JP2017017826A - Motor with brake - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor with a brake capable of suppressing the impact of the magnetic flux of an electromagnetic brake on a magnetic encoder, even when the electromagnetic brake and magnetic encoder are provided for the rotating shaft.SOLUTION: In a motor 1 with a brake, a bearing on the output side L1, a stator 21, an electromagnetic brake 4, a bearing 29 on the anti-output side, and a magnetic encoder 6 are arranged, in order, along the axis line L of a rotating shaft 10. In the rotating shaft 10, a second rotating shaft 12 composed of a nonmagnetic material is coupled with a first rotating shaft 11 composed of a magnetic material. The first rotating shaft 11 is located at a part where a stator 21, an electromagnetic brake 4 and a bearing 29 are provided, and the second rotating shaft 12 is located at a part where the magnetic encoder 6 is provided. At the coupling part 15 of the first rotating shaft 11 and second rotating shaft 12, the second rotating shaft 12 is fitted in a hole 16 of the first rotating shaft 11.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a motor with a brake in which a stator, an electromagnetic brake, and a magnetic encoder are arranged along the axial direction of a rotating shaft.

  As a motor, a motor with a brake in which an electromagnetic brake is provided on one side in the axial direction of the rotating shaft with respect to the stator has been proposed for the purpose of preventing the rotating shaft from rotating together with the load when stopped ( Patent Document 1). Moreover, in the motor with a brake described in Patent Document 1, a magnetic encoder is provided on the side opposite to the stator with respect to the electromagnetic brake. Here, the rotating shaft is made of a magnetic material such as an iron-based metal.

JP2013-229773A

  In the motor with a brake described in Patent Document 1, when a drive voltage is applied to the solenoid of the electromagnetic brake and excited, the influence of the magnetic flux of the solenoid reaches the magnetic encoder via the rotating shaft made of a magnetic material. There is a possibility that the detection accuracy may be lowered or erroneous detection may occur in the encoder.

  As a method for eliminating the above influence, it is conceivable that the magnetic encoder side corrects the influence of the magnetic flux when a drive voltage having a predetermined polarity is applied to the solenoid of the electromagnetic brake. However, since the solenoid of the electromagnetic brake operates regardless of the polarity of the drive voltage, the actual situation is that the polarity of the drive voltage with respect to the solenoid of the electromagnetic brake is not sufficiently noted. For this reason, even if correction is performed with a magnetic encoder, if a drive voltage with the opposite polarity to that assumed at the time of correction is applied to the solenoid, it is excited in the reverse direction, so that the detection accuracy of the magnetic encoder is reduced. In this case, the decrease in the number and the false detection will occur more remarkably.

  In view of the above problems, an object of the present invention is to suppress the influence of the magnetic flux of the electromagnetic brake on the magnetic encoder even when the electromagnetic brake and the magnetic encoder are provided on the rotating shaft. The object is to provide a motor with a brake.

  In order to solve the above-described problems, a motor with a brake according to the present invention includes a rotor having a rotating shaft, a stator radially opposed to the rotor, and one axial side of the rotating shaft with respect to the stator. A bearing that rotatably supports the rotating shaft, an electromagnetic brake provided on one side in the axial direction with respect to the stator, and provided on a side opposite to the stator with respect to the electromagnetic brake and the bearing A rotary encoder, wherein the rotary shaft is connected to the first rotary shaft on one side in the axial direction and is made of a non-magnetic material. The first rotating shaft is located at a portion where the stator, the electromagnetic brake and the bearing are provided, and the second rotating shaft is located at a portion where the magnetic encoder is provided. And wherein the Rukoto.

In the present invention, the rotation shaft is a first rotation shaft made of a magnetic material in a portion where the rotor, electromagnetic brake and bearing are provided, and a second rotation made of a non-magnetic material in a portion where the magnetic encoder is provided. Is the axis. For this reason, it is difficult to generate a situation in which the influence of the magnetic flux when the drive voltage is applied to the electromagnetic brake for excitation reaches the magnetic encoder via the rotating shaft.

  In the present invention, it is preferable that both the first rotating shaft and the second rotating shaft are made of metal. According to such a configuration, since both the first rotating shaft and the second rotating shaft have sufficient rigidity, the entire rotating shaft is less likely to be shaken.

  In the present invention, it is preferable that the bearing is provided between the electromagnetic brake and the magnetic encoder in the axial direction. According to such a configuration, since the bearing supports the rotating shaft on the shaft end side from the electromagnetic brake, the rotating shaft is less likely to be shaken.

  In the present invention, it is possible to adopt a mode in which the bearing is fixed to the outer periphery of the first rotating shaft. In such a configuration, a portion of the rotating shaft where the bearing is provided is required to have high rigidity. However, the portion of the rotating shaft provided with the bearing is the first rotating shaft made of a magnetic material. It can cope with the applied load sufficiently.

  In the present invention, the bearing is, for example, a ball bearing, and an aspect in which an inner ring of the ball bearing is fixed to an outer periphery of the first rotating shaft can be adopted.

  In the present invention, at a connecting portion between the first rotating shaft and the second rotating shaft, an end portion of one of the first rotating shaft and the second rotating shaft is formed at an end portion of the other shaft. It is possible to adopt a mode that fits in the formed hole. According to this configuration, the first rotating shaft and the second rotating shaft can be firmly connected without extending the entire length of the rotating shaft.

  In this case, it is preferable that an idling prevention portion is provided at a connecting portion between the first rotating shaft and the second rotating shaft. According to this configuration, the first rotating shaft and the second rotating shaft can be reliably rotated integrally.

  In the present invention, it is preferable that the one axis is the second rotation axis and the other axis is the first rotation axis. Since a large load is not applied to the second rotating shaft, the outer diameter of the second rotating shaft may be small. For this reason, if it is the structure which fitted the edge part of the 2nd rotating shaft in the hole of the 1st rotating shaft, it is not necessary to make a rotating shaft uselessly thick.

  In the present invention, the rotation shaft is a first rotation shaft made of a magnetic material in a portion where the rotor, electromagnetic brake and bearing are provided, and a second rotation made of a non-magnetic material in a portion where the magnetic encoder is provided. Is the axis. For this reason, it is difficult to generate a situation in which the influence of the magnetic flux when the drive voltage is applied to the electromagnetic brake for excitation reaches the magnetic encoder via the rotating shaft.

It is sectional drawing of the whole motor with a brake to which this invention is applied. It is sectional drawing which expands and shows the magnetic encoder vicinity of the motor with a brake to which this invention is applied. It is explanatory drawing of the rotation prevention part between the 1st rotating shaft and the 2nd rotating shaft which were used for the motor with a brake to which this invention is applied.

  An example of a motor with a brake to which the present invention is applied will be described with reference to the drawings. In the following description, in the direction of the axis L of the rotating shaft 10, the side on which the rotating shaft 10 protrudes is referred to as an output side L1, and the side opposite to the side on which the rotating shaft 10 protrudes is referred to as an opposite output side L2. .

(General configuration of motor)
FIG. 1 is a sectional view of the entire motor 1 with brake to which the present invention is applied. FIG. 2 is an enlarged sectional view showing the vicinity of the magnetic encoder 6 of the motor 1 with brake to which the present invention is applied.

  As shown in FIGS. 1 and 2, the motor 1 with a brake according to this embodiment includes a motor unit 2, an electromagnetic brake 4, and a magnetic type motor from the output side L <b> 1 in the axis L direction of the rotating shaft 10 toward the opposite output side L <b> 2. The encoder 6 is arranged in order, and the motor unit 2, the electromagnetic brake 4, and the magnetic encoder 6 are surrounded by a housing 8. The housing 8 includes a cylindrical motor case 81 that surrounds the motor unit 2, a cylindrical brake case 82 that surrounds the electromagnetic brake 4, and an encoder case 83.

(Configuration of motor unit 2 etc.)
The motor unit 2 includes a rotor 25 to which a rotor magnet 24 is fixed around the rotating shaft 10 and a cylindrical stator 21 surrounding the rotor 25, and the stator 21 is surrounded by a motor case 81. ing. The motor case 81 is made of a magnetic material such as an iron-based metal. In the rotary shaft 10, the portion to which the rotor magnet 24 is fixed is a large-diameter portion 101 having the largest outer diameter, and the outer diameter is larger than the large-diameter portion 101 from the large-diameter portion 101 toward the output side L1. Are formed in order, a medium-diameter portion 102 having a small diameter and a small-diameter portion 103 having a smaller outer diameter than the medium-diameter portion 102. Further, the rotary shaft 10 includes a medium diameter portion 104 having an outer diameter smaller than that of the large diameter portion 101, a small diameter portion 105 having an outer diameter smaller than that of the medium diameter portion 104, and a small diameter portion from the large diameter portion 101 toward the counter-output side L2. A first end portion 106 having a smaller outer diameter than 105, a second portion 107 having a smaller outer diameter than the first portion 106, and a third portion having a smaller outer diameter than the second portion 107. 108 are formed in order.

  The stator 21 includes a stator core 211 made of a laminated core, and a coil 212 wound around each of a plurality of salient poles of the stator core 211 via an insulator 213, and the stator core 211 is disposed inside the motor case 81. It is fixed by a method such as shrink fitting. A motor substrate 221 for supplying power to the coil 212 is supported by the insulator 213 at the end on the counter-output side L2 of the stator 21. The motor board 221 protrudes radially outward from between the motor case 81 and the brake case 82 and is connected to the lead wire 222. A connection portion between the lead wire 222 and the motor substrate 221 is covered with a cover 223. Although not shown, the lead wire 222 includes a power supply line for the electromagnetic brake 4.

  An end plate 26 made of aluminum die casting or the like is attached to the end portion of the output side L1 of the motor case 81, and the opening portion of the output side L1 of the motor case 81 is blocked by the end plate 26. The end plate 26 is fixed to the end of the output side L1 of the motor case 81 by welding or the like. In the center of the end plate 26, an opening 261 is formed through which an end (small diameter portion 103) on the output side L1 of the rotary shaft 10 protrudes. In the end plate 26, an annular step 262 facing the counter output side L2 is formed on the counter output side L2 with respect to the opening 261, and the rotary shaft 10 is rotatably supported by the step 262. The bearing 27 on the output side L1 is held. The bearing 27 is fixed to the outer periphery of the rotary shaft 10. In this embodiment, the bearing 27 is a ball bearing provided with an inner ring 271, a ball 272, and an outer ring 273. Among the bearings 27, the inner ring 271 is press-fitted into the rotary shaft 10 while being positioned on the outer peripheral surface of the rotary shaft 10 by the stepped portion 18 facing the output side L 1 between the medium diameter portion 102 and the small diameter portion 103. It is fixed by bonding. The outer ring 273 is positioned by the step portion 262 and fixed in this state. A pressurizing spring 274 is disposed between the bearing 27 and the end plate 26.

(Configuration of bearing 29 on the non-output side L2)
As shown in FIG. 2, on the counter-output side L2 (one side in the axis L direction) with respect to the stator 21, the end of the brake case 82 on the counter-output side L2 is a thick holder 820. An annular stepped portion 821 facing the counter-output side L2 is formed on the inner peripheral surface of the holder portion 820, and a bearing 29 on the counter-output side L2 that rotatably supports the rotary shaft 10 is formed on the step portion 821. Is retained. The bearing 29 is fixed to the outer periphery of the rotary shaft 10. In this embodiment, the bearing 29 is a ball bearing including an inner ring 291, a ball 292, and an outer ring 293. Among the bearings 29, the inner ring 291 is press-fitted into the rotary shaft 10 in a state where the inner ring 291 is positioned on the outer peripheral surface of the rotary shaft 10 between the first portion 106 and the second portion 107 at the step portion 19 facing the non-output side L 2. It is fixed by bonding. The outer ring 293 is positioned by a stepped portion 821 facing the non-output side L2, and is fixed in this state. A pressurizing spring 294 is fixed to the brake case 82 by a bolt 295.

(Configuration of electromagnetic brake 4)
In the brake case 82, an annular step 822 facing the output side L1 is formed on the inner peripheral surface of the holder portion 820, and the electromagnetic brake 4 is positioned on the step 821. The electromagnetic brake 4 is fixed to the holder portion 820 with a bolt 49. The bearing 29 is positioned between the electromagnetic brake 4 and the magnetic encoder 6 on the opposite output side L2 from the electromagnetic brake 4 in the axis L direction.

  The electromagnetic brake 4 includes, for example, an annular friction plate 45 that rotates integrally with the rotary shaft 10, an annular armature 46 that faces the friction plate 45 on the counter-output side L 2, and the friction plate 45 that faces the output side L 1. And a cylindrical solenoid 40 disposed around the rotary shaft 10 on the counter-output side L2 of the armature 46. The electromagnetic brake 4 has a built-in torque spring (not shown) formed of a coil spring that urges the armature 46 toward the friction plate 45. For this reason, when the coil (not shown) of the solenoid 40 is not energized (non-excited), the friction plate 45 is sandwiched between the armature 46 and the plate 47 by the torque spring. Thus, a load is applied to the rotary shaft 10. On the other hand, when the coil of the solenoid 40 is energized (excited), the armature 46 is attracted to the solenoid 40 against the torque spring, and as a result, there is a gap between the armature 46 and the friction plate 45. And the friction plate 45 becomes free. Therefore, the rotating shaft 10 can rotate around the axis L.

(Configuration of magnetic encoder 6)
On the counter-output side L2 (one side in the direction of the axis L) with respect to the stator 21, the magnetic encoder 6 is configured using a space surrounded by the holder portion 820 of the brake case 82 and the encoder case 83. In the magnetic encoder 6, a magnet holder 61 is fixed to the third portion 108 on the counter-output side L <b> 2 of the rotary shaft 10. The magnet holder 61 has a cylindrical portion 611 fixed to the outer peripheral surface of the third portion 108 with a bolt (not shown), an adhesive, or the like, and a flange portion 612 that expands the diameter on the counter-output side L2 of the cylindrical portion 611. The encoder magnet 68 (permanent magnet) in which the N pole and the S pole are magnetized one by one is held on the surface of the flange portion 612 opposite to the output side L2. The magnet holder 61 is made of a magnetic material such as an iron-based metal.

  A cylindrical substrate holder 65 surrounding the magnet holder 61 is fixed to the end surface of the holder portion 820 of the brake case 82 on the non-output side L2 with a bolt (not shown) or the like. The substrate holder 65 is made of a nonmagnetic material such as resin. A sensor substrate 64 is fixed to the end of the substrate holder 65 on the counter-output side L2 by a bolt 66 so as to face the encoder magnet 68. A magnetic sensor 67 such as an MR element is mounted on the sensor substrate 64 at a position facing the encoder magnet 68.

  In the magnetic encoder 6 configured as described above, when the encoder magnet 68 rotates as the rotating shaft 10 rotates, the magnetic sensor 67 detects a magnetic field change associated with the rotation. The detection result of the magnetic sensor 67 is output via the output line 69. As a result, it is possible to detect the angular position, rotational speed, etc. of the rotating shaft 10.

  Here, the encoder case 83 is made of a nonmagnetic material such as resin. Since a nonmagnetic material such as aluminum is used for the brake case 82, it is possible to prevent magnetic flux from the electromagnetic brake 4 and the motor unit 2 from leaking to the magnetic encoder 6 via the brake case 82. it can.

(Configuration of rotating shaft 10)
FIG. 3 is an explanatory diagram of a rotation preventing portion between the first rotating shaft 11 and the second rotating shaft 12 used in the motor 1 with brake to which the present invention is applied. 3A is a cross-sectional view illustrating a first configuration example of the anti-rotation portion, and FIG. 3B is a cross-sectional view illustrating a second configuration example of the anti-rotation portion.

  In the motor 1 with a brake according to the present embodiment, the rotating shaft 10 includes a first rotating shaft 11 made of a magnetic material, and a second rotating shaft 12 coaxially connected to the non-output side L2 with respect to the first rotating shaft 11. The second rotating shaft 12 is made of a nonmagnetic material. In this embodiment, both the first rotating shaft 11 and the second rotating shaft 12 are made of a metal material. For example, the first rotating shaft 11 is made of a magnetic material such as iron-based metal, and the second rotating shaft 12 is made of a nonmagnetic material such as aluminum or SUS305.

  The second rotating shaft 12 constitutes a third portion 108 to which the magnet holder 61 of the magnetic encoder 6 is fixed on the rotating shaft 10, and the first rotating shaft 11 is the whole (except for the third portion 108 of the rotating shaft 10 ( A second portion 107, a first portion 106, a small diameter portion 105, a medium diameter portion 104, a large diameter portion 101, a medium diameter portion 102, and a small diameter portion 103). Accordingly, the second rotary shaft 12 is located at a portion where the magnetic encoder 6 is provided, and the first rotary shaft 11 is provided with the stator 21, the electromagnetic brake 4, and the bearing 29 on the counter-output side L2. Located in the part. Furthermore, the 1st rotating shaft 11 is located also in the part in which the bearing 27 of the output side L1 is provided, and the part which protrudes in the output side L1. Therefore, the inner ring 271 of the bearing 27 and the inner ring 291 of the bearing 29 are fixed to the outer periphery of the first rotating shaft 11 in the rotating shaft 10.

  In this embodiment, in the connecting portion 15 between the first rotating shaft 11 and the second rotating shaft 12, the end of one of the first rotating shaft 11 and the second rotating shaft 12 is the end of the other shaft. It fits in the formed hole. In this embodiment, one axis is the second rotation axis 12 and the other axis is the first rotation axis 11. For this reason, the end portion on the output side L1 of the second rotating shaft 12 is press-fitted into and fitted into the hole 16 formed in the end portion on the counter-output side L2 of the first rotating shaft 11.

  Here, the hole 16 extends from the end portion of the first rotating shaft 11 on the counter-output side L2 to a portion where the electromagnetic brake 4 is provided. For this reason, the second rotating shaft 12 extends to the portion where the electromagnetic brake 4 is provided in the hole 16. Even in such a configuration, the first rotating shaft 11 is not located in a portion where the magnetic encoder 6 is provided. For this reason, the first rotating shaft 11 is located in a portion where the stator 21, the electromagnetic brake 4 and the bearing 29 on the counter-output side L2 are provided, and the second rotating shaft 12 is provided with the magnetic encoder 6. It can be said that it is located in the part.

In this embodiment, the outer diameter of the second rotating shaft 12 is smaller than the outer diameter of any part of the first rotating shaft 11. In addition, the outer diameter of the first rotating shaft 11 is switched stepwise in the direction of the axis L, but the second rotating shaft 12 has a rod shape having the same outer diameter in the direction of the axis L. In this embodiment, a portion corresponding to ½ or more of the length direction from the end of the output side L1 of the second rotating shaft 12 is press-fitted into the hole 16 of the first rotating shaft 11 and fitted.

  The connecting portion 15 between the first rotating shaft 11 and the second rotating shaft 12 is provided with the idling prevention portion shown in FIG. 3 and the like, so that the first rotating shaft 11 and the second rotating shaft 12 are reliably integrated. Can be rotated. For example, in the form shown in FIG. 3A, the hole 16 of the first rotation shaft 11 is formed as a D-shaped hole (idle prevention portion), and at least the first rotation shaft 11 of the second rotation shaft 12. The portion located in the hole 16 has a D-shaped cross section (idling prevention portion). The second rotary shaft 12 may have a D-shaped cross section over the entire axis L direction, and the internal shape of the cylindrical portion 611 of the magnet holder 61 used in the magnetic encoder 6 may be a D-shape.

  Further, as shown in FIG. 3B, the hole 16 of the first rotating shaft 11 is a square hole (idle prevention portion), and at least the hole of the first rotating shaft 11 of the second rotating shaft 12. A portion located within 16 may be square in cross section. In this case as well, the second rotary shaft 12 may have a square cross section throughout the axis L direction, and the internal shape of the cylindrical portion 611 of the magnet holder 61 used in the magnetic encoder 6 may be a square.

  Although not shown in the drawings, the idling prevention portion in the connecting portion 15 between the first rotating shaft 11 and the second rotating shaft 12 includes an inner peripheral surface of the hole 16 of the first rotating shaft 11 and the second rotating shaft 12. Concavities and convexities (idling prevention portion) formed by knurling or the like on at least one of the outer peripheral surfaces may be used. According to this configuration, it is possible to reduce the force when the second rotary shaft 12 is press-fitted into the hole 16 of the first rotary shaft 11 and to prevent idle rotation between the first rotary shaft 11 and the second rotary shaft 12. it can.

(Main effects of this form)
As described above, in the motor 1 with a brake according to the present embodiment, the bearing 27 on the output side L1, the stator 21, the electromagnetic brake 4, the bearing 29 on the non-output side L2, and the magnetic field along the axis L of the rotating shaft 10. The expression encoders 6 are arranged in order. Here, in the rotating shaft 10, a second rotating shaft 12 made of a nonmagnetic material is connected to a first rotating shaft 11 made of a magnetic material, and the first rotating shaft 11 includes a stator 21, an electromagnetic brake 4, and a bearing. The second rotary shaft 12 is located in a portion where the magnetic encoder 6 is provided. For this reason, even when a drive voltage is applied to the electromagnetic brake 4 and excited, the magnetic flux of the solenoid 40 of the electromagnetic brake 4 does not easily affect the magnetic encoder 6 via the rotary shaft 10. Therefore, in the magnetic encoder 6, even if correction for the influence of the magnetic flux from the electromagnetic brake 4 is not performed, a decrease in detection accuracy and erroneous detection due to the influence of the magnetic flux from the electromagnetic brake 4 are unlikely to occur. In this embodiment, the first rotating shaft 11 disposed in a portion to which a relatively large load is applied, such as a portion where the stator 21, the electromagnetic brake 4 and the bearing 29 are provided, is made of a magnetic material such as an iron-based metal. The rigidity is relatively large. For this reason, unlike the case where the entire rotating shaft 10 is made of a nonmagnetic material, the rotating shaft 10 is less likely to be shaken. In addition, since the portion of the rotating shaft 10 where the stator 21 is provided is the first rotating shaft 11 made of a magnetic material, the first rotating shaft 11 can function as a back yoke for the rotor magnet 24.

In particular, in this embodiment, the inner ring 291 of the bearing 29 on the counter-output side L2 is fixed to the outer periphery of the first rotating shaft 11. A portion of the rotating shaft 10 where the inner ring 291 of the bearing 29 is provided is required to have high rigidity, but a portion of the rotating shaft 10 where the inner ring 291 of the bearing 29 is provided is a first rotating shaft made of a magnetic material. 11. For this reason, the rotating shaft 10 can sufficiently cope with the load applied by the bearing 29. Similarly, the inner ring 271 of the bearing 27 on the output side L1 is fixed to the outer periphery of the first rotating shaft 11. A portion of the rotating shaft 10 where the inner ring 271 of the bearing 27 is provided is required to have high rigidity.
A portion provided with 1 is a first rotating shaft 11 made of a magnetic material. For this reason, the rotating shaft 10 can sufficiently cope with the load applied by the bearing 27.

  Moreover, both the 1st rotating shaft 11 and the 2nd rotating shaft 12 are metal. For this reason, since both the first rotating shaft 11 and the second rotating shaft 12 have sufficient rigidity, the entire rotating shaft 10 is unlikely to shake.

  In the present invention, the bearing 29 is provided between the electromagnetic brake 4 and the magnetic encoder 6 in the direction of the axis L. That is, the bearing 29 is provided on the opposite output side L <b> 2 in the direction of the axis L with respect to the electromagnetic brake 4. For this reason, since the bearing 29 can be disposed at a position separated from the stator 21, the bearing 27 provided on the output side L 1 in the axis L direction with respect to the stator 21 and the axis L with respect to the stator 21. The distance of the bearing 29 provided on the opposite side output L2 in the direction is long. Accordingly, it is difficult for the rotating shaft 10 to shake.

  Further, in the connecting portion 15 between the first rotating shaft 11 and the second rotating shaft 12, one end of the first rotating shaft 11 and the second rotating shaft 12 is formed at the end of the other shaft. It has become a mode that fits in the hole. For this reason, even if it does not extend the full length of the rotating shaft 10, the 1st rotating shaft 11 and the 2nd rotating shaft 12 can be connected firmly. In this embodiment, one shaft is the second rotating shaft 12, the other shaft is the first rotating shaft 11, and the end of the output side L1 of the second rotating shaft 12 is the opposite output side of the first rotating shaft 11. It fits into a hole 16 formed at the end of L2. Since a large load is not applied to the second rotary shaft 12, the outer diameter of the second rotary shaft 12 may be small, so that the end of the second rotary shaft 12 is fitted in the hole 16 of the first rotary shaft 11. If there is, there is no need to unnecessarily thicken the rotating shaft 10.

  In addition, since the connecting portion 15 between the first rotating shaft 11 and the second rotating shaft 12 is provided with the idling prevention portion described with reference to FIG. 2, the first rotating shaft 11 and the second rotating shaft 12 are provided. Can be reliably rotated integrally.

[Other embodiments]
In the above-described embodiment, the output side L1 end of the second rotating shaft 12 is fitted in the hole 16 formed in the end of the first rotating shaft 11 on the counter-output side L2. You may employ | adopt the aspect with which the edge part of the non-output side L2 of the 1st rotating shaft 11 fits in the hole formed in the edge part of the output side L1 of the 2nd rotating shaft 12. FIG.

  In the said embodiment, although the edge part of one axis | shaft of the 1st rotating shaft 11 and the 2nd rotating shaft 12 employ | adopted the aspect fitted in the hole formed in the edge part of the other axis | shaft, 1st You may employ | adopt the aspect with which the end surface by the side of the 2nd rotating shaft 12 of the rotating shaft 11 and the end surface by the side of the 1st rotating shaft 11 of the 2nd rotating shaft 12 are joined. As such joining, there can be employed a method in which the end surface of the first rotating shaft 11 and the end surface of the second rotating shaft 12 are brought into close contact with each other, and metal fusion is performed by applying heat and pressure in this state.

  In the above embodiment, the output side L1 bearing 27, the stator 21, the electromagnetic brake 4, the non-output side L2 bearing 29, and the magnetic encoder 6 are arranged in this order along the axis L of the rotary shaft 10. The invention relates to a motor with a brake in which a bearing 27 on the output side L1, a stator 21, a bearing 29 on the non-output side L2, the electromagnetic brake 4, and the magnetic encoder 6 are arranged in this order along the axis L of the rotary shaft 10. May be applied.

1 .... Motor with brake, 2 .... Motor part, 4 .... Electromagnetic brake, 6 .... Magnetic encoder, 8 .... Housing, 10 .... Rotating shaft, 11 .... First rotating shaft, 12 .... Second Axis of rotation,
15 .. Connection part, 16 .. Hole, 21 .. Stator, 25 .. Rotor, 27 .. Bearing on output side, 28 Bearing holder, 29 .. Bearing on anti-output side, 67 .. Magnetic sensor, 68 · Encoder magnet, 81 · · Motor case, 82 · · Brake case, 83 · · Encoder case, 291 · · Inner ring, 292 · · Ball, 293 · · Outer ring, L · · Axis, L1 · · · output side, L2 · ·・ Non-output side (one side)

Claims (8)

A rotor with a rotation axis;
A stator radially facing the rotor;
A bearing that rotatably supports the rotating shaft on one side in the axial direction of the rotating shaft with respect to the stator;
An electromagnetic brake provided on one side of the axial direction with respect to the stator;
A magnetic encoder provided on a side opposite to the stator with respect to the electromagnetic brake and the bearing;
Have
The rotating shaft includes a first rotating shaft made of a magnetic material, and a second rotating shaft connected to the first rotating shaft on one side in the axial direction and made of a nonmagnetic material,
The first rotating shaft is located in a portion where the stator, the electromagnetic brake and the bearing are provided,
The motor with a brake, wherein the second rotating shaft is located in a portion where the magnetic encoder is provided.   2. The brake-equipped motor according to claim 1, wherein each of the first rotation shaft and the second rotation shaft is made of metal.   The motor with a brake according to claim 1, wherein the bearing is provided between the electromagnetic brake and the magnetic encoder in the axial direction.   The motor with a brake according to any one of claims 1 to 3, wherein the bearing is fixed to an outer periphery of the first rotating shaft. The bearing is a ball bearing;
The motor with a brake according to claim 4, wherein an inner ring of the ball bearing is fixed to an outer periphery of the first rotating shaft among the bearings.   In the connecting portion between the first rotating shaft and the second rotating shaft, the end of one of the first rotating shaft and the second rotating shaft is in a hole formed at the end of the other shaft. The motor with a brake according to any one of claims 1 to 5, wherein the motor with a brake is fitted.   The motor with a brake according to claim 6, wherein an idling prevention portion is provided at a connecting portion between the first rotating shaft and the second rotating shaft. The one axis is the second rotation axis;
The motor with a brake according to claim 6 or 7, wherein the other shaft is the first rotation shaft.

Images