CN103580550A

CN103580550A - Break apparatus, drive system and robot

Info

Publication number: CN103580550A
Application number: CN201310303640.5A
Authority: CN
Inventors: 末吉智
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2012-07-20
Filing date: 2013-07-18
Publication date: 2014-02-12
Also published as: JP2014020515A; KR101418218B1; KR20140011973A; TW201404559A

Abstract

The invention provides a break apparatus, drive system and robot, which can raise the holding reliability for arms, etc. The break apparatus in the embodiment possesses a break disc, a plurality of armatures, a moving mechanism, a plurality of clamped parts and a plurality of clamping parts. The break disc rotates with the rotation of the shaft of a rotating motor. The plurality of armatures are oppositely arranged with the break disc. The moving mechanism allows the plurality of armatures to move relative to the break disc. The plurality of clamped parts are arranged at predetermined intervals on the panel on the armature side of the break disc. The plurality of clamping parts are arranged at predetermined intervals to be clamped by the clamped parts on the panel on the armature side of the break disc.

Description

Brake apparatus, drive system and robot

Technical field

Disclosed execution mode relates to brake apparatus, drive system and robot.

Background technology

In the past, the robot that possessed motor is widely used in production scene etc.At the motor of drive machines people's movable parts such as arm, be sometimes provided with the brake apparatus that the rotation that utilizes frictional force to make motor stops, utilizing this brake apparatus to come the position of the movable parts such as keeping arm.

Patent documentation 1: TOHKEMY 2008-307618 communique

In above-mentioned brake apparatus, there is such situation: such as sneaking into of the caused aging or grease in time such as wearing and tearing due to brake shoe etc., cause braking force to reduce, thereby make the movable parts such as the keeping arm difficulty that becomes.

Therefore, current, regularly embodiment, as the maintenance of brake apparatus, implements as required to change operation etc., but wishes to carry out more reliably the maintenance to movable parts such as arms before braking force reduces.

Summary of the invention

A form of execution mode completes in view of the above problems, and its object is to provide a kind of brake apparatus, drive system and robot that can improve the reliability of the maintenance of arm etc.

The brake apparatus of a form of execution mode possesses brake disc, a plurality of armature, travel mechanism, a plurality of engaged portion and a plurality of engaging portion.The rotation of the axle that brake disc has along with electric rotating machine and rotating.A plurality of armatures and brake disc configure opposed to each other.Travel mechanism makes a plurality of armatures relatively move with respect to brake disc.A plurality of engaged portions are the spacing setting to be scheduled at the plate face of the armature side of brake disc.A plurality of engaging portions are the spacing setting engaging with engaged portion at the plate face of the brake disc side of a plurality of armatures.And the phase place of the engaging portion that at least one armature in a plurality of armatures forms is different from the phase place of the engaging portion forming at other armatures.

In addition, the drive system of execution mode form possesses electric rotating machine and for the brake apparatus of the rotation of the axle of restricting rotation motor.Brake apparatus possesses brake disc, a plurality of armature, travel mechanism, a plurality of engaged portion and a plurality of engaging portion.The rotation of the axle that brake disc has along with electric rotating machine and rotating.A plurality of armatures and brake disc configure opposed to each other.Travel mechanism makes a plurality of armatures relatively move with respect to brake disc.A plurality of engaged portions are the spacing setting to be scheduled at the plate face of the armature side of brake disc.A plurality of engaging portions are the spacing setting engaging with engaged portion at the plate face of the brake disc side of a plurality of armatures.And the phase place of the engaging portion that at least one armature in a plurality of armatures forms is different from the phase place of the engaging portion forming at other armatures.

In addition, the robot of a form of execution mode possesses the drive system of a form of execution mode, and utilizes this drive system to change or keep posture.

According to execution mode form, can improve the reliability to the maintenance of arm etc.

Accompanying drawing explanation

Fig. 1 is the schematic stereogram of the robot of the 1st execution mode.

The schematic end view of Tu2Shi robot.

Fig. 3 is the schematic cutaway view that the structure of motor, decelerator and external actuators is shown.

Fig. 4 is the schematic front view that the structure of brake disc is shown.

Fig. 5 is the schematic front view that the structure of the 1st armature and the 2nd armature is shown.

Fig. 6 is the figure for the phase deviation of instruction card bonding part.

Fig. 7 A is the key diagram of the snap action of the 1st engaging piece and the 2nd engaging piece.

Fig. 7 B is the key diagram of the snap action of the 1st engaging piece and the 2nd engaging piece.

Fig. 8 is the figure that the action moment of the 1st armature and the 2nd armature is shown.

Fig. 9 is the figure illustrating to an example of the power supply supply line of the 1st coil power supply.

Figure 10 is the schematic cutaway view of structure that the external actuators of the 2nd execution mode is shown.

Figure 11 A is that another that the 1st armature and the 2nd armature are shown configures routine figure.

Figure 11 B is that another that the 1st armature and the 2nd armature are shown configures routine figure.

Figure 12 is the figure that the structure of the 1st armature that the external actuators of the 4th execution mode possesses is shown.

Figure 13 is the schematic stereogram of the robot of the 5th execution mode.

Label declaration

1: robot;

41a: motor;

42a: decelerator;

43a: inner brake;

44a: external actuators;

71: brake disc;

72: side plate;

73A, 73B: the 1st armature;

74A, 74B: the 1st spring;

75: the 1 coils;

76: the 1 guiding pieces;

77: the 2 armatures;

78: the 2 springs;

79: the 2 coils;

80: the 2 guiding pieces;

112: notch;

113,114: the 2 engaging pieces;

113a, 114a: engaging portion;

131: brake shoe;

132: the 1 engaging pieces;

132a: engaged portion;

133: the 3 engaging pieces;

141: notch;

142: the 4 engaging pieces;

Embodiment

Below, with reference to accompanying drawing, the execution mode of the disclosed brake apparatus of the application, drive system and robot is at length described.And the present invention is not limited by execution mode shown below.

(the 1st execution mode)

First, utilize Fig. 1 to describe the structure of the robot of the 1st execution mode.Fig. 1 is the schematic stereogram of the robot of the 1st execution mode.In following content, the position relationship at each position of the rotary position of ，Shi robot 1 in the state ，Dui robot 1 shown in Fig. 1 describes for convenience of explanation.In addition, in following content, take Z-direction as vertical direction.

In addition, Ci，Dui robot 1 describes for possessing the conveying machine people's of two hands the example of situation, but the quantity of hand is not limited to this.For example, also can be applied to hand is the conveying machine people of.In addition, at this, as by hand conveyance by transport object, enumerating the laminal workpiece such as substrate that glass substrate that liquid crystal uses or solar power generation use is that example describes, but is not limited to this by transport object.

As shown in Figure 1, robot 1 possesses slew gear 10, elevating mechanism 20 and horizontal arm unit 30.

Slew gear 10 possesses pedestal 11 and revolving bed 12.Pedestal 11 is arranged at such as ground etc.On the top of pedestal 11, can revolving bed 12 being installed rotating mode centered by axis of rotation O.Centered by the axis of rotation O that revolving bed 12 is usingd as vertical axes, turn round.By these revolving bed 12 revolutions, elevating mechanism 20 and horizontal arm unit 30 turn round centered by axis of rotation O.

Elevating mechanism 20 possesses pillar 21 and leg unit 22.Pillar 21 is along vertical direction, to erect the parts of setting from the terminal part of revolving bed 12.Leg unit 22 is such parts: its base end part is supported in the terminal part of pillar 21, and supports horizontal arm unit 30 at the terminal part of this leg unit 22.Elevating mechanism 20 by make the posture change of leg unit 22 make horizontal arm unit 30 along the axis parallel with axis of rotation O in above-below direction lifting.

Leg unit 22 possesses arm 24 and the 2nd arm 26 for lifting for the 1st lifting.The 1st lifting links via the 1st joint portion 23 and the terminal part of pillar 21 with the base end part of arm 24.Thus, centered by the joints axes that the 1st lifting is usingd as the 1st joint portion 23 of horizontal axis with arm 24, can be supported in rotatably the terminal part of pillar 21.

The 2nd lifting links with the terminal part of arm 24 via the 2nd joint portion 25 and the 1st lifting with the base end part of arm 26.Thus, centered by the joints axes that the 2nd lifting is usingd as the 2nd joint portion 25 of horizontal axis with arm 26, can be supported in rotatably the terminal part of arm 24 for the 1st lifting.

Horizontal arm unit 30 links with the terminal part of arm 26 via the 3rd joint portion 27 and the 2nd lifting.Thus, centered by the joints axes that using as the 3rd joint portion 27 of horizontal axis in horizontal arm unit 30, can be supported in rotatably the terminal part of arm 26 for the 2nd lifting.

Like this, the robot 1 of the 1st execution mode adopts a leg unit 22 to support horizontal arm unit 30.Thus, compare with the situation that supports horizontal arm unit 30 by plural lifting arm unit, can make to simplify the structure.

Horizontal arm unit 30 possesses downside arm unit 31a and upside arm unit 31b.Downside arm unit 31a possesses hand 33a, arm 32a and downside support unit 34a.Hand 33a is for loading conduct by the laminal workpiece W of conveyance object.The base end part of arm 32a is supported in downside support unit 34a, at the terminal part supporting hand 33a of arm 32a.Downside support unit 34a can be supported on rotatably the terminal part of arm 26 for the 2nd lifting centered by the joints axes of the 3rd joint portion 27.The base end part of upside support unit 34b is fixed on downside support unit 34a, and the base end part of arm 32a can be supported on downside support unit 34a rotatably.

Upside arm unit 31b possesses hand 33b, arm 32b and upside support unit 34b.Hand 33b is for loading as not shown by the laminal workpiece W(of conveyance object).The base end part of arm 32b is supported on upside support unit 34b in the mode that can rotate, at the terminal part supporting hand 33b of arm 32b.The base end part of the base end part of upside support unit 34b and downside support unit 34a links, thereby be supported to, can centered by the joints axes of the 3rd joint portion 27, rotate.

Horizontal arm unit 30 makes

hand

33a, 33b move to predetermined direction by

arm

32a, 32b are stretched.For example, in the situation of ， robot 1 in the rotary position shown in Fig. 1,

arm

32a, 32b make

hand

33a, 33b to positive direction or the negative direction traveling priority of directions X.

The robot 1 of the 1st execution mode for example takes out in the workpiece W of not shown accumulator keeping as following from accumulator, and carries out conveyance to not shown conveyance position.And, at this, to utilizing hand 33a that workpiece W is taken up to the situation of carrying out conveyance, describe, but the conveyance of carrying out based on hand 33b is also identical.

First, robot 1 rises horizontal arm unit 30 or is declined by elevating mechanism 20, makes thus hand 33a be positioned at than keeping at accumulator and become the slightly low height of height of the workpiece W that takes out object.And, in accumulator, for example, near the height ceiling of factory of robot 1 being set between the height of Near Ground, with the interval laminate workpiece W fixing, take care of.

Then, robot 1 drives arm 32a and makes hand 33a along continuous straight runs traveling priority, thereby hand 33a is entered in the accumulator of keeping workpiece W, then, by elevating mechanism 20, makes horizontal arm unit 30 increase.Thus, workpiece W is loaded on hand 33a.

Then, robot 1 exits from along continuous straight runs straight line in accumulator by the hand 33a that arm 32a shunk make mounting and have a workpiece W.Then, robot 1 makes horizontal arm unit 30 and elevating mechanism 20 revolutions by slew gear 10, so that the terminal part of hand 33a is towards the direction of the conveyance position of workpiece W.

Next, robot 1 is by making arm 32a again stretch to make hand 33a along continuous straight runs traveling priority, thereby makes hand 33a enter the top of conveyance position.Next, robot 1 declines horizontal arm unit 30 by elevating mechanism 20.Thus, the position of hand 33a declines, and workpiece W is loaded in conveyance position.

Like this, robot 1 carries out the conveyance of workpiece W by the movement of hand 33a, the 33b of the flexible realization based on

arm

32a, 32b, the lifting of horizontal arm unit 30 realizing based on elevating mechanism 20 and the revolution of the horizontal arm unit 30 based on slew gear 10 realizations.

The action of such robot 1 is according to coming the indication of self-control device 5 to carry out, and this control device 5 is connected with robot 1 via communication network.

Control device 5 is the control device that carry out the driving control of robot 1.Each

joint portion

23,25,27 of ， robot 1 is provided with motor specifically, and control device 5 is indicated the driving of these motors.Robot 1, according to the indication that carrys out self-control device 5, makes respectively each motor rotation amount at any angle, drives thus slew gear 10, elevating mechanism 20 and horizontal arm unit 30.Local area network (LAN)) or the so general network of WLAN communication network as connecting robot 1 and control device 5, can be used for example wired LAN(Local Area Network:.And, although omitted diagram at this, at revolving bed 12 and

arm

32a, 32b, being also provided with same motor, control device 5 also carries out the driving indication to these motors.

At this, in motor, be built-in with for limit the brake apparatus (following, to be recited as " inner brake ") of the rotation of motor when for example driving power cuts off.In addition, in the outside of motor, be also provided with the brake apparatus (following, to be recited as " external actuators ") for limiting the rotation of motor.

In the 1st execution mode, adopt non-excitation actuating formula electromagnetic brake as inner brake and external actuators.Non-excitation actuating formula electromagnetic brake is the brake apparatus with following structure: when power supply is supplied with, utilize electromagnetic force brake off power, the mechanism by spring etc. when dump works braking force.The posture that keeps robot 1 by these brake apparatus, prevents the position skew of elevating mechanism 20 or horizontal arm unit 30.

In general, brake apparatus utilizes frictional force that the rotation of motor is stopped.Therefore, there is such situation: sneaking into etc. of the aging or grease in time causing such as wearing and tearing due to brake shoe etc. causes braking force to reduce.In the past, such as being offset from possible trouble by regularly keeping in repair and change as required the position that operation prevents that braking force because of brake from reducing caused elevating mechanism 20 grades., wish to prevent more reliably the position skew of elevating mechanism 20 grades.

Particularly, as shown in Figure 1, the robot 1 of the 1st execution mode supports the robot of the type of horizontal arm unit 30 by a leg unit 22.Therefore, compare with the robot that supports the type of horizontal arm unit by plural leg unit, although can make to simplify the structure, in the situation that the position skew of the easy generation of the braking force of brake reduction elevating mechanism etc.In addition, about conveyance liquid crystal the robot 1 as the 1st execution mode with glass substrate or solar power generation the robot with substrate, along with substrate maximizes, the arm maximization that also becomes.Therefore, become the heavy easier occurrence positions skew of arm.

Therefore,, in the robot 1 of the 1st execution mode, by externally adopting the brake apparatus that not only utilizes frictional force also to utilize shearing force that motor is stopped in brake, improved the reliability to the maintenance of elevating mechanism 20 grades.

In following content, the structure of the inside brake that the robot 1 of the 1st execution mode is possessed and action specifically describe.And, in following content, to inner brake and external actuators, be that the example in the situation of non-excitation actuating formula electromagnetic brake describes, but inner brake and external actuators are not limited to non-excitation actuating formula electromagnetic brake.

The schematic end view of Tu2Shi robot 1.As shown in Figure 2, robot 1 possesses the 1st joint portion the 23, the 2nd joint portion 25 and the 3rd joint portion 27.The 1st joint portion 23 is to connect the joint portion of the base end part of arm 24 and the terminal part of pillar 21 for the 1st lifting.The 2nd joint portion 25 is to connect the joint portion that the 2nd lifting is used the terminal part of arm 24 with base end part and the 1st lifting of arm 26.The 3rd joint portion 27 is joint portions that the terminal part of arm 26 is used in connection horizontal arm unit 30 and the 2nd lifting.

At the 1st joint portion 23, be provided with motor 41a, decelerator 42a and external actuators 44a.At the 2nd joint portion 25, be provided with motor 41b, decelerator 42b and external actuators 44b.At the 3rd joint portion 27, be provided with motor 41c, decelerator 42c and external actuators 44c.And each motor 41a～41c is built-in with inner brake 43a～43c.

Drive system is configured to and comprises these motors 41a～41c, external actuators 44a～44c, inner brake 43a～43c and decelerator 42a～42c.And drive system is as long as at least comprise any one and a corresponding external actuators 44a～44c in motor 41a～41c.In addition, motor 41a～41c is an example of electric rotating machine.

In the 1st joint portion 23, output after by decelerator 42a, the rotation of motor 41a being slowed down, arm 24 rotations for the 1st lifting thus, the 1st lifting is the posture change with respect to pillar 21 with arm 24.In addition, in the 1st joint portion 23, when power supply is supplied with cut-out, inner brake 43a and external actuators 44a move, and keep thus the 1st lifting to use arm 24 with respect to the posture of pillar 21.

In the 2nd joint portion 25, rotation that will motor 41b by decelerator 42b slow down after output, arm 26 rotations for the 2nd lifting thus, the 2nd lifting with arm 26 with respect to the 1st lifting the posture change with arm 24.In addition, in the 2nd joint portion 25, when power supply is supplied with cut-out, inner brake 43b and external actuators 44b move, and keep thus the 2nd lifting with arm 26, with respect to the 1st lifting, to use the posture of arm 24.

In the 3rd joint portion 27, output after by decelerator 42c, the rotation of motor 41c being slowed down, horizontal arm unit 30 rotations thus, horizontal arm unit 30 is the posture change with arm 26 with respect to the 2nd lifting.In addition, in the 3rd joint portion 27, when power supply is supplied with cut-out, inner brake 43c and external actuators 44c move, and keep thus horizontal arm unit 30 with respect to the 2nd lifting, to use the posture of arm 26.

And, although omitted diagram at this, at the joint portion that links pedestal 11 and revolving bed 12, be also provided with the drive system identical with the 1st joint portion 23～3rd joint portion 27.Revolving bed 12 turns round centered by axis of rotation O by this drive system, and by making revolving bed 12 revolutions, elevating mechanism 20 and horizontal arm unit 30 turn round centered by axis of rotation O.Like this, pedestal 11 and revolving bed 12 are to utilize drive system to make an example of elevating mechanism 20 rotating slew gears.

Next, the concrete structure of motor 41a～41c, decelerator 42a～42c and external actuators 44a～44c is described.At this, as an example, for being arranged at motor 41a, the decelerator 42a of the 1st joint portion 23 and the structure of external actuators 44a, utilize Fig. 3 to describe.Fig. 3 is the schematic cutaway view that the structure of motor 41a, decelerator 42a and external actuators 44a is shown.

As shown in Figure 3, in the 1st joint portion 23, motor 41a is fixed in pillar 21, and decelerator 42a is fixed in the 1st arm 24 for lifting.In addition, external actuators 44a configures opposed to each other across decelerator 42a and motor 41a, and external actuators 44a is fixed on the decelerator main part 421 of decelerator 42a.

Motor 41a possesses axle 51, housing 52, stator 53, rotor 54 and inner brake 43a.Axle 51 is rotatably freely supported on housing 52 via bearing 56.

At housing 52, be installed with stator 53 interior week.Stator 53 possesses stator core 53a and stator winding 53b.In addition, in the inner circumferential side of stator 53, across space, dispose opposed to each other rotor 54.Rotor 54 possesses the rotor core 54a cylindraceous that arranges at the outer peripheral face of axle 51 and at a plurality of permanent magnet 54b of the outer circumferential side configuration of rotor core 54a, rotor 54 rotates coaxially with axle 51.

In the motor 41a forming like this, by the stator winding 53b current flowing at stator 53, thereby produce rotating magnetic field in the inner side of stator 53.And, the interaction between the magnetic field that the permanent magnet 54b by this rotating magnetic field and rotor 54 produces, rotor 54 rotations, axle 51 rotates along with the rotation of this rotor 54.

Inner brake 43a is located at the load opposition side of axle 51.This inside brake 43a is general non-excitation actuating formula electromagnetic brake, and it possesses brake disc 61, brake shoe 62(is equivalent to friction means), armature 63, side plate 64, spring 65 and coil 66.

In the brake 43a of this inside, if coil 66 is applied to voltage, armature 63 overcomes spring 65 by electromagnetic attraction, thereby pulls open interval between armature 63 and brake shoe 62.Thus, axle 51 is disengaged braking force and rotates freely.On the other hand, if power supply is cut off and becomes without excited state, armature 63 is by means of the power of spring 65 to brake shoe 62 side shiftings, and brake shoe 62 is pressed and produces braking force by armature 63 and side plate 64.Thus, axle 51 becomes the confined state of rotation.

Decelerator 42a is connected with the load-side of axle 51.This decelerator 42a is the decelerator of planetary gear type for example, and power shaft 422, central gear 423, planetary gear 424 and output shaft 425 are provided in decelerator main part 421.Power shaft 422 is connected with axle 51, and with axle 51 one and coaxially rotation.Central gear 423 is fixed on power shaft 422, and makes the central axis of central gear 423 identical with the central axis of axle 51.Planetary gear 424 rotations are configured between the inner peripheral surface of decelerator main part 421 and the outer peripheral face of central gear 423 freely.The base end part of output shaft 425 is connected in the pivot position of planetary gear 424, and the terminal part of output shaft 425 is fixed on pillar 21.

In the decelerator 42a forming like this, when power shaft 422 and axle 51 rotate integratedly, central gear 423 rotates along with the rotation of this power shaft 422, and planetary gear 424 is the revolution centered by central gear 423 on one side of rotation on one side along with the rotation of central gear 423.And output shaft 425 rotates along with the revolution of this planetary gear 424, the posture with respect to pillar 21 changes with arm 24 to make thus the 1st lifting.

And as long as decelerator 42a exports after the rotation of axle 51 can being slowed down, its structure is not limited to the structure shown in Fig. 3.

Next, the structure of external actuators 44a is described.External actuators 44a is configured in across decelerator 42a and the opposed position of motor 41a, is by limiting the rotation of the power shaft 422 of decelerator 42a, to carry out the brake apparatus of the rotation of restrictive axes 51.As described above, the external actuators 44a of the 1st execution mode not only utilizes frictional force also to utilize shearing force to limit the rotation of motor.

External actuators 44a possesses brake disc 71, side plate 72, two the

1st armature

73A, 73B, two the 1st spring 74A, 74B(are equivalent to force application part), the 1st coil 75(is equivalent to solenoid) and the 1st guiding piece 76.In addition, external actuators 44a possesses the 2nd armature the 77, the 2nd spring 78(and is equivalent to the 2nd force application part), the 2nd coil 79(is equivalent to the 2nd solenoid) and the 2nd guiding piece 80.

Brake disc 71 is parts that inner peripheral surface forms the ring-type of internal tooth colyliform.The inner peripheral surface of this brake disc 71 and the spline part 422a engagement forming on the power shaft 422 of decelerator 42a, this brake disc 71 rotates integratedly with power shaft 422 thus, and this brake disc 71 can move along the bearing of trend of power shaft 422.

In addition, the plate face at brake disc 71 is provided with brake shoe 131 and the 1st engaging piece 132.Utilize Fig. 4 to describe their structure.Fig. 4 is the schematic front view that the structure of brake disc 71 is shown.

Brake shoe 131 is by the parts that form such as the higher material of the frictional resistance such as rubber, and as shown in Figure 4, near the brake shoe 131 edge peripheral part of brake disc 71 is circumferentially set to ring-type.This brake shoe 131 is located on two faces of brake disc 71 (with reference to Fig. 3), when braking, by making this brake shoe 131 and side plate 72 and the 2nd armature 77 butts produce frictional force.

The 1st engaging piece 132 is the parts that arrange on the plate face of configuration the 1st armature 73A, the 73B of brake disc 71 and a side of the 2nd armature 77, and the 1st engaging piece 132 is located at the position by inner circumferential side than brake shoe 131.

The 1st engaging piece 132 has a plurality of engaged 132a of portion.The engaged 132a of portion is that the engaged 132a of portion is along the radially extension of brake disc 71 with respect to the plate face of brake disc 71 (at this, to X-axis negative direction) outstanding position generally perpendicularly.In addition, the engaged 132a of portion is the spacing setting to be scheduled to radially along the direction of rotation of brake disc 71.At this, make being shaped as of the engaged 132a of portion trapezoidal, but the shape of the engaged 132a of portion also can be for such as involute shape etc.

Return to Fig. 3, side plate 72 is described.Side plate 72 is the parts that configure opposed to each other with brake disc 71, and is fixed on for example decelerator main part 421 of decelerator 42a.

The

1st armature

73A, 73B and the 2nd armature 77 are at the opposition side of a side of configuration side plate 72 and the parts that brake disc 71 configures opposed to each other.The

1st armature

73A, 73B is configured in and the downside of brake disc 71 half part (Z axis negative direction side) opposed position, and the 2nd armature 77 is configured in upside half part (Z axis positive direction side) the opposed position with brake disc 71.

At the plate face of brake disc 71 sides of the

1st armature

73A, 73B, be provided with and run through patchhole 111, notch 112 and the 2nd engaging piece 113,114.In addition, at the plate face of brake disc 71 sides of the 2nd armature 77, be provided with and run through patchhole 121.

At this, utilize Fig. 5 to describe particularly for the structure of the

1st armature

73A, 73B and the 2nd armature 77.Fig. 5 is the schematic front view that the structure of the

1st armature

73A, 73B and the 2nd armature 77 is shown.

As shown in Figure 5, the 2nd armature 77 has the shape that annulus is divided into half and obtains.Near the peripheral part of the 2nd armature 77, along being circumferentially formed with a plurality of (at this, being 3), run through patchhole 121.In respectively running through patchhole 121, run through respectively and be inserted with the 2nd guiding piece 80(that extends along X-direction with reference to Fig. 3).The 2nd armature 77 is supported to and can between the 2nd coil 79 and side plate 72, moves by the 2nd guiding piece 80.

And the inner circumferential side opening of the 2nd armature 77 must be larger than the

1st armature

73A, 73B, so as not to the 1st engaging piece 132 butts of brake disc 71.

On the other hand, the

1st armature

73A, 73B have respectively annulus are divided into 1/4 and the shape that obtains.Near the peripheral part of the

1st armature

73A, 73B, along being circumferentially formed with a plurality of (at this, being two), run through patchhole 111 respectively.In respectively running through patchhole 111, run through respectively and be inserted with the 1st guiding piece 76(that extends along X-direction with reference to Fig. 3).The

1st armature

73A, 73B are supported to and can between the 1st coil 75 and side plate 72, move by the 1st guiding piece 76.

In addition, at the ratio of the

1st armature

73A, 73B, run through patchhole 111 and be formed with notch 112 by the position of inner circumferential side.Specifically, notch 112 be formed on brake disc 71 sides plate face with the opposed position of brake shoe 131.By this notch 112 is set, can prevent following situation: thus the

1st armature

73A, 73B and brake shoe 131 butts hinder the snap action of the 1st engaging piece 132 described later and the 2nd engaging piece 113,114.

Than notch 112, more by the position of inner circumferential side, be respectively equipped with the 2nd engaging piece 113,114.These the 2nd engaging pieces 113,114 be formed on brake disc 71 sides plate face with the 1st opposed position of engaging piece 132.

The 2nd engaging piece 113,114 has respectively a plurality of engaging portion 113a,

114a.Engaging portion

113a, 114a are the identical shapes of the engaged 132a of portion having with the 1st engaging piece 132 of brake disc 71, and engaging

portion

113a, 114a with can with the spacing of the engaged 132a of portion engaging, for example identical spacing or integral multiple or integer/mono-'s times spacing setting.Each engaging

portion

113a, 114a are along the

1st armature

73A, 73B(brake disc 71) radially extension, and, with respect to the plate face of the

1st armature

73A, 73B, along the direction of rotation of brake disc 71, be radial configuration.

And, in the external actuators 44a of the 1st execution mode, different with the phase place of the engaging portion 114a arranging with the spacing of being scheduled at another the 1st armature 73B with the phase place of the engaging portion 113a of the spacing setting be scheduled at a 1st armature 73A.About this point, utilize Fig. 6 to describe.Fig. 6 is the figure for the phase deviation of instruction

card bonding part

113a, 114a.

And, in Fig. 6, for easy understanding, show by along circumferential L(with reference to Fig. 5) engaging portion 113a, the 114a of the alignment arrangements figure launch on straight line in the situation that.

As shown in Figure 6, although a plurality of engaging portion 114a spacing that a plurality of engaging portion 113a that the 2nd engaging piece 113 has have with the 2nd engaging piece 114 are identical, phase place is different.And, in Fig. 6, show the example in the situation that the phase place that makes a plurality of engaging portion 114a arranges with respect to the phase shifting half period of a plurality of engaging portion 113a.

Return to Fig. 3, other structure of external actuators 44a is described.The 1st spring 74A, 74B be respectively to the

1st armature

73A, 73B to the force application part that approaches the direction application of force of brake disc 71.In addition, the 1st coil 75 is to overcome in when energising the solenoid that the active force of the 1st spring 74A, 74B carries out electromagnetic attraction to the

1st armature

73A, 73B.

In addition, the 2nd spring 78 be respectively to the 2nd armature 77 to the force application part that approaches the direction application of force of brake disc 71.In addition, the 2nd coil 79 is to overcome in when energising the solenoid that the active force of the 2nd spring 78 carries out electromagnetic attraction to the 2nd armature 77.

During to the 1st coil 75 and the 2nd coil 79 energising, external actuators 44a becomes excited state.And the

1st armature

73A, 73B and the 2nd armature 77 overcome respectively the active force of the 1st spring 74A, 74B and the 2nd spring 78 by the 1st coil 75 and the 2nd coil 79 magnetic attraction.Thus, the pressing force of brake disc 71 is released, thereby axle 51 can be rotated.

On the other hand, when driving power is cut off and becomes without excited state, externally, in brake 44a, the 2nd armature 77 is pressed to brake disc 71 due to the active force of the 2nd spring 78.Thus, brake disc 71 together with the 2nd armature 77 to side plate 72 side shiftings, thereby utilize the rotation of the frictional force restriction brake disc 71 of brake shoe 131.Consequently, the rotation of axle 51 is limited.

Like this, external actuators 44a utilizes the 2nd armature 77 that brake disc 71 is pressed to side plate 72, can utilize thus the frictional force of brake shoe 131 to carry out the rotation of restrictive axes 51.

And then in the external actuators 44a of the 1st execution mode, when driving power is cut off and becomes without excited state, the

1st armature

73A, 73B are pressed to side plate 72 sides due to the active force of the 1st spring 74A, 74B.Thus, the 2nd engaging piece 113,114 of the

1st armature

73A, 73B engages with the 1st engaging piece 132 of brake disc 71, utilizes consequent shearing force to limit the rotation of brake disc 71, thus the rotation of restrictive axes 51.

As described above, the phase shifting of a plurality of engaging portion 114a that a plurality of engaging portion 113a that the 2nd engaging piece 113 has and the 2nd engaging piece 114 have.Thus, even if the 2nd engaging piece 113,114 cannot mesh with the 1st engaging piece 132, also can make another the 2nd engaging piece 113,114 and the 1st engaging piece 132 engagements.For this point, utilize Fig. 7 A and Fig. 7 B to describe.Fig. 7 A and Fig. 7 B are the key diagrams of the snap action of the 1st engaging piece 132 and the 2nd engaging piece 113,114.

As shown in Figure 7 A, according to the position of rotation of brake disc 71, there is engaging portion 113a collision that the engaged 132a of portion that the 1st engaging piece 132 has and the 2nd engaging piece 113 have, i.e. the peak portion possibility against each other of the 1st engaging piece 132 and the 2nd engaging piece 113.Under these circumstances, the 2nd engaging piece 113 cannot engage with the 1st engaging piece 132.

; the phase place of a plurality of engaging portion 113a that a plurality of engaging portion 114a that have due to the 2nd engaging piece 114 have with the 2nd engaging piece 113 is different; therefore; even in the situation that the 2nd engaging piece 113 is not with the 1st engaging piece 132 engagement as described above, also can make the 2nd engaging piece 114 engage with the 1st engaging piece 132.

In addition, as shown in Figure 7 B, the against each other and situation that causes the 1st engaging piece 132 cannot engage with the 2nd engaging piece 114 of the peak portion that also has the 1st engaging piece 132 and the 2nd engaging piece 114., in this case, by the 2nd engaging piece 113, engage rotation that can restrictive axes 51 with the 1st engaging piece 132.

Like this, about the external actuators 44a of the 1st execution mode, at brake disc 71, the 1st engaging piece 132 is set, and at the

1st armature

73A, 73B, the 2nd engaging piece 113,114 is set, the 1st engaging piece 132 is engaged with the 2nd engaging piece 113,114.; owing to utilizing shearing force to limit the rotation of brake disc 71; therefore; with utilize frictional force and come the situation of the rotation of restrictive axes 51 to compare; the braking force that aging grade causes in time that is not easy to produce because of brake shoe 131 reduces, thereby can carry out more reliably the maintenance with arm 24 movable parts such as grade to the 1st lifting.

And, the external actuators 44a of the 1st execution mode possesses two the

1st armature

73A, 73B, make to be located at the 1st armature 73A, an engaging portion 113a of 73B, the phase place of 114a from be located at another the 1st armature 73A, engaging portion 113a of 73B, the phase place of 114a is different.Thus, can make more reliably the 1st engaging piece 132 and the 2nd engaging piece 113,114 engagings.

Next, utilize Fig. 8 constantly to describe the action of the

1st armature

73A, 73B and the 2nd armature 77.Fig. 8 is the figure that the action moment of the

1st armature

73A, 73B and the 2nd armature 77 is shown.

As shown in Figure 8, in the robot 1 of the 1st execution mode, the action of the

1st armature

73A, 73B is postponed constantly than the 2nd armature 77.Specifically, while supplying with when cutting off the electricity supply (with reference to (1) of Fig. 8), first, the 2nd armature 77 moves (with reference to (2) of Fig. 8), utilizes the frictional force of brake shoe 131 to carry out the rotation of restrictive axes 51.

And, from the 2nd armature 77 moves after scheduled time t, the

1st armature

73A, 73B move (with reference to (3) of Fig. 8).This scheduled time t is the time longer than the time of moving from the 2nd armature 77 till stopping to axle 51.That is under the state that, the

1st armature

73A, 73B stop at axle 51, move.

Like this, in the robot 1 of the 1st execution mode, the action of the

1st armature

73A, 73B is postponed constantly than the 2nd armature 77.In other words, the energising of the 1st coil 75 is cut off constantly than the 2nd coil 79 delays.

Thus, compare with the situation that the 2nd armature 77 moves simultaneously with making the

1st armature

73A, 73B, can reduce the impact that motor 41a or decelerator 42a are subject to.In addition, owing to making the

1st armature

73A, 73B move under the state stopping at axle 51, therefore easily make the 1st engaging piece 132 and the 2nd engaging piece 113,114 engagings, also make the breakage of the engaged 132a of portion or engaging

portion

113a, 114a be difficult to occur.

In addition, in the robot 1 of the 1st execution mode, by the power supply supply line of subtend the 1st coil 75 power supplies, be provided as a kind of fly-wheel diode of delay circuit, make the

1st armature

73A, 73B postpone to move than the 2nd armature 77.Fig. 9 is the figure that an example of the power supply supply line of powering to the 1st coil 75 is shown.

As shown in Figure 9, fly-wheel diode 45 is connected in the power supply supply line to the 1st coil 75 power supplies in the mode with the 1st coil 75 reverse parallel connections.By fly-wheel diode 45 is set like this, situation about for example disconnecting at switch 46 or from DC(Direct Current) power supply of power supply 47 supplies with in cut situation, electric current flows along path h.Thus, the action of the

1st armature

73A, 73B is postponed constantly than the 2nd armature 77.

Like this, on the power supply supply line that the 1st coil 75 is powered, be provided as a kind of fly-wheel diode 45 of delay circuit, utilize this fly-wheel diode 45 that the energising of the 1st coil 75 is cut off constantly and postpone than the 2nd coil 79.; utilize the such delay circuit of fly-wheel diode 45 to realize the delay in the action moment of the

1st armature

73A, 73B; thus; different from the action that utilizes control device 5 to control the

1st armature

73A, 73B situation constantly; even in the situation that causing robot 1 and control device 5 to quit work (down) due to power failure etc., also can make the action of the

1st armature

73A, 73B constantly stagger.

And, at this, adopt fly-wheel diode 45 to be illustrated as a kind of of delay circuit, but be not limited to this, also can will as delay circuit, use such as capacitor etc.In addition, at this, show the example of the situation that the action that utilizes delay circuit to make the

1st armature

73A, 73B staggers constantly, but the action that also can control the

1st armature

73A, 73B and the 2nd armature 77 by control device 5 as described above makes the action of the

1st armature

73A, 73B constantly stagger constantly.

The 1st spring 74A, 74B and the 1st coil 75 are examples that make the travel mechanism that the

1st armature

73A, 73B relatively move with respect to brake disc 71.Equally, the 2nd spring 78 and the 2nd coil 79 are examples that make the 2nd travel mechanism that the 2nd armature 77 relatively moves with respect to brake disc 71.At this, show the example of the situation that possesses the 1st coil 75, but also can the 1st coil 75 be set for each the

1st armature

73A, 73B.

As mentioned above, the external actuators 44a of the 1st execution mode possesses: brake disc 71; A plurality of the

1st armature

73A, 73B; The 1st spring 74A, 74B and the 1st coil 75; A plurality of engaged 132a of portion; And a plurality of engaging

portion

113a, 114a.

The rotation of the axle 51 that brake disc 71 has along with motor 41a and rotating.A plurality of the

1st armature

73A, 73B and brake disc 71 configure opposed to each other.The 1st spring 74A, 74B and the 1st coil 75 make a plurality of the

1st armature

73A, 73B relatively move with respect to brake disc 71.A plurality of engaged 132a of portion at the 1st armature 73A of brake disc 71, the spacing setting of the plate face of 73B side to be scheduled to.A plurality of engaging

portion

113a, 114a be the spacing setting engaging with the engaged 132a of portion at the plate face of brake disc 71 sides of a plurality of the 1st armature 73A, 73B.And the phase place of engaging

portion

113a, 114a that at least one armature in a plurality of the

1st armature

73A, 73B forms is different from the phase place of engaging

portion

113a, 114a that the 1st armature 73A, the 73B at other forms.

Therefore,, according to the external actuators 44a of the 1st execution mode, can improve the reliability to the maintenance of arm etc.

In addition, in the drive system of the 1st execution mode, motor 41a also possesses and is built in motor 41a with the inside brake 43a of the rotation of restrictive axes 51, and external actuators 44a and motor 41a split arrange.

Like this, owing to a motor 41a being possessed to these two brake apparatus of inner brake 43a and external actuators 44a, therefore, compare with the situation of only utilizing inner brake 43a to limit the rotation of motor 41a, can improve braking force.In addition, even if the braking force of the side in inner brake 43a and external actuators 44a is due to aging etc. becoming in inadequate situation in time, also can utilize the opposing party's brake apparatus to limit the rotation of motor 41a, therefore, can prevent more reliably the position skew of arm etc.

In addition, the drive system of the 1st execution mode also possesses the decelerator 42a of output after the rotation deceleration of axle 51, and external actuators 44a carrys out the rotation of restrictive axes 51 by the rotation of the power shaft 422 of restriction decelerator 42a.

Thus, even in the situation that form the engaged 132a of portion or engaging

portion

113a, 114a with wider spacing, also can prevent rightly the position skew of arm etc., thereby can make the handling ease of the engaged 132a of portion or engaging

portion

113a, 114a.

That is,, in the situation that form the engaged 132a of portion or engaging

portion

113a, 114a with wider interval, till the engaged 132a of portion and engaging

portion

113a, 114a engagement, the quantitative change of brake disc 71 skews is many., because the side-play amount of brake disc 71 side-play amount that is axle 51 is passed to the 1st arm 24 for lifting after being reduced by decelerator 42a, therefore, compare with the side-play amount of brake disc 71, the 1st lifting is very little by the side-play amount of arm 24.

Like this, even if skew has occurred than greatly brake disc 71, also only can there is very little skew with arm 24 in the 1st lifting, therefore, even in the situation that the engaged 132a of portion or engaging

portion

113a, 114a form with wider spacing, also can prevent rightly the position skew of arm etc.Therefore, the processing of the engaged 132a of portion or engaging

portion

113a, 114a becomes easy.

(the 2nd execution mode)

External actuators is not limited in the structure shown in the 1st execution mode.Therefore,, in following content, utilize Figure 10 to describe another structure of external actuators.Figure 10 is the schematic cutaway view of structure that the external actuators of the 2nd execution mode is shown.And, in the following description, for the identical part of the part with being illustrated, the label that mark is identical with the part being illustrated, and the repetitive description thereof will be omitted.

As shown in figure 10, the external actuators 44a_1 of the 2nd execution mode possesses brake disc 71_1 and side plate 72_1, to replace the brake disc that external actuators 44a was possessed 71 and the side plate 72 of the 1st execution mode.

Brake disc 71_1 possesses the 3rd engaging piece 133 at the plate face of side plate 72_1 side.The 3rd engaging piece 133 is parts identical with the 1st engaging piece 132, and the 3rd engaging piece 133 has a plurality of engaged portions (being equivalent to the 2nd engaged portion).In addition, side plate 72_1 possesses the 4th engaging piece 142 with the 3rd opposed position of engaging piece 133 on the plate face of brake disc 71_1 side.The 4th engaging piece 142 is parts identical with the 2nd engaging piece 113,114, and the 4th engaging piece 142 possesses a plurality of engaging portions (being equivalent to the 2nd engaging portion).

When driving power is cut off and becomes without excited state, externally, in brake 44a_1, the 2nd armature 77 is pressed to brake disc 71_1 due to the active force of the 2nd spring 78, thus brake disc 71_1 together with the 2nd armature 77 to side plate 72_1 side shifting.Thus, the 3rd engaging piece 133 of brake disc 71_1 engages with the 4th engaging piece 142 of side plate 72_1, utilizes consequent shearing force to limit the rotation of brake disc 71_1, thus the rotation of restrictive axes 51.

And, the plate face of the brake disc 71_1 of side plate 72_1 side be formed with notch 141 with the 3rd opposed position of engaging piece 133, and form the 4th engaging pieces 142 at this notch 141, with obstruction free, utilize the rotation that frictional force the was realized restriction of brake shoe 131.

Like this, the external actuators 44a_1 of the 2nd execution mode not only also utilizes the rotation restriction that shearing force realizes between brake disc 71_1 and the

1st armature

73A, 73B between brake disc 71_1 and side plate 72_1.Therefore, can further improve the reliability with the maintenance of arm 24 movable parts such as grade to the 1st lifting.

(the 3rd execution mode)

In addition, about the configuration of the 1st armature and the 2nd armature, be not limited to each above-mentioned execution mode.Therefore,, in following content, utilize Figure 11 A and Figure 11 B to describe another configuration example of the 1st armature and the 2nd armature.Figure 11 A and Figure 11 B are that another that the 1st armature and the 2nd armature are shown configures routine figure.

For example, as shown in Figure 11 A, external actuators can be in the inner circumferential side of the 2nd circular armature 77_1, to possess the structure of the 1st armature 73A_1,73B_1.The 1st armature 73A_1,73B_1 in this case have respectively the shape that annulus is divided into half and obtains.

In addition, the 1st armature 73A_1,73B_1 possess a plurality of patchhole 111_1 that run through near peripheral part, possess the 2nd engaging piece 113_1,114_1 running through patchhole 111_1 than this by the position of inner circumferential side.The 2nd engaging piece 113_1,114_1 and aforesaid the 2nd engaging piece 113,114 possess respectively a plurality of engaging

portion

113a, 114a, the phase shifting of these engaging

portions

113a, 114a in the same manner.And the 2nd armature 77_1 possesses a plurality of patchhole 121_1 that run through near peripheral part.

Like this, the 1st armature 73A_1,73B_1 also can be configured in the inner circumferential side that forms the 2nd circular armature 77_1.

In addition, in contrast, also the 1st armature can be configured in to the outer circumferential side of the 2nd armature.That is, as shown in Figure 11 B, external actuators can be also at the outer circumferential side of the 2nd circular armature 77_2, to possess the structure of the 1st armature 73A_2,73B_2.The 1st armature 73A_2,73B_2 in this case also have respectively the shape that annulus is divided into half and obtains.

The 1st armature 73A_2,73B_2 possess a plurality of patchhole 111_2 that run through near peripheral part, possess the 2nd engaging piece 113_2,114_2 running through patchhole 111_2 than this by the position of inner circumferential side.The 2nd engaging piece 113_2,114_2 and aforesaid the 2nd engaging piece 113,114 possess respectively a plurality of engaging

portion

113a, 114a, the phase shifting of these engaging

portions

113a, 114a in the same manner.And the 2nd armature 77_2 possesses a plurality of patchhole 121_2 that run through near peripheral part.

(the 4th execution mode)

, in each above-mentioned execution mode, show the example that external actuators possesses the situation of the 1st armature and the 2nd armature, but external actuators not necessarily to possess the 2nd armature.About this point, utilize Figure 12 to describe.Figure 12 is the figure that the structure of the 1st armature that the external actuators of the 4th execution mode possesses is shown.

As shown in figure 12, the external actuators of the 4th execution mode only possesses the 1st armature 73A_3,73B_3, and does not possess the 2nd armature.The 1st armature 73A_3,73B_3 have respectively the shape that annulus is divided into half and obtains.In addition, the 1st armature 73A_3,73B_3 possess a plurality of patchhole 111_3 that run through near peripheral part, possess the 2nd engaging piece 113_3,114_3 running through patchhole 111_3 than this by the position of inner circumferential side.The 2nd engaging piece 113_3,114_3 and aforesaid the 2nd engaging piece 113,114 possess respectively a plurality of engaging

portion

113a, 114a, the phase shifting of these engaging

portions

113a, 114a in the same manner.

Like this, external actuators can be also only to utilize the structure of the rotation restriction of shearing force realization.

(the 5th execution mode)

In above-mentioned each execution mode Zhong，Dui robot, be that the type of utilizing the example of situation of robot of the type of leg unit supporting horizontal arm unit to be illustrated ，Dan robot is not limited to this.

For example, robot can be also by the robot of the type of plural leg unit supporting horizontal arm unit.In following content, utilize the example of Figure 13 Dui Gai robot to describe.Figure 13 is the schematic stereogram of the robot of the 5th execution mode.

As shown in figure 13, the 1a of robot of the 5th execution mode possesses pedestal 310, elevating mechanism 320 and horizontal arm unit 330.In addition, elevating mechanism 320 possesses: rotating part 321, and it is mounted to and can rotates with respect to pedestal 310; With column sections 322,323, they erect respectively the two ends that are arranged at rotating part 321.In addition, elevating mechanism 320 possesses: supporting base portion 324, and it is supported to horizontal arm unit 330 can rotate; With two leg units 325,326, their base end part is supported in respectively column sections 322,323, and these two leg units 325,326 are with terminal part supporting supporting base portion 324.

In addition, leg unit 325 possesses: the 1st shank 325a, and its base end part is supported to and can rotates with respect to column sections 322; With the 2nd shank 325b, its base end part is supported in the terminal part of the 1st shank 325a in the mode that can rotate, and the 2nd shank 325b is with terminal part supporting supporting base portion 324.Equally, leg unit 326 possesses: the 1st shank 326a, and its base end part is supported to and can rotates with respect to column sections 323; With the 2nd shank 326b, its base end part is supported in the terminal part of the 1st shank 326a in the mode that can rotate, and the 2nd shank 326b is with terminal part supporting supporting base portion 324.

Horizontal arm unit 330 possesses for loading hand 331a, the 331b of workpiece and respectively with arm 332a, the 332b of end bearing hand 331a, 331b.The horizontal arm unit 30 of horizontal arm unit 330 and the 1st execution mode moves to predetermined direction by flexible hand 331a, the 331b of making of

arm

332a, 332b in the same manner.

In this elevating mechanism 320, by making the posture change of two leg units 325,326 that horizontal arm unit 330 is moved along the vertical direction.And, because elevating mechanism 320 utilizes two leg units, 325,326 supporting horizontal arm unit 330, therefore, compare with the elevating mechanism 20 of the 1st execution mode, can keep more reliably horizontal arm unit 330.

And, each joint portion of elevating mechanism 320, the base end part of the

1st shank

325a, 326a is linked in the mode that can rotate column sections 322,323 terminal part the 1st joint portion and the base end part of the

2nd shank

325b, 326b is linked to the 2nd joint portion of the terminal part of the

1st shank

325a, 326a in the mode that can rotate, motor, decelerator and the external actuators that is built-in with inner brake is set respectively.The structure of described motor, decelerator, inner brake and external actuators is identical with motor, decelerator, inner brake and the external actuators of each above-mentioned execution mode.

Like this, robot supports the robot of the type of horizontal arm unit by two leg units.And, as this robot, can application examples as disclosed robot in No. 4466785th, Japanese Patent, No. 4822085th, Japanese Patent, TOHKEMY 2011-125947 communique etc.In Figure 13, show the robot that possesses two leg units, but the quantity of leg unit can be also more than two.

In addition, robot can be also the conveying machine people of linearly operating type for example.As such robot, can application examples as disclosed robot in No. 4221733rd, Japanese Patent, No. 4911371st, Japanese Patent, TOHKEMY 2010-274413 communique etc.

In addition, robot can be also the robot with the type of walking axle.As such robot, can application examples as disclosed robot in No. 4501103rd, Japanese Patent, TOHKEMY 2000-084877 communique etc.And walking axle can be single shaft, can be also mutually orthogonal diaxon.

And, in each above-mentioned execution mode, the example to the situation of the disclosed brake apparatus of outside brake application the application has been described, but also can be to being built in the disclosed brake apparatus of inside brake application the application of electric rotating machine.

In addition, in each above-mentioned execution mode, the example that is the situation of non-excitation actuating formula electromagnetic brake to external actuators and inner brake is illustrated, and external actuators and inner brake can be also the brake apparatus beyond non-excitation actuating formula.In addition, making the travel mechanism that armature relatively moves with respect to brake disc can be also the travel mechanism beyond the travel mechanism that possesses force application part and solenoid being illustrated in each execution mode.

For a person skilled in the art, can easily derive further effect or variation.Therefore, wider mode of the present invention is not limited to the specific detailed content and the representational execution mode that represent as described above and describe.Therefore, only otherwise depart from the spirit or scope by the scope of the claim of enclosing and the concept of the defined total invention of its equivalent, can carry out various changes.

Claims

1. a brake apparatus, is characterized in that,

Described brake apparatus possesses:

Brake disc, the rotation of the axle that it has along with electric rotating machine and rotating;

A plurality of armatures, itself and described brake disc configure opposed to each other;

Travel mechanism, it makes described a plurality of armature relatively move with respect to described brake disc;

A plurality of engaged portions, its spacing setting to be scheduled to of plate face in the described armature side of described brake disc; And

A plurality of engaging portions, the spacing setting of its plate face in the described brake disc side of described a plurality of armatures engaging with described engaged portion,

Make the phase place of the described engaging portion that at least one armature in described a plurality of armatures forms different with the phase place of the described engaging portion of described armature formation at other.

2. brake apparatus according to claim 1, is characterized in that,

Described brake apparatus also possesses:

Friction means, it is arranged at the plate face of described brake disc;

The 2nd armature, itself and described brake disc configure opposed to each other; And

The 2nd travel mechanism, it makes described the 2nd armature relatively move with respect to described brake disc.

3. brake apparatus according to claim 2, is characterized in that,

Described travel mechanism possesses:

Force application part, its to described a plurality of armatures to the direction application of force that approaches described brake disc; With

Solenoid, its active force that overcomes described force application part when energising carries out electromagnetic attraction to described a plurality of armatures,

Described the 2nd travel mechanism possesses:

The 2nd force application part, it is by making described the 2nd armature and described friction means butt to described the 2nd armature to the direction application of force that approaches described brake disc; With

The 2nd solenoid, its active force that overcomes described the 2nd force application part when energising carries out electromagnetic attraction to described the 2nd armature.

4. brake apparatus according to claim 3, is characterized in that,

The energising of described solenoid is cut off constantly than the energising cut-out delay constantly of described the 2nd solenoid.

5. brake apparatus according to claim 4, is characterized in that,

Described brake apparatus also possesses delay circuit, and this delay circuit is arranged at the power supply supply line to described solenoid power supply,

Utilizing described delay circuit that the energising of described solenoid is cut off constantly cuts off constantly and postpones than the energising of described the 2nd solenoid.

6. according to the brake apparatus described in any one in claim 2～5, it is characterized in that,

Described a plurality of armature possesses notch the plate face of described brake disc side with the opposed position of described friction means.

7. according to the brake apparatus described in any one in claim 1～5, it is characterized in that,

Described brake apparatus also possesses:

Side plate, it configures opposed to each other at the side with the described a plurality of armatures of configuration contrary a side and described brake disc;

A plurality of the 2nd engaged portions, its spacing setting to be scheduled to of plate face in the described side plate side of described brake disc; And

A plurality of the 2nd engaging portions, the spacing setting of its plate face in the described brake disc side of described side plate engaging with described the 2nd engaged portion.

8. brake apparatus according to claim 6, is characterized in that,

Described brake apparatus also possesses:

9. brake apparatus according to claim 7, is characterized in that,

Described side plate possesses notch the plate face of described brake disc side with described the 2nd opposed position of engaged portion,

Described a plurality of the 2nd engaging portion is formed at described notch.

10. brake apparatus according to claim 8, is characterized in that,

Described a plurality of the 2nd engaging portion is formed at described notch.

11. 1 kinds of drive systems, is characterized in that,

Described drive system possesses:

Electric rotating machine; With

Brake apparatus, it is for limiting the rotation of the axle of described electric rotating machine,

Described brake apparatus possesses:

12. drive systems according to claim 11, is characterized in that,

Described electric rotating machine also possesses and is built in this electric rotating machine to limit the inside brake apparatus of the rotation of described axle,

Described brake apparatus and described electric rotating machine split arrange.

13. according to the drive system described in claim 11 or 12, it is characterized in that,

Described drive system also possesses the decelerator of output after the rotation deceleration of described axle,

Described brake apparatus limits the rotation of described axle by limiting the rotation of the power shaft of described decelerator.

14.Yi Zhong robot, is characterized in that,

Described robot possesses the drive system described in any one in claim 11 to 13, and utilizes this drive system to change or keep posture.

15. robots according to claim 14, is characterized in that,

Described robot is the robot that possesses following part:

Arm unit, the arm that it possesses end effector and this end effector is moved; With

Elevating mechanism, it utilizes described drive system to make described arm unit lifting.

16. robots according to claim 15, is characterized in that,

Described robot also possesses and utilizes described drive system to make the rotating slew gear of described elevating mechanism.