Rotary encoder mounting method, mounting support program, and mounting support device

Abstract

To easily adjust the relative positions of an apparatus rotating shaft, a rotor and a stator.SOLUTION: The attachment support program performs a process of calculating a distance between the rotor and the stator, a process of calculating an eccentricity amount, an eccentricity direction, an inclination amount, and an inclination direction of the rotor with respect to the device rotating shaft on the basis of a detection value detected by a detection head provided to the stator attached to the device main body when the rotor fixed to the device rotating shaft member is rotated, and a process of calculating an eccentricity amount, an eccentricity direction, an inclination amount, and an inclination direction of the rotor with respect to the device rotating shaft on the basis of a detection value detected by a detection head provided to the stator attached to the device main body when the rotor fixed to the device rotating shaft member is rotated. The program causes a computer to execute a process of calculating an eccentric amount, an eccentric direction, an inclination amount, and an inclination direction of a stator with respect to a rotation axis of a device, and a process of displaying the eccentric amount and the eccentric direction of the stator, a distance between the stator and a rotor at a stator attachment position, and the inclination amount and the inclination direction with respect to the rotation axis of the device on a display unit.SELECTED DRAWING: Figure 26

Description

[Technical Field]

[0001] The present invention relates to a rotary encoder mounting method, a mounting assistance program, and a mounting assistance device. [Background technology]

[0002] Conventionally, a rotary encoder has been disclosed that includes a rotary scale having a scale pattern and a group of detection heads arranged opposite the rotary scale (see, for example, Patent Document 1). The rotary scale is sometimes called a rotor. The group of detection heads is sometimes provided on a stator. The stator is attached to the device body of the device to which the rotary encoder is attached. Meanwhile, the rotor is attached to, for example, a rotating shaft member provided in the device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 054613 Summary of the Invention [Problem to be solved by the invention]

[0004] For a rotary encoder to perform accurate measurements, it is necessary to adjust the relative positions of the equipment's rotating shaft, which is the axis of rotation of the equipment's rotating shaft member, and the rotor, as well as the equipment's rotating shaft and stator. However, such adjustment work takes time even for skilled workers. Furthermore, if the equipment to which the rotary encoder is attached is large or is installed on the ground, the rotary encoder may need to be installed on-site where the equipment is installed. In such cases, skilled workers are not always able to perform the adjustment work. Furthermore, it is desirable to complete the on-site work as quickly as possible.

[0005] In one aspect, the present invention aims to facilitate the adjustment of the relative position between an equipment rotation shaft and a rotor, and the adjustment of the relative position between an equipment rotation shaft and a stator. [Means for solving the problem]

[0006] In one aspect, a method for mounting a rotary encoder to an apparatus having an apparatus main body and an apparatus rotation shaft member rotatably provided relative to the apparatus main body includes the steps of: temporarily attaching a stator included in the rotary encoder to the apparatus main body; fixing a rotor included in the rotary encoder to the apparatus rotation shaft member so as to face the stator; acquiring the distance between the rotor and the stator; and rotating the rotor and determining the amount of eccentricity, eccentric direction, and inclination of the rotor relative to an apparatus rotation shaft, which is the rotation shaft of the apparatus rotation shaft member, based on a detection value detected by a detection head provided on the stator. a step of rotating the rotor and acquiring the amount, direction of eccentricity, amount and direction of tilt of the stator relative to the equipment rotation axis based on detection values ​​detected by a detection head provided on the stator; a step of determining whether the amount of eccentricity and the amount of tilt of the rotor are within an allowable range; a step of moving the stator relative to the equipment rotation axis so that the amount of eccentricity of the stator is within the allowable range; and a step of moving the stator so that the distance between the stator and the rotor at a position where the rotor is attached to the equipment main body and the amount and direction of tilt relative to the equipment rotation axis are within the allowable range.

[0007] In the method for mounting a rotary encoder having the above configuration, the stator is temporarily mounted at positions equally spaced apart in the circumferential direction of the stator using a position adjustment mechanism, and the position adjustment mechanism can include a bolt having an outer threaded portion on the outer surface of a shaft portion that screws into an inner threaded portion provided in a mounting hole provided in the stator, a nut that screws into the outer threaded portion, and a fixing screw that is inserted into the shaft portion and screwed into the device main body.

[0008] In another aspect, an installation assistance program is an installation assistance program that assists in adjusting the position of a rotor included in a rotary encoder and a stator arranged opposite to the rotor when installing the rotary encoder in an apparatus including an apparatus main body and an apparatus rotation shaft member rotatably provided relative to the apparatus main body, and includes a process of calculating a distance between the rotor and the stator, and a process of calculating a distance between the rotor and the stator based on a detection value detected by a detection head provided on the stator attached to the apparatus main body when the rotor fixed to the apparatus rotation shaft member is rotated. a process for calculating the amount of eccentricity, direction of eccentricity, amount of tilt, and direction of tilt of the stator relative to the equipment rotation axis based on detection values ​​detected by a detection head provided on the stator attached to the equipment main body when the rotor fixed to the equipment rotation axis member is rotated; a process for displaying the amount of eccentricity and direction of eccentricity of the stator relative to the equipment rotation axis on a display unit; and a process for displaying on the display unit the distance between the stator and the rotor at the position where the stator is attached to the equipment main body, and the amount of tilt and direction of tilt relative to the equipment rotation axis.

[0009] The installation assistance program having the above configuration can be configured to further cause the computer to execute a process of displaying, on the display unit, a direction in which the stator should be moved so that the eccentricity of the stator with respect to the equipment rotation axis falls within an allowable range.

[0010] The installation assistance program having the above configuration can be configured to further cause the computer to execute a process of displaying on the display unit the distance between the stator and the rotor, and the direction in which the stator should be moved so that the amount and direction of tilt relative to the equipment rotation axis are within an allowable range.

[0011] In still another aspect, an attachment assisting device is an attachment assisting device that assists in positioning a rotor included in a rotary encoder and a stator arranged opposite to the rotor when attaching the rotary encoder to an apparatus including an apparatus main body and an apparatus rotation shaft member rotatably provided relative to the apparatus main body, the attachment assisting device including a process of calculating a distance between the rotor and the stator, and a process of detecting an eccentricity amount of the rotor with respect to an apparatus rotation shaft that is a rotation shaft of the apparatus rotation shaft member, based on a detection value detected by a detection head provided on the stator attached to the apparatus main body when the rotor fixed to the apparatus rotation shaft member is rotated. an information processing unit that calculates the direction, amount of tilt, and direction of tilt of the stator relative to the equipment rotation axis based on detection values ​​detected by a detection head provided on the stator attached to the equipment main body when the rotor fixed to the equipment rotation axis member is rotated; and a display unit that displays the amount of eccentricity and direction of eccentricity of the stator relative to the equipment rotation axis calculated by the information processing unit, the distance between the stator and the rotor at the position where the stator is attached to the equipment main body, and the amount of tilt and direction of tilt relative to the equipment rotation axis.

[0012] The attachment assist device of the above aspect may further include a connector member that can be connected to or disconnected from a calculation unit included in the rotary encoder. [Effects of the Invention]

[0013] The relative positions of the device rotation shaft and the rotor, and the device rotation shaft and the stator can be easily adjusted. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram illustrating the configuration of an attachment support system including an attachment support device according to an embodiment. [Figure 2]Fig. 2(A) is a side view showing a state before a stator using a position adjustment mechanism is attached to a base. Fig. 2(B) is a side view showing a state after a stator using a position adjustment mechanism is attached to a base and a rotor is attached to an equipment rotation shaft member. Fig. 2(C) is a side view showing a state after the stator and base shown in Fig. 2(A) are reversed upside down. Fig. 2(D) is a side view showing a state after the stator and base shown in Fig. 2(B) are reversed upside down and a rotor is attached to an equipment rotation shaft member. [Figure 3] FIG. 3 is a plan view schematically showing a state in which a stator using a position adjustment mechanism is attached to a base portion, and a rotor is attached to an equipment rotation shaft member. [Figure 4] FIG. 4 is a plan view showing a schematic configuration of a rotary encoder to be attached in the embodiment. [Figure 5] FIG. 5(A) is an explanatory diagram showing three degrees of freedom (X, Y, Z), and FIG. 5(B) is an explanatory diagram showing the remaining three degrees of freedom (θx, θy, θz). [Figure 6] FIG. 6 is a plan view showing the details of the configuration of the rotary encoder shown in FIG. [Figure 7] FIG. 7 is an explanatory diagram showing a state in which the rotor and the stator are arranged opposite to each other. [Figure 8] FIG. 8 is an explanatory diagram showing the arrangement of the first to fourth detection heads on the stator. [Figure 9] FIG. 9 is a plan view of the rotor. [Figure 10] FIG. 10 is an explanatory diagram showing the configuration of the receiving coil. [Figure 11] FIG. 11 is an explanatory diagram showing an example in which a receiving coil is formed on a printed wiring board. [Figure 12] FIG. 12(A) is an explanatory diagram that shows a schematic diagram of a stator equipped with two detection heads that is eccentric along the Y-axis direction, and FIG. 12(B) is an explanatory diagram that shows a schematic diagram of a stator equipped with two detection heads that is eccentric along the X-axis direction. [Figure 13]FIG. 13(A) is an explanatory diagram that shows a schematic diagram of a stator equipped with two detection heads rotated around the Y axis, and FIG. 13(B) is an explanatory diagram that shows a schematic diagram of a stator equipped with two detection heads rotated around the X axis. [Figure 14] FIG. 14 is a diagram illustrating the correlation between the distance between the detection head and the rotor and the intensity of the detection signal. [Figure 15] FIG. 15 is an explanatory diagram that schematically shows a state in which a stator equipped with four detection heads is eccentric along the Y-axis direction and a state in which it is eccentric along the X-axis direction. [Figure 16] FIG. 16 is an explanatory diagram that schematically shows a state in which a stator equipped with four detection heads is rotated around the Y axis and a state in which it is rotated around the X axis. [Figure 17] FIG. 17(A) is an explanatory diagram showing n detection heads and a rotor, FIG. 17(B) is an example of a sine wave drawn when detecting eccentricity in the X-axis and Y-axis directions, and FIG. 17(C) is an example of a sine wave drawn when detecting θx and θy. [Figure 18] FIG. 18(A) is an explanatory diagram showing the relationship between the amount of eccentricity in the X-axis direction and the coefficient of a sine wave, FIG. 18(B) is an explanatory diagram showing the relationship between the amount of eccentricity in the Y-axis direction and the coefficient of a sine wave, FIG. 18(C) is an explanatory diagram showing the relationship between the angle of rotation about the X-axis and the coefficient of a sine wave, and FIG. 18(D) is an explanatory diagram showing the relationship between the angle of rotation about the Y-axis and the coefficient of a sine wave. [Figure 19] Figure 19(A) is an exploded side view of the position adjustment mechanism, and Figure 19(B) is a side view of the position adjustment mechanism. [Figure 20] FIG. 20 is a cross-sectional view taken along line AA in FIG. [Figure 21] Fig. 21(A) is a perspective view showing the adjustment tool separated into a first socket member and a second socket member, and Fig. 21(B) is a perspective view showing the adjustment tool and a hexagonal wrench. [Figure 22] 22A and 22B are three-sided views of the first socket member, with FIG. 22A being a front view, FIG. 22B being a plan view, and FIG. 22C being a bottom view. [Figure 23]23A and 23B are four-sided views of the second socket member, with FIG. 23A being a front view, FIG. 23B being a plan view, FIG. 23C being a side view, and FIG. 23D being a bottom view. [Figure 24] Fig. 24(A) is a cross-sectional view of the adjustment tool separated into a first socket member and a second socket member, and Fig. 24(B) is a cross-sectional view of the adjustment tool and a view showing a hexagonal wrench. [Figure 25] FIG. 25 is a cross-sectional view of the adjustment tool attached to the position adjustment mechanism. [Figure 26] Fig. 26(A) is a flowchart illustrating an example of a preparatory step in the installation work of a rotary encoder, and Fig. 26(B) is a flowchart illustrating an example of installation support for the rotary encoder. [Figure 27] Fig. 27(A) is a diagram showing an example of a method for provisionally aligning the eccentricity of a rotor and a stator, Fig. 27(B) is a plan view of a positioning jig that can be used for provisionally aligning the eccentricity of a rotor and a stator, and Fig. 27(C) is a front view of the same. [Figure 28] FIG. 28 is a diagram showing an example of a screen display in the installation support. [Figure 29] Fig. 29(A) is an explanatory diagram illustrating the relationship between the arc locus drawn by the center point of the eccentric rotor and the device rotation axis, and Fig. 29(B) is an explanatory diagram illustrating the movement direction and movement distance of the stator. [Figure 30] FIG. 30 is an explanatory diagram illustrating the relationship between the arrangement position of the detection head and the arrangement position of the position adjustment mechanism. [Figure 31] FIG. 31 shows an example of a screen display during gap adjustment and eccentricity adjustment. [Figure 32] FIG. 32 shows an example of a screen display that instructs the final confirmation of the installation work. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments will be described with reference to the drawings.

[0016] (Embodiment) [Installation support system] Referring to FIG. 1, an installation assist system 50 includes a rotary encoder 1 and an installation assist device 51 . <Rotary encoder> First, with reference to Figs. 2(A) to 3, a rotary encoder 1 including a stator 5 will be described. The rotary encoder 1 includes a rotor 2 and a stator 5. The rotary encoder 1 is installed in, for example, various devices having a rotating part. These devices include a base 100 that serves as the device main body, and a device rotation shaft member 101 that is rotatable relative to the base 100. The rotation axis of this device rotation shaft member 101 is a device rotation axis AX1. The stator 5 is attached to the base 100. At this time, a position adjustment mechanism 10 is used, and the position can be adjusted by the position adjustment mechanism 10.

[0017] The rotor 2 has a scale pattern (not shown). The rotor 2 is a disk-shaped member with a fitting hole 2a in its center. The rotor 2 is attached to the equipment rotation shaft member 101 by fitting the fitting hole 2a into the equipment rotation shaft member 101 so that its central axis coincides with the equipment rotation axis AX1 of the equipment rotation shaft member 101. The rotor 2 is required to be installed without eccentricity or tilt with respect to the equipment rotation axis AX1. The attachment assistance device 51 of this embodiment can determine whether the amount of eccentricity and tilt of the rotor 2 with respect to the equipment rotation axis AX1 are within an allowable range.

[0018] The stator 5 includes a transmitter / receiver that transmits and receives signals to and from the scale pattern. The stator 5 is attached to the base 100. At this time, the stator 5 is required to be installed without being eccentric or tilted relative to the device rotation axis AX1.

[0019] Therefore, in this embodiment, the position of the stator 5 can be adjusted by the position adjustment mechanism 10. Also, the attachment assistance device 51 assists in the attachment of the rotor 2 and the stator 5.

[0020] In this embodiment, the stator 5 is located below the rotor 2, that is, on the negative (-) side in the Z-axis direction. However, the stator 5 may be located above the rotor 2 in some cases.

[0021] The position adjustment mechanisms 10 are arranged at equal intervals of 120° around the stator 5. The stator 5 is attached to the base part 100 by screwing the position adjustment mechanisms 10 into screw holes 100a provided in the base part 100.

[0022] Each position adjustment mechanism 10 can move the point on the stator 5 where the position adjustment mechanism 10 is located up and down in the Z-axis direction, as indicated by arrow 8a in Figure 2(B). This allows the stator 5 to be installed in a plane perpendicular to the device rotation axis AX1.

[0023] When each position adjustment mechanism 10 is loosened, it is possible to move the stator 5 relative to the central axis AX2 of the screw hole 100a. Therefore, each position adjustment mechanism 10 can move the stator 5 along the X-axis direction as shown by arrow 8b in Fig. 3, or along the Y-axis direction as shown by arrow 8c. This allows the stator 5 to be installed without being eccentric with respect to the device rotation axis AX1.

[0024] In the following description, one side in the Z-axis direction will be referred to as the base end side, and the other side as the tip end side, as shown in FIG. 2(B).

[0025] Here, an example of the configuration of the rotary encoder 1 will be described in more detail with reference to FIGS. 1 and 4 to 11. FIG.

[0026] Referring to FIG. 1, a rotary encoder 1 includes a rotor 2 and a stator 5, and the stator 5 is provided with n (n is an integer of 2 or more) detection heads 5-0 to 5-(n-1).

[0027] The rotary encoder 1 is illustrated in Figures 4, 5(A), 5(B), 6, and 7. Figure 4 is a plan view showing the schematic configuration of the rotary encoder 1. Figure 5(A) is an explanatory diagram showing three degrees of freedom (X, Y, Z), and Figure 5(B) is an explanatory diagram showing the remaining three degrees of freedom (θx, θy, θz). Figure 6 is a plan view showing the details of the configuration of the rotary encoder shown in Figure 4. Figure 7 is an explanatory diagram showing how the rotor and stator are arranged opposite each other.

[0028] Figure 5(A) shows the detection axis of eccentricity, and Figure 5(B) shows the detection axis of tilt. Figure 7 shows the rotary encoder 1 when viewed from the -Y direction to the +Y direction in Figure 3(A). As shown in Figure 7, the detection heads 5-0 to 5-(n-1) are arranged on an installation surface F facing the rotor 2. The rotary encoder 1 shown in Figures 4, 5(A), 5(B), 14, and 15 is equipped with four detection heads, the first detection head 5-0 to the fourth detection head 5-3.

[0029] The detection heads 5-0 to 5-(n-1) are arranged around the Z axis, which is the center of rotation of the rotor 2. The stator 5 is required to be mounted so that the detection heads 5-0 to 5-(n-1) are not eccentric with respect to the Z axis, which is the center of rotation of the rotor 2.

[0030] Each of the detection heads 5-0 to 5-(n-1) is provided with a transmission coil 5a and a reception coil 5b. The first detection head 5-0 to the fourth detection head 5-3 arranged on the stator 5 are shown in FIG.

[0031] The transmitter coil 5a is a sector coil with its length in the circumferential direction. As shown in Fig. 8, the receiver coil 5b is located inside the transmitter coil 5a and forms a detection loop with a positive and negative sinusoidal waveform pattern with a fundamental period λ that is repeated in the circumferential direction with the fundamental period λ.

[0032] As shown in FIG. 9, the rotor 2 is a disk-shaped member, and is attached to the device rotation shaft member 101 (see FIG. 3, etc.) with its center aligned with the device rotation axis AX1 (Z-axis) of the device rotation shaft member 101. The rotor 2 has a scale pattern 3 including a plurality of patterns 3a arranged at a fundamental period λ along the circumferential direction of the rotor 2. The patterns 3a are closed-loop coils. Each pattern 3a is electromagnetically coupled to a transmitting coil 5a and a receiving coil 5b.

[0033] The transmitter circuit 6 shown in FIG. 8 generates a single-phase AC drive signal and supplies the drive signal to the transmitter coil 5a. In this case, magnetic flux is generated in the transmitter coil 5a. This generates an electromotive current in the multiple patterns 3a. The multiple patterns 3a are electromagnetically coupled to the magnetic flux generated by the transmitter coil 5a, generating a magnetic flux that changes in the circumferential direction with a predetermined spatial period. The magnetic flux generated by the transmitter coil 5a generates an electromotive current in the receiver coil 5b. The electromagnetic coupling between each coil changes depending on the displacement of the rotary encoder 1, and a sinusoidal signal with the same period as the fundamental period λ is obtained.

[0034] The installation surface F is, for example, a surface including the receiving coils 5b formed on the surface of a flat-plate member. The flat-plate member is, for example, a substrate. Each receiving coil 5b has a switching section 5b1 for switching between positive and negative sine waveform patterns. Therefore, as shown in FIG. 10, the receiving coils 5b are not only located on the surface of the installation surface F but also have a thickness equal to the receiving coil thickness T. Alternatively, as shown in FIG. 11, the receiving coils 5b can be formed on a printed wiring board. In this case, the sine waveform patterns are arranged with an insulator sandwiched between them, and a through-hole th is disposed in the switching section 5b1 to electrically connect them. Furthermore, since the sine waveform patterns are arranged apart by the receiving coil thickness T, setting the installation surface F at the midpoint of the receiving coil thickness T enables highly accurate detection with a well-balanced signal. Furthermore, each receiving coil 5b is connected to a signal processing section 11a included in the calculation section 11, and signals acquired by each receiving coil 5b are provided to the calculation section 11. Each receiving coil 5b and the signal processing section 11a are connected by wire, but wireless connection is also possible. In this embodiment, the information processing unit (CPU 52) and the calculation unit 11 are connected via a first connector 58 provided on the mounting assistance device 51 side and a second connector 59 provided on the rotary encoder 1 side.

[0035] In the rotary encoder 1 shown in Fig. 4 etc., the first detection head 5-0 to the fourth detection head 5-3 are arranged at equal intervals around the circumference, but the intervals between the detection heads may not be equal and may be any interval. However, by arranging the detection heads 5-0 to 5-(n-1) at equal intervals, it becomes easier to calculate numerical values ​​through calculations etc. in the calculation unit 11, which will be described later. Here, the detection heads 5-0 to 5-(n-1) are arranged at equal intervals around the circumference; in other words, the detection heads are arranged at equal angles around the Z axis, which is the center of rotation of the rotor 2, as the central axis (on the circumference with the Z axis as the central axis).

[0036] In this embodiment, each detection head is equipped with a transmitting coil 5a, but for example, it may also be configured such that a single transmitting coil is provided and the signal transmitted from this transmitting coil toward the rotor 2 is received by each receiving coil 5b.

[0037] The rotary encoder 1 of this embodiment is of the electromagnetic induction type, but may be of a type using other detection principles such as a capacitance type or a photoelectric type. In the case of a rotary encoder of another type, a transmitter coil and a receiver coil are used as transmitters and receivers, respectively, according to the type adopted by the rotary encoder.

[0038] <Measurement principle> The mounting assistance device 51 assists in adjusting the relative position between the stator 5 and the rotor 2 by utilizing the detection value detected by the detection head of the rotary encoder 1. Here, the measurement principle of the positional relationship between the rotor 2 and the stator 5 in the rotary encoder 1 will be described with reference to Fig. 12(A) to Fig. 18(D).

[0039] Each figure depicts a rotary encoder with a different number and arrangement of detector heads, and although the detector heads and rotary encoders may differ in strict terms between the figures, for the sake of convenience, common reference numerals are used for the different detector heads and rotary encoders. Also, elements shown in Figure 4 etc. may be simplified or omitted in each figure.

[0040] 12(A) and 12(B), a case where the stator 5 is eccentric in a rotary encoder 1 equipped with two detection heads will be described. Note that the eccentricity between the stator 5 and the rotor 2 is relative, but in this embodiment, the state of the rotor 2 attached to the device rotating shaft member 101 is used as a reference and the stator 5 will be described as being eccentric.

[0041] 12(A), the rotary encoder 1 has two detection heads, namely a first detection head 5-0 and a second detection head 5-1, on the stator 5. In the rotary encoder 1 shown in FIG. 12(A), the first detection head 5-0 and the second detection head 5-1 are arranged at positions 180° apart on the X-axis. In other words, the first detection head 5-0 and the second detection head 5-1 are arranged on opposite sides of the X-axis, separated by the Z-axis.

[0042] In such a rotary encoder 1, assume that the stator 5 is eccentric on the -Y side, as in the rotary encoder 1 shown on the right side of FIG. 12(A). In this case, the first detection head 5-0 indicates a detection value that is as if the rotor 2 has rotated to the positive side (+θz) around the Z axis. On the other hand, the second detection head 5-1 indicates a detection value that is as if the rotor 2 has rotated to the negative side (-θz) around the Z axis. When such a combination of detection values ​​is obtained, it is clear that the stator 5 has moved relatively to the -Y side (eccentricity). The amount of movement at this time is the absolute value of the detection value of the first detection head 5-0 and the detection value of the second detection head 5-1. Note that if the positive and negative detection values ​​of the first detection head 5-0 and the second detection head 5-1 are swapped, the stator 5 has moved relatively to the +Y side (eccentricity).

[0043] 12(B), the first detection head 5-0 and the second detection head 5-1 are arranged at positions 180° apart on the Y axis. In other words, the first detection head 5-0 and the second detection head 5-1 are arranged on opposite sides of the Y axis, separated by the Z axis.

[0044] In such a rotary encoder 1, assume that the stator 5 is eccentric on the +X side, as in the rotary encoder 1 shown in the lower part of FIG. 12(B). In this case, the first detection head 5-0 indicates a detection value that is as if the rotor 2 has rotated to the positive side (+θz) around the Z axis. On the other hand, the second detection head 5-1 indicates a detection value that is as if the rotor 2 has rotated to the negative side (-θz) around the Z axis. When such a combination of detection values ​​is obtained, it is clear that the stator 5 has moved relatively to the +X side (eccentricity). The amount of movement at this time is the absolute value of the detection value of the first detection head 5-0 and the detection value of the second detection head 5-1. Note that if the positive and negative detection values ​​of the first detection head 5-0 and the second detection head 5-1 are swapped, the stator 5 has moved relatively to the -X side (eccentricity).

[0045] Next, referring to FIGS. 13A and 13B, a rotary encoder 1 equipped with two detector heads and inclined relative to the rotor 2 will be described. Referring to FIG. 13A, the rotary encoder 1 is equipped with a first detector head 5-0 and a second detector head 5-1, similar to the rotary encoder 1 shown in FIG. 12A. The distance between the detector heads and the rotor 2 correlates with the strength of the detection signal. Specifically, when the distance between the detector heads and the rotor 2 is short (small gap fluctuation), the strength of the detection signal increases (increases), and when the distance is long (large gap fluctuation), the strength of the detection signal decreases (decreases). FIG. 14 is a diagram illustrating the correlation between the distance between the detector heads provided on the stator 5 and the rotor 2 and the strength of the detection signal obtained from the receiving coil. In FIG. 14, the horizontal axis represents the distance [mm] between the two, and the vertical axis represents the signal strength. The detection method of the rotary encoder 1 of this embodiment uses electromagnetic induction between a transmitting coil and a receiving coil, so the signal strength decreases as the distance increases and increases as the distance decreases, as shown in Fig. 14. A map showing the relationship between the distance between the detection head and the rotor 2 and the strength of the detection signal, as shown in Fig. 14, is stored in the attachment assistance device 51, and the strength of the detection signal obtained from each detection head can be applied to the Y-axis of the map shown in Fig. 14 to calculate the distance between each detection head and the rotor 2.

[0046] In such a rotary encoder 1, let us assume that the stator 5 is rotating in the +θy direction (clockwise in FIG. 13A) as in the rotary encoder 1 shown on the right side of FIG. 13A. Then, the distance between the first detection head 5-0 and the rotor 2 detected by the first detection head 5-0 is greater than the distance between the second detection head 5-1 and the rotor 2 detected by the second detection head 5-1. When such a combination of detection values ​​is obtained, it is clear that the stator 5 is rotating relatively in the +θy direction. The amount of rotation at this time can be calculated from the difference between the detection values ​​of the first detection head 5-0 and the second detection head 5-1. Note that when the distance between the second detection head 5-1 and the rotor 2 is greater than the distance between the first detection head 5-0 and the rotor 2, the stator 5 is rotating relatively toward the -θy side.

[0047] 13(B), the rotary encoder 1 includes a first detection head 5-0 and a second detection head 5-1, similar to the rotary encoder 1 shown in Fig. 12(B). In this case as well, the distance between each detection head and the rotor 2 is calculated based on the intensity of the detection signal.

[0048] In such a rotary encoder 1, let us assume that the stator 5 is rotating in the +θx direction (clockwise in FIG. 13B) as in the rotary encoder 1 shown in the lower part of FIG. 13B. Then, the distance between the second detection head 5-1 and the rotor 2 detected by the second detection head 5-1 becomes larger than the distance between the first detection head 5-0 and the rotor 2 detected by the first detection head 5-0. When such a combination of detection values ​​is obtained, it is understood that the stator 5 is rotating relatively in the +θx direction. The amount of rotation at this time can be calculated from the difference between the detection values ​​of the first detection head 5-0 and the second detection head 5-1. Note that when the distance between the first detection head 5-0 and the rotor 2 is larger than the distance between the second detection head 5-1 and the rotor 2, the stator 5 is rotating relatively toward the -θx side.

[0049] Next, referring to FIG. 15, a rotary encoder 1 having four detector heads and an eccentric stator 5 will be described. Referring to FIG. 15, the rotary encoder 1 has four detector heads on the stator 5, namely, a first detector head 5-0, a second detector head 5-1, a third detector head 5-2, and a fourth detector head 5-3. In this rotary encoder 1, the first detector head 5-0 and the third detector head 5-2 are disposed 180° apart on the X-axis, and the second detector head 5-1 and the fourth detector head 5-3 are disposed 180° apart on the Y-axis. In other words, the first detector head 5-0 and the third detector head 5-2 are disposed on opposite sides of the X-axis across the Z-axis, and the second detector head 5-1 and the fourth detector head 5-3 are disposed on opposite sides of the Y-axis across the Z-axis. The first detector head 5-0 to the fourth detector head 5-3 are disposed at equal intervals of 90°.

[0050] In such a rotary encoder 1, suppose the stator 5 is eccentric on the -Y side, as in the rotary encoder 1 shown on the right side of Figure 15. Then, the first detection head 5-0 detects a value as if the rotor 2 has rotated to the positive side (+θz) around the Z axis. Meanwhile, the third detection head 5-2 detects a value as if the rotor 2 has rotated to the negative side (-θz) around the Z axis. The detection values ​​of the second detection head 5-1 and the fourth detection head 5-3 both indicate values ​​obtained when there is no rotation around the Z axis. When this combination of detection values ​​is obtained, it is clear that the stator 5 has moved relatively toward the -Y side. The amount of movement at this time is the absolute value of the detection value of the first detection head 5-0 and the detection value of the third detection head 5-2. If the ± detection values ​​of the first detection head 5-0 and the third detection head 5-2 are swapped, the stator 5 has moved relatively toward the +Y side.

[0051] In the rotary encoder 1 shown in FIG. 15, assume that the stator 5 is eccentric on the +X side, as shown in the lower part of FIG. 15. In this case, the second detection head 5-1 indicates a detection value as if the rotor 2 has rotated to the positive side (+θz) around the Z axis. On the other hand, the fourth detection head 5-3 indicates a detection value as if the rotor 2 has rotated to the negative side (-θz) around the Z axis. The detection values ​​of the first detection head 5-0 and the third detection head 5-2 both indicate values ​​when there is no rotation around the Z axis. When such a combination of detection values ​​is obtained, it is clear that the stator 5 has moved relatively toward the +X side. The amount of movement at this time is the absolute value of the detection value of the second detection head 5-1 and the detection value of the fourth detection head 5-3. Note that if the positive and negative detection values ​​of the second detection head 5-1 and the fourth detection head 5-3 are swapped, the stator 5 has moved relatively toward the -X side.

[0052] Next, with reference to Fig. 16, a case will be described in which the stator 5 is inclined with respect to the rotor 2 in a rotary encoder 1 equipped with four detection heads. Referring to Fig. 16, the rotary encoder 1 is equipped with a first detection head 5-0 to a fourth detection head 5-3, similar to the rotary encoder 1 shown in Fig. 15. The distance between each detection head and the rotor 2 is calculated based on the intensity of the detection signal from each detection head.

[0053] In such a rotary encoder 1, let us assume that the stator 5 is rotating in the +θy direction (clockwise in FIG. 16) as in the rotary encoder 1 shown on the right side of FIG. 16. Then, the distance between the first detection head 5-0 and the rotor 2 detected by the first detection head 5-0 becomes larger than the distance between the third detection head 5-2 and the rotor 2 detected by the third detection head 5-2. The detection values ​​of the second detection head 5-1 and the fourth detection head 5-3 are the same. When such a combination of detection values ​​is obtained, it is clear that the stator 5 is rotating relatively in the +θy direction. The amount of rotation at this time can be calculated from the difference between the detection values ​​of the first detection head 5-0 and the third detection head 5-2. Note that when the distance between the third detection head 5-2 and the rotor 2 is larger than the distance between the first detection head 5-0 and the rotor 2, the stator 5 is rotating relatively toward the -θy side.

[0054] In such a rotary encoder 1, let us assume that the stator 5 is rotating in the +θx direction (clockwise in FIG. 16) as in the rotary encoder 1 shown in the lower part of FIG. 16. Then, the distance between the fourth detection head 5-3 and the rotor 2 detected by the fourth detection head 5-3 becomes larger than the distance between the second detection head 5-1 and the rotor 2 detected by the second detection head 5-1. The detection values ​​of the first detection head 5-0 and the third detection head 5-2 are the same. When such a combination of detection values ​​is obtained, it is clear that the stator 5 is rotating relatively in the +θx direction. The amount of rotation at this time can be calculated from the difference between the detection values ​​of the second detection head 5-1 and the fourth detection head 5-3. Note that when the distance between the second detection head 5-1 and the rotor 2 is larger than the distance between the fourth detection head 5-3 and the rotor 2, the stator 5 is rotating relatively toward the -θx side.

[0055] In Figures 12(A) to 16, we have explained the cases where there are two and four detection heads, but if there are two or more detection heads, the relative positional relationship between the stator 5 and the rotor 2 can be measured in a similar manner.

[0056] Rotation around the Z-axis can be detected from the detection values ​​of each detection head, as with conventional rotary encoders. The rotation angle (amount of rotation) around the Z-axis can be, for example, the average of the detection values ​​(angle outputs) of each detection head. The average of the distances between each detection head and the rotor 2 calculated based on the detection of each detection head can be used as the amount of relative movement along the Z-axis, i.e., the gap. The stator 5 and rotor 2 must be parallel, and an appropriate gap between them must also be maintained. The distance between the stator 5 and rotor 2 can be determined based on the intensity of the detection signal from the detection head. The gap between them can be adjusted based on the intensity of the detection signal.

[0057] Next, calculation of the numerical values ​​of the displacement amount and gap will be described with reference to Figures 17(A) to 18(D). The calculation of the numerical values ​​is performed by the calculation unit 11 shown in Figure 1.

[0058] In the following description, reference will be made to the rotary encoder 1 shown in Fig. 17(A). The rotary encoder 1 shown in Fig. 17(A) has n detection heads, from the first detection head 5-0 to the n-th detection head 5-(n-1). φ in the figure indicates the installation position of each detection head. Specifically, φ indicates the clockwise angle with the installation position φ0 of the first detection head 5-0 as the reference position.

[0059] <When the stator is eccentric relative to the rotor> First, referring to Fig. 17(B), we will explain the case where the stator 5 equipped with the detection head group is eccentric relative to the rotor 2. The relative movement amount X (eccentricity amount) along the X-axis direction and the relative movement amount Y (eccentricity amount) along the Y-axis direction can be calculated from the amplitude and phase of the eccentricity error. The angle output outk of the kth (k = 0 to n-1) detection head out of the n detection heads is expressed as the sum of the ideal angle output, that is, the angle output obtained when there is no eccentricity, and the eccentricity error (see equation (1)).

number

[0060] Here, consider the difference in angular output between two detection heads, i and j (see equation (2)).

number

[0061] Since ideal angle (i) - ideal angle (j) is equal to the difference φi - φj between the positions of the two detection heads, the eccentricity error can be extracted by defining Δout using the following equation (3).

number

[0062] Here, when φ=0 is used as a reference, the amplitude of the eccentricity error is α and the phase is β, and these can be expressed as in the following equation (4).

number

[0063] Therefore, Δout(i,j) is expressed as the following equation (5).

number

[0064] Then, by modifying equation (5), Δout(i,j) is expressed as in equation (6) below.

number

[0065] Here, Δα(i,j) and Δφ(i,j) are constants that depend on the arrangement of the two detection heads. That is, Δout(i,j) is a sine wave whose amplitude is multiplied by Δα(i,j) and whose phase is shifted by φi,j compared to the eccentricity error when φ=0 is used as the reference. Therefore, if you plot Out(i,j) divided by Δα(i,j) on the vertical axis and Δφ(i,j) on the horizontal axis, you get a plot like the one shown in Figure 17(b), and by fitting this to a sine wave, you can find the amplitude and phase of the eccentricity error.

[0066] Here, an example will be described in which the coefficients a, b, and c are calculated by fitting to y=a+b·sin(θ)+c·cos(θ), which represents the sine wave shown in Fig. 17(B). To simplify the calculation, it is assumed that the first detection head 5-0 to the n-th detection head 5-(n-1) are arranged at equal intervals.

[0067] The coefficients a, b, and c can be calculated by applying the least squares method using the following equation (7): In equation (7), parts A and B are determined by the arrangement of the detection heads, and part C is Δout(i,j) / Δα(i,j) calculated from the difference in angular output of each detection head and the arrangement of the detection heads.

number

[0068] Equation (7) is a general equation for when there are n detection heads, but when there are four detection heads, the coefficients a, b, and c can be found using the following equation (8). Also, when there are eight detection heads, the coefficients a, b, and c can be found using the following equation (9).

number

number

[0069] By performing the above calculations, the coefficients a, b, and c can be determined, and the equation representing a sine wave, y=a+b·sin(θ)+c·cos(θ), can be determined. The coefficient b in this equation can then be used to determine the relative movement amount X (eccentricity) along the X-axis, and the coefficient c can be used to determine the relative movement amount Y (eccentricity) along the Y-axis.

[0070] 18A, the relative movement amount X [mm] has a relationship between the coefficient b [rad] and R [mm], where R [mm] is the radius of the scale pattern 3.

[0071] Therefore, the relative movement amount X [mm] is calculated by the following formula 10.

number

[0072] 18B, the relative movement amount Y [mm] has a relationship between the coefficient c [rad] and R [mm], where R [mm] is the radius of the scale pattern 3.

[0073] Therefore, the relative movement amount Y [mm] is calculated by the following formula 11.

number

[0074] In this way, the relative movement amount X [mm] and the relative movement amount Y [mm] can be calculated.

[0075] <When the stator rotates relative to the rotor> 17(C), a case will be described in which the stator 5 equipped with the detection head group rotates relative to the rotor 2. Specifically, a case will be described in which the stator 5 rotates around the X axis and also around the Y axis relative to the rotor 2. The amount of relative rotation θx (amount of tilt) around the X axis and the amount of relative rotation θy (amount of tilt) around the Y axis can be found from the amplitude and phase of the gap fluctuation (the distance between each detection head and the rotor 2).

[0076] When detecting the relative rotation amount θx around the X axis and the relative rotation amount θy around the Y axis, the vertical axis is the gap in the sine wave shown in Figure 17(C). By plotting the gap at each of the circumferentially arranged detection heads, from the first detection head 5-0 to the nth detection head 5-(n-1), and fitting, the coefficients a, b, and c of the sine wave (a+b·sin(θ)+c·cos(θ)) can be found. The amplitude of this fitted sine wave becomes the amplitude of the gap fluctuation. In other words, √(b 2 +c 2 ) is the amplitude of the gap fluctuation.

[0077] The coefficients a, b, and c can be calculated by applying the least squares method using the following equation (12): In equation (12), parts A and B are determined by the arrangement of the detection heads, and part C is a matrix of the gap values ​​for each detection head.

number

[0078] Equation (12) is a general equation for when there are n detection heads, but when there are four detection heads, the coefficients a, b, and c can be found using the following equation (13). Also, when there are eight detection heads, the coefficients a, b, and c can be found using the following equation (14).

number

number

[0079] By performing the above calculations, the coefficients a, b, and c can be determined, and the equation representing a sine wave, y=a+b·sin(θ)+c·cos(θ), can be identified. The coefficient b in this equation can then be used to determine the relative rotation amount θx (tilt amount) around the X axis, and the coefficient c can be used to determine the relative rotation amount θy (tilt amount) around the Y axis.

[0080] 18C, the relative rotation amount θx [rad] has a relationship between the coefficient b [mm] and R [mm], where R [mm] is the radius of the scale pattern 3.

[0081] Therefore, the relative rotation amount θx [rad] is calculated by the following equation 15.

number

[0082] 18(D) shows the relationship between the relative rotation amount θy [rad], the coefficient c [mm], and R [mm], where R [mm] is the radius of the scale pattern 3.

[0083] Therefore, the relative rotation amount θy [rad] is calculated by the following equation 16.

number

[0084] In this way, the relative rotation amount θx [rad] and the relative rotation amount θy [rad] can be calculated.

[0085] The rotary encoder 1 can detect the amount of eccentricity when the rotor 2 is eccentric, and the amount of tilt when the rotor 2 is tilted. In the above explanation, these are described separately. That is, the detection of the amount of eccentricity when the stator 5 is eccentric is described with reference to Figures 12(A), 12(B), and 15, and the detection of the amount of tilt when the stator 5 is tilted is described with reference to Figures 13(A), 13(B), and 16. However, the rotary encoder 1 can simultaneously detect the amount of eccentricity and the amount of tilt even when the rotor 2 is eccentric and tilted.

[0086] <Installation support device> Returning to Fig. 1 again, the mounting assistance device 51 will be described. The mounting assistance device 51 is configured as a so-called computer including a CPU (Central Processing Unit) 52, a display unit 53, an input unit 54, a program storage unit 55, and a RAM (Random Access Memory) 56. The CPU 52 is a central processing unit and functions as an information processing unit. The CPU 52 includes one or more cores.

[0087] The display unit 53 displays various information for the installation support. The input unit 54 is used for selecting menus for the installation support and for various inputs as the work progresses. The program storage unit 55 is composed of, for example, a ROM (Read Only Memory), a solid state drive (SSD) such as a flash memory, or a hard disk driven by a hard disk drive (HDD). The program stored in the program storage unit 55 is an installation support program that supports the adjustment of the relative position of the rotor 2 and the stator 5.

[0088] The RAM 56 is a volatile memory that temporarily stores programs executed by the CPU 52, data processed by the CPU 52, and the like. A first connector 58 is connected to the CPU 52. The first connector 58 is connected to a second connector 59 provided on the rotary encoder 1 side. The second connector 59 is connected to a calculation unit 11 provided in the rotary encoder 1. By connecting the first connector 58 and the second connector 59, various numerical values ​​of the rotary encoder 1 calculated by the calculation unit 11 are provided to the CPU 52. The CPU 52 performs various calculations required to assist in the installation of the rotary encoder 1 using the numerical values ​​provided from the calculation unit 11. The second connector 59 can be replaced with a third connector 62 extending from an equipment control unit 60 to which the rotary encoder 1 is attached. When operating an equipment equipped with the rotary encoder 1, the second connector 59 is replaced with the third connector 62. This allows the equipment control unit 60 to perform various controls of the equipment using signals received by each receiving coil 5b. The equipment control unit 60 is electrically connected to a drive unit 61 that rotates the equipment rotation shaft member 101 to which the rotor 2 is attached, and controls the rotation of the equipment rotation shaft member 101. By making it possible to switch the connection destination of the second connector 59 from the third connector 62 to the first connector 58, the rotary encoder 1 can be installed and its position adjusted at the site where the equipment is installed.

[0089] <Position adjustment mechanism> Next, the configuration of the position adjustment mechanism 10 will be described with reference to FIGS. 19(A) and 20 . The position adjustment mechanism 10 adjusts the position of the stator 5, enabling the stator 5 to be installed parallel to and at an arbitrary distance from the rotor 2 without being eccentric relative to the rotor 2. In this embodiment, the installation assist device 51 grasps the eccentric state of the stator 5 and the state of the gap with respect to the rotor 2. The position of the stator 5 is then adjusted based on instructions from the installation assist device 51. At this time, use of the position adjustment mechanism 10 makes it easy to adjust the position of the stator 5. That is, by using the position adjustment mechanism 10 that supports the stator 5, the height of the stator 5 can be adjusted, and the inclination can be changed by adjusting each of the three position adjustment mechanisms to a different height. Furthermore, use of the position adjustment mechanism 10 makes it easy to adjust the eccentricity of the stator 5 with respect to the rotation axis AX1. The position adjustment mechanism 10 includes a hollow bolt 12, a fixing screw 17, and a nut 22. The position adjustment mechanism 10 also includes a pressurizing mechanism 20.

[0090] The hollow bolt 12 has a head 13 on the base end side that is hexagonal in plan view. However, the shape of the head 13 is not limited to hexagonal, and various conventionally known shapes can be used. A hollow tubular portion 14, which corresponds to the shaft portion of the hollow bolt 12 and extends toward the tip side, is connected to the head 13. The hollow tubular portion 14 has an inner circumferential surface 14a with an inner diameter r14a. The inner diameter r14a is the diameter of the inner circumferential surface 14a of the hollow tubular portion 14. An outer circumferential thread portion 15a is formed on the outer circumferential surface 15 of the hollow tubular portion 14. In other words, the hollow bolt 12 is a male thread. An inner circumferential thread portion (female thread portion) 7 provided in a mounting hole 6 of the stator 5 is threadedly engaged with the outer circumferential thread portion 15a. As the hollow bolt 12 rotates, the stator 5 can move up and down along the Z-axis direction according to the direction of rotation, and the distance between the stator 5 and the base part 100, that is, the position in the height direction (Z-axis direction), is adjusted. As a result, the distance between the rotor 2 and the stator 5 is adjusted.

[0091] The fixing screw 17 has a head 18 provided on the base end side. A tool hole 18a is provided in the head 18. In this embodiment, the tool hole 18a is a hexagonal hole and can be rotated using a hexagonal wrench (see FIG. 24(B) etc.). The tool hole 18a may have another shape, and may be any of various conventionally known shapes. The tool hole 18a may be, for example, a + (plus) or - (minus) shape. A rod-shaped threaded portion 19 extending toward the tip side is connected to the head 18 and has an outer diameter R19. The threaded portion 19 is screwed into a threaded hole 100a provided in the base portion 100. The fixing screw 17 can fix the stator 5 to the base portion 100.

[0092] The outer diameter R19 of the threaded portion 19 is smaller than the inner diameter r14a of the inner circumferential surface 14a of the hollow cylindrical portion 14. By making the outer diameter R19 smaller than the inner diameter r14a, a gap is formed between the inner circumferential surface 14a and the threaded portion 19. As a result, when the fixing screw 17 is loosened, the hollow bolt 12 can move in the X direction and the Y direction relative to the threaded portion 19. Because the stator 5 is attached to the hollow bolt 12, the stator 5 can move in the X direction and the Y direction relative to the threaded portion 19. In other words, the stator 5 can move in the X direction and the Y direction relative to the central axis AX2 of the screw hole 100a into which the threaded portion 19 is threaded, thereby eliminating eccentricity of the stator 5 with respect to the rotor 2. In this way, the position of the stator 5 can be adjusted within a plane parallel to the base portion 100 (the XY plane).

[0093] In order for the hollow bolt 12 to be rotatable, the fixing screw 17 and the nut 22 must be loosened. By loosening the fixing screw 17 and the nut 22 and rotating the hollow bolt 12, the stator 5 can be moved up and down as described above.

[0094] The nut 22 is threaded onto the outer peripheral thread portion 15a of the hollow bolt 12. The nut 22 is disposed above the stator 5, which is threaded onto the outer peripheral thread portion 15a of the hollow bolt 12, in the Z direction. In other words, the nut 22 is disposed between the stator 5 and the head 13 of the hollow bolt 12. In this embodiment, the dimensions of the nut 22, specifically the face-to-face dimension, which is the distance between opposing sides (faces), are larger than the face-to-face dimension of the head 13 of the hollow bolt 12. The outer shape of the nut 22 in this embodiment is hexagonal, but the outer shape of the nut 22 is not limited to a hexagon and various conventional shapes can be used. Furthermore, in this specification, the face-to-face dimensions are compared when comparing the sizes of nuts and bolts. However, the face-to-face dimensions may be replaced with the diagonal dimension, which is the distance between opposing corners. In short, any dimension that can be used to compare the sizes of nuts and bolts can be used. The stator 5 has an inner peripheral thread portion 7, and the stator 5 itself has a structure similar to that of a nut. Therefore, the nut 22 can obtain a so-called double nut effect together with the stator 5. Therefore, when the nut 22 is tightened and fastened to the stator 5, it is possible to stop the rotation of the hollow bolt 12 and maintain the position of the stator 5 in the Z-axis direction.

[0095] In the position adjustment mechanism 10, the nut 22 is located closer to the tip than the head 13 of the hollow bolt 12. As will be described in detail later, the second fitting portion 38 fits into the nut 22. As will be described in detail later, the first fitting portion 33 fits into the head 13. The first columnar portion 32 on which the first fitting portion 33 is provided and the second columnar portion 37 on which the second fitting portion 38 is provided are coaxially arranged, but the first columnar portion 32 is arranged inside the second columnar portion 37. Therefore, by making the dimension across sides of the nut 22 larger than the dimension across sides of the head 13 of the hollow bolt 12, it is possible to easily fit the nut 22 into the second fitting portion 38 and fit the head 13 into the first fitting portion 33. However, it is sufficient that the dimension across sides of the nut 22 is equal to or larger than the dimension across sides of the head 13 of the hollow bolt 12. In other words, the dimension across flats of the nut 22 may be the same as the dimension across flats of the head 13 of the hollow bolt 12 .

[0096] Here, we will summarize the actions of the set screw 17 and the nut 22 on the hollow bolt 12. First, when both the set screw 17 and the nut 22 are loosened, the hollow bolt 12 can rotate. Furthermore, with the set screw 17 loosened, movement of the hollow bolt 12 in the X and Y directions is permitted. Next, when the set screw 17 is loosened and the nut 22 is tightened to establish a fastened state, movement of the hollow bolt 12 in the X and Y directions is permitted, but rotation of the hollow bolt 12 is prevented. Note that if the set screw 17 is turned without fixing the rotation of the hollow bolt 12 with the nut 22, the set screw 17 and the hollow bolt 12 will rotate together, and the stator 5 may be displaced in all directions (X, Y, and Z). In this case, it is expected that fine position adjustment of the stator 5, for example, of 0.1 mm or less, will be difficult. By appropriately tightening and loosening the fixing screws 17 and nuts 22, the stator 5 can be kept in a desired state.

[0097] In this embodiment, a first washer 20a and a second washer 20b are disposed between the head 18 of the fixing screw 17 and the head 13 of the hollow bolt 12. The first washer 20a is a spring washer, and the second washer 20b is a plain washer. The first washer 20a and the second washer 20b are included in the pressurizing mechanism 20. The pressurizing mechanism 20 has an elastic force that biases the hollow bolt 12 toward the base portion 100. The first washer 20a is an example of a spring member, and exerts an elastic force (biasing force) that biases the hollow bolt 12 toward the base portion 100. The second washer 20b suppresses slippage between the fixing screw 17 and the hollow bolt 12 and distributes the biasing force to stabilize the positional relationship between them. The pressurizing mechanism 20 may include another elastic member, such as a compression spring, instead of or in addition to the first washer 20a. The pressurizing mechanism 20 biases the hollow bolt 12 with a force that allows slight movement of the hollow bolt 12. This facilitates fine position adjustment of the stator 5 that is integrated with the hollow bolt 12. Furthermore, by providing the pressurizing mechanism 20, the tip end of the hollow bolt 12 is pressed against the base part 100 even when the base end side of the position adjustment mechanism 10 is positioned downward, for example, as shown in FIGS. 2(C) and 2(D). In other words, the position and attitude of the stator 5 can be easily adjusted regardless of the attitude of the rotary encoder 1. A third washer 20c is disposed between the nut 22 and the stator 5.

[0098] <Adjustment tool> Next, the adjustment tool 30 for operating the position adjustment mechanism 10 will be described with reference to Figures 21 to 24(B). The adjustment tool 30 includes a first socket member 31 and a second socket member 36. The adjustment tool 30 is used by combining the first socket member 31 and the second socket member 36. The adjustment tool 30 can also be used in combination with a hexagonal wrench 40.

[0099] The first socket member 31 includes a first columnar portion 32. The first columnar portion 32 is hollow and includes a through-hole 32a. As shown in FIG. 24(B), a hexagonal wrench 40 is inserted into the through-hole 32a. The first columnar portion 32 includes a first fitting portion 33 at its tip, into which the head 13 of the hollow bolt 12 fits. The first fitting portion 33 communicates with the through-hole 32a and has a shape corresponding to the shape of the head 13. In this embodiment, the first fitting portion 33 is hexagonal. The first columnar portion 32 includes a head housing portion 34 located closer to the base end than the first fitting portion 33, which houses the head 18 of the fixing screw 17. The fixing screw 17 reaches the head 18 through the through-hole 32a and is rotated by a hexagonal wrench 40 fitted into the tool hole 18a (see FIG. 19(B)). The first socket member 31 includes a rotation operation portion 35 at the end on the base end side. As shown in Fig. 22(B), the rotary operation unit 35 has a regular dodecagonal shape in a plan view. The shape of the rotary operation unit 35 is not limited to a regular dodecagon and can be appropriately selected taking into consideration the ease of operation by the operator. The rotary operation unit 35 may be, for example, lever-shaped, but is preferably circular or a polygonal shape close to a circle.

[0100] The second socket member 36 includes a second columnar portion 37. The second columnar portion 37 is hollow and includes a through-hole 37a. The first columnar portion 32 of the first socket member 31 is inserted into the through-hole 37a. The first columnar portion 32 and the second columnar portion 37 are coaxially rotatable relative to each other. The second columnar portion 37 includes a second fitting portion 38 at its tip, into which the nut 22 fits. The second fitting portion 38 communicates with the through-hole 37a and has a shape corresponding to the shape of the nut 22. In this embodiment, the second fitting portion 38 is hexagonal. The second socket member 36 includes a handle portion 39 on the base end side of the second columnar portion 37. The handle portion 39 extends in a direction perpendicular to the axial direction of the second columnar portion 37. In the front view shown in FIG. 23(A), the handle portion 39 in this embodiment extends on both sides of the second pillar portion 37 and forms a T-shape together with the second pillar portion 37. The shape of the handle portion 39 is not limited to a T-shape and may be other shapes. However, considering that the second socket member 36 is used in combination with the first socket member 31, it is desirable that the handle portion 39 have a shape that protrudes laterally beyond the rotation operation unit 35. A tool fitting portion 37b is formed on the outer peripheral surface of the second pillar portion 37. The tool fitting portion 37b has four smooth surfaces formed at 90° intervals. The second socket member 36 can also be operated by fitting another tool, such as a wrench, into the tool fitting portion 37b. Using the other tool allows for additional tightening of the nut 22. Furthermore, the tightening torque can be controlled by using, for example, a torque wrench.

[0101] ≪Position adjustment work≫ Next, the operation of adjusting the position of the stator 5 by operating the position adjustment mechanism 10 using the adjustment tool 30 will be described with reference to FIG. 25. The position adjustment mechanisms 10 are installed at three locations on the stator 5, and position adjustment is performed in each of the position adjustment mechanisms 10. In the following explanation, the adjustment operation in one position adjustment mechanism 10 will be described. The worker can perform the adjustment operation based on instructions from the installation assistance device 51.

[0102] 25, the stator 5 is attached to the base part 100 by the position adjustment mechanism 10. Specifically, the inner peripheral thread part 7 of the stator 5 is threadedly engaged with the outer peripheral thread part 15a of the hollow bolt 12 into which the fixing screw 17 is inserted, and the hollow bolt 12 is prevented from rotating by the nut 22. The thread part 19 of the fixing screw 17 is fastened to the screw hole 100a of the base part 100, thereby restricting movement in the X, Y, and Z directions and fixing the stator 5.

[0103] The position adjustment mechanism 10 is equipped with a first socket member 31 and a second socket member 36 of the adjustment tool 30. The head 18 of the fixing screw 17 is stored in a head storage compartment 34. A hex wrench 40 fits into a tool hole 18a provided in the head 18 of the fixing screw 17. This allows the fixing screw 17 to rotate as indicated by arrow 8d, thereby tightening or loosening the fixing screw 17. The second socket member 36 also allows the nut 22 to tighten or loosen the fixing screw 17. Tightening the fixing screw 17 and the nut 22 prevents the hollow bolt 12 from rotating. After completing the position adjustment of the stator 5, the position adjustment mechanism 10 is set in a state where the fixing screw 17 is tightened. The rotary encoder 1 is used with the fixing screw 17 tightened. Loosening the fixing screw 17 and the nut 22 allows the hollow bolt 12 to rotate. When adjusting the position of the stator 5, the fixing screw 17 and the nut 22 are set in a loosened state. The hollow bolt 12 becomes rotatable by loosening the fixing screw 17 and the nut 22. By rotating the hollow bolt 12, the position of the stator 5 in the Z direction can be adjusted.

[0104] In this embodiment, the outer diameter R19 of the threaded portion 19 and the inner diameter r14a of the inner circumferential surface 14a of the hollow cylindrical portion 14 have a relationship of outer diameter R19<inner diameter r14a. Therefore, by loosening the fixing screw 17, the stator 5 can be moved in the X direction or Y direction with respect to the central axis AX2 of the threaded hole 100a.

[0105] The second fitting portion 38 is fitted to the nut 22. As a result, by operating the second socket member 36, the nut 22 can be rotated as shown by arrow 8e. The nut 22 is threaded onto the outer peripheral thread portion 15a of the hollow bolt 12. The nut 22 descends relative to the hollow bolt 12 and can be fastened to the stator 5 via the third washer 20c, thereby fixing the stator 5 to the hollow bolt 12. Here, the nut 22 descending relative to the hollow bolt 12 means that the nut 22 moves toward the tip of the hollow bolt 12.

[0106] The first fitting portion is fitted into the head 13 of the hollow bolt 12. As a result, by operating the first socket member 31, the hollow bolt 12 can be rotated as indicated by arrow 8f. The inner peripheral thread portion 7 of the stator 5 is threadedly fitted into the outer peripheral thread portion 15a of the hollow bolt 12. The stator 5 itself is attached to the base portion 100 at three locations. Therefore, the stator 5 does not rotate together with the rotation of the hollow bolt 12 in each position adjustment mechanism 10. As the hollow bolt 12 rotates, the location on the stator 5 where the position adjustment mechanism 10 is installed moves up and down. By adjusting the height position of the location on the stator 5 where the position adjustment mechanism 10 is installed, the relative positional relationship between the rotation axis and the stator 5 can be adjusted, and as a result, the stator 5 can be installed on a plane perpendicular to the rotation axis.

[0107] As described above, the position adjustment mechanism 10 includes three fasteners: the hollow bolt 12, the fixing screw 17, and the nut 22. For this position adjustment mechanism 10, the adjustment tool 30 includes a first socket member 31 and a second socket member 36 that are rotatably combined on the same axis. Furthermore, the adjustment tool 30 includes a through hole 32a into which a hex wrench 40, which is another tool installed on the same axis as the first socket member 31 and the second socket member 36, is inserted. Therefore, the position adjustment mechanism 10 can be easily operated by using the adjustment tool 30.

[0108] When the operator grips the handle portion 39, the first pillar portion 32 is inserted into the second pillar portion 37. The hexagonal wrench 40 is inserted into the through-hole 32a. Therefore, the first socket member 31 is mounted on the second socket member 36 and will not fall off from the second socket member 36. The hexagonal wrench 40 will also not fall off from the adjustment tool 30.

[0109] The worker can hold three tools—the first socket member 31, the second socket member 36, and the hex wrench 40 included in the adjustment tool 30—in one hand. This eliminates the need to switch between common tools, such as a conventional wrench, and reduces work time. Being able to hold the three tools in one hand allows the worker to use the other hand to operate the necessary tool when needed. Furthermore, the hollow bolt 12, the fixing screw 17, and the nut 22 are easily accessible, making work easier.

[0110] As an example of the operation method, for example, a worker can grasp the handle portion 39 of the second socket member 36 with his / her middle finger, ring finger, and palm. In this position, the worker can freely use his / her thumb and index finger. Therefore, the worker can use his / her thumb and index finger to rotate the rotation operation portion 35 and the hex wrench 40 of the first socket member 31. While grasping the handle portion 39, the worker can operate the second socket member 36 by bending his / her wrist toward the palm or back of his / her hand or by moving his / her arm. The worker only needs to operate the part that is engaged with the fastener he / she wants to rotate. When rotating the nut 22, the worker only needs to rotate the second socket member 36 without touching the first socket member 31 or the hex wrench 40. When rotating the hollow bolt 12, the worker only needs to rotate the first socket member 31 without rotating the second socket member 36 or touching the hex wrench 40. When the worker wishes to rotate the fixing screw 17, he or she need only rotate the hexagonal wrench 40 without rotating the second socket member 36 or touching the first socket member 31.

[0111] The worker can perform the adjustment in a way that is easy for the worker to operate. By using the adjustment tool 30, the worker can easily perform the adjustment work when the rotor 2, the stator 5, and the base part 100 are in a sideways position or in an upside-down position as shown in Figures 2(C) and 2(D).

[0112] If the adjustment tool 30 were not used, the worker would have to operate a hex wrench for the fixing screw 17, a wrench for the hollow bolt 12, and a wrench for the nut 22. It would be extremely difficult for one worker to operate these multiple tools simultaneously. Furthermore, the handles of wrenches are long, making it difficult to work in a narrow space. However, by using the adjustment tool 30 of this embodiment, one worker can easily operate the position adjustment mechanism 10. Furthermore, since the adjustment tool 30 is used while being coaxially mounted on the position adjustment mechanism 10, it becomes easier to work in a narrow space.

[0113] [Installation work (installation assistance)] Next, an example of the installation work of the rotary encoder 1 using the installation assist device 51 will be described with reference to FIGS. 26(A) to 30(B).

[0114] First, according to the flowchart illustrated in FIG. 26(A), the stator 5 is temporarily attached to the base 100 (step S1), and the rotor 2 is fixed to the device rotation shaft member 101 (step S2). The stator 5 is temporarily attached to the base 100 using the position adjustment mechanism 10. Specifically, the outer peripheral thread portion 15a of the hollow bolt 12 is threaded into the inner peripheral thread portion 7 provided in the mounting hole 6 of the stator 5. Furthermore, the fixing screw 17 is threaded into the screw hole 100a of the base 100. However, at this time, the fixing screw 17 is not completely tightened, so that the stator 5 can move within the XY plane. The position adjustment mechanism 10 includes a pressurizing mechanism 20. This pressurizes the tip of the hollow bolt 12 against the base 100. This facilitates fine adjustment of the position and attitude of the stator 5.

[0115] As shown in Fig. 2(A), the rotor 2 is fixed by fitting a step portion 101a formed on the end of the device rotation shaft member 101 into the fitting hole 2a. In this embodiment, the stator 5 is located on the lower side in the Z axis direction, and the rotor 2 is located above the stator 5, so the temporary attachment of the stator 5 is performed prior to the fixing of the rotor 2. Depending on the positional relationship between the stator 5 and the rotor 2, the order of steps S1 and S2 may be reversed.

[0116] In step S3, which is performed following steps S1 and S2, eccentricity adjustment of the stator 5 is performed. The eccentricity adjustment in step S3 may be a simple adjustment that roughly corrects the eccentricity. Specifically, the stator 5 only needs to be adjusted to within a range that allows detection values ​​to be obtained by the detection head facing the rotor 2. For example, the eccentricity is provisionally aligned and fixed based on the outer peripheral walls of the rotor 2 and the stator 5. At this time, the eccentricity can be adjusted using a positioning jig 70 that is arranged so as to be able to come into contact with the outer peripheral walls of the rotor 2 and the stator 5, as shown in FIG. 27(A).

[0117] 27(B) and 27(C), the positioning jig 70 has two abutment portions 71. The two abutment portions 71 are attached to both ends of a connecting member 72. Each abutment portion 71 has a first cylindrical portion 71a that abuts against the outer peripheral wall of the rotor 2 and a second cylindrical portion 71b that abuts against the outer peripheral wall of the stator 5.

[0118] Here, the diameter of the first cylindrical portion 71a is r[71a], and the diameter of the second cylindrical portion 71b is r[71b]. r[71a] and r[71b] are set so that the value of (r[71a]-r[71b]) / 2 matches the difference between the radius of the rotor 2 and the radius of the stator 5.

[0119] The positioning jig 70 is set so that the first cylindrical portion 71a of the two contact portions 71 contacts the outer peripheral surface of the rotor 2 and the second cylindrical portion 71b contacts the outer peripheral surface of the stator 5. This allows for rough adjustment of the eccentricity of the stator 5.

[0120] After the rotor 2 is secured and the stator 5 is temporarily attached, the installation work begins using the installation assistance device 51. The worker first confirms that the first connector 58 and the second connector 59 are connected. Once the connection is confirmed, the worker activates the installation assistance device 51 and launches the installation assistance program. When the installation assistance program launches, the display unit 53 first displays the screen shown in FIG. 28. FIG. 28 shows an example of a screen for confirming the "Rotor / Stator Installation Position Designation." In this embodiment, the relative positions of the rotor 2 and the stator 5 are adjusted by adjusting the position of the stator 5. Therefore, if the rotor 2 and the stator 5 are positioned differently, the movement direction of the stator 5 will differ. Therefore, the installation assistance program first prompts the worker to specify the relative positions of the rotor 2 and the stator 5 so that the visual information of the worker matches the movement direction of the stator 5 displayed on the display unit 53. For example, when the rotor 2 is positioned on the upper side and the stator 5 is positioned on the lower side, button 53a is selected. Conversely, when the rotor 2 is located on the lower side and the stator 5 is located on the upper side, button 53b is selected. After making the selection, the worker presses, for example, button 53c, which displays "Next." When button 53c is pressed, the CPU 52, which executes the installation assistance program, proceeds to step S11 in the flowchart illustrated in FIG. 26(B). This allows the worker to match the instructed movement direction of the stator 5 and the position of the position adjustment mechanism 10 with his or her own sense in subsequent work, making it easier to perform the position adjustment work.

[0121] In step S11, the CPU 52 determines whether the position of the rotor 2 fixed to the device rotation shaft member 101 is within an allowable range. The determination in step S11 is made, for example, based on the trajectory of eccentricity and tilt described by rotating the rotor 2 once. When the rotor 2 rotates once, the eccentricity and tilt describe a trajectory that is close to a circle. This trajectory corresponds to the eccentricity and tilt of the rotor 2. Note that even if the rotor 2 does not complete one rotation, the eccentricity and tilt can be calculated by approximating this trajectory to a circle.

[0122] The CPU 52 determines whether the eccentricity and tilt of the rotor 2 calculated as described above are within the allowable range. Here, the allowable range is a predetermined fitting tolerance between the rotor 2 and the equipment rotation shaft member 101 that is set in advance, more specifically, a range of eccentricity and tilt when the equipment rotation shaft member 101 is within a predetermined tolerance with respect to the equipment rotation axis AX1 and the fitting tolerance of the mounting portion of the rotor 2 is observed.

[0123] Here, with reference to FIG. 29(A), the calculation of the amount and direction of eccentricity of the rotor 2 and the amount and direction of eccentricity of the stator 5 will be described. FIG. 29(A) assumes that the rotor 2 is eccentric with respect to the device rotation axis AX1. The symbol CPs in FIG. 29(A) indicates the center point of the stator 5. Since the detection values ​​acquired as the rotor 2 rotates are detected by the stator 5, the coordinates of the center point CPs of the stator 5 are (0,0). FIG. 29(A) depicts multiple center points CPr of the rotor 2 as the rotor 2 rotates and acquires its position discretely. Also, FIG. 29(A) depicts an arc C that approximates the position data of the multiple center points CPr using, for example, the least squares method. The center point of this arc C corresponds to the device rotation axis AX1. The radius of the arc C indicated by the arrow V1 corresponds to the average value of the eccentricity of the rotor 2. By knowing the coordinates of the device rotation axis AX1, the amount and direction of eccentricity of the stator 5 can be determined, as indicated by arrow V2. Note that the eccentricity direction of the rotor 2 at this stage is a value that has a one-to-one correspondence with one of the detection values ​​(θz) of the rotary encoder 1.

[0124] As described above, the amount and direction of eccentricity can be obtained, and in a similar manner, the amount and direction of tilt of the rotor 2 can also be calculated. That is, by replacing the measurement values ​​(X, Y) with the measurement values ​​(θx, θy) and performing the same calculation, the amount and direction of tilt of the rotor 2 can be calculated.

[0125] The thus calculated amounts of eccentricity and tilt of the rotor 2 are used in step S11. That is, in step S11, it is determined whether the calculated amounts of eccentricity and tilt of the rotor 2 are within the allowable range.

[0126] If the CPU 52 makes a negative determination (No determination) in step S11, the process proceeds to step S12. In step S12, the CPU 52 instructs the rotor 2 to be reinstalled. The reinstallation is carried out again based on the flowchart shown in FIG. 26(A). After the instruction to reinstall the rotor 2 is given, the process is temporarily terminated, and after the reinstallation is carried out, the process from step S11 is carried out. Note that instead of instructing the reinstallation, an instruction to perform adjustment by the rotor adjustment mechanism may be given.

[0127] If the CPU 52 makes an affirmative determination (Yes determination) in step S11, the process proceeds to step S13. In step S13, the CPU 52 determines whether the height and inclination of the stator 5 are within the allowable range. Here, the height refers to the distance between the stator 5 and the rotor 2. The height and inclination of the stator 5 are adjusted at three locations where the position adjustment mechanisms 10 are disposed. If the heights at these three locations are different, the stator 5 is in an inclined state.

[0128] If the CPU 52 makes a positive determination in step S13, the process proceeds to step S14. In step S14, the CPU 52 determines whether the eccentricity of the stator 5 is within the allowable range. The eccentricity is the amount of deviation of the stator 5 from the device rotation axis AX1 of the device rotation shaft member 101 to which the rotor 2 is fixed. The eccentricity is divided into a component along the X-axis direction and a component along the Y-axis direction. Note that, for safety reasons, the rotation of the rotor 2 is stopped during the processes from step S12 to step S15. Furthermore, while the processes from step S13 to step S15 are being executed, the display unit 53 displays the display shown in FIG. 31. That is, during the processes from step S13 to step S15, the heights of the three locations where the position adjustment mechanism 10 is disposed, the inclination of the stator 5, and the eccentricity of the stator 5 are displayed in real time, and the operating state of the position adjustment mechanism 10 by the operator is reflected and displayed in real time.

[0129] Here, with reference to FIG. 29(B), the amount and direction of eccentricity of the stator 5 will be described. Arc C shown in FIG. 29(B) is the same as arc C shown in FIG. 29(A), but this arc C is the arc in the state where a positive determination is made in step S11. Adjustment of the stator 5 is performed with the rotor 2 stopped from rotating. Therefore, only one center point coordinate CPr0 of the rotor 2, indicated by arrow V3, is obtained from the detected values ​​of the stator 5. This center point coordinate CPr0 can be considered to exist on arc C. From CPr0, the position of the equipment rotation axis AX1 can be determined by V1 associated with the rotation angle θz. In other words, the amount and direction of eccentricity between the center point CPs of the stator 5 and the equipment rotation axis AX1 can be represented by V4, which is the combination of V3 and V1. From CPr0, the position of the equipment rotation axis AX1 can be determined by V1 associated with the rotation angle θz. Adjusting the eccentricity of the stator 5 involves shortening this arrow V4. As will be described later, the CPU 52 causes the display unit 53 to display the amount and direction of eccentricity indicated by the arrow V4.

[0130] Next, the height of the stator 5 will be described with reference to FIG. 30. FIG. 30 shows the relationship between the arrangement positions of the four detection heads 5-0 to 5-3 and the arrangement positions P1, P2, and P3 of the three position adjustment mechanisms 10. In this embodiment, the average value of the detection distances of the four detection heads 5-0 to 5-3 is defined as the height (gap) at the center point CPs of the stator 5. Here, the distances between the four detection heads 5-0 to 5-3 and the three position adjustment mechanisms 10 are known. In addition, the tilt amount (θx, θy) of the stator 5 is acquired by the rotary encoder 1. Therefore, the height of the stator 5 at the three locations where the position adjustment mechanisms 10 are provided can be calculated based on the height at the center point CPs and the tilt amount (θx, θy) of the stator 5. The height and tilt adjustment of the stator 5 is performed to adjust the heights of the three locations where the position adjustment mechanisms 10 are provided to the same desired height. As will be described later, the CPU 52 displays the heights of the three locations where the position adjustment mechanisms 10 are provided on the display unit 53.

[0131] 31, the CPU 52 displays an indicator 53d1 and an arrow 53d2 on the display unit 53. The CPU 52 also displays an indicator 53f1 and an arrow 53f2 on the display unit 53.

[0132] The indicator 53d1 indicates the height of the stator 5 at the position where the position adjustment mechanism 10 is disposed. Specifically, the indicator 53d1 indicates whether the current height position of the stator 5 is higher or lower than the appropriate position based on the detection value detected by the detection head, and also indicates the degree of deviation from the appropriate position. The height position of the stator 5 is the distance between the stator 5 and the rotor 2. The display format of the indicator 53d1 can be changed as appropriate. In this embodiment, the indicator 53d1 is divided into multiple areas in the vertical direction, and indicates the current position of the stator 5. The arrow 53d2 indicates the direction in which the operator should move the stator 5. For example, if the stator 5 is higher than the appropriate position, the indicator 53d1 indicates that the stator 5 is higher, and the arrow 53d2 points downward, indicating the direction in which the stator 5 should be moved.

[0133] As shown in FIG. 31(A), for the tilt, three concentric circles 531 are displayed, each containing an indicator point 532 indicating the direction and degree of tilt. The indicator point 532 indicates which direction of the stator 5 is higher and how high. The center point of the concentric circles 531 indicates the appropriate position for the tilt of the stator 5. Therefore, the position of the indicator point 532 within the concentric circles 531 indicates the degree of deviation from the appropriate position. In other words, the direction of the indicator point 532 relative to the center point of the concentric circles 531 indicates which direction of the stator 5 is higher. Furthermore, the distance of the indicator point 532 from the center point of the concentric circles 531 indicates the degree of tilt of the stator 5, with the greater the distance from the center point of the concentric circles 531, the greater the deviation from the appropriate position. Furthermore, the arrow 53d2 displayed on the indicator 53d1 also indicates the direction in which the tilt will be eliminated.

[0134] When the worker operates the position adjustment mechanism 10 in accordance with the installation assist device 51 and it is determined that the height and tilt of the stator 5 are in the appropriate positions, the display unit 53 displays 53g1 "Height OK" and 53g2 "Tilt OK." When these displays are displayed, a positive determination is made in step S13. When a negative determination is made in step S13, the processing of step S13 is repeated, and when a positive determination is made in step S13, the process proceeds to step S14.

[0135] The indicator 53f1 is displayed in two locations. One indicator indicates the direction and amount of eccentricity along the X-axis, and the other indicator indicates the direction and amount of eccentricity along the Y-axis. Specifically, one indicator 53f1 indicates whether the current position of the stator 5 along the X-axis is in the positive or negative direction relative to the appropriate position based on the detection value detected by the detection head, and also indicates the degree of deviation from the appropriate position. The other indicator 53f1 indicates whether the current position of the stator 5 along the Y-axis is in the positive or negative direction relative to the appropriate position based on the detection value detected by the detection head, and also indicates the degree of deviation from the appropriate position. The display format of the indicator 53f1 can be changed as appropriate. In this embodiment, the indicator 53f1 is divided into multiple regions along the X-axis or Y-axis, and the current position of the stator 5 is displayed. The arrow 53f2 indicates the direction in which the operator should move the stator 5. For example, if stator 5 is eccentric to the positive side of the proper position along the X-axis direction and to the negative side of the proper position along the Y-axis direction, arrow 53f2 points in a direction that counteracts this and indicates the direction in which stator 5 should be moved.

[0136] The worker operates the second socket member 36 of the adjustment tool 30 to rotate the hollow bolt 12 and move the stator 5 in the direction indicated by the arrow 53d2. If the indicator 53d1 indicates that it is in the correct position, the adjustment at that location is complete. The worker also moves the stator 5 in the direction indicated by the arrow 53f2. If the indicator 53f1 indicates that it is in the correct position, the adjustment at that location is complete. Once the worker has completed adjusting the height position of the stator 5 at all three locations and the two indicators 53f1 are in the correct positions, the "Eccentricity OK" display 53g is displayed. When this display is displayed, a positive determination is made in step S14. If a negative determination is made in step S14, the processing of step S14 is repeated. If a positive determination is made in step S14, the process proceeds to step S15.

[0137] In the flowchart shown in FIG. 26(B), the process of step S14 is executed after the process of step S13, but the order of these processes may be reversed, or they may be executed simultaneously.

[0138] If the CPU 52 makes a positive determination in step S14, that is, if the determinations in both step S13 and step S14 are positive, the CPU 52 proceeds to step S15. At this time, an instruction to tighten the fixing screws 17 is displayed on the display unit 53. The tightening instruction displayed on the display unit 53 may be, for example, an indication such as "Once you have finished tightening the fixing screws, please proceed to the next step," as shown in FIG. 31. The worker tightens the fixing screws 17 in accordance with the tightening instruction. Once the worker has finished tightening the fixing screws 17, the worker presses a button 53h that is displayed on the display unit 53 and that reads "Next." When the button 53h is pressed, a positive determination is made in step S15.

[0139] The process in step S15 results in a positive determination when button 53h is pressed. Therefore, a negative determination will be made in step S15 until button 53h is pressed. In other words, when the fixing screw 17 is being tightened, the determination functions of steps S13 and S14 are active. In other words, even if step S15 is reached once, if a negative determination is made in either step S13 or step S14 during the period until a positive determination is made in step S15, the display will be switched to one instructing adjustment. If the tightening of the fixing screw 17 is completed without a display instructing adjustment being displayed and the operator is able to press the "Next" button 53h, the CPU 52 proceeds to S16.

[0140] In step S16, the CPU 52 rotates the rotor 2 and again determines whether the stator 5 and rotor 2 are attached in the desired state. Specifically, the CPU 52 displays a display such as that shown in FIG. 32 on the display unit 53. For example, a message urging the operator to rotate the rotor 2 is displayed on the display unit 53. When the operator rotates the rotor 2 in accordance with this message, the CPU 52 again determines whether the stator 5 and rotor 2 are positioned in the appropriate positions based on the detection value of the detection head. If the stator 5 and rotor 2 are positioned in the appropriate positions, the CPU 52 makes a positive determination in step S16 and proceeds to step S17. On the other hand, if the stator 5 and rotor 2 are not positioned in the appropriate positions, the CPU 52 makes a negative determination in step S16 and proceeds to step S18.

[0141] In step S17, the CPU 52 displays a display 53i indicating that the adjustment has been completed on the display unit 53. This completes the position adjustment of the stator 5 and the attachment of the rotary encoder 1.

[0142] Meanwhile, in step S18, the CPU 52 displays a display 53j on the display unit 53 instructing the operator to perform adjustment again. This temporarily completes the position adjustment of the stator 5 and the attachment of the rotary encoder 1. However, since the stator 5 and the rotor 2 are not positioned in the correct positions, the operator will perform the position adjustment work again. Note that the attachment assist device 51 may display information after step S18 indicating whether the height position of the stator 5 is still inappropriate or whether it is eccentric. Based on this information, the operator can know the items that need to be adjusted.

[0143] In this embodiment, the direction and amount of eccentricity of the stator 5 can be known based on the detection value of the detection head, and the position of the stator 5 can be easily adjusted based on this information.

[0144] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist of the present invention as defined in the claims. [Explanation of symbols]

[0145] 1...rotary encoder, 2...rotor, 2a...fitting hole, 5...stator (position adjustment target part), 6...mounting hole, 7...inner peripheral threaded part, 10...position adjustment mechanism, 12...hollow bolt, 13...head, 14...hollow cylindrical part, 14a...inner peripheral surface, 15...outer peripheral surface, 15a...outer peripheral threaded part, 17...fixing screw, 1...head, 18a...tool hole, 19...threaded part, 22...nut, 30...adjustment tool, 31...first socket member, 32...first columnar part, 32a...through hole, 33...first Fitting portion, 34...head storage portion, 35...rotation operation portion, 36...second socket member, 37...second columnar portion, 37a...through hole, 38...second fitting portion, 39...handle portion, 40...hexagonal wrench, 50...mounting support system, 51...mounting support device, 52...CPU (information processing unit), 53...display unit, 55...program storage unit, 58...first connector, 59...second connector, 62...third connector, 100...base portion, 100a...screw hole, 101...device rotation shaft member

Claims

1. A method for attaching a rotary encoder to a device including a device main body and a device rotation shaft member rotatably provided with respect to the device main body, comprising: a step of temporarily attaching a stator included in the rotary encoder to the device body; a step of fixing a rotor included in the rotary encoder to the device rotating shaft member so as to face the stator; acquiring a distance between the rotor and the stator; rotating the rotor, and acquiring the amount of eccentricity, the direction of eccentricity, the amount of tilt, and the direction of tilt of the rotor relative to an equipment rotation axis, which is the rotation axis of the equipment rotation axis member, based on detection values ​​detected by a detection head provided on the stator; rotating the rotor, and acquiring the amount of eccentricity, the direction of eccentricity, the amount of tilt, and the direction of tilt of the stator relative to the device rotation axis based on the detection values ​​detected by a detection head provided on the stator; determining whether the eccentricity and tilt of the rotor are within a tolerable range; moving the stator relative to the device rotation axis so that the eccentricity of the stator falls within an allowable range; moving the stator so that the distance between the stator and the rotor and the amount and direction of tilt with respect to the device rotation axis at a position where the rotor is attached to the device body are within allowable ranges; 1. A method for mounting a rotary encoder, including:

2. the stator is temporarily attached at positions equally spaced apart in a circumferential direction of the stator using a position adjustment mechanism; The position adjustment mechanism includes a bolt having an outer peripheral thread portion on the outer peripheral surface of a shaft portion that threads into an inner peripheral thread portion provided in a mounting hole of the stator, a nut that threads into the outer peripheral thread portion, and a fixing screw that is inserted into the shaft portion and threaded into the device main body. A method for mounting a rotary encoder according to claim 1.

3. 1. An installation assistance program that assists in position adjustment of a rotor included in a rotary encoder and a stator disposed opposite the rotor when installing the rotary encoder in an apparatus having an apparatus main body and an apparatus rotation shaft member rotatably provided relative to the apparatus main body, the program comprising: On the computer, A process of calculating a distance between the rotor and the stator; a process of calculating the eccentricity amount, eccentricity direction, tilt amount, and tilt direction of the rotor relative to an equipment rotation axis, which is the rotation axis of the equipment rotation axis member, based on detection values ​​detected by a detection head provided on the stator attached to the equipment main body when the rotor fixed to the equipment rotation axis member is rotated; a process of calculating the amount of eccentricity, the direction of eccentricity, the amount of tilt, and the direction of tilt of the stator relative to the device rotation shaft based on detection values ​​detected by a detection head provided on the stator attached to the device main body when the rotor fixed to the device rotation shaft member is rotated; a process of displaying the amount and direction of eccentricity of the stator with respect to the device rotation axis on a display unit; a process of displaying on the display unit a distance between the stator and the rotor at a position where the stator is attached to the device body, and an amount and direction of tilt with respect to the device rotation axis; An installation assistance program that allows you to:

4. The computer, a process of displaying, on the display unit, a direction in which the stator should be moved so that the eccentricity of the stator with respect to the device rotation axis falls within an allowable range; The installation assistance program according to claim 3, further executed.

5. The computer, a process of displaying on the display unit the distance between the stator and the rotor and the direction in which the stator should be moved so that the tilt amount and tilt direction with respect to the device rotation axis fall within an allowable range; The installation assistance program according to claim 3, further executed.

6. An attachment assist device that assists in position adjustment of a rotor and a stator disposed opposite to the rotor included in a rotary encoder when the rotary encoder is attached to an apparatus including an apparatus main body and an apparatus rotation shaft member rotatably provided relative to the apparatus main body, the attachment assist device comprising: a process for calculating a distance between the rotor and the stator; and an information processing unit for calculating an eccentricity, an eccentric direction, an amount of tilt, and a direction of tilt of the rotor with respect to an equipment rotation axis, which is the rotation axis of the equipment rotation axis member, based on detection values ​​detected by a detection head provided on the stator attached to the equipment main body when the rotor fixed to the equipment rotation axis member is rotated, and for calculating an eccentricity, an eccentric direction, an amount of tilt, and a direction of tilt of the stator with respect to the equipment rotation axis, based on detection values ​​detected by a detection head provided on the stator attached to the equipment main body when the rotor fixed to the equipment rotation axis member is rotated; a display unit that displays the amount and direction of eccentricity of the stator relative to the device rotation axis calculated by the information processing unit, the distance between the stator and the rotor at a position where the stator is attached to the device main body, and the amount and direction of tilt relative to the device rotation axis; An installation assistance device comprising:

7. The rotary encoder further includes a connector member that can be connected to or disconnected from a calculation unit provided in the rotary encoder.

7. The mounting assist device of claim 6.

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