JP2017175850A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator that allows an operator to easily move a driven member from a driving side even when a motor is stopped.SOLUTION: When rotating a motor 1, the rotation of a motor shaft 3 of the motor is transmitted to an output shaft 13, a clutch 11 for intercepting reverse input which inhibits rotation of the output shaft 13 applied with reverse input torque by a mechanical lock action is incorporated as a brake, and a manual operation member 4 is mounted on an end part at the other side of a side connected to the output shaft 13 of the motor shaft 3. This allows an operator to easily move a driven member connected to the output shaft 13 by rotating the output shaft 13 by a mechanism similar to a mechanism used when driving the motor 1, by rotationally operating the manual operating member 4 to rotate the motor shaft 3, even when stopping the motor 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an actuator including a brake that holds a position of a driven member when a motor stops.

  In an actuator that operates a driven member by motor driving, when the driven member is in operation, when the motor is stopped to stop its operation, or when the motor stops due to a power failure or the like, the driven member There is a possibility that various troubles occur when the position (posture) is changed by receiving an external force such as gravity. For this reason, a brake that normally holds the position of the driven member when the motor is stopped (hereinafter, a member having the same function is also simply referred to as a “brake”) is provided.

  In the above-described actuator, a non-excitation operation type electromagnetic brake is often used as the brake (for example, refer to Patent Document 1). The non-excitation electromagnetic brake is generally composed of a brake plate provided on a motor shaft, a friction plate pressed against the brake plate by a spring, and an electromagnet that separates the friction plate from the brake plate against the elasticity of the spring when energized. When the motor is rotating (while energizing), the spring is contracted with an electromagnet to keep the friction plate away from the brake plate, and when the motor is stopped (when the power is shut off), the friction plate is The position of the driven member that has been driven by the motor until then is held by pressing the brake plate against the brake plate to restrict the rotation of the brake plate and the motor shaft (see, for example, Patent Documents 2 and 3). ).

  Patent Document 3 proposes that the brake is released by manually separating the friction plate from the brake plate so that the worker can move the driven member directly for maintenance or the like while the motor is stopped.

JP 2011-58578 A JP-A-8-9589 JP 2001-165208 A

  In the actuator using the non-excitation operation type electromagnetic brake as described above, if the brake is released for maintenance while the motor is stopped, the driven member will suddenly change its position (posture) due to external force such as gravity, causing trouble. When connecting the brake manually as in Patent Document 3, there is a problem that it is difficult for the operator to perform the brake release operation while supporting the driven member.

  Therefore, an object of the present invention is to provide an actuator that allows an operator to easily move a driven member from the driving side even when the motor is stopped.

  In order to solve the above problems, the present invention provides an actuator comprising a motor and a brake that holds a rotational position of an output shaft connected to the motor shaft when the motor stops. When the motor is rotated, the rotation of the motor shaft is transmitted to the output shaft, and when reverse input torque is applied to the output shaft while the motor is stopped, the output shaft is locked. This is a reverse input cutoff clutch that is stopped, and adopts a configuration in which a manual operation member is attached to the end of the motor shaft opposite to the side connected to the output shaft so as not to be relatively rotatable.

  According to the above configuration, when the motor is stopped, the rotation of the output shaft when reverse input torque is applied is blocked by the reverse input blocking clutch as a brake, but the rotation of the motor shaft itself is not blocked. Therefore, when the operator rotates the manual operation member to rotate the motor shaft, the output shaft is rotated by the same mechanism as when the motor is driven, and the driven member connected to the output shaft can be moved. it can.

  As the reverse input cutoff clutch, the motor shaft and the output shaft are arranged in a state of rotating around the same axis, and the output shaft has a cylindrical eccentricity in a state of having an eccentric axis parallel to the axis. A cam is provided, and a cam receiver is connected to the motor shaft so as to be relatively non-rotatable with the same axis as the axis, and the cam receiver has an eccentric hole having the same axis as the eccentric cam. The eccentric cam is fitted into the eccentric hole of the cam receiver so as to be relatively rotatable, and the rotation of the motor shaft and the input side member including the cam receiver around the axis of the motor shaft is stopped. The torque is larger than the rotational torque around the axis of the output shaft of the output side member including the output shaft and the eccentric cam, and the axis of the motor shaft when the motor of the input side member is stopped. Rino rotational torque, it is possible to adopt what is set larger than the rotational torque of the eccentric axis about the eccentric cam of the output-side member. Here, the rotational torque refers to the torque required to rotate the input side member and the output side member (the same applies hereinafter). The magnitude relationship between the rotational torques of the input side member and the output side member is mainly realized by rotational resistance (cogging torque) applied to the motor shaft by the magnetic force of the stopped motor.

  In the reverse input cutoff clutch having the above-described configuration, in order to assist the realization of the magnitude relationship between the rotational torques of the input side member and the output side member, the cam receiver is positioned at a position facing the cam receiver in the axial direction or radially outward of the cam receiver. A configuration in which a fixing member that is in sliding contact with the cam receiver can be employed. When this configuration is employed, an elastic member that presses the cam receiver against the fixing member in the axial direction or the radial direction is incorporated. It is desirable to have a configuration. Other than this, it is also possible to adopt a configuration in which the rolling bearing that supports the motor shaft is attached to the motor housing in a state of receiving a preload.

  In addition to the above configuration, the reverse input cutoff clutch is arranged in a state where the motor shaft and the output shaft rotate around the same axis, and a motor is interposed between the motor shaft and the output shaft. Torque transmission means for transmitting the rotation of the shaft to the output shaft with a slight angular delay is provided, and a fixed outer ring having an inner peripheral cylindrical surface is arranged on the radially outer side of the output shaft, and the outer periphery of the output shaft A plurality of cam surfaces are provided on the surface, and wedge-shaped spaces that gradually narrow on both sides in the circumferential direction are formed between the inner peripheral cylindrical surface of the fixed outer ring and the cam surfaces of the output shaft. A retainer having a pair of rollers in the space and a spring which is sandwiched between the pair of rollers and pushes each roller into the narrow portion of the wedge-shaped space, and has column portions inserted on both sides in the circumferential direction of each wedge-shaped space. In a state of rotating integrally with the motor shaft It is also possible to employ what is sintered.

  As described above, when the motor is rotated, the actuator of the present invention transmits the rotation of the motor shaft to the output shaft, and the rotation of the output shaft to which reverse input torque is applied is blocked by a mechanical locking action. A reverse input cutoff clutch is incorporated as a brake, and a manual operation member is attached to the end of the motor shaft opposite to the side connected to the output shaft. The operator rotates the manual operation member even when the motor is stopped. By operating and rotating the motor shaft, the driven member connected to the output shaft can be easily moved, so that work such as maintenance can be performed efficiently.

Longitudinal front view of the actuator of the first embodiment 1 is an exploded perspective view of the main part of FIG. Sectional view along line III-III in FIG. Sectional drawing along the IV-IV line explaining the operation of the brake of FIG. A longitudinal front view showing a modification incorporating a leaf spring for pressing the cam receiver of FIG. Longitudinal front view of the actuator of the second embodiment Longitudinal front view of the actuator of the third embodiment Vertical front view of the actuator of the fourth embodiment Longitudinal front view of the actuator of the fifth embodiment Sectional view along line XX in FIG. 9 (excluding brake housing) Sectional view along line XI-XI in Fig. 9 (excluding brake housing) a and b are sectional views for explaining the operation of the brake corresponding to FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 4 show a first embodiment. As shown in FIG. 1, the actuator is provided on a motor 1 that drives a driven member (not shown) and one side (output side) of the motor 1, and the position of the driven member when the motor 1 stops. And a reverse input cutoff clutch 11 as a brake for holding the motor.

  The motor 1 has both end portions of a motor shaft 3 projecting from a motor housing 2 fixed to an external member (not shown), and one end portion 3a of the motor shaft 3 is formed by a serration on the outer periphery of the brake 11 as will be described later. It is connected to the input side so that it cannot rotate relative to it. The other end of the motor shaft 3 is formed in a D-shaped cross section, and a disc-like manual operation member 4 is fitted on the outer periphery of the motor shaft 3 so as not to be relatively rotatable. The manual operation member 4 is retained by a screw 5 that is screwed into the end face of the other end of the motor shaft 3.

As shown in FIGS. 1 to 3, the brake (reverse input cutoff clutch) 11 rotates around a cylindrical cam receiver 12 connected to the motor shaft 3 and the same axis O _{1 as} the motor shaft 3. The output shaft 13, the cylindrical eccentric cam 14 integrally formed on the inner end side of the output shaft 13, and the brake housing 15 are basically configured. The cam receiver 12 is subjected to serration processing on the inner periphery of a connecting hole 12b provided in the center of the outer surface of the disk portion 12a, and the one end 3a of the motor shaft 3 is fitted into the connecting hole 12b. It is connected to the motor shaft 3 so as not to be relatively rotatable. On the other hand, the output shaft 13 is connected to the driven member so as not to rotate relative to the driven member.

  The brake housing 15 has a main body portion 15a having a two-stage cylindrical surface on the inner periphery, which is disposed on the radially outer side of the cam receiver 12 and the output shaft 13. The output shaft 13 protrudes from one end of the main body portion 15a. ing. And it is being fixed to the motor housing 2 by the flange part 15b provided in the other end of the main-body part 15a. Further, a deep groove ball bearing 16 that rotatably supports the output shaft 13 is fitted on one end side of the main body portion 15a on a small-diameter inner peripheral cylindrical surface.

The cam receiver 12 has the same axis O ₁ as the motor shaft 3 and the output shaft 13, is slidably contacted with one side surface of the motor housing 2 in the axial direction, and is incorporated in a state where it does not contact the brake housing 15. . On the other hand, the eccentric cam 14 has an eccentric axis O ₂ parallel to the axis O ₁ of the motor shaft 3 and the output shaft 13. An eccentric hole 12 c having the same axis O ₂ as the eccentric cam 14 is formed in the cam receiver 12, and the eccentric cam 14 is fitted into the eccentric hole 12 c via a deep groove ball bearing 17 so as to be relatively rotatable. . The deep groove ball bearing 17 may be disposed closer to the output shaft 13 than the axial center of the cam receiver 12. Further, flanges 18 and 19 for positioning the two deep groove ball bearings 16 and 17 in the axial direction are formed between the output shaft 13 and the eccentric cam 14. These deep groove ball bearings 16 and 17 can be replaced with other types of rolling bearings.

The motor shaft 3 and the cam receiving rotational torque about the axis O ₁ of the motor 1 stop state of the input-side member including the 12, rotational torque around the axis O ₁ of the output-side member including an output shaft 13 and the eccentric cam 14 And the rotational torque around the axis O ₁ of the input side member when the motor 1 is stopped is set to be larger than the rotational torque around the eccentric axis O ₂ of the output side member. The magnitude relationship between the rotational torques is realized mainly by rotational resistance (cogging torque) applied to the motor shaft 3 by the magnetic force of the stopped motor 1.

  This actuator is configured as described above. When the motor 1 is energized to rotate the motor 1, the cam receiver 12 rotates integrally with the motor shaft 3, and the deep groove ball bearing 17 is inserted into the eccentric hole 12 c of the cam receiver 12. The eccentric cam 14 fitted so as to be capable of relative rotation via the shaft rotates eccentrically (rotates while revolving), whereby the output shaft 13 rotates integrally with the eccentric cam 14, and the driven member connected to the output shaft 13 Is driven.

On the other hand, when reverse input torque is applied to the output shaft 13 by an external force such as gravity acting on the driven member in a state where the power of the motor 1 is shut off and the motor 1 is stopped, the input side member rotation torque around the axis O ₁ is larger than the rotational torque of the rotating torque and around eccentric axis O ₂ of about the axis O ₁ of the output-side member, the eccentric output shaft 13 as shown in FIG. 4 of the eccentric cam 14 Attempts to rotate eccentrically about axis O ₂ . However, since the eccentric rotation of the output shaft 13 is regulated by the brake housing 15 which is a fixed member via the deep groove ball bearing 16, the output shaft 13 is locked and does not rotate, and the output shaft 13 and the driven member rotate. The directional position is maintained.

  Here, when the output shaft 13 to which reverse input torque is applied tries to rotate the cam receiver 12 via the eccentric cam 14, the cam receiver 12 is inclined and comes into contact with the inner peripheral surface of the brake housing body 15a. Since the input side member of the brake (reverse input cutoff clutch) 11 is more difficult to rotate, the output shaft 13 is more reliably locked.

  Moreover, while the motor 1 is stopped, the rotation of the output shaft 13 when the reverse input torque is applied as described above is blocked by the reverse input cutoff clutch 11 as a brake, but the rotation of the motor shaft 3 itself is not blocked. Therefore, when the operator rotates the manual operation member 4 to rotate the motor shaft 3, the output shaft 13 can be rotated by the same mechanism as when the motor 1 is driven, and the driven member can be easily moved. . Therefore, when the motor 1 is stopped, work such as maintenance can be performed more efficiently than before.

  In the example of FIG. 1 of the first embodiment described above, the cam receiver 12 is slidably contacted with the motor housing 2 as an auxiliary means for realizing the magnitude relationship between the rotational torques of the input side member and the output side member. However, if the cogging torque is sufficiently large, the cam receiver 12 may not be brought into sliding contact with the motor housing 2. On the other hand, when the cogging torque is small, it is desirable to press the cam receiver 12 against the fixed member with an elastic member to make a sliding contact in order to reliably increase the rotational torque of the input side member. For example, in the modification shown in FIG. 5, the cam receiver 12 is fixed to the motor housing 2 as a fixing member by a leaf spring 20 as an elastic member incorporated between the cam receiver 12 and one side surface of the motor housing 2. The brake housing 15 is pressed against the step surface on the inner peripheral side in the axial direction.

  FIG. 6 shows a second embodiment. In this embodiment, the cam receiver 12 of the brake (reverse input cutoff clutch) 11 of the first embodiment is not in contact with the motor housing 2 but is in sliding contact with the inner peripheral surface of the main body portion 15a of the brake housing 15 in the radial direction. In this state, by providing the cam receiver 12 with a sliding resistance with respect to the fixed brake housing 15, the auxiliary means for realizing the magnitude relationship of the rotational torque described in the first embodiment is provided.

  In the second embodiment, when the output shaft 13 to which reverse input torque is applied tries to rotate the cam receiver 12 via the eccentric cam 14, the cam receiver 12 is inclined and the brake housing main body of the cam receiver 12 is tilted. Since the sliding resistance with respect to 15a is increased and the input side member of the brake 11 is more difficult to rotate, the output shaft 13 can be locked more reliably. In the second embodiment, an elastic member such as a leaf spring that presses the cam receiver 12 against the inner peripheral surface of the brake housing body 15a in the radial direction may be incorporated.

  FIG. 7 shows a third embodiment. In this embodiment, the cam receiver 12 of the brake (reverse input cutoff clutch) 11 of the first embodiment is incorporated without contacting the motor housing 2 and the brake housing 15, and the magnitude relationship of the rotational torque described in the first embodiment. As an auxiliary means for realizing the above, the rotational resistance of the motor shaft 3 is increased by utilizing the preload of the angular ball bearing 6 that supports the motor shaft 3 as described later. In FIG. 7, the components other than the portion that supports the motor shaft 3 (coil portions and the like) are omitted from the components of the motor 1.

  That is, in the third embodiment, the motor housing 2 includes a cylindrical main body portion 2a and lids 2b and 2c that close the openings at both ends of the main body portion 2a and pass the motor shaft 3. An angular ball bearing 6 that rotatably supports the motor shaft 3 is fitted on the inner periphery of a cylindrical bearing support portion 2d provided on the inner surface. In each angular ball bearing 6, the inner end surface of each inner ring abuts on stepped surfaces 3 b and 3 c formed on the outer periphery of the motor shaft 3, and the outer end surface of the outer ring of one angular ball bearing 6 is the motor housing 2. A disc spring 7 serving as a preload spring is disposed between the other angular ball bearing 6 and the other end lid 2 c of the motor housing 2. The disc spring 7 presses the outer ring of the other angular ball bearing 6 inward in the axial direction, so that both angular ball bearings 6 and 6 are assembled in a state of receiving preload via the motor shaft 3. A rotational resistance is applied.

In each of the above-described embodiments, the output shaft 13 to which the reverse input torque is applied is regulated by the brake housing 15 via the deep groove ball bearing 16 for the eccentric rotation around the eccentric axis O ₂ of the eccentric cam 14. However, even if the output shaft is not supported by a bearing attached to the brake housing, the eccentric rotation of the output shaft is restricted by the driven member connected to the output shaft. The output shaft to which the reverse input torque is applied is locked by the brake housing which is a fixed member, and the rotational direction position is maintained.

  FIG. 8 shows a fourth embodiment. This embodiment is based on the first embodiment, and includes a wave gear device 21 and a cross roller bearing 26 as a reduction mechanism between a brake (reverse input cutoff clutch) 11 and a driven member. Further, the support structure of the entire actuator and the connection structure of the motor shaft 3 and the cam receiver 12 are also changed. Hereinafter, differences from the first embodiment will be described.

  In the fourth embodiment, first, a coupling shaft 12 d protruding from the other end surface of the cam receiver 12 of the reverse input cutoff clutch 11 is fitted into a coupling hole 3 d provided on one end surface of the motor shaft 3. The cam receiver 12 is connected so as not to be relatively rotatable. Further, the output shaft 13 of the reverse input cutoff clutch 11 is connected to the input side of the wave gear device 21 so as not to be relatively rotatable by a serration provided on the outer periphery of the one end portion 13a. The reverse input cutoff clutch 11, the wave gear device 21, and the cross roller bearing 26 are integrally supported by the motor housing 2 as will be described later.

  The speed reduction mechanism (wave gear device) 21 includes a rotation transmission shaft 22 connected to the output shaft 13 of the reverse input cutoff clutch 11 on the input side, and a wave generator 23 connected to the flange portion 22a of the rotation transmission shaft 22 by bolts. And a circular spline 24 arranged on the outer side in the radial direction of the wave generator 23, and a flex spline 25 in which a large diameter portion is sandwiched between the wave generator 23 and the circular spline 24.

  The rotation transmission shaft 22 has a three-stage cylindrical shape in which a small diameter portion is formed at one end and a large diameter portion having a flange portion 22a is formed at the other end. The inner periphery of the connecting hole 22b provided on the other end surface is serrated, and one end 13a of the output shaft 13 of the reverse input cutoff clutch 11 is fitted into the connecting hole 22b. They are connected so that they cannot rotate relative to each other. A leaf spring 20 is disposed at the bottom of the coupling hole 22 b of the rotation transmission shaft 22, and the cam receiver 12 of the reverse input cutoff clutch 11 is axially interposed through the sliding plate 8 by the elasticity of the leaf spring 20. The motor housing 2 is pressed against one side.

  The wave generator 23 is formed by fitting and fixing an inner ring of a ball bearing 23b on the outer periphery of a cam 23a having a radial cross section formed in an elliptical shape. The circular spline 24 is an annular component having teeth provided on the inner periphery thereof, and the outer peripheral portion thereof is integrated with the motor housing 2 as will be described later. The flex spline 25 is a thin cup-shaped part formed of a metal elastic body. The outer periphery of the large-diameter portion is provided with teeth that mesh with the teeth of the inner periphery of the circular spline 24. The small-diameter portion has a cross roller bearing 26. The inner ring 27 is bolted.

  Then, when rotation is transmitted from the output shaft 13 of the reverse input cutoff clutch 11 to the rotation transmission shaft 22 and the wave generator 23 rotates together with the rotation transmission shaft 22, the inner diameter of the large-diameter portion is formed on the outer ring of the ball bearing 23 b of the wave generator 23. When the flex spline 25 pressed is elastically deformed and changes the meshing position with the circular spline 24, the flex spline 25 rotates integrally with the inner ring 27 of the cross roller bearing 26 by the difference in the number of teeth with the circular spline 24. A large deceleration rate can be obtained.

  The cross roller bearing 26 includes a plurality of rollers 29 adjacent to each other in the circumferential direction between an inner ring 27 bolted to the flex spline 25 of the wave gear device 21 and an outer ring 28 bolted to the circular spline 24. They are arranged so that they are orthogonal to each other. The inner ring 27 has center holes 27a and 27b on both end faces, and is connected to the driven member by the center hole 27a on one end face. A ball bearing 30 that supports the small diameter portion of the rotation transmission shaft 22 of the wave gear device 21 is fitted into a counterbore portion of the center hole 27 b on the other end surface of the inner ring 27 and a center hole of the flex spline 25.

  The brake housing 15 of the reverse input shut-off clutch 11 is fitted with a deep groove ball bearing 16 that supports the output shaft 13 at the center thereof, has an axial hole in the outer peripheral portion, and is a circular of the wave gear device 21. The spline 24 and the outer ring 28 of the cross roller bearing 26 are also provided with an axial hole, and the outer ring 28 of the cross roller bearing 26 is bolted to the motor housing 2 using these axial holes, whereby the reverse input blocking clutch 11 is provided. The wave gear device 21 and the cross roller bearing 26 are integrally supported by the motor housing 2.

  Moreover, in this 4th Embodiment, although the manual operation member 4 is being fixed to the motor shaft 3 with the screw 9 screwed into the radial direction from the outer periphery of the cylinder part 4a formed in the other end side, As in the first to third embodiments, the operator can easily move the driven member by rotating the manual operation member 4 to rotate the motor shaft 3.

  9 to 12 show a fifth embodiment. In this embodiment, a reverse input cutoff clutch 31 having a basic structure different from that of the reverse input cutoff clutch 11 of the fourth embodiment is provided between the motor 1 of the fourth embodiment and the speed reduction mechanism (wave gear device) 21. Incorporated as a brake. In addition to the fourth embodiment, a portion other than the large diameter portion of the rotation transmission shaft 22 is eliminated and the ball bearing 30 for supporting the small diameter portion of the rotation transmission shaft 22 is eliminated, and the inner ring 27 of the cross roller bearing 26 is A change is made such that the central hole 27a for connection with the driven member is penetrated in the axial direction.

  As shown in FIGS. 9 to 11, the brake (reverse input cutoff clutch) 31 of the fifth embodiment includes an input shaft 32 formed integrally with one end of the motor shaft 3 and a rotation transmission shaft 22 of the wave gear device 21. Between the inner ring 33 and the fixed outer ring 34, and the brake housing 35 integrally formed with the output shaft 33 integrally formed at the other end of the shaft, the fixed outer ring 34 arranged radially outside the output shaft 33, and the outer ring 34. The cage 36 includes a plurality of column portions 36 a, and includes a roller 37 and a coil spring 38 that are incorporated between the inner ring 33 and the fixed outer ring 34. In this configuration, the input shaft 32 and the motor shaft 3 are integrally formed, so that the connection between the two is unnecessary and the size is reduced. The coil spring 38 can be replaced with a leaf spring.

  Like the brake housing 15 of the fourth embodiment, the brake housing 35 has an axial hole in the outer peripheral portion, and is integrated with the motor housing 2 together with the circular spline 24 of the wave gear device 21 and the outer ring 28 of the cross roller bearing 26. Has been.

  The input shaft 32 is inserted into an engagement hole 33a provided in the output shaft 33 at a portion having a two-face width (two engagement surfaces parallel to the shaft center and parallel to each other) on the outer periphery. The protruding small-diameter cylindrical portion 32 a passes through the circular hole 22 c of the rotation transmission shaft 22 from the bottom of the engagement hole 33 a of the output shaft 33 so as to rotate freely, and rotates around the same axis as the output shaft 33. Yes. Here, the engagement hole 33a of the output shaft 33 is formed so that a slight clearance in the rotational direction is generated when the input shaft 32 is inserted, and thereby the rotation of the motor shaft 3 (input shaft 32) is slightly reduced. Torque transmitting means for transmitting to the output shaft 33 with an angular delay is configured.

  And the holder | retainer 36 is engage | inserted by the outer periphery of the part in which the two surface width | variety of the input shaft 32 was formed without gap, and the motor shaft 3, the input shaft 32, and the holder | retainer 36 rotate integrally.

  The inner periphery of the fixed outer ring 34 is a cylindrical surface, and a plurality of cam surfaces 33 b are provided on the outer periphery of the output shaft 33 in the circumferential direction. The inner peripheral cylindrical surface of the fixed outer ring 34 and each cam surface 33 b of the output shaft 33. A wedge-shaped space 39 is formed which gradually narrows on both sides in the circumferential direction. A pair of rollers 37 is incorporated in each wedge-shaped space 39, and the coil spring 38 is assembled so as to be sandwiched between the pair of rollers 37, and each roller 37 is pushed into a narrow portion of the wedge-shaped space 39. Yes.

  Further, column portions 36 a of the cage 36 are inserted on both sides in the circumferential direction of the wedge-shaped spaces 39 (positions facing the coil spring 38 in the circumferential direction with the roller 37 interposed therebetween). As a result, when the motor shaft 3 is rotated, the retainer 36 rotates integrally with the motor shaft 3 and the input shaft 32, and the column portion 36 a of the retainer 36 is a roller on the rear side in the rotational direction of the pair of rollers 37. 37 is pushed out to the vast part of the wedge-shaped space 39.

  In the fifth embodiment that employs the brake (reverse input cutoff clutch) 31 having the above-described configuration, each roller 37 of the brake 31 is pushed into the narrow portion of the wedge-shaped space 39 by the elasticity of the coil spring 38, so that the motor 1 is stopped. Even if reverse input torque is applied to the output shaft 33 from the driven member via the cross roller bearing 26 and the wave gear device 21 in the state of being driven, the roller 37 on the rear side in the rotational direction is applied to the fixed outer ring 34 and the output shaft 33 By engaging, the output shaft 33 is locked, and the rotational position of each member from the output shaft 33 to the driven member is maintained.

  On the other hand, when the motor 1 is rotated, first, as shown in FIG. 12A, with the rotation of the input shaft 32 integral with the motor shaft 3, the column portion 36a of the retainer 36 is moved backward in the rotation direction. When the roller 37 is pushed out against the elasticity of the coil spring 38 to the wide part of the wedge-shaped space 39, the engagement between the roller 37 and the fixed outer ring 34 and the output shaft 33 is released, and the output shaft 33 is locked. Released from. Then, as shown in FIG. 12B, when the motor shaft 3 and the input shaft 32 further rotate and the two-surface width portion of the input shaft 32 engages with the engagement hole 33 a of the output shaft 33, the input shaft 32. Is transmitted to the output shaft 33, and each member from the output shaft 33 to the driven member also rotates (at this time, the roller 37 on the front side in the rotation direction relatively moves to the wide part of the wedge-shaped space 39, It does not engage with the fixed outer ring 34 and the output shaft 33).

  Also in the fifth embodiment, the reverse input cutoff clutch 31 incorporated as a brake transmits the rotation of the motor shaft 3 to the output shaft 33 when the motor 1 is rotated, and the motor 1 is stopped. When reverse input torque is applied to the output shaft 33, the output shaft 33 is mechanically locked and stopped, and the manual operation member 4 is attached to the motor shaft 3 so as not to be relatively rotatable. As in the first to fourth embodiments, the driven member can be easily moved by rotating the manual operation member 4 even when the motor 1 is stopped.

1 Motor 2 Motor housing (fixing member)
3 Motor shaft 4 Manual operation member 6 Angular contact ball bearing 7 Belleville spring 11 Brake (reverse input cutoff clutch)
12 Cam receiver 12c Eccentric hole 13 Output shaft 14 Eccentric cam 15 Brake housing (fixing member)
20 Leaf spring (elastic member)
21 Wave gear device (reduction mechanism)
26 Cross roller bearing 31 Brake (reverse input cutoff clutch)
32 Input shaft 33 Output shaft 34 Fixed outer ring 35 Brake housing 36 Cage 36a Column 37 Roller 38 Coil spring 39 Wedge-shaped space

Claims (6)

In an actuator comprising a motor and a brake that holds a rotational direction position of an output shaft connected to the motor shaft when the motor stops,
The brake transmits the rotation of the motor shaft to the output shaft when the motor is rotated, and when the reverse input torque is applied to the output shaft while the motor is stopped, the output shaft Is a reverse input cutoff clutch that locks and stops
An actuator, characterized in that a manual operation member is attached to an end of the motor shaft opposite to the side connected to the output shaft so as not to be relatively rotatable.   The reverse input cutoff clutch is arranged in a state where the motor shaft and the output shaft rotate around the same axis, and the output shaft has an eccentric axis parallel to the axis, and is a cylindrical eccentric cam A cam receiver is connected to the motor shaft so as not to be relatively rotatable with the same axis as the axis thereof, and an eccentric hole having the same axis as the eccentric cam is formed in the cam receiver. The eccentric cam is fitted in the eccentric hole of the cam receiver so as to be relatively rotatable, and the rotational torque about the axis of the motor shaft when the motor of the input side member including the motor shaft and the cam receiver is stopped. Is larger than the rotational torque around the axis of the output shaft of the output side member including the output shaft and the eccentric cam, and around the axis of the motor shaft when the motor of the input side member is stopped. When the rotation torque is set to be larger than the rotation torque around the eccentric axis of the eccentric cam of the output side member, when the motor is rotated, the motor shaft and the cam receiver rotate together with the eccentric cam. When the driven member connected to the output shaft is driven to rotate and reverse input torque is applied to the output shaft, the output shaft is locked to try to rotate eccentrically around the eccentric axis of the eccentric cam. The actuator according to claim 1.   3. The actuator according to claim 2, wherein a fixing member that is in sliding contact with the cam receiver is disposed at a position facing the cam receiver of the reverse input cutoff clutch in the axial direction or radially outside the cam receiver.   4. The actuator according to claim 3, further comprising an elastic member that presses the cam receiver of the reverse input cutoff clutch against the fixed member in an axial direction or a radial direction.   The actuator according to claim 2, wherein the rolling bearing that supports the motor shaft is attached to the motor housing in a state of receiving a preload.   The reverse input cutoff clutch is arranged in a state where the motor shaft and the output shaft rotate around the same axis, and the rotation of the motor shaft is slightly delayed between the motor shaft and the output shaft. Torque transmitting means for transmitting to the output shaft is provided, a fixed outer ring having an inner peripheral cylindrical surface is disposed on the radially outer side of the output shaft, and a plurality of cam surfaces are provided on the outer peripheral surface of the output shaft. A wedge-shaped space that is gradually narrowed on both sides in the circumferential direction is formed between the inner peripheral cylindrical surface of the fixed outer ring and each cam surface of the output shaft, and a pair of rollers and a pair of rollers are provided in each wedge-shaped space. A spring is built in between the rollers to push each roller into the narrow part of the wedge-shaped space, and a cage having pillars inserted on both sides in the circumferential direction of each wedge-shaped space is rotated in a state of rotating integrally with the motor shaft. That they are connected The actuator of claim 1, symptoms.

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