JP2007028875A - Motor with brake - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor with a brake, capable of stopping a rotor at a predetermined position while being positioned with high accuracy. <P>SOLUTION: The motor with a brake, capable of directly transmitting rotation force to a rotor 4 to rotate the rotor in a specified direction, is equipped with a brake mechanism for stopping the rotor while being positioned at a specified position relative to stators 2a, 2b after the rotation of the rotor is braked. The brake mechanism is provided with a thin plate like disk plate 10 fixed to the rotor and braking members 12, 14 disposed on the disk plate so as to face each other in a press-contact manner, wherein one braking member 12 is fixed to the upper stator 2b, while the other braking member 14 is fixed to a piston 16. In this case, when hydraulic pressure acts on the piston, a support member 18 supporting the piston is deformed elastically, thereby the piston, and one braking member are move toward the other braking member. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a motor with a brake that can be stopped in a state where a rotor of a direct drive motor is positioned with high accuracy at a predetermined position, for example.

  Conventionally, as shown in Patent Documents 1 and 2, for example, various types of transmission of rotational force directly to a rotor without a reduction mechanism (for example, a reduction gear, a transmission belt, etc.) to rotate the rotor in a predetermined direction Direct drive motors are known. Direct drive motors are roughly classified into an outer rotor type and an inner rotor type. In any motor, an electromagnetic brake is commonly used as a brake mechanism for stopping the rotation of the rotor.

  The electromagnetic brake is provided with, for example, a braking piece for applying stop braking to the rotor. In this case, for example, when the electromagnetic brake is energized, the rotor can be rotated by the brake piece being in non-contact with the rotor. On the other hand, when the energization is stopped, the brake piece is in contact with the rotor. Thus, the rotor can be stopped in a state where it is positioned at a predetermined position.

  By the way, since an electromagnetic brake generates heat when used, a peripheral configuration (for example, a rotor) may expand and contract due to a heat action depending on the amount of heat generated. In particular, since various configurations (for example, gears, belts, tables, etc.) according to the purpose of use are connected to or mounted on the rotor, depending on the amount of expansion / contraction of the rotor, the rotational movement of the rotor can be smoothly performed in the various configurations described above. Not only is it difficult to transmit to the camera, but also, for example, it becomes difficult to accurately position the mounted table at a predetermined position.

In addition, when stopping the positioning of the rotor with the electromagnetic brake, the braking force is brought into direct contact with the rotor, so that the impact force (contact force) at the time of contact is directly transmitted to the rotor. . At this time, depending on the magnitude of the impact force of the braking piece on the rotor, the rotor may be displaced in the rotational direction, or the rotor may be displaced in the direction in which the impact force is applied (for example, the axial direction). There is a case. As a result, it becomes difficult to stop and stop the rotor with high accuracy. As a result, for example, an object mounted on the table cannot be accurately positioned at a predetermined position.
Japanese Utility Model Publication No. 5-25963 Japanese Patent Application Laid-Open No. 5-111213

  The present invention has been made to solve such problems, and an object of the present invention is to provide a motor with a brake that can be stopped in a state in which a rotor is positioned with high accuracy at a predetermined position.

  In order to achieve such an object, the present invention includes a brake mechanism for stopping the rotor in a state where the rotor is positioned at a predetermined position with respect to the stator, and transmitting the rotational force directly to the rotor to rotate the rotor in a predetermined direction. The brake mechanism includes a thin disk-shaped disk plate fixed to the rotor, and a brake member disposed so as to be in pressure contact with the disk plate. The other brake member fixed to the stator is configured to be movable toward one brake member by applying fluid pressure.

  Various configurations for reducing the impact when the brake member is pressed against the disc plate are applied to such an invention. For example, the stator is fixed to the pedestal via an elastic body. Further, the thin disk plate is configured to be elastically deformable. In this case, a plurality of types of slits may be formed in the thin disk plate.

  The other brake member is fixed to the tip of an elastic support member, and the base end of the support member is fixed to the stator. In this case, the position at which the other brake member is fixed to the front end of the support member and the position at which the base end of the support member is fixed to the stator may be set in a staggered positional relationship. A slit may be formed. Note that the position at which the other brake member is fixed to the front end of the support member and the position at which the base end of the support member is fixed to the stator may be set at different pitches and in an alternate positional relationship.

  Furthermore, the opposingly arranged brake members are configured to be able to press contact with the disk plate at at least one point. In this case, the opposingly arranged brake members have a fan shape whose shape extends along the rotation direction of the disk plate. Further, the thin plate-like disk plate is supported by the support plate in a non-contact state between the brake members. In addition, the stator may be fixed to the pedestal with a predetermined gap interposed therebetween, so that the stator itself can have elasticity.

  ADVANTAGE OF THE INVENTION According to this invention, the motor with a brake which can be stopped in the state which positioned the rotor at the predetermined position with high precision is realizable.

  Hereinafter, a motor with a brake according to an embodiment of the present invention will be described with reference to the accompanying drawings. In the present embodiment, a direct drive motor is assumed as an example of a motor with a brake. Such motors include an outer rotor type and an inner rotor type. Hereinafter, an outer rotor type direct drive motor will be described as an example.

  As shown in FIG. 1A, the motor with a brake (direct drive motor) according to the present embodiment can directly transmit a rotational force to the rotor 4 and rotate the rotor 4 in a predetermined direction. After braking the rotation of the rotor 4, a brake mechanism is provided that stops the rotor 4 in a state where the rotor 4 is positioned at a predetermined position with respect to the stators 2a and 2b. In this case, the stators 2a and 2b include, for example, a lower stator 2a fixed to the pedestal 6 and an upper stator 2b disposed to face the lower stator 2a. The stators 2a and 2b are pedestal 6 by bolts 8a. It is fixed integrally with respect to. In addition, the RR line | wire of the same figure (a) shows the rotation center of the rotor 4 virtually.

  The brake mechanism is provided with a thin plate-like disk plate 10 fixed to the rotor 4 and brake members 12 and 14 disposed so as to oppose each other so as to sandwich the disk plate 10 therebetween. In this case, one brake member 12 is fixed to the upper stator 2 b and the other brake member 14 is fixed to the piston 16.

  In the present embodiment, the brake members 12 and 14 are formed in a continuous annular shape (see FIGS. 4A and 4B), and the opposing surfaces 12s and 14s are formed flat. ing. The brake members 12 and 14 can be formed by coating the surface of a relatively high-rigidity member such as iron or aluminum alloy with a lining material (friction material). For example, a member having a surface structure with a relatively high friction coefficient can be used as it is as the brake members 12 and 14.

  Further, the disk plate 10 has a continuous ring shape along the rotation direction of the rotor 4, and its base end (outer diameter side) 10a is fixed to the rotor 4 (for example, bonding, welding, fastening with bolts 8b). The tip (inner diameter side) 10b extends between the brake members 12 and 14, and is positioned in a non-contact manner with respect to the opposing surfaces 12s and 14s. Note that the fixing position and the number of fixing of the disk plate 10 with respect to the rotor 4 are not particularly limited here because they are arbitrarily set according to the size and shape of the rotor 4 and the disk plate 10, for example.

  Such a disk plate 10 is configured to have elasticity (flexibility), and depending on the degree of elasticity (flexibility), the tip (inner diameter side) 10b of the disk plate 10 is the other brake. The case where it contacts the member 14 is also assumed. In this case, by disposing the support plate 10s below the disc plate 10, the tip (inner diameter side) 10b of the disc plate 10 is supported in a non-contact state between the brake members 12 and 14 (opposing surfaces 12s and 14s). can do.

  The support plate 10s is fixed to the rotor 4 together with the disc plate 10 (for example, bonding, welding, and fastening with bolts 8b), and the base end (outer diameter side) 10a of the disc plate 10 to the front end (inner diameter side) 10b. It extends toward the. In this case, the extending end of the support plate 10s is set at a position avoiding the front end (inner diameter side) 10b of the disc plate 10 to which the brake members 12, 14 are pressed. And the position where the brake members 12 and 14 are in pressure contact with the disk plate 10 are arbitrarily set.

  The material of the support plate 10s is preferably a material having relatively high rigidity, but various materials such as metals and synthetic resins can be selected as the material. Further, the support plate 10s may have an annular shape that is continuous along the disc plate 10, or a plurality of support plates 10s may be arranged at equal intervals along the disc plate 10. In the configuration in which the disc plate 10 is supported by a plurality of support plates 10s, various shapes such as a rectangular shape, a triangular shape, an elliptical shape, and a trapezoidal shape can be applied as the shape of each support plate 10s.

  The piston 16 forms an annular body that can uniformly support the entire circumference of the other brake member 14, and is fixed to the tip of the support member 18 (for example, bonding, welding, fastening with a bolt 8c). . The support member 18 has elasticity (flexibility), and a base end thereof is fixed to the lower stator 2a (for example, adhesion, welding, and fastening with a bolt 8d). Accordingly, the piston 16 is elastically supported by the support member 18, and in this state, the other brake member 14 is elastically positioned and fixed to the support member 18 via the piston 16. . The fixed position and number of the piston 16 with respect to the distal end of the support member 18 and the fixed position and fixed number of the lower stator 2a with respect to the proximal end of the support member 18 depend on, for example, the size and shape of the piston 16 and the support member 18. Since it is arbitrarily set, there is no particular limitation here.

  In a state where the piston 16 is supported by the support member 18 (hereinafter referred to as an initial state), when pressure (for example, fluid pressure described later) is applied to the piston 16 from below to above, the support member 18 is caused by the pressure. By elastically deforming, the other brake member 14 together with the piston 16 can be moved toward the one brake member 12. On the other hand, when the pressure on the piston 16 is released, the elastic force that the support member 18 tries to return to the initial state acts on the piston 16, thereby causing the other brake member 14 together with the piston 16 from the one brake member 12. Can be separated.

  Further, the piston 16 is positioned in a cylinder portion 20 formed by partially digging the lower stator 2a. On the inner periphery of the cylinder portion 20, a cylindrical upper cylinder surface 20a and an upper cylinder surface are provided. A lower cylinder surface 20b having a cylindrical shape smaller than 20a is formed. On the other hand, on the outer periphery of the piston 16, a cylindrical upper piston surface 16a and a lower piston surface 16b having a smaller diameter than the upper piston surface 16a are formed at a portion facing the inner periphery of the cylinder portion 20. .

  In this case, an annular clearance is formed between the upper piston surface 16a and the upper cylinder surface 20a, and between the lower piston surface 16b and the lower cylinder surface 20b, and the piston 16 is in a non-contact state in the cylinder portion 20. Positioned at. Thereby, when moving piston 16, the said piston 16 can be moved smoothly, without making the cylinder part 20 contact. In addition, since the dimension of the annular clearance can be arbitrarily set according to, for example, the size or outer peripheral shape of the piston 16 or the size or inner peripheral shape of the cylinder portion 20, there is no particular numerical limitation here.

  Two O-rings 22 and 24 are interposed in such an annular clearance. More specifically, one O-ring 22 is interposed between the upper piston surface 16a and the upper cylinder surface 20a, and the other O-ring 24 includes the lower piston surface 16b and the lower cylinder. It is interposed in a state of being pressed against the surface 20b. Thus, an airtight annular chamber 26 is formed in the annular gap surrounded by the two O-rings 22 and 24.

  A distal end of a fluid supply path 28 formed in the lower stator 2a is connected to the annular chamber 26, and a proximal end of the fluid supply path 28 is connected to a fluid supply source (not shown). In this case, when the fluid P is supplied from the fluid supply source to the annular chamber 26 through the fluid supply path 28, the pressure in the annular chamber 26 (that is, the fluid pressure) is increased by the fluid P supplied to the annular chamber 26. At this time, the increased fluid pressure acts on the piston 16 to move the piston 16 in the arrow Y direction against the elastic force of the support member 18 as shown in FIG. Thereby, the other brake member 14 can be moved toward the one brake member 12.

  Then, the other brake member 14 that has moved in the direction of the arrow Y together with the piston 16 first comes into contact with the tip (inner diameter side) 10 b of the disk plate 10. At this time, by further supplying the fluid P to the annular chamber 26, the other brake member 14 can be moved toward the one brake member 12 against the elastic force of the disc plate 10. As a result, the tip (inner diameter side) 10b of the disk plate 10 eventually comes into contact with one brake member 12, and in this state, the fluid P is further supplied to the annular chamber 26. ) 10b can be held in pressure contact between both brake members 12,14.

  Since the base end (outer diameter side) 10a of the disk plate 10 is fixed to the rotor 4 (for example, fastened with a bolt 8b), the front end (inner diameter side) 10b is sandwiched between both brake members 12,14. Thus, the rotor 4 can be stopped in a state of being positioned at a predetermined position with respect to the stators 2a and 2b via the disk plate 10. On the other hand, when the supply of the fluid P to the annular chamber 26 is released, the elastic force that the support member 18 tries to return to the initial state acts on the piston 16, thereby causing the other brake member 14 together with the piston 16 to act as one brake. It can be separated from the member 12. When the support member 18 returns to the initial state, the tip (inner diameter side) 10b of the disc plate 10 is again positioned in a non-contact manner with respect to the brake members 12 and 14 (opposing surfaces 12s and 14s).

  The supply speed and supply amount of the fluid P to the annular chamber 26 are set to optimum values according to the size and length of the fluid supply path 28, the size of the annular chamber 26, and the like. Not limited. Further, as the fluid P, for example, gas (air, gas) or liquid (oil) can be applied.

  As for the switching timing of the supply and release of the fluid P to the annular chamber 26, for example, when the rotor 4 is rotated, the supply of the fluid P is released after the supply of the fluid P is released and the rotation of the rotor 4 is braked. Done. In this case, an existing rotating system can be used as a configuration for rotating the rotor 4. For example, permanent magnets (not shown) are annularly arranged in a fixed portion (not shown) fixed to the pedestal 6 so that magnetic poles (N poles, S poles) are alternately arranged, while the rotor 4 has a permanent portion. For example, a three-phase coil (not shown) is attached so as to face the magnet. When currents are sequentially passed through the three-phase coils and the magnetic poles of the coils are changed to S poles or N poles, the rotor 4 follows the Fleming's left-hand rule by the interaction between the magnetic poles and the magnetic fluxes of the permanent magnets. Can be rotated.

  As described above, according to the present embodiment, by using the fluid P (fluid pressure) as a brake mechanism, the motor peripheral configuration (for example, the rotor 4) expands and contracts due to a thermal action like a conventional electromagnetic brake. There is no. As a result, the rotational movement of the rotor 4 can be smoothly transmitted to various configurations (for example, gears, belts, tables, etc.) connected to or mounted on the rotor 4, and the mounted table can be moved at a predetermined position. Positioning can be performed with high accuracy.

  Further, according to the present embodiment, when the positioning of the rotor 4 is stopped by the brake mechanism, the brake members 12 and 14 are brought into pressure contact with the disk plate 10 fixed to the rotor 4, so that the rotor 4 is indirect. The pressure contact force is applied. More specifically, the fluid pressure in the annular chamber 26 acts on the piston 16 while being weakened by the elastic force of the support member 18 (absorbed by the support member 18). It softly contacts the tip (inner diameter side) 10b of the plate 10. At this time, the pressing force of the other brake member 14 acting on the disc plate 10 is weakened by the elastic force of the disc plate 10 (absorbed by the disc plate 10), and therefore the tip (inner diameter side) 10b of the disc plate 10 is absorbed. Is softly pressed between both brake members 12,14.

  For this reason, the impact force at the time of the pressure contact of the brake members 12 and 14 is not directly transmitted to the rotor 4 as it is. As a result, it is possible to prevent the rotor 4 from being displaced in the rotational direction or displaced in the direction in which the impact force is applied during pressure contact. As a result, the rotor 4 can be positioned and stopped with high accuracy. For example, an object mounted on the table can be positioned with high accuracy at a predetermined position.

  In the above-described embodiment, the material of the disk plate 10 and the support member 18 is not particularly limited. However, if the material can be made elastic (flexible), for example, iron, stainless steel, rubber, synthetic material, etc. Resin etc. can be applied. In this case, as a method of imparting elasticity (flexibility) to the disk plate 10 and the support member 18, a method of thinning them can be considered, but depending on the degree of thinning, for example, the tip (inner diameter) of the disk plate 10 can be considered. The side) 10b is assumed to be difficult to position in a non-contact manner with respect to the brake members 12, 14 (opposing surfaces 12s, 14s). On the other hand, in the support member 18, it may be difficult to position the piston 16 in the cylinder part 20 in a non-contact state. Accordingly, there is a certain limitation on the thinning, but since this is set to an optimum thickness value according to the material and shape of the disk plate 10 and the support member 18, there is no particular numerical limitation here.

Here, based on the above-described matters, a configuration example in which the disk plate 10 and the support member 18 are given elasticity (flexibility) will be described.
FIG. 2 shows a configuration example in which the disk plate 10 is given elasticity (flexibility). Here, as an example, the disk plate 10 in which a plurality of types of slits are formed is partially enlarged.

  As a first configuration example, a plurality of slits 30 and 32 are formed in a double row along the circumferential direction of the disk plate 10 of FIG. In this case, it is preferable to form the slits 30 on the inner diameter side and the slits 32 on the outer diameter side so as to have an alternate positional relationship. Note that the width and number of the slits 30 and 32, or the length in the circumferential direction are arbitrarily set according to the size and shape of the disk plate 10, and are not particularly limited here. Further, a hole indicated by reference numeral 10 c in the drawing is a hole through which a bolt 8 b (see FIG. 1) passes when the disk 10 is attached to the rotor 4.

  As a second configuration example, the disk plate 10 of FIG. 2B has a plurality of holes 34 formed at equal intervals and alternately in a region near the tip (inner diameter side) 10b, and is similar to the slit as a whole. It has a function. Note that the size and number of the holes 34 and the pitch between the holes 34 are arbitrarily set according to the size and shape of the disk plate 10 and are not particularly limited here.

  As a third configuration example, a plurality of slit-like elongated holes 36 are formed along the circumferential direction of the disk plate 10 in FIG. In this case, each of the vertically long holes 36 is formed in a vertically long shape along the radial direction (radial direction) of the disk plate 10. Note that the width and number of the longitudinal holes 36, the length in the radial direction, and the pitch between the longitudinal holes 36 are arbitrarily set according to the size and shape of the disk plate 10, and are not particularly limited here.

  As a fourth configuration example, a plurality of slit-shaped notches 38 are formed along the circumferential direction at the tip (inner diameter side) 10b of the disk plate 10 of FIG. In this case, each notch 38 is formed longitudinally along the radial direction (radial direction) of the disc plate 10, one end penetrates the tip (inner diameter side) 10 b of the disc plate 10, and the other end is closed. Yes. Note that the width and number of the notches 38, the length in the radial direction, and the pitch between the notches 38 are arbitrarily set according to the size and shape of the disk plate 10, and are not particularly limited here.

  As a fifth configuration example, the disk plate 10 of FIG. 2 (e) is an improvement of the fourth configuration example, and a circular hole 38a is continuously formed at the other end of each notch 38. In this case, the size of the circular hole 38 a is preferably set larger than the width of the notch 38. Thereby, the elasticity (flexibility) of the disk plate 10 can be further improved.

  As a sixth configuration example, the disk plate 10 of FIG. 2 (f) is modified to the fourth configuration example. In addition to the plurality of notches 38, the disk plate 10 further extends to the base end (outer diameter side) 10a along the circumferential direction. Thus, a plurality of slit-shaped notches 40 are formed. In this case, each notch 40 is formed vertically long along the radial direction (radial direction) of the disk plate 10, one end penetrates the base end (outer diameter side) 10 a of the disk plate 10, and the other end is notched. 38 extends between each other and is blocked. The width and number of notches 40, or the length in the radial direction are arbitrarily set according to the size and shape of the disk plate 10, the width and number of notches 38, or the length in the radial direction. Then there is no particular limitation.

  As a seventh configuration example, in the disk plate 10 of FIG. 2 (g), instead of forming a slit, a tongue piece 42 protrudes from the base end (outer diameter side) 10a, and for example, a bolt 8b (FIG. 1). A hole 10c through which a reference is made is formed. In this case, the protruding position and number of the tongue pieces 42 are set according to the fixed position and fixed number of the disk plate 10 with respect to the rotor 4, and are not particularly limited here. By fixing the disc plate 10 to the rotor 4 via the tongue piece 42 in this way, it becomes possible to increase the elasticity (flexibility) in the vicinity of the tongue piece 42, and as a result, the disc plate 10 is elastic (flexible). Sex).

FIG. 3 shows a configuration example in which the support member 18 is given elasticity (flexibility).
As a first configuration example, the support member 18 in FIGS. 3A and 3B has a tip fixing position for fixing the piston 16 (FIG. 1) to the tip (for example, bonding, welding, fastening with a bolt 8c); The base end fixing positions where the base ends are fixed to the lower stator 2a (FIG. 1) (for example, bonding, welding, and fastening with bolts 8d) are set in an alternate positional relationship. In addition, in the same figure (a), it is a structural example which made both the fixing positions into three places, and in the same figure (b), it is a structural example which made both the fixing positions into four places. Thus, by setting the fixed positions to alternate positional relationships, the support member 18 can have elasticity (flexibility). Moreover, as both fixed positions, it is not limited to 3 places or 4 places, For example, 2 places or 5 places or more may be sufficient.

  As a second configuration example, the support member 18 of FIGS. 3C and 3D is applied to the improvement of the first configuration example, and the distal end fixing position and the proximal end fixing position are at different pitches and in an alternate positional relationship. Is set. FIG. 6C shows a configuration example in which the distal end fixing position is six and the proximal end fixing position is three. In FIG. 8D, the distal end fixing position is eight and the proximal end fixing position is shown. This is an example of a configuration in which four are provided. Further, the number of the fixed positions is not limited to the number of the configuration examples, and the number of the fixed positions can be increased or decreased as long as the pitches are different.

  As a third configuration example, a plurality of slits 44 are formed in a row along the circumferential direction of the support member 18 in FIG. Note that the width and number of the slits 44, the length in the circumferential direction, and the pitch between the slits 44 are arbitrarily set according to the size and shape of the support member 18, and are not particularly limited here.

  As a fourth configuration example, a plurality of slits 46 and 48 are formed in double rows along the circumferential direction of the support member 18 of FIG. In this case, it is preferable to form the slit 46 on the distal end side and the slit 48 on the proximal end side so as to have an alternate positional relationship. The width and number of the slits 46 and 48, or the length in the circumferential direction are arbitrarily set according to the size and shape of the support member 18, and are not particularly limited here.

  As a fifth configuration example, a plurality of slit-like vertically long holes 50 are formed in the support member 18 of FIG. In this case, each of the vertically long holes 50 is formed in a vertically long shape along the radial direction (radial direction) of the support member 18. Note that the width and number of the vertical holes 50, the length in the radial direction, and the pitch between the vertical holes 50 are arbitrarily set according to the size and shape of the support member 18, and are not particularly limited here.

  As a sixth configuration example, the support member 18 in FIG. 3H is modified to the fifth configuration example, and a circular hole 52 is formed instead of the vertically long hole 50. In this case, as the shape of the circular hole 52, for example, a round shape such as a perfect circle or an ellipse can be applied. Thereby, the same effect as the case where a slit is formed in the support member 18 can be obtained. Note that the size and number of the circular holes 52, or the positions where the circular holes 52 are formed, and the pitch between the circular holes 52 are arbitrarily set according to the size and shape of the support member 18, and are not particularly limited here. .

  Further, in the above-described embodiment, the continuous annular brake members 12 and 14 (FIGS. 4A and 4B) are assumed, but are configured to be capable of being pressed against the disk plate 10 at at least one point. Then, the rotor 4 can be stopped in a state where it is positioned at a predetermined position. For example, as shown in FIG. 4C, only one substantially circular brake member 12 is fixed to the upper stator 2b, and the piston 16 faces the brake member 12 as shown in FIG. 4D. Only one substantially circular brake member 14 is fixed in position. The opposed surfaces 12s, 14s of the substantially circular brake members 12, 14 are formed in a flat shape. In addition, the substantially circular shape includes, for example, a perfect circle and an ellipse.

  In this case, both brake members 12 and 14 are brought into pressure contact with the tip (inner diameter side) 10b of the disk plate 10 at a pin point, and there is a case where an imbalance of moment load on the disk plate 10 occurs. Therefore, for example, as shown in FIG. 4 (e), two substantially circular brake members 12 are fixed at positions divided by 180 degrees in the circumferential direction of the upper stator 2b, and as shown in FIG. 4 (f), the piston 16 The two substantially circular brake members 14 are fixed to positions facing the two brake members 12. As a result, the brake members 12 and 14 can be pressed against the disc plate 10 at a plurality of points with good balance.

  For example, as shown in FIG. 4G, four substantially circular brake members 12 are fixed at positions divided by 90 degrees in the circumferential direction of the upper stator 2b as shown in FIG. As shown in FIG. 4, four substantially circular brake members 14 may be fixed to the piston 16 at positions facing the four brake members 12. By increasing the pressure contact points in this way, the rotor 4 can be stopped with good balance and stability in a state where the rotor 4 is positioned at a predetermined position.

  In addition to the above-described configuration examples of the pressure contact points, both the brake members 12 and 14 may be pressure-contacted to the disk plate 10 at, for example, three locations divided by 120 degrees in the circumferential direction. Alternatively, pressure contact may be made at eight locations divided by 45 degrees in the circumferential direction. In this case, the number of pressure contact points is not particularly limited here because it is arbitrarily set according to the size and shape of the disk plate 10, the upper stator 2b, and the piston 16, for example. In the above configuration example, both the brake members 12 and 14 are both substantially circular. For example, one brake member 12 is substantially circular and the other brake member 14 is continuous (see FIG. 4B). You may comprise. On the contrary, for example, one brake member 12 may be formed in a continuous annular shape (FIG. 4A), and the other brake member 14 may be substantially circular.

  4A to 4H, the portions of the brake members 12 and 14 are hatched, so that the positions of the brake members 12 and 14 can be easily visually confirmed. It does not show a cross section. Further, in FIGS. 4B, 4D, 5F, and 3H, three bolts 8c, 8c, 8h, and 8h, respectively, are provided so that the distal end fixing position and the proximal end fixing position of the support member 18 can be visually confirmed. Although 8d is arranged, this is an example, and the fixing positions of both are not limited.

  4 (a) to 4 (h), the substantially circular brake members 12 and 14 are shown. However, the present invention is not limited to this, and for example, a fan shape as shown in FIGS. 5 (a) and 5 (b). It is also good. FIG. 4A shows a sectoral brake member 12 extending in the range of the opening angle θ1 along the rotational direction of the disk 10 (FIG. 1), and only one of them is fixed to the upper stator 2b. Has been. Further, in FIG. 4B, only one sectoral brake member 14 extending in the range of the same opening angle θ1 is fixed to the piston 16 at a position facing the brake member 12. The opposing surfaces 12s, 14s of the sector brake members 12, 14 are formed in a flat shape.

  Thus, by making both the brake members 12 and 14 fan-shaped, it becomes possible to increase (increase) the contact area with the tip (inner diameter side) 10b of the disc plate 10, and thereby the brake against the disc plate 10 can be increased. Without increasing the pressure contact force of the members 12 and 14 (with light pressure contact force), the rotor 4 can be stably stopped in a state where the rotor 4 is positioned at a predetermined position. Therefore, for example, as shown in FIGS. 5C and 5D, the stability of the positioning stop of the rotor 4 can be further improved by increasing the opening angle θ2 of both the brake members 12 and.

Note that the fan-shaped opening angles θ1, θ2 and the width are set to arbitrary angles (for example, θ1 <θ2, θ1> θ2) and width according to the size and shape of the disk plate 10, the upper stator 2b, and the piston 16, for example. Since it is set, the numerical values for the opening angle and width are not limited here.
Further, for example, as shown in FIGS. 5 (e) and 5 (f), fan-shaped brake members 12 and 14 can be arranged at a plurality of locations. The brake members 12 and 14 are preferably arranged. Thereby, it becomes possible to prevent the unbalance of the moment load, and the rotor 4 can be stopped in a balanced manner and stably in a state where the rotor 4 is positioned at a predetermined position.

In addition, although the example of a structure which has arrange | positioned the brake members 12 and 14 in two places which comprise rotational symmetry was shown to the figure (e) and (f), it is not limited to this, The brake with respect to the disc board 10 is shown. You may increase the press-contact point of the members 12 and 14 to three or more places.
In the above configuration example (FIGS. 5A to 5F), both the brake members 12 and 14 are fan-shaped. For example, one brake member 12 is fan-shaped and the other brake member 14 is continuous. You may comprise in the cyclic | annular form (refer FIG.4 (b)). On the contrary, for example, one brake member 12 may be formed in a continuous annular shape (see FIG. 4A), and the other brake member 14 may be fan-shaped.

  In the above-described embodiment, a continuous annular piston 16 (FIGS. 1A and 1B) is assumed, but instead of this, for example, as shown in FIG. The pistons 16 may be arranged at a predetermined interval (for example, at equal intervals) along the brake member 14 so that each piston 16 moves up and down by a fluid pressure in the hollow cylindrical cylinder portion 20. In this configuration, the outer diameter of the columnar piston 16 is set to be substantially the same as or slightly smaller than the inner diameter of the hollow cylindrical cylinder portion 20, whereby the piston 16 is maintained in close contact with the cylinder portion 20. ing. In order to reduce the frictional resistance when moving the piston 16 along the cylinder portion 20, for example, the outer peripheral surface of the piston 16 and the inner peripheral surface of the cylinder portion 20 are smoothed or a lubricant is applied. It is preferable to do.

  Further, instead of the support member 18, for example, an elastic member 54 (for example, a spring or a spring) is interposed between the bottom surface of the cylinder portion 20 and the bottom surface of the piston 16 to face the brake member 12 of the upper stator 2 b. The brake member 14 can be elastically positioned at the position. In this state, a cylindrical chamber 26 is formed between the bottom surface of the piston 16 and the bottom surface of the cylinder portion 20, and a fluid supply path 28 is connected to the cylindrical chamber 26.

  In this case, when the fluid P is supplied to the cylindrical chamber 26 from a fluid supply source (not shown) through the fluid supply path 28, the pressure in the cylindrical chamber 26 (ie, fluid pressure) is supplied by the fluid P supplied to the cylindrical chamber 26. Rises. At this time, the increased fluid pressure acts on the piston 16 to move the piston 16 in the arrow Y direction against the elastic force of the elastic member 54. Thereby, the other brake member 14 can be moved toward the one brake member 12.

  Note that, for example, an O-ring 56 is interposed between the side peripheral surface of the piston 16 and the side peripheral surface of the cylinder portion 20, so that the fluid P supplied to the cylindrical chamber 26 is interposed between the piston 16 and the cylinder portion 20. It is possible to prevent leakage from the. Thereby, the airtightness of the cylindrical chamber 26 can be improved, and the movement responsiveness of the piston 16 when the fluid pressure acts can be improved. Further, in the configuration of FIG. 6, it is assumed that the annular brake members 14 are simultaneously supported by the columnar pistons 16. For example, a substantially circular brake member 14 as shown in FIG. May be configured to be supported individually.

  In the configuration of FIG. 6, for example, when the fluid pressure in the cylindrical chamber 26 becomes excessively large, the pressure contact force when both the brake members 12 and 14 are pressed against the disk plate 10 is reduced from the elastic member 54 to the lower part, for example. It is assumed that the rotor 6 directly acts on the pedestal 6 via the stator 2a, and as a result, the rotor 4 is displaced in the rotational direction, displaced in the axial direction, and the like. Therefore, as a method for avoiding such a situation, for example, it is preferable to interpose a predetermined gap 58 between the lower stator 2a and the base 6. Note that the width dimension g of the clearance 58 is arbitrarily set according to, for example, the pressure contact force of the brake members 12 and 14 to the disc plate 10 and the size and shape of the lower stator 2a. .

  In this configuration, the clearance 58 is formed by partially cutting the lower surface of the lower stator 2a (the surface facing the pedestal 6), and extends to a region near the bolt 8a. In other words, the clearance 58 extends in an annular shape around the rotation center R-R of the rotor 4 including the vicinity region thereof. In this case, the lower stator 2a is fixed to the base 6 through the gap 58 so as to be elastically swingable. Thereby, the pressure contact force when the both brake members 12 and 14 are pressed against the disk plate 10 does not directly act on the base 6 from the lower stator 2a, and most of them are elastically oscillated by the lower stator 2a. Is absorbed by. As a result, there is no position shift in the rotational direction of the rotor 4 or displacement in the axial direction.

As shown in FIG. 7, such a gap 58 can be applied to the configuration of the above-described embodiment as it is to obtain the same effect. In addition, about another structure, since it already mentioned above, the same code | symbol is attached | subjected on drawing and the description is abbreviate | omitted.
Further, instead of interposing the gap 58, for example, as shown in FIGS. 8 and 9, an elastic body 60 may be interposed between the lower stator 2a and the base 6. FIG. 8 shows a configuration example of a motor using a cylindrical piston 16, and FIG. 9 shows a configuration example of a motor using an annular piston 16.

  As shown in FIGS. 8 and 9, the elastic body 60 is annularly continuous around the rotation center RR of the rotor 4, and a hole 60 h for passing the bolt 8 a is formed. As the elastic body 60, for example, a stainless steel wave washer, a spring washer, or urethane rubber may be applied. In this case, the lower stator 2a is formed with an annular recess 62 for fitting a part of the elastic body 60 around the vicinity of the bolt 8a, and the bolt 8a is inserted into the hole 60h with the elastic body 60 fitted therein. The lower stator 2a can be fixed to the pedestal 6 with the elastic body 60 interposed therebetween by tightening it through.

  In this state, a predetermined gap 58 is formed between the lower stator 2 a and the pedestal 6, and the lower stator 2 a is fixed to the pedestal 6 through the gap 58 so as to be elastically swingable. . 8 and 9, since the elastic body 60 is interposed between the lower stator 2a and the pedestal 6, the elasticity of the lower stator 2a is further increased compared to the configurations of FIGS. be able to. Since other effects are the same as those of the configuration of FIGS. 6 and 7, the description thereof is omitted.

(a) is sectional drawing which shows the structural example of the motor with a brake concerning one embodiment of this invention, (b) is a fragmentary sectional view which shows the state which stopped the rotor. It is a figure which shows the structural example which gives elasticity to a disc board, (a) is a figure which shows a 1st structural example, (b) is a figure which shows a 2nd structural example, (c) is a 3rd (D) is a diagram showing a fourth configuration example, (e) is a diagram showing a fifth configuration example, (f) is a diagram showing a sixth configuration example, g) is a diagram showing a seventh configuration example; It is a figure which shows the structural example which gives elasticity to a supporting member, (a), (b) is a figure which shows a 1st structural example, (c), (d) is a figure which shows a 2nd structural example. , (E) is a diagram showing a third configuration example, (f) is a diagram showing a fourth configuration example, (g) is a diagram showing a fifth configuration example, and (h) is a sixth configuration example. FIG. (a), (b) is a figure which shows the structural example of the continuous cyclic | annular brake member, (c), (d) is a figure which shows the structural example which has arrange | positioned one substantially circular brake member, (e) , (f) is a diagram showing a configuration example in which two brake members are arranged at positions divided by 180 degrees in the circumferential direction, and (g), (h) are arranged at positions where four brake members are divided by 90 degrees in the circumferential direction. FIG. It is a figure which expands and shows the example of a structure of a sector brake member, (a), (b) is a figure showing the example of arrangement which arranged one sector brake member, (c), (d) The figure which shows the structural example which has arrange | positioned the fan-shaped brake member which enlarged the opening angle, (e), (f) is a figure which shows the structural example which has arrange | positioned the brake member in two places which comprise rotational symmetry. It is a structural example of the motor using a cylindrical piston, Comprising: Sectional drawing which shows the state which the lower stator was fixed to the base via the clearance gap. FIG. 2 is a cross-sectional view showing a state in which the lower stator is fixed to a pedestal through a gap in the configuration of FIG. 1. It is a structural example of the motor using a cylindrical piston, Comprising: Sectional drawing which shows the state which interposed the elastic body between the lower stator and the base. FIG. 2 is a cross-sectional view showing a state in which an elastic body is interposed between a lower stator and a pedestal in the configuration of FIG. 1.

Explanation of symbols

2a Upper stator 2b Lower stator 4 Rotor 10 Disc plate
12, 14 Brake member 16 Piston 18 Support member

Claims (12)

A brake-equipped motor that includes a brake mechanism that stops the rotor in a state of being positioned at a predetermined position with respect to the stator, and that directly transmits a rotational force to the rotor to rotate the rotor in a predetermined direction;
The brake mechanism is provided with a thin disk plate fixed to the rotor, and a brake member disposed so as to be pressed against the disk plate,
One brake member is fixed to the stator, and the other brake member is configured to be movable toward one brake member by applying fluid pressure.   The motor with a brake according to claim 1, wherein the stator is fixed to the pedestal with an elastic body interposed therebetween.   The motor with a brake according to claim 1, wherein the thin disk-shaped disk plate has elasticity.   4. A motor with a brake according to claim 3, wherein a plurality of types of slits are formed in the thin disk plate.   The motor with a brake according to claim 1, wherein the other brake member is fixed to a distal end of a support member having elasticity, and a base end of the support member is fixed to a stator.   The position where the other brake member is fixed to the front end of the support member and the position where the base end of the support member is fixed to the stator are set in an alternate positional relationship. Motor with brake.   The motor with a brake according to claim 5, wherein a plurality of types of slits are formed in the support member.   The position where the other brake member is fixed to the front end of the support member and the position where the base end of the support member is fixed to the stator are set at different pitches and in an alternate positional relationship. 5. A motor with a brake according to 5.   The motor with a brake according to claim 1, wherein the opposingly arranged brake members are configured to be capable of being pressed against at least one point with respect to the disk plate.   2. The motor with a brake according to claim 1, wherein the opposingly arranged brake members have a fan shape whose shape extends along the rotation direction of the disk plate.   2. The motor with a brake according to claim 1, wherein the thin disk-shaped disk plate is supported by the support plate in a non-contact state between the brake members. The motor with a brake according to claim 1, wherein the stator is fixed to the pedestal with a predetermined gap interposed therebetween.

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