図３（ｂ）に示すように、軸受支持部材１４０は、中央に入力軸２１１を貫通させるための貫通孔１４１を有する環状の部材である。この軸受支持部材１４０は、上述したハウジング２０１のモータ電磁部１１０側の貫通孔２０２ｂの内径よりも外径が小さな支持部１４２と、貫通孔２０２ｂの内径よりも外径が大きな鍔部１４３とを有している。軸受支持部材１４０がハウジング２０１の貫通孔２０２ｂに固定された状態において、支持部１４２は貫通孔２０２ｂの内部に挿入され、鍔部１４３は貫通孔２０２ｂの外部、この例では上述した開口２０５内に配置される。このとき、支持部１４２の外径が貫通孔２０２ｂの内径よりも小さいので、支持部１４２の外周と貫通孔２０２ｂの内周との間に隙間Ｓが形成される。   As shown in FIGS. 3A and 3B, the bearing support member 140 is an annular member having a through hole 141 for allowing the input shaft 211 to pass through in the center. The bearing support member 140 includes a support part 142 having an outer diameter smaller than the inner diameter of the through hole 202b on the motor electromagnetic part 110 side of the housing 201 and a flange part 143 having an outer diameter larger than the inner diameter of the through hole 202b. Have. In a state where the bearing support member 140 is fixed to the through hole 202b of the housing 201, the support portion 142 is inserted into the through hole 202b, and the flange portion 143 is disposed outside the through hole 202b, in this example, the opening 205 described above. Be placed. At this time, since the outer diameter of the support part 142 is smaller than the inner diameter of the through hole 202b, a gap S is formed between the outer periphery of the support part 142 and the inner periphery of the through hole 202b.

貫通孔１４１の減速機２００側（図３（ａ）中左側）は、孔径が拡大されて軸受支持部材１４０の減速機２００側（図３（ａ）中左側）の表面に開口している。この開口１４４は、軸受２１３が嵌合される嵌合部として機能する。開口１４４に軸受２１３が嵌合されることで、支持部１４２が軸受２１３を支持する。なお、貫通孔１４１と開口１４４との間には孔径の差により段差部１４５が形成されており、この段差部１４５が軸受２１３に一定の予圧を与える。   The diameter of the through hole 141 on the speed reducer 200 side (left side in FIG. 3A) is enlarged and opened on the surface of the bearing support member 140 on the speed reducer 200 side (left side in FIG. 3A). The opening 144 functions as a fitting portion into which the bearing 213 is fitted. The support portion 142 supports the bearing 213 by fitting the bearing 213 into the opening 144. A stepped portion 145 is formed between the through hole 141 and the opening 144 due to a difference in hole diameter, and the stepped portion 145 applies a certain preload to the bearing 213.

貫通孔１４１の反減速機２００側（図３（ａ）中右側）には、オイルシール２０３が設けられている。このオイルシール２０３は、鍔部１４３の径方向中央側に円周状に設けられたオイルシールホルダ部１４６によって支持されている。   An oil seal 203 is provided on the through-hole 141 on the side opposite to the speed reducer 200 (right side in FIG. 3A). The oil seal 203 is supported by an oil seal holder portion 146 that is circumferentially provided on the radial center side of the flange portion 143.

鍔部１４３には、周方向複数箇所（この例では８箇所）に、軸受支持部材１４０を固定するためのボルト２０８が挿通されるボルト孔１４７が形成されている。ボルト孔１４７の孔径はボルト２０８よりも大きく形成されており、各ボルト孔１４７内ではボルト２０８の周囲に隙間が形成されるようになっている。ボルト２０８が、鍔部１４３に形成されたボルト孔１４７に挿通されてハウジング２０１に締結することにより、軸受支持部材１４０はハウジング２０１の貫通孔２０２ｂに固定される。   The flange portion 143 is formed with bolt holes 147 through which bolts 208 for fixing the bearing support member 140 are inserted at a plurality of locations in the circumferential direction (eight locations in this example). The hole diameter of the bolt hole 147 is larger than that of the bolt 208, and a gap is formed around the bolt 208 in each bolt hole 147. When the bolt 208 is inserted into the bolt hole 147 formed in the flange portion 143 and fastened to the housing 201, the bearing support member 140 is fixed to the through hole 202 b of the housing 201.

また鍔部１４３は、径方向外周側にオイルシールホルダ部１４６と同心円状に形成された凸部１４８（インロー結合部）を有している。なお、インロー結合部としては、凸部形状に限られず、凹部形状であってもよい。この凸部１４８は、反減速機２００側（図３（ａ）中右側）に向けて突出して形成されており、その内周面と、モータ電磁部１１０の固定子１１３の樹脂１１３４の外周面とが係合することにより、凸部１４８と樹脂１１３４とがインロー結合する。これにより、軸受支持部材１４０に固定子１１３が設けられる。このとき、モータフレーム１１２の端部が凸部１４８と突き当たり、インロー結合時の突き当て面としての役割を果たす。このインロー結合によって、軸受支持部材１４０と固定子１１３とが互いに同軸となるように位置決めされる。なお、凸部１４８と樹脂１１３４とは、インロー結合された後、接着により固定される。   Further, the flange portion 143 has a convex portion 148 (inlay coupling portion) formed concentrically with the oil seal holder portion 146 on the radially outer peripheral side. In addition, as a spigot joint part, it is not restricted to a convex part shape, A recessed part shape may be sufficient. The convex portion 148 is formed to project toward the anti-reduction gear 200 side (the right side in FIG. 3A), and has an inner peripheral surface and an outer peripheral surface of the resin 1134 of the stator 113 of the motor electromagnetic unit 110. , And the convex portion 148 and the resin 1134 are joined together. Thereby, the stator 113 is provided on the bearing support member 140. At this time, the end portion of the motor frame 112 abuts against the convex portion 148 and serves as an abutment surface at the time of splicing. By this inlay coupling, the bearing support member 140 and the stator 113 are positioned so as to be coaxial with each other. In addition, the convex part 148 and the resin 1134 are fixed by adhesion after in-lay bonding.

以上説明した回転装置１により得られる効果について説明する。   The effects obtained by the rotating device 1 described above will be described.

前述のように、モータ１００は、減速機２００の入力軸２１１を回転自在に支持する軸受２１３を支持すると共に、当該軸受２１３に一定の予圧を与える軸受支持部材１４０を備えており、この軸受支持部材１４０には固定子１１３が設けられている。このとき、減速機２００の入力軸２１１とモータ１００の回転軸１０１とは一体的に構成されており同軸である。その結果、回転子１１１と固定子１１３とは、１つの部材である軸受支持部材１４０によって実質的に位置決めが行われる構造となる。これにより、回転電機１００における回転子１１１と固定子１１３の同軸度を向上できる。また、軸受支持部材１４０が一部材で固定子１１３の取付部材、軸受２１３の支持部材、及び予圧部材として機能するため、部品点数を少なくでき、回転装置１の組立作業を効率良く行うことができる。   As described above, the motor 100 includes the bearing support member 140 that rotatably supports the input shaft 211 of the speed reducer 200 and the bearing support member 140 that applies a certain preload to the bearing 213. A stator 113 is provided on the member 140. At this time, the input shaft 211 of the speed reducer 200 and the rotating shaft 101 of the motor 100 are integrally formed and are coaxial. As a result, the rotor 111 and the stator 113 have a structure in which the positioning is substantially performed by the bearing support member 140 that is one member. Thereby, the coaxiality of the rotor 111 and the stator 113 in the rotary electric machine 100 can be improved. Further, since the bearing support member 140 functions as a mounting member for the stator 113, a support member for the bearing 213, and a preload member, the number of parts can be reduced, and the assembly work of the rotating device 1 can be performed efficiently. .

また、本実施形態では特に、減速機２００のハウジング２０１が、入力軸２１１の軸方向と直交する方向に分割可能に構成されている。このような構造の場合、図３（ｂ）に一例として示すように、２つのハウジング部２０１ｕ，２０１ｄ間に生じる寸法誤差により、モータ電磁部１１０側の貫通孔２０２ｂにおいてハウジング部同士の突き合わせ部分に段差２０９が生じる可能性がある。この場合において、例えば貫通孔２０２ｂに軸受を嵌め込む一般的な構造である場合、貫通孔２０２ｂの内径と軸受の外径とは略一致するように構成されているため、そのままでは軸受を貫通孔２０２ｂに嵌め込むことが困難となる。このため、貫通孔２０２ｂの段差２０９を消去するための切削作業等が必要となり、回転装置の組立作業に手間を要する結果となる。   In the present embodiment, the housing 201 of the speed reducer 200 is particularly configured to be divided in a direction orthogonal to the axial direction of the input shaft 211. In the case of such a structure, as shown as an example in FIG. 3B, due to a dimensional error generated between the two housing portions 201u and 201d, the butt portion between the housing portions in the through hole 202b on the motor electromagnetic portion 110 side. A step 209 may occur. In this case, for example, in the case of a general structure in which the bearing is fitted into the through hole 202b, the inner diameter of the through hole 202b and the outer diameter of the bearing are configured to substantially coincide with each other. It becomes difficult to fit in 202b. For this reason, a cutting operation or the like for erasing the step 209 of the through-hole 202b is required, resulting in a troublesome work for assembling the rotating device.

これに対し本実施形態の回転装置１では、軸受支持部材１４０が軸受２１３を支持した状態でハウジング２０１の貫通孔２０２ｂに設けられる。このとき、軸受支持部材１４０の支持部１４２の外径が貫通孔２０２ｂの内径よりも小さくなっているので、支持部１４２の外周と貫通孔２０２ｂの内周との間に隙間Ｓが形成される。これにより、上記のように貫通孔２０２ｂに段差２０９が生じた場合でも、図３（ｂ）に示すように、その段差２０９を隙間Ｓで許容しつつ、軸受２１３を貫通孔２０２ｂに配設することができる。その結果、段差２０９を消去する切削作業等をすることなく、軸受２１３をハウジング２０１に容易に設置することができるので、回転装置１の組立作業を効率良く行うことができる。また、支持部１４２の外径と貫通孔２０２ｂの内径との寸法差に比較的余裕をもたせておくことで、貫通孔２０２ｂに生じた段差２０９が大きな場合でも確実に軸受２１３を設けることができる。   On the other hand, in the rotating device 1 of the present embodiment, the bearing support member 140 is provided in the through hole 202b of the housing 201 in a state where the bearing 213 is supported. At this time, since the outer diameter of the support portion 142 of the bearing support member 140 is smaller than the inner diameter of the through hole 202b, a gap S is formed between the outer periphery of the support portion 142 and the inner periphery of the through hole 202b. . As a result, even when the step 209 occurs in the through hole 202b as described above, the bearing 213 is disposed in the through hole 202b while allowing the step 209 by the gap S as shown in FIG. be able to. As a result, since the bearing 213 can be easily installed in the housing 201 without performing a cutting operation for eliminating the step 209, the assembling operation of the rotating device 1 can be performed efficiently. Further, by providing a relatively large dimensional difference between the outer diameter of the support portion 142 and the inner diameter of the through hole 202b, the bearing 213 can be reliably provided even when the step 209 generated in the through hole 202b is large. .

また軸受支持部材１４０の鍔部１４３では、ボルト孔１４７の孔径がボルト２０８よりも大きく形成されており、各ボルト孔１４７内ではボルト２０８の周囲に隙間が形成される。このボルト孔１４７の隙間と、上述した支持部１４２の外周と貫通孔２０２ｂの内周との間の隙間Ｓとによって、軸受支持部材１４０は、ハウジング２０１に対し入力軸２１１の軸方向に垂直な面方向に隙間分だけずらしつつ任意の位置で固定することが可能である。したがって、ハウジング部２０１ｕ，２０１ｄの寸法誤差により貫通孔２０２ｂの中心位置が入力軸２１１の軸芯位置よりずれたような場合でも、軸受２１３を入力軸２１１と同軸となる位置に支持しつつ固定することができる。   Further, in the flange portion 143 of the bearing support member 140, the hole diameter of the bolt hole 147 is formed larger than that of the bolt 208, and a gap is formed around the bolt 208 in each bolt hole 147. The bearing support member 140 is perpendicular to the housing 201 in the axial direction of the input shaft 211 by the clearance of the bolt hole 147 and the clearance S between the outer periphery of the support portion 142 and the inner periphery of the through hole 202b. It is possible to fix at an arbitrary position while shifting the gap in the plane direction. Therefore, even when the center position of the through hole 202b is displaced from the axial center position of the input shaft 211 due to a dimensional error of the housing portions 201u and 201d, the bearing 213 is supported and fixed at a position coaxial with the input shaft 211. be able to.

また、本実施形態では特に、軸受支持部材１４０が支持部１４２と鍔部１４３とを有している。支持部１４２は、軸受２１１が嵌合される開口１４４を有しており、外径が貫通孔２０２ｂの内径よりも小さく構成されている。これにより、軸受支持部材１４０をハウジング２０１に固定した際に、支持部１４２の外周と貫通孔２０２ｂの内周との間に確実に隙間Ｓを形成しつつ、軸受２１１を貫通孔２０２ｂの内部に配置することができる。一方、鍔部１４３は、外径が貫通孔２０２ｂの内径よりも大きく構成されている。これにより、貫通孔２０２ｂの外部に位置する鍔部１４３を利用して、ボルト締結により軸受支持部材１４０をハウジング２０１に確実に固定することができる。   In the present embodiment, in particular, the bearing support member 140 includes a support portion 142 and a flange portion 143. The support part 142 has an opening 144 into which the bearing 211 is fitted, and has an outer diameter smaller than the inner diameter of the through hole 202b. Thus, when the bearing support member 140 is fixed to the housing 201, the bearing 211 is placed inside the through hole 202b while the gap S is surely formed between the outer periphery of the support portion 142 and the inner periphery of the through hole 202b. Can be arranged. On the other hand, the flange portion 143 is configured such that the outer diameter is larger than the inner diameter of the through hole 202b. Accordingly, the bearing support member 140 can be reliably fixed to the housing 201 by bolt fastening using the flange portion 143 located outside the through hole 202b.

また、本実施形態では特に、軸受支持部材１４０の鍔部１４３が、モータ１００の固定子１１３の樹脂１１３４にインロー結合する凸部１４８を有している。これにより、回転装置１の組立作業においてモータ１００を減速機２００に取り付ける際に、凸部１４８と固定子１１３とをインロー結合させることにより、固定子１１３を軸受支持部材１４０に対し所定の位置に位置決めしつつ容易に取り付けることができる。したがって、モータ１００の位置決め作業が不要となり、組立作業の作業性を向上することができる。   In the present embodiment, in particular, the flange portion 143 of the bearing support member 140 has a convex portion 148 that is in-row coupled to the resin 1134 of the stator 113 of the motor 100. Thus, when the motor 100 is attached to the speed reducer 200 in the assembling work of the rotating device 1, the stator 113 is brought into a predetermined position with respect to the bearing support member 140 by connecting the projection 148 and the stator 113 in-slot. It can be easily attached while positioning. Therefore, the positioning operation of the motor 100 becomes unnecessary, and the workability of the assembly operation can be improved.

また組立作業においては、軸受支持部材１４０に支持された軸受２１３に入力軸２１１を挿通させ、軸受支持部材１４０を入力軸２１１に取り付けた後、軸受支持部材１４０の凸部１４８とモータ１００の固定子１１３とをインロー結合させて固定子１１３を軸受支持部材１４０に取り付ける。このとき、初めに軸受支持部材１４０を入力軸２１１に取り付けた際に、軸受支持部材１４０と入力軸２１１とは互いに同軸となる。また、その後に軸受支持部材１４０の凸部１４８とモータ１００の固定子１１３とをインロー結合させた際に、軸受支持部材１４０と固定子１１３とが互いに同軸となる。さらに、減速機２００の入力軸２１１とモータ１００の回転軸１０１とは一体的に構成されているので、同軸である。これらの結果、モータ１００を減速機２００に取り付けた際に、回転子１１１と固定子１１３とが軸受支持部材１４０を介して互いに同軸となるように位置決めされるので、回転装置１の組立精度を向上することができる。   In assembly work, the input shaft 211 is inserted into the bearing 213 supported by the bearing support member 140 and the bearing support member 140 is attached to the input shaft 211, and then the convex portion 148 of the bearing support member 140 and the motor 100 are fixed. The stator 113 is attached to the bearing support member 140 by in-row coupling with the child 113. At this time, when the bearing support member 140 is first attached to the input shaft 211, the bearing support member 140 and the input shaft 211 are coaxial with each other. Further, after that, when the convex portion 148 of the bearing support member 140 and the stator 113 of the motor 100 are joined together, the bearing support member 140 and the stator 113 are coaxial with each other. Furthermore, since the input shaft 211 of the speed reducer 200 and the rotating shaft 101 of the motor 100 are integrally formed, they are coaxial. As a result, when the motor 100 is attached to the speed reducer 200, the rotor 111 and the stator 113 are positioned so as to be coaxial with each other via the bearing support member 140. Can be improved.

さらに、モータ１００の固定子１１３を軸受支持部材１４０に対し直接インロー結合させる構造としたので、例えばモータ１００のブラケットを軸受支持部材１４０に取り付ける構造に比べて、ブラケットが不要となり、モータ１００（すなわち回転装置１）の小型化を図ることができる。   Furthermore, since the stator 113 of the motor 100 is directly in-row coupled to the bearing support member 140, for example, compared to a structure in which the bracket of the motor 100 is attached to the bearing support member 140, no bracket is required, and the motor 100 (ie, The size of the rotating device 1) can be reduced.

なお、本発明は、上記実施形態に限られるものではなく、その趣旨及び技術的思想を逸脱しない範囲内で種々の変形が可能である。以下、そのような変形例を順を追って説明する。   The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea of the present invention. Hereinafter, such modifications will be described in order.

（１）軸受支持部材をエンコーダ部側にも設ける場合
上記実施形態では、モータ電磁部１１０側の軸受２１３のみ軸受支持部材１４０で支持する構成としたが、これに限らず、エンコーダ部１２０側の軸受２１３についても軸受支持部材で支持する構成としてもよい。 (1) In the case where the bearing support member is also provided on the encoder part side In the above embodiment, the bearing support member 140 supports only the bearing 213 on the motor electromagnetic part 110 side. The bearing 213 may be supported by a bearing support member.

図４は、本変形例の回転装置の全体構成を表す縦断面図である。この図４において、図１と同様の部分には同符号を付し適宜説明を省略する。図４に示すように、回転装置１Ａの減速機２００Ａにおいては、エンコーダ部１２０側の貫通孔２０２ａにも、軸受２１３を支持する軸受支持部材１５０が固定されている。   FIG. 4 is a longitudinal sectional view showing the overall configuration of the rotating device of this modification. In FIG. 4, the same parts as those in FIG. As shown in FIG. 4, in the speed reducer 200 </ b> A of the rotating device 1 </ b> A, a bearing support member 150 that supports the bearing 213 is also fixed to the through hole 202 a on the encoder unit 120 side.

軸受支持部材１５０は、軸受支持部材１４０と同様、中央に入力軸２１１を貫通させるための貫通孔１５１を有する環状の部材である。この軸受支持部材１５０は、ハウジング２０１のエンコーダ部１２０側の貫通孔２０２ａの内径よりも外径が小さな支持部１５２と、貫通孔２０２ａの内径よりも外径が大きな鍔部１５３とを有している。軸受支持部材１５０がハウジング２０１の貫通孔２０２ａに固定された状態において、支持部１５２は貫通孔２０２ａの内部に挿入され、鍔部１５３は貫通孔２０２ａの外部、この例では上述した開口２０６内に配置される。このとき、支持部１５２の外径が貫通孔２０２ａの内径よりも小さいので、支持部１５２の外周と貫通孔２０２ａの内周との間に隙間Ｓが形成される。   Similar to the bearing support member 140, the bearing support member 150 is an annular member having a through hole 151 for allowing the input shaft 211 to pass through in the center. The bearing support member 150 includes a support portion 152 having an outer diameter smaller than the inner diameter of the through hole 202a on the encoder portion 120 side of the housing 201, and a flange portion 153 having an outer diameter larger than the inner diameter of the through hole 202a. Yes. In a state where the bearing support member 150 is fixed to the through hole 202a of the housing 201, the support portion 152 is inserted into the through hole 202a, and the flange portion 153 is outside the through hole 202a, in this example, the above-described opening 206. Be placed. At this time, since the outer diameter of the support portion 152 is smaller than the inner diameter of the through hole 202a, a gap S is formed between the outer periphery of the support portion 152 and the inner periphery of the through hole 202a.

貫通孔１５１の減速機２００Ａ側（図４中右側）は、孔径が拡大されて軸受支持部材１５０の減速機２００Ａ側の表面に開口しており、この開口１５４は軸受２１３が嵌合される嵌合部として機能する。貫通孔１５１と開口１５４との間には孔径の差により段差部１５５が形成されており、この段差部１５５が軸受２１３に一定の予圧を与える。貫通孔１５１の反減速機２００Ａ側（図４中左側）には、オイルシール２０３が設けられている。   The through hole 151 on the speed reducer 200A side (the right side in FIG. 4) has an enlarged hole diameter and opens on the surface of the bearing support member 150 on the speed reducer 200A side, and this opening 154 is fitted to the bearing 213. Functions as a joint. A stepped portion 155 is formed between the through hole 151 and the opening 154 due to a difference in hole diameter, and this stepped portion 155 applies a certain preload to the bearing 213. An oil seal 203 is provided on the through-hole 151 on the side opposite to the speed reducer 200A (left side in FIG. 4).

鍔部１５３には、軸受支持部材１４０と同様、周方向複数箇所に、軸受支持部材１５０を固定するためのボルト２０８が挿通されるボルト孔１５７が形成されている。ボルト孔１５７の孔径はボルト２０８よりも大きく形成されており、各ボルト孔１５７内ではボルト２０８の周囲に隙間が形成されるようになっている。ボルト２０８が、鍔部１５３に形成されたボルト孔１５７に挿通されてハウジング２０１に締結することにより、軸受支持部材１５０はハウジング２０１の貫通孔２０２ａに固定される。   Similar to the bearing support member 140, the flange portion 153 is formed with bolt holes 157 through which bolts 208 for fixing the bearing support member 150 are inserted at a plurality of locations in the circumferential direction. The hole diameter of the bolt hole 157 is larger than that of the bolt 208, and a gap is formed around the bolt 208 in each bolt hole 157. When the bolt 208 is inserted into the bolt hole 157 formed in the flange portion 153 and fastened to the housing 201, the bearing support member 150 is fixed to the through hole 202 a of the housing 201.

軸受支持部材１５０の反減速機２００Ａ側には、エンコーダカバー１２２が設けられている。なお、回転装置１Ａの上記以外の構成については、前述の実施形態の回転装置１と同様である。   An encoder cover 122 is provided on the side of the bearing support member 150 opposite to the speed reducer 200A. Note that the configuration of the rotating device 1A other than the above is the same as that of the rotating device 1 of the above-described embodiment.

本変形例によれば、前述の実施形態と同様の効果を得る他、エンコーダ部１２０側の貫通孔２０２ａに段差が生じた場合でも、その段差を隙間Ｓで許容しつつ、軸受２１３を貫通孔２０２ａに配設することができる。   According to this modification, in addition to obtaining the same effect as the above-described embodiment, even when a step is generated in the through hole 202a on the encoder unit 120 side, the bearing 213 is allowed to pass through the through hole while allowing the step to be allowed by the gap S. 202a.

（２）軸受支持部材を外周に形成されたねじ部により固定する場合
上記実施形態では、軸受支持部材１４０の鍔部１４３に形成したボルト孔１４７にボルト２０８を挿通してハウジング２０１に締結することにより、軸受支持部材１４０をハウジング２０１に固定していたが、これに限られない。例えば、軸受支持部材１４０Ｂの鍔部１４３Ｂの外周に形成したねじ部１４３１をハウジング２０１Ｂの開口２０５の内周に形成したねじ部に螺合することにより、軸受支持部材１４０Ｂをハウジング２０１Ｂに固定してもよい。なお、本変形例は、ハウジング２０１Ｂの開口２０５に段差が生じない場合（例えばハウジング２０１Ｂが分割構造でない場合。あるいは、２つのハウジング部２０１ｕ，２０１ｄの寸法誤差が小さい場合等）に適用可能な構成である。 (2) When the bearing support member is fixed by the screw portion formed on the outer periphery In the above embodiment, the bolt 208 is inserted into the bolt hole 147 formed in the flange portion 143 of the bearing support member 140 and fastened to the housing 201. Thus, the bearing support member 140 is fixed to the housing 201, but is not limited thereto. For example, the bearing support member 140B is fixed to the housing 201B by screwing a screw portion 1431 formed on the outer periphery of the flange portion 143B of the bearing support member 140B with a screw portion formed on the inner periphery of the opening 205 of the housing 201B. Also good. Note that this modification can be applied to a case where there is no step in the opening 205 of the housing 201B (for example, when the housing 201B is not a divided structure, or when the dimensional error between the two housing portions 201u and 201d is small). It is.

図５は、本変形例の回転装置の全体構成を表す縦断面図である。この図５において、図１等と同様の部分には同符号を付し適宜説明を省略する。図５に示すように、回転装置１Ｂの減速機２００Ｂにおいては、ハウジング２０１Ｂの貫通孔２０２のうち、モータ電磁部１１０側（図５中右側）の貫通孔２０２ｂに、軸受２１３を支持する軸受支持部材１４０Ｂが設けられている。   FIG. 5 is a longitudinal sectional view showing the overall configuration of the rotating device of this modification. In FIG. 5, the same parts as those in FIG. As shown in FIG. 5, in the speed reducer 200B of the rotating device 1B, the bearing support that supports the bearing 213 in the through hole 202b on the motor electromagnetic unit 110 side (right side in FIG. 5) of the through hole 202 of the housing 201B. A member 140B is provided.

軸受支持部材１４０Ｂは、支持部１４２Ｂと鍔部１４３Ｂとを有している。支持部１４２Ｂは、前述の支持部１４２とほぼ同様の構成である。   The bearing support member 140B has a support part 142B and a flange part 143B. The support part 142B has substantially the same configuration as the support part 142 described above.

鍔部１４３Ｂは、鍔部１４３とは異なり、その周方向に前述のボルト孔１４７が形成されていない。この鍔部１４３Ｂには、その外周にねじ部１４３１が形成されており、このねじ部１４３１がハウジング２０１Ｂの開口２０５の内周に形成されたねじ部（図示省略）にねじ込まれて螺合することにより、軸受支持部材１４０Ｂがハウジング２０１Ｂに固定されている。また、この鍔部１４３Ｂには、そのモータ電磁部１１０側に治具取り付け用の孔１４３２が形成されており、軸受２１３に対して与える予圧を調整するときは、この孔１４３２にモータ電磁部１１０側から所定の治具が取り付けられる。そして、当該治具を介して軸受支持部材１４０Ｂを回転させ、ねじ部１４３１の締め込み量を調整することにより、言い換えれば、軸受支持部材１４０Ｂをエンコーダ部１２０側（図５中左側）に押し入れたり、モータ電磁部１１０側に引き出すことにより、上記予圧の調整を行う。   Unlike the flange portion 143, the flange portion 143B is not formed with the aforementioned bolt hole 147 in the circumferential direction thereof. The flange portion 143B has a screw portion 1431 formed on the outer periphery thereof. The screw portion 1431 is screwed into and screwed into a screw portion (not shown) formed on the inner periphery of the opening 205 of the housing 201B. Thus, the bearing support member 140B is fixed to the housing 201B. Further, the flange portion 143B is formed with a jig mounting hole 1432 on the motor electromagnetic unit 110 side. When adjusting the preload applied to the bearing 213, the motor electromagnetic unit 110 is provided in the hole 1432. A predetermined jig is attached from the side. Then, by rotating the bearing support member 140B through the jig and adjusting the tightening amount of the screw portion 1431, in other words, the bearing support member 140B is pushed into the encoder portion 120 side (left side in FIG. 5). Then, the preload is adjusted by pulling it out to the motor electromagnetic unit 110 side.

なお、回転装置１Ｂの上記以外の構成については、前述の実施形態の回転装置１と同様である。   In addition, about the structure of the rotation apparatus 1B other than the above, it is the same as that of the rotation apparatus 1 of the above-mentioned embodiment.

以上説明した本変形例によれば、前述の実施形態と同様の効果を得ることができる。また特に本変形例によれば、次のような効果を得ることができる。すなわち、軸受支持部材１４０Ｂの外周に設けたねじ部１４３１とハウジング２０１Ｂの開口２０５の内周に形成されたねじ部とを螺合する構成とすることによって、軸受支持部材１４０Ｂを回転させてねじ部１４３１の締め込み量を調整することにより、入力軸２１１のローラギヤカム２１２の位置を軸方向にスライドさせ、ローラギヤカム２１２のテーパリブ２１４と出力軸２２１のカムフォロア２２２との接触状態の微調整が可能となる。この結果、より高精度な位置決めを行うことができる。また、軸受支持部材１４０Ｂには、固定子１１３がインロー結合により固定されているので、軸受支持部材１４０Ｂを回転させて入力軸２１１の位置が軸方向に移動したとしても、固定子１１３も同様に軸方向に移動するため、回転子１１１と固定子１１３との相対的な位置を不変とすることができるという効果もある。   According to this modification described above, the same effects as those of the above-described embodiment can be obtained. In particular, according to this modification, the following effects can be obtained. That is, the screw support portion 140B is rotated to engage the screw portion 1431 provided on the outer periphery of the bearing support member 140B and the screw portion formed on the inner periphery of the opening 205 of the housing 201B, thereby rotating the screw support portion 140B. By adjusting the tightening amount of 1431, the position of the roller gear cam 212 of the input shaft 211 is slid in the axial direction, and the contact state between the tapered rib 214 of the roller gear cam 212 and the cam follower 222 of the output shaft 221 can be finely adjusted. As a result, more accurate positioning can be performed. Further, since the stator 113 is fixed to the bearing support member 140B by inlay coupling, even if the position of the input shaft 211 is moved in the axial direction by rotating the bearing support member 140B, the stator 113 is also the same. Since it moves in the axial direction, there is an effect that the relative position between the rotor 111 and the stator 113 can be made unchanged.

なお、本変形例では一方側の軸受２１３のみを軸受支持部材で支持する構成としたが、上記（１）の変形例のようにエンコーダ部１２０側の軸受２１３についても軸受支持部材で支持する構成とし、当該軸受支持部材の鍔部の外周に形成したねじ部をハウジングの内周に形成したねじ部に螺合することにより、当該軸受支持部材をハウジングの貫通孔に固定する構成としてもよい。   In this modification, only the bearing 213 on one side is supported by the bearing support member. However, the bearing 213 on the encoder unit 120 side is also supported by the bearing support member as in the modification (1). In addition, the bearing support member may be fixed to the through hole of the housing by screwing a screw portion formed on the outer periphery of the flange portion of the bearing support member with a screw portion formed on the inner periphery of the housing.

（３）その他
以上では、減速機のハウジングが２つに分割される構成を一例として説明したが、回転子と固定子の同軸度を出しつつ組立作業を効率良く行うという本発明の主要な効果を得る上では、ハウジングは分割構成である必要はなく、一体型としてもよい。また分割構成とする場合には、２つに分割される構成に限定されず、３つ以上に分割される構成でもよい。 (3) Others In the above, the configuration in which the housing of the speed reducer is divided into two has been described as an example. However, the main effect of the present invention is that the assembly work is efficiently performed while maintaining the coaxiality of the rotor and the stator. In order to obtain the above, the housing does not have to be divided and may be integrated. Moreover, when setting it as a division | segmentation structure, it is not limited to the structure divided | segmented into two, The structure divided | segmented into three or more may be sufficient.

また、図１〜図５では、モータ電磁部１１０とエンコーダ部１２０とを減速機２００，２００Ａ，２００Ｂの両側に分けて配置した構成だったが、例えばモータ電磁部１１０とエンコーダ部１２０とを減速機２００，２００Ａ，２００Ｂの一方側に配置した構成のモータに対して本発明を適用してもよい。また、この場合に減速機２００，２００Ａ，２００Ｂの他方側にブレーキ部を配置した構成としてもよい。さらには、例えばモータ電磁部１１０、ブレーキ部、及びエンコーダ部１２０の全てを減速機２００，２００Ａ，２００Ｂの一方側にまとめて配置した構成としてもよい。これらの変形例においても、前述の実施形態と同様の効果を得ることができる。   1 to 5, the motor electromagnetic unit 110 and the encoder unit 120 are arranged separately on both sides of the speed reducers 200, 200A, 200B. For example, the motor electromagnetic unit 110 and the encoder unit 120 are decelerated. You may apply this invention with respect to the motor of the structure arrange | positioned at the one side of machine 200,200A, 200B. Moreover, it is good also as a structure which has arrange | positioned the brake part in the other side of the reduction gears 200, 200A, 200B in this case. Furthermore, for example, all of the motor electromagnetic unit 110, the brake unit, and the encoder unit 120 may be arranged together on one side of the speed reducers 200, 200A, and 200B. Also in these modified examples, the same effect as the above-described embodiment can be obtained.

また以上においては、ヨーク１１４及びマグネット１１５を含む界磁を回転子とし、ボビン１１７等を含む電機子を固定子とするモータ１００を例にとって説明したが、これに限られない。反対に、ヨーク及びマグネットを含む界磁をモータフレームに設けて固定子とし、ボビン等を含む電機子を回転軸に設けて回転子とするモータとしてもよい。この場合も、上記実施形態と同様の効果を得ることができる。   In the above description, the motor 100 using the field including the yoke 114 and the magnet 115 as the rotor and the armature including the bobbin 117 as a stator has been described as an example. However, the present invention is not limited to this. On the other hand, a field including a yoke and a magnet may be provided on a motor frame as a stator, and an armature including a bobbin or the like may be provided on a rotating shaft as a rotor. Also in this case, the same effect as the above embodiment can be obtained.

また、以上既に述べた以外にも、上記実施形態や各変形例による手法を適宜組み合わせて利用しても良い。   In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

その他、一々例示はしないが、本発明は、その趣旨を逸脱しない範囲内において、種々の変更が加えられて実施されるものである。   In addition, although not illustrated one by one, the present invention is implemented with various modifications within a range not departing from the gist thereof.

１，１Ａ，１Ｂ 回転装置
１００ モータ（回転電機）
１０１ 回転軸
１１１ 回転子
１１３ 固定子
１４０，１４０Ｂ 軸受支持部材
１４２，１４２Ｂ 支持部
１４３，１４３Ｂ 鍔部
１４４ 開口（嵌合部）
１４８ 凸部（インロー結合部）
１５０ 軸受支持部材
２００ 減速機
２００Ａ，２００Ｂ 減速機
２０１，２０１Ｂ ハウジング
２０２ｂ 貫通孔
２１１ 入力軸
２１２ ローラギヤカム
２１３ 軸受
２２１ 出力軸
２２２ カムフォロア 1, 1A, 1B Rotating device 100 Motor (rotary electric machine)
DESCRIPTION OF SYMBOLS 101 Rotating shaft 111 Rotor 113 Stator 140, 140B Bearing support member 142, 142B Support part 143, 143B Eave part 144 Opening (fitting part)
148 Convex (inlay joint)
150 bearing support member 200 reduction gear 200A, 200B reduction gear 201, 201B housing 202b through hole 211 input shaft 212 roller gear cam 213 bearing 221 output shaft 222 cam follower

Claims (4)

界磁と電機子のいずれか一方を回転子、他方を固定子とする回転電機と、減速機と、を一体的に備えた回転装置であって、
前記減速機は、
ローラギヤカムが設けられた入力軸と、
前記ローラギヤカムに順次係合するカムフォロアが外周に設けられ、前記入力軸に対し垂直な方向に伸びる出力軸と、
前記入力軸を回転自在に支持する軸受と、を有し、
前記回転電機は、
前記回転子が固定され、前記減速機の前記入力軸に同軸に連結された回転軸を有し、
前記軸受を支持する軸受支持部材と、前記固定子が取り付けられる取付部材とが、共通化されている
ことを特徴とする回転装置。 A rotating device that integrally includes a rotating electric machine having either a field or an armature as a rotor and the other as a stator, and a speed reducer,
The speed reducer is
An input shaft provided with a roller gear cam;
A cam follower that sequentially engages with the roller gear cam is provided on the outer periphery, and an output shaft extending in a direction perpendicular to the input shaft;
A bearing that rotatably supports the input shaft ,
The rotating electric machine is
The rotor is fixed and has a rotating shaft coaxially connected to the input shaft of the speed reducer;
Rotary device and the bearing support member supporting the bearing, a mounting member before Symbol stator is mounted, characterized in <br/> that are used in common. 前記減速機は、
前記入力軸が貫通する貫通孔を有し、前記入力軸の軸方向と直交する方向に分割可能なハウジングを有しており、
前記軸受支持部材は、
前記ハウジングの前記貫通孔に設けられている
ことを特徴とする請求項１に記載の回転装置。 The speed reducer is
Having a through-hole through which the input shaft passes, and having a housing that can be divided in a direction perpendicular to the axial direction of the input shaft;
Before Symbol bearing support member,
The rotating device according to claim 1, wherein the rotating device is provided in the through hole of the housing. 前記軸受支持部材は、
前記軸受が嵌合される嵌合部を有し、外径が前記貫通孔の内径よりも小さな支持部と、
外径が前記貫通孔の内径よりも大きな鍔部と、を有する
ことを特徴とする請求項２に記載の回転装置。 The bearing support member is
A support portion to which the bearing is fitted, and a support portion whose outer diameter is smaller than the inner diameter of the through hole;
The rotating device according to claim 2, further comprising a flange portion having an outer diameter larger than an inner diameter of the through hole. 前記軸受支持部材は、
前記固定子にインロー結合するインロー結合部を有する
ことを特徴とする請求項１乃至３のいずれか１項に記載の回転装置。
The bearing support member is
4. The rotating device according to claim 1, further comprising an inlay coupling portion that inlays with the stator. 5.
JP2011020476A 2011-02-02 2011-02-02 Rotating device Expired - Fee Related JP5764338B2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2011020476A JP5764338B2 (en) 2011-02-02 2011-02-02 Rotating device
CN201210021818.2A CN102629798B (en) 2011-02-02 2012-01-31 Whirligig
TW101103374A TWI566881B (en) 2011-02-02 2012-02-02 Rotating device
KR1020120010796A KR101905901B1 (en) 2011-02-02 2012-02-02 Rotating apparatus

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JP2011020476A JP5764338B2 (en) 2011-02-02 2011-02-02 Rotating device

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