JP7235227B2 - Braked motors, braked drives and braked wheel drives - Google Patents

Description

TECHNICAL FIELD The present invention relates to a motor with brake, a drive system with brake, and a wheel drive system with brake.

2. Description of the Related Art Conventionally, a motor having a brake mechanism is known. This type of motor is disclosed, for example, in JP-A-2015-39276. In the motor disclosed in Japanese Unexamined Patent Application Publication No. 2015-39276, the rotor (10) has a position where the housing member (13) abuts a part of the base surface (10a), a friction member (30) and the disk surface. (10b) and the position where it contacts. When the coil (25) is not energized, the biasing member (16) biases the base surface (10a) of the rotor (10) upward so that the disk surface (10b) contacts the friction member (30). do. As a result, when the coil (25) is not energized, the rotor (10) is pressed against the friction member (30) by the biasing member (16) and braked.

On the other hand, in the motor disclosed in Japanese Unexamined Patent Application Publication No. 2015-39276, the rotor (10) is attracted to the stator (20) by the magnetic attraction force generated in the stator (20) by energizing the coil (25). , the disc surface (10b) is released from contact with the friction member (30).

According to the motor disclosed in Japanese Patent Laying-Open No. 2015-39276, it is possible to simultaneously realize rotation/stopping of the motor and turning off/on of the brake.
JP 2015-39276 A

However, in the motor disclosed in Japanese Unexamined Patent Application Publication No. 2015-39276, the contact area between the disk surface (10b) and the friction member (30) is not always sufficient, and the braking force may be insufficient. In addition, in the motor disclosed in Japanese Patent Laying-Open No. 2015-39276, since the reaction force of the biasing member (16) constantly acts on the bearing, the rotational resistance of the bearing causes a decrease in motor efficiency. , was desired to be improved. Furthermore, a motor that can rotate the rotor (10) more powerfully has been desired.

An object of the present invention is to provide a motor with a brake, a drive device with a brake, and a wheel drive device with a brake, which are compact yet capable of powerfully outputting rotation and exhibiting excellent braking force. be.

The problems to be solved by the present invention are as described above, and the means for solving the problems will now be described.

An aspect of the present invention provides a motor with brake that includes a casing, a stator, a rotor, and a pair of friction plates. The casing has a tubular portion extending in the axial direction, a first lid portion that closes one axial side of the tubular portion, and a second lid portion that closes the other axial side of the tubular portion. The stator has an annular shape, has an outer peripheral surface fixed radially inwardly of the tubular portion of the casing, and has a through hole extending axially through the axial center portion. The rotor is disposed radially inward of the cylindrical portion of the casing and is provided rotatably relative to the stator. Also, the rotor has a rotating shaft, a pair of discs, a magnet, and a pressing member. The rotating shaft extends axially and is inserted into the through hole of the stator. The pair of discs are provided on both axial sides of the stator with the stator interposed therebetween, and are coupled to the rotating shaft so as to be non-rotatable relative to each other and slidable in the axial direction. The magnet is fixed to one of both axial end faces of the disk, the end face facing the stator. The pressing member is arranged radially outward of the rotating shaft, is inserted into the through hole of the stator, and presses the pair of discs away from each other. The pair of friction plates are arranged between the disc arranged on one side in the axial direction of the stator and the first lid portion, and the circular disc arranged on the other side in the axial direction of the stator. Located between the plate and the second lid.

According to the aspect of the present invention, a motor with a brake, a drive device with a brake, and a wheel drive device with a brake are capable of powerfully outputting rotation while being compact and exhibiting excellent braking force. provided.

FIG. 1 is a longitudinal sectional view of the motor with a brake according to the first embodiment when energized. FIG. 2 is a schematic diagram of the rotating shaft and the disk according to the first embodiment when viewed in the axial direction. FIG. 3 is a vertical cross-sectional view of the brake-equipped motor according to the first embodiment when power is cut off. FIG. 4 is a longitudinal sectional view of a motor with a brake according to the second embodiment. FIG. 5 is a longitudinal sectional view of a motor with a brake according to the third embodiment. FIG. 6 is a vertical cross-sectional view of a brake-equipped drive device according to a fourth embodiment. FIG. 7 is a schematic diagram of a rotating shaft, a disc, and a shaft portion according to the fourth embodiment when viewed in the axial direction. FIG. 8 is a schematic diagram of a planetary speed reduction mechanism provided in a drive device with a brake according to a fourth embodiment when viewed in the axial direction. FIG. 9 is a vertical cross-sectional view of a drive device with a brake according to a fifth embodiment. FIG. 10 is a longitudinal sectional view of a drive device with a brake according to the sixth embodiment. FIG. 11 is a vertical cross-sectional view of a brake-equipped drive device according to a seventh embodiment. FIG. 12 is a schematic diagram of the planetary speed reduction mechanism provided in the brake-equipped driving device according to the seventh embodiment when viewed in the axial direction. FIG. 13 is a longitudinal sectional view of a drive device with a brake according to the eighth embodiment. FIG. 14 is a schematic diagram of the planetary speed reduction mechanism provided in the brake-equipped drive device according to the eighth embodiment when viewed in the axial direction. FIG. 15 is a longitudinal sectional view of a brake-equipped wheel drive system according to a ninth embodiment. FIG. 16 is a schematic diagram of a rotating shaft, a disc, and an input member according to the ninth embodiment, viewed in the axial direction. FIG. 17 is a schematic diagram of the planetary speed reduction mechanism provided in the brake-equipped wheel drive system according to the ninth embodiment when viewed in the axial direction. FIG. 18 is a longitudinal sectional view of a brake-equipped wheel drive system according to the tenth embodiment. FIG. 10 is a schematic diagram of the planetary speed reduction mechanism provided in the brake-equipped wheel drive system according to the tenth embodiment when viewed in the axial direction.

Exemplary embodiments of the present application are described below with reference to the drawings. In the present application, the direction parallel to the central axis of the motor with brake is defined as "axial direction", the direction perpendicular to the central axis of the motor with brake is defined as "radial direction", and the The directions are respectively referred to as "circumferential directions". Further, in the present application, the term “parallel direction” includes substantially parallel directions. In addition, in the present application, the term “perpendicular direction” includes a substantially perpendicular direction.

<1. First Embodiment>
<1-1. Overall configuration of motor with brake>
An overall configuration of the brake-equipped motor 100 according to the first embodiment will be described below with reference to FIGS. 1 to 3. FIG. FIG. 1 is a longitudinal sectional view of a motor 100 with a brake when energized. FIG. 2 is a schematic diagram of a portion of the brake-equipped motor 100 according to the first embodiment when viewed in the axial direction. FIG. 3 is a vertical cross-sectional view of the brake-equipped motor 100 when power is cut off.

A motor 100 with a brake according to this embodiment is a unit that rotates a rotor with respect to a stator by the action of magnetic flux between the stator and the rotor, and outputs this rotation. In addition, as will be described later, the brake-equipped motor 100 has a brake mechanism for stopping the rotation of the rotor with respect to the stator. A brake-equipped motor 100 includes a casing 10 , a stator 20 as a stator, a rotor 30 as a rotor, a spacer 40 and a pair of friction plates 50 .

<1-2. Configuration of Casing>
The casing 10 is a housing that accommodates other members constituting the brake-equipped motor 100 inside. The casing 10 has a tubular portion 11 , a first lid portion 13 and a second lid portion 14 .

The cylindrical portion 11 is a cylindrical portion extending in the axial direction. The cylindrical portion 11 of the present embodiment is divided into two portions, one side in the axial direction and the other side in the axial direction. These two parts are fixed to each other by a fastening member 12 such as a bolt.

The first lid portion 13 is a disc-shaped portion extending radially inward from one axial end of the cylindrical portion 11 . The first lid portion 13 covers the members housed in the casing 10 from one side in the axial direction. That is, the first lid portion 13 closes one side of the cylinder portion 11 in the axial direction.

The second lid portion 14 is a generally disc-shaped portion that extends radially inward from the other axial end of the tubular portion 11 . The second lid portion 14 closes the other axial side of the tubular portion 11 . However, the second lid portion 14 has a through hole 16 that penetrates in the axial direction in the axial center portion. A rotating shaft 31 , which will be described later, is inserted into the through hole 16 .

<1-3. Configuration of Stator>
The stator 20 has a laminated steel plate portion 21 and a base portion 22 . The laminated steel plate portion 21 is a laminated structure in which a plurality of annular magnetic bodies centered on the central axis C are laminated, and the central portion is hollow. The base portion 22 is a generally annular portion. The outer peripheral surface of the base portion 22 is fixed to the inner peripheral surface of the laminated steel plate portion 21 . Although not shown in FIG. 1, stator 20 has a plurality of coils. Each coil is provided on the stator 20 with its magnetic core oriented parallel to the central axis C. As shown in FIG. The base portion 22 of the stator 20 has a through hole 23 extending axially through the axial center portion. The inner peripheral surface of the through hole 23 is circular when viewed in the axial direction.

The stator 20 is fixed radially inward of the cylindrical portion 11 of the casing 10 . More specifically, in the present embodiment, the outer peripheral surface of the laminated steel plate portion 21 is fixed to the inner peripheral surface of the cylindrical portion 11 with an adhesive, for example. However, the fixing method of the stator 20 to the cylindrical portion 11 is not limited to this. For example, instead of or in addition to the above, the outer peripheral portion of the laminated steel plate portion 21 may be press-fitted into the inner peripheral surface of the tubular portion 11 . In that case, the groove bottom of the groove portion 15 provided on the inner peripheral surface of the cylindrical portion 11 and the outer peripheral surface of the laminated steel plate portion 21 do not necessarily have to be in contact with each other.

<1-4. Configuration of Rotor>
Rotor 30 is arranged coaxially with stator 20 and is provided rotatably relative to stator 20 . The rotor 30 is arranged radially inward of the cylindrical portion 11 . Specifically, the rotor 30 has a rotating shaft 31 , a pair of discs 32 , 32 , a pair of magnets 33 , 33 and a pressing member 34 .

The rotating shaft 31 is a substantially cylindrical member extending in the axial direction. The rotating shaft 31 is inserted into the through hole 23 of the base portion 22 of the stator 20 and the through hole 16 of the second lid portion 14 . As shown in FIGS. 1 and 2, the rotary shaft 31 has a spline 31s on a portion of its outer peripheral surface in the axial direction. The spline 31s has a plurality of recesses and protrusions arranged in the circumferential direction. The plurality of recesses and protrusions each extend axially.

As shown in FIG. 1, the pair of discs 32, 32 are provided on both sides of the stator 20 in the axial direction with the stator 20 interposed therebetween. As shown in FIG. 2, each disk 32 has a substantially annular shape when viewed in the axial direction. Each disc 32 is coupled to the rotary shaft 31 so as to be non-rotatable relative to the rotary shaft 31 and slidable in the axial direction. Specifically, each disc 32 has a spline 32s on its inner periphery. The spline 32s has a plurality of recesses and protrusions arranged in the circumferential direction. The plurality of recesses and protrusions each extend axially. The splines 32 s of each disc 32 are engaged with the splines 31 s of the rotary shaft 31 . As shown in FIG. 1 , the pair of discs 32 have a line-symmetrical shape with the stator 20 interposed therebetween and centered on an imaginary straight line extending in the radial direction of the stator 20 .

The magnet 33 is fixed to the end face facing the stator 20 among both axial end faces of each disk 32 . Specifically, the magnet 33 is arranged radially outward of the rotating shaft 31 on the end face of the disk 32 on the side facing the pair of disks 32 . The magnet 33 is fixed all around along the circumferential direction. An annular surface of the magnet 33 when viewed in the axial direction is a magnetic pole surface in which N poles and S poles are alternately arranged along the circumferential direction.

The pressing member 34 is an elastic member. Specifically, the pressing member 34 of the present embodiment is a coil spring formed by spirally winding a metal wire. As shown in FIG. 1 , the pressing member 34 is arranged radially outward of the rotating shaft 31 . Also, the pressing member 34 is inserted into the through hole 23 of the base portion 22 of the stator 20 . The pressing member 34 is a compression spring arranged between the pair of discs 32, 32 in a state of being axially compressed beyond its natural length. Therefore, the pressing member 34 presses (presses) the pair of discs 32, 32 in directions away from each other.

<1-5. Structure of Friction Plate>
The pair of friction plates 50, 50 are made of a resin material. The friction plate 50 is an annular member having a thickness in the axial direction. One friction plate 50 is axially positioned between the disk 32 arranged on one axial side of the stator 20 and the first lid portion 13 . The other friction plate 50 is axially positioned between the disk 32 arranged on the other axial side of the stator 20 and the second lid portion 14 . As shown in FIG. 1 , the pair of friction plates 50 , 50 are arranged symmetrically about an imaginary straight line extending radially of the stator 20 with the stator 20 interposed therebetween. More specifically, the friction plates 50 of the present embodiment are fixed to the end faces of the discs 32 in the axial direction that do not face the stator 20 . The friction plate 50 is arranged coaxially with the rotating shaft 31 .

<1-6. Structure of Spacer>
The spacer 40 is a substantially annular member having a small diameter portion 41 and a pair of large diameter portions 42 . The spacer 40 is arranged radially outward of the pressing member 34 and radially inward of the magnet 33 . The small diameter portion 41 is a cylindrical portion and is arranged in the through hole 23 of the base portion 22 of the stator 20 . Specifically, the small-diameter portion 41 is arranged radially outward of the pressing member 34 , the second bearing 39 is arranged further radially outward of the small-diameter portion 41 , and the base is further radially outward of the second bearing 39 . A part 22 is arranged. The pair of large-diameter portions 42 are arranged on both axial sides of the small-diameter portion 41 with the small-diameter portion 41 interposed therebetween. The large diameter portion 42 is an annular portion. The large-diameter portion 42 and the small-diameter portion 41 are coaxially positioned and coupled together so as not to rotate relative to each other. Each end surface of each large-diameter portion 42 on the side opposite to the side facing the base portion 22 in the axial direction is perpendicular to the central axis C and has a planar shape parallel to each other. The end surface of the disc 32 can come into surface contact with this planar end surface.

The spacer 40 is sandwiched between the pair of discs 32, 32 in the axial direction. The spacer 40 has a through-hole extending axially through the center of the spacer 40 . The rotary shaft 31 is inserted into the through hole with the pressing member 34 interposed therebetween.

As described above, the brake-equipped motor 100 according to the first embodiment includes the casing 10 , the stator 20 as the stator, the rotor 30 as the rotor, and the pair of friction plates 50 . Also, the rotor 30 has a rotating shaft 31 , a pair of discs 32 , 32 , a pair of magnets 33 , and a pressing member 34 . In the brake-equipped motor 100 having such a configuration, when the coil is energized, the stator 20 is tinged with magnetic flux, and an attractive force that draws the magnet 33 toward the stator 20 is generated. As the attractive force becomes stronger than the pressing force of the pressing member 34, the magnet 33 moves toward the stator 20 as shown in FIG. Then, the rotor 30 rotates in the circumferential direction according to the magnetic flux change of the stator 20 .

On the other hand, when the energization of the brake-equipped motor 100 is cut off, the attractive force between the stator 20 and the magnet 33 disappears. Therefore, as shown in FIG. 3, the discs 32, 32 move away from each other according to the pressing force of the pressing member 34 and come into contact with the inner surface of the casing 10. As shown in FIG. As a result, the braking force generated between the friction plates 50 , 50 and the inner surface of the casing 10 restricts the rotation of the rotor 30 . In this way, it is possible to realize rotation/stopping of the motor and on/off of the brake at the same time with a small number of parts.

Moreover, in the brake-equipped motor 100 of the present embodiment, a pair of discs 32 (magnets 33) are arranged not only on one side of the stator 20, but also on both sides of the stator 20 in the axial direction, so that powerful rotation can be output. be. Furthermore, since a pair of friction plates 50 are provided not only on one inner surface of the casing 10 but on both inner surfaces, it is possible to exert excellent braking force.

Furthermore, the brake-equipped motor 100 according to this embodiment includes a spacer 40 . As a result, the axial distance between the magnet 33 and the stator 20 can be stably maintained when the rotor 30 rotates in the circumferential direction according to changes in the magnetic flux of the stator 20 . Therefore, the rotor 30 can be efficiently rotated.

In addition, in the brake-equipped motor 100 according to the present embodiment, the friction plates 50 are fixed to the end faces of the disk 32 in the axial direction that do not face the stator 20 . As a result, both the magnet 33 and the friction plate 50 can be arranged on the radially outer end surface of the disk 32 . Therefore, the area of the magnetic pole faces of the magnets 33 can be increased, and the diameter of the friction plates 50 can be increased to increase the inertia of the rotor 30 . As a result, more powerful rotation can be output, and stability of rotation in the circumferential direction can be improved.

Further, in the brake-equipped motor 100 according to this embodiment, the outer peripheral surface of the stator 20 is fixed to the inner peripheral surface of the cylindrical portion 11 . This makes it easier to secure spaces for arranging the discs 32 on both sides of the stator 20 in the axial direction. As a result, each member can be laid out rationally within the casing 10 .

Further, in the brake-equipped motor 100 according to this embodiment, the first bearing 61 is arranged between the inner peripheral surface of the casing 10 and the outer peripheral surface of the rotating shaft 31 . Specifically, the first bearing 61 is a rolling ball bearing having an inner ring fixed to the outer peripheral surface of the rotary shaft 31 and an outer ring attached to the inner peripheral surfaces of the casings 10 of the first lid portion 13 and the second lid portion 14 . Fixed. Of the pair of first bearings 61 , the end surface on the other axial side of the first bearing 61 on one side in the axial direction is arranged at a position that is deeper on the one side in the axial direction than the inner surface of the casing 10 . . In addition, of the pair of first bearings 61 , the end surface on one side in the axial direction of the first bearing 61 on the other side in the axial direction is arranged at a position that is deeper than the inner surface of the casing 10 on the other side in the axial direction. be done. As a result, since the disk portion 32 and the first bearing 61 are always in a non-contact state, the pressing force of the pressing member 34 does not always act on the first bearing 61 at least. Therefore, a situation in which the rotational resistance of the first bearing 61 causes a decrease in motor efficiency does not occur.

Further, in the motor 100 with brake according to the present embodiment, the second bearing 39 is provided between the inner peripheral surface of the through hole 23 of the base portion 22 of the stator 20 and the outer peripheral surface of the small diameter portion 41 of the spacer 40. be done. The second bearing 39 is a rolling ball bearing having an inner ring fixed to the outer peripheral surface of the small diameter portion 41 of the spacer 40 and an outer ring fixed to the inner peripheral surface of the through hole 23 of the base portion 22 of the stator 20 . Thereby, the positional relationship between the stator 20 and the spacer 40 in the axial direction and the radial direction is maintained by the second bearing 39 . In other words, spacer 40 is positioned with respect to stator 20 .

Further, in the brake-equipped motor 100 according to this embodiment, the spacer 40 is made of a resin material. Therefore, when the motor is started or stopped, the impact noise caused by the movement of the rotor 30 in the axial direction can be reduced.

Further, in the brake-equipped motor 100 according to this embodiment, the spacer 40 has a small diameter portion 41 and a large diameter portion 42 . When the stator 20 is energized, the planar end face of the large diameter portion 42 and the end face of the disk 32 are in surface contact. In this manner, the contact between the end face of the large diameter portion 42 and the end face of the disk 32 facilitates maintaining the posture of the rotor 30, that is, the perpendicularity of the rotor 30 to the axial center, in an appropriate state.

<2. Second Embodiment>
The configuration of the brake-equipped motor 200 according to the second embodiment will be described below with reference to FIG. 4 . FIG. 4 is a longitudinal sectional view of a motor 200 with a brake according to the second embodiment. It should be noted that, hereinafter, members having the same functions and configurations as those shown in the first embodiment are given the same reference numerals as in the first embodiment, and overlapping explanations will be omitted. A motor 200 with a brake according to the second embodiment differs from a motor 100 with a brake according to the first embodiment mainly in that (1) a friction plate 150 is provided instead of the friction plate 50, and (2) the disk 32 (3) the second bearing 39 is not provided; and (4) the retaining ring 138 is provided.

A brake-equipped motor 200 according to this embodiment includes a pair of friction plates 150 , 150 . The friction plate 150 is fixed to the inner surface of the first lid portion 13 and the inner surface of the second lid portion 14 . The friction plate 150 is annular and has a constant thickness in the axial direction. The friction plate 150 is made of a resin material. The friction plate 150 is arranged coaxially with the rotating shaft 31 . Thus, the brake-equipped motor 200 according to this embodiment includes the friction plates 150 fixed to the casing 10 . As a result, the inertia of the rotor 30 is reduced, and the responsiveness of starting and stopping the motor 200 with a brake when the brake is turned on and off can be improved.

The pair of discs 132, 132 are provided on both sides of the stator 20 in the axial direction with the stator 20 interposed therebetween. Each disk 132 has a substantially annular shape when viewed in the axial direction. The disk 132 has a through hole 133 extending axially through the center of the disk. Further, the disk 132 has a boss portion 134 extending axially toward the disk 132 forming a pair outside the spline 31s in the radial direction. Although not shown in FIG. 4, there is a gap between the inner peripheral surface of the through-hole of the spacer 40 and the outer peripheral surface of the boss portion 134 of the disk 132 so that the spacer 40 and the boss portion 134 can slide against each other. intervenes. A gap is provided between the inner peripheral surface of the base portion 22 of the stator 20 and the outer peripheral surface of the small diameter portion 41 of the spacer 40 so that the spacer 40 can rotate in the circumferential direction with respect to the stator 20 . With such a configuration, in the brake-equipped motor 200 according to this embodiment, the spacer 40 can be made rotatable with respect to the stator 20 without using the second bearing 39 .

Further, the brake-equipped motor 200 according to this embodiment has a pair of retaining rings 138 , 138 attached to the rotating shaft 31 . A pair of retaining rings 138 , 138 are attached to the rotating shaft 31 with an axial spacing therebetween. The retaining ring 138 restricts the movement of the disk 132 in the direction of approaching the paired disk 132 . With such a configuration, the motor 200 with brake according to the present embodiment positions the rotor 30 (disk 132) with respect to the stator 20 in the axial direction.

Further, in the brake-equipped motor 200 according to the present embodiment, a clearance adjusting member 162 is provided between the first bearing 61 and the inner surface of the first lid portion 13 in the axial direction. As a result, the position of the rotor 30 in the axial direction with respect to the stator 20 can be adjusted after assembly, so that the assembly accuracy between the components of the motor 200 with brake can be improved.

<2-1. Modification of Second Embodiment>
In the example shown in FIG. 4 , the rotating shaft 31 did not pass through the first lid portion 13 . Alternatively, however, the rotary shaft may axially pass through the first lid portion and the second lid portion. In that case, the rotating shaft may have a hollow portion axially penetrating the axial center portion. With such a configuration, wiring for connecting an external power supply and the coils wound around the stator 20 and other wiring can be inserted into the hollow portion. Therefore, routing of various wirings becomes easy.

<3. Third Embodiment>
The configuration of the brake-equipped motor 300 according to the third embodiment will be described below with reference to FIG. 5 . FIG. 5 is a longitudinal sectional view of a brake-equipped motor 300 according to the third embodiment. In the following description, members having the same functions and configurations as those shown in the first and second embodiments are denoted by the same reference numerals as in the first and second embodiments, and repeated explanations are omitted. The main differences between the brake-equipped motor 300 according to the third embodiment and the brake-equipped motors 100 and 200 according to the first and second embodiments are (1) the provision of a cover member 310 and (2) the cover member 310. It is a point that an electronic device is mounted in the internal space of.

The cover member 310 includes a cylindrical body portion 311 extending in the axial direction, and a disk-shaped closing portion 312 extending radially inward from one axial end of the body portion 311 . The other axial end of the body portion 311 is connected to the outer peripheral surface of the first lid portion 13 . Thereby, the cover member 310 covers the first lid portion 13 from one side in the axial direction. The cover member 310 has an internal space S0 inside for housing the electronic device.

The rotating shaft 31 axially penetrates the first lid portion 13 . An encoder 320 is attached to one end of the rotating shaft 31 in the axial direction. Encoder 320 is accommodated in internal space S0. Although not shown in FIG. 5, a sensor such as a strain sensor, a driver, and the like may also be accommodated in the internal space S0.

As described above, the brake-equipped motor 300 according to the third embodiment includes the cover member 310 . An encoder 320 and the like are mounted in the internal space S0 of the cover member 310 . As a result, the electronic device such as the encoder 320 is mounted on the end of the rotary shaft 31 on the side opposite to the side on which the torque acts, on which the load is less likely to act. Therefore, there is little concern that the mechanical strength will be insufficient. In addition, wiring related to electronic devices such as the encoder 320 can be put together in the vicinity of the cover member 310 . As a result, complicated routing can be avoided, and further weight reduction and manufacturing cost reduction can be expected.

<4. Fourth Embodiment>
The configuration of a brake-equipped driving device 400 according to the fourth embodiment will be described below with reference to FIG. 6 . FIG. 6 is a longitudinal sectional view of a brake-equipped driving device 400 according to the fourth embodiment. FIG. 7 is a schematic diagram of a portion of a drive device 400 with a brake according to the fourth embodiment when viewed in the axial direction. FIG. 8 is a cross-sectional view of the planetary speed reduction mechanism provided in the brake-equipped driving device 400 according to the fourth embodiment when viewed in the axial direction.

In the following description, members having the same functions and configurations as those shown in the first to third embodiments are denoted by the same reference numerals as in the first to third embodiments, and repeated explanations are omitted.

A drive device 400 with a brake according to this embodiment includes an electric motor 401 and a planetary speed reduction mechanism 459 . The electric motor 401 rotates the rotor with respect to the stator by the action of the magnetic flux between the stator and the rotor, and inputs the rotation to the planetary speed reduction mechanism 459 . The planetary deceleration mechanism 459 decelerates and outputs the input rotation. The brake-equipped driving device 400 also includes a brake mechanism that stops the rotation of the rotor with respect to the stator. Drive device 400 with brake includes casing 410 and partition 419 .

<4-1. Configuration of Casing and Partition>
Casing 410 is a housing that accommodates other members that constitute driving device 400 with brake. The casing 410 has a first tubular portion (tubular portion) 411 , a second tubular portion (tubular portion) 412 , a collar portion 414 , and a lid portion 413 .

The first cylindrical portion 411 is a cylindrical portion extending in the axial direction. The second cylindrical portion 412 is a cylindrical portion extending in the axial direction. The radial dimension of the second tubular portion 412 is smaller than the radial dimension of the first tubular portion 411 . The lid portion 413 closes one side of the first cylindrical portion 411 in the axial direction. The lid portion 413 has a substantially disc shape when viewed in the axial direction. The lid portion 413 has a through-hole extending axially through the axial center portion. One axial end of a shaft portion 492, which will be described later, is inserted into this through hole.

A collar portion 414 spreads radially outward from one axial end of the second tubular portion 412 . The collar portion 414 has a square shape when viewed in the axial direction. One axial end surface of the collar portion 414 and the other axial end surface of the first cylindrical portion 411 are overlapped and fixed to each other by a fastening member 415 such as a bolt. An outer peripheral portion of a substantially disk-shaped partition portion 419 is fixed to one end surface of the flange portion 414 in the axial direction. The partition part 419 has a disc shape when viewed in the axial direction. The partition part 419 has a through-hole penetrating in the axial direction in the axial center part.

The partition part 419 divides the radial inner space of the first cylindrical part 411 and the second cylindrical part 412 of the casing 410 into a first space S1 on one side in the axial direction and a second space S2 on the other side in the axial direction. Divide into. The electric motor 401 and the brake mechanism of the drive device 400 with brake are arranged in the first space S1. The planetary speed reduction mechanism 459 of the drive device 400 with brake is arranged in the second space S2.

<4-2. Configuration of Planetary Reduction Mechanism>
The planetary speed reduction mechanism 459 of the brake-equipped driving device 400 is a strain wave gear type speed reduction mechanism. Specifically, the planetary speed reduction mechanism 459 includes a rigid internal gear (rigid ring) 460, a flexible external gear (rolling element) 470, a wave generator (input member) 480, and an output member 490. Prepare.

The rigid internal gear 460 has an annular shape and is fixed to the inner peripheral surface of the second cylindrical portion 412 of the casing 410 so as not to rotate relative to it. The inner peripheral portion of the rigid internal gear 460 has internal teeth (inner contact portion) 461 . A plurality of internal teeth are arranged at a constant pitch in the circumferential direction.

The flexible external gear 470 of this embodiment is cup-shaped with flexible tooth portions 471 and mounting portions 472 . The flexible external gear 470 is arranged radially inward of the rigid internal gear 460 .

The flexible tooth portion 471 is a portion that can be flexurally deformed in a non-perfect circle (ellipse). The stiffness of the flexible teeth 471 is much less than that of the rigid internal gear 460 . That is, the rigid internal gear 460 can be regarded as a substantially rigid body. As shown in FIG. 8, the flexible tooth portion 471 is cylindrical and has external teeth (outer contact portion) 473 on the outer periphery. A plurality of external teeth 473 are arranged at a constant pitch in the circumferential direction. The external teeth 473 can mesh (contact) with the internal teeth 461 . The number of teeth of the external teeth 473 is slightly different from the number of teeth of the internal teeth 461 .

From the end of the cylindrical portion of the flexible external gear 470 on the opposite side (the other side) of the flexible teeth 471 in the axial direction, the diaphragm extends radially inward. As shown in FIG. 6, an annular mounting portion 472 having a thickness in the axial direction is arranged radially inward of the diaphragm portion. The stiffness of mounting portion 472 is much greater than the stiffness of flexible teeth 471 . An output member 490 to be described later can be attached to the attachment portion 472 .

The wave generator 480 is arranged radially inward of the flexible teeth 471 of the flexible external gear 470 . Specifically, the wave generator 480 is composed of an elliptical cam 481, a flexible rolling ball bearing 482, and the like.

The output member 490 has an attached portion 491 and a shaft portion 492 . The attached portion 491 is a substantially disk-shaped portion. The attached portion 491 is attached to the attaching portion 472 by fixing one axial end face of the attached portion 491 to the attaching portion 472 . The shaft portion 492 is a cylindrical portion extending in the axial direction. The shaft portion 492 is provided coaxially with the attached portion 491 . The shaft portion 492 extends from the end surface of the attached portion 491 on one side in the axial direction toward the one side in the axial direction. In this embodiment, the attached portion 491 and the shaft portion 492 are a single member. The shaft portion 492 is arranged radially inward of the rotating shaft 431 to be described later.

In the planetary speed reduction mechanism 459 configured as described above, when the rotary shaft 431 rotates around the central axis C, the elliptical cam 481 of the wave generator 480 also rotates at the same rotational speed. As a result, the position of the long axis of the ellipse of the elliptical cam 481 is displaced in the circumferential direction. Along with this, the flexible tooth portion 471 of the flexible external gear 470 is elliptically deformed via the flexible rolling ball bearing 482 . Then, the outer teeth 473 and the inner teeth 461 are partially meshed at the position of the major axis of the ellipse. As the rotary shaft 431 rotates, the meshing position (contact position) between the flexible external gear 470 and the rigid internal gear 460 changes in the circumferential direction around the central axis C. Here, since the external teeth 473 and the internal teeth 461 have different numbers of teeth, the flexible external gear 470 is shifted from the rigid internal gear 460 by the difference in the number of teeth each time the meshing position rotates. relative rotation. When the flexible external gear 470 relatively rotates, the output member 490 attached to the mounting portion 472 of the flexible external gear 470 also rotates at the same rotational speed as the flexible external gear 470 . Thus, the rotation after deceleration is output.

<4-3. Configuration of Electric Motor and Brake Mechanism>
Electric motor 401 of drive device 400 with brake includes stator 20 , rotor 30 , pair of friction plates 150 , 150 , spacer 40 , gap adjusting member 162 , cover member 310 , and encoder 320 . The rotor 30 has a rotary shaft 431 , a pair of discs 32 , 32 , magnets 33 , 33 and a pressing member 34 .

The rotating shaft 431 is a substantially cylindrical portion extending in the axial direction. The rotating shaft 431 is arranged coaxially with the central axis C of the driving device 400 with brake. As shown in FIG. 7, the rotating shaft 431 has a spline 431s on a part of its outer peripheral surface in the axial direction.

As shown in FIG. 6, the elliptical cam 481 of the wave generator 480 and the rotary shaft 431 are coaxially coupled so as not to rotate relative to each other. In this embodiment, elliptical cam 481 and rotary shaft 431 are a single member.

In the brake-equipped driving device 400 having such a configuration, when the coil of the electric motor 401 is energized, the stator 20 is tinged with magnetic flux, and an attractive force is generated that draws the magnet 33 toward the stator 20 side. As the attraction force becomes stronger than the pressing force of the pressing member 34 , the magnet 33 moves toward the stator 20 . Then, the rotor 30 rotates according to the magnetic flux change in the circumferential direction of the stator 20 . The state at this time is shown above the central axis C in the paper surface of FIG. Rotation of the rotor 30 is input to the elliptical cam 481 of the wave generator 480 . The rotation of the rotor 30 is decelerated by the planetary speed reduction mechanism 459 and output as the rotation of the output member 490 .

On the other hand, when the energization of the coil of the electric motor 401 is interrupted, the attractive force between the stator 20 and the magnet 33 disappears. Therefore, the disks 32 move away from each other according to the pressing force of the pressing member 34, and come into contact with the friction plates 150 fixed to the inner surface of the lid portion 413 of the casing 410 and the end surface of the partition portion 419, respectively. do. The state at this time is shown below the central axis C in the paper surface of FIG. As a result, the braking force generated between the friction plate 150 and the disk 32 restricts the rotation of the rotor 30 . Accordingly, the rotation of the wave generator 480 is quickly stopped, and the rotation of the output member 490 is restricted. In this way, it is possible to realize rotation/stopping of the electric motor 401 and on/off of the brake at the same time with a small number of parts. can.

Further, the brake-equipped driving device 400 according to this embodiment includes a spacer 40 . Thereby, when the rotor 30 rotates in the circumferential direction according to the magnetic flux change of the stator 20, the distance in the axial direction between the magnets 33 can be stably maintained. Therefore, the rotor 30 can be efficiently rotated.

Further, in the brake-equipped driving device 400 according to the present embodiment, the friction plate 150 is fixed to the inner surface of the lid portion 413 and the end surface of the partition portion 419 exposed to the first space S1. As a result, the inertia of the rotor 30 can be reduced, and the responsiveness of starting and stopping by turning on/off the brake of the driving device 400 with a brake can be improved.

Further, in the brake-equipped drive device 400 according to the present embodiment, the outer peripheral surface of the stator 20 is fixed to the inner peripheral surface of the first cylindrical portion 411 . This makes it easier to secure spaces for arranging the discs 32 on both sides of the stator 20 in the axial direction. As a result, each member can be laid out rationally within the casing 410 .

In addition, in the brake-equipped driving device 400 according to the present embodiment, the internal teeth 461 as the inner contact portion and the external teeth 473 as the outer contact portion mesh with each other. As a result, the rotation of the rotary shaft 431 can be accurately reduced by the gear-type planetary reduction mechanism.

In the brake-equipped driving device 400 according to the present embodiment, the rigid ring is the rigid internal gear 460, the rolling element is the flexible external gear 470, and the input member is the wave generator 480. As a result, the number of parts can be reduced in spite of the large speed reduction ratio, and the size and weight of the motor can be reduced.

Further, in the brake-equipped drive device 400 according to the present embodiment, the second rotor disposed between the inner peripheral surface of the through hole 23 of the base portion 22 of the stator 20 and the outer peripheral surface of the small diameter portion 41 of the spacer 40 . A bearing 39 is provided. Thereby, the positional relationship between the stator 20 and the spacer 40 in the axial direction and the radial direction is maintained by the second bearing 39 .

Further, in the brake-equipped driving device 400 according to the present embodiment, a third bearing 375 that rotatably supports the rotating shaft 431 is provided radially inward of the flexible external gear 470 . Accordingly, by arranging the third bearing 375 that rotatably supports the rotating shaft 431 radially inward of the flexible external gear 470, the space can be effectively utilized, and the drive device 400 with brake can be further operated. Miniaturization is possible. Also, the pressing force of the pressing member 34 does not act on the third bearing 375 . Therefore, the situation in which the rotational resistance of the third bearing 375 causes a decrease in motor efficiency does not occur.

Further, the brake-equipped drive device 400 according to the present embodiment includes the first bearing 61 arranged between the inner peripheral surface of the lid portion 413 and the outer peripheral surface of the rotating shaft 431 . As a result, the pressing force of the pressing member 34 does not always act on the first bearing 61 at least. Therefore, a situation in which the rotational resistance of the first bearing 61 causes a decrease in the efficiency of the motor does not occur.

Further, the brake-equipped drive device 400 according to this embodiment includes an output member 490 and a fourth bearing 494 . The fourth bearing 494 is arranged between the inner peripheral surface of the second cylindrical portion 412 of the casing 410 and the outer peripheral surface of the attached portion 491 of the output member 490 . As a result, the output member 490 can be mounted in a state of being fitted radially inward of the casing 410, and the drive device 400 with brake can be made thinner. A cross roller bearing, for example, is used for the fourth bearing 494 .

Further, the brake-equipped drive device 400 according to this embodiment includes the fifth bearing 375 between the inner peripheral surface of the elliptical cam 481 of the wave generator 480 and the outer peripheral surface of the output member 490 . Therefore, by supporting the wave generator 480 not only by the first bearing 61 but also by the fifth bearing 375, the rotation of the rotary shaft 431 can be further stabilized. As a result, the rotor 30 can be efficiently rotated. Note that the third bearing 375 also serves as the fifth bearing 375 in this embodiment.

Further, in the brake-equipped drive device 400 according to the present embodiment, the seal member 417 is provided between the surface of the partition portion 419 exposed to the second space S2 and the end surface of the elliptical cam 481 on one side in the axial direction. be done. As a result, the lubricating oil supplied into the second space S2 to lubricate the planetary speed reduction mechanism 459 can be prevented from reaching the first space S1.

Further, in the brake-equipped drive device 400 according to the present embodiment, the clearance adjusting member 162 is provided between the inner surface of the lid portion 413 and the first bearing 61 in the axial direction. As a result, it is possible to improve the assembly accuracy between the members of the drive device 400 with brake.

Furthermore, in the brake-equipped driving device 400 according to the present embodiment, the rotating shaft 431 has a first hollow portion 431a that axially penetrates the axial center portion. The rotating shaft 431 axially penetrates the partition portion 419 . A shaft portion 492 of the output member 490 is inserted into the first hollow portion 431a. In addition, the output member 490 has a second hollow portion 490a axially penetrating the axial center portions of the attached portion 491 and the shaft portion 492 . One axial end of the shaft portion 492 passes through the lid portion 413 in the axial direction. As a result, wiring connecting an external power source and the coils wound around the stator 20 and other wiring can be inserted into the second hollow portion 490a. Therefore, routing of various wirings becomes easy.

Further, in the brake-equipped driving device 400 according to the present embodiment, the spacer 40 is made of a resin material. As a result, it is possible to reduce the impact noise that is generated along with the axial movement of the rotor 30 when the electric motor 401 is started or stopped.

<5. Fifth Embodiment>
The configuration of a brake-equipped driving device 500 according to the fifth embodiment will be described below with reference to FIG. 9 . FIG. 9 is a vertical cross-sectional view of a brake-equipped driving device 500 according to the fifth embodiment. In the following description, members having the same functions and configurations as those shown in the first to fourth embodiments are denoted by the same reference numerals as in the first to fourth embodiments, and repeated explanations are omitted. The driving device 500 with a brake according to the fifth embodiment differs from the driving device 400 with a brake according to the fourth embodiment mainly in that (1) the cover member 310 is provided, and (2) the encoder 320 and the like are provided. The point is that the electronic device is provided in the cover member 310 .

Also in the brake-equipped driving device 500 according to the fifth embodiment, since the pair of discs 32, 32 are arranged on both sides of the stator 20 in the axial direction, powerful rotation can be output. Furthermore, since a pair of friction plates 150 are provided instead of only one, superior braking power can be achieved.

<6. Sixth Embodiment>
The configuration of a brake-equipped driving device 600 according to the sixth embodiment will be described below with reference to FIG. 10 . FIG. 10 is a longitudinal sectional view of a brake-equipped driving device 600 according to the sixth embodiment. In the following, members having the same functions and configurations as those shown in the first to fifth embodiments are denoted by the same reference numerals as those in the first to fifth embodiments, and repeated explanations are omitted. The driving device 600 with a brake according to the sixth embodiment differs from the driving device 500 with a brake according to the fifth embodiment mainly in that the fourth bearing 494 is a rolling ball bearing and a sixth bearing 499 is provided. Dot and.

In the brake-equipped driving device 600 according to the present embodiment, the one axial end of the shaft portion 492 of the output member 490 is located on the one axial side of the rotary shaft 431 relative to the one axial end. extends to A sixth bearing 499 is provided between the shaft portion 492 of the output member 490 and the inner peripheral surface of the lid portion 413 at a position on one side of the axial direction relative to the first bearing 61 . Specifically, the sixth bearing 499 is a rolling ball bearing having an inner ring fixed to the outer peripheral surface of the shaft portion 492 and an outer ring fixed to the inner peripheral surface of the lid portion 413 .

In the brake-equipped driving device 600 according to the present embodiment, the output member 490 is stably supported by the fourth bearing 494 and the sixth bearing 499 which are spaced apart in the axial direction.

<7. Seventh Embodiment>
The configuration of a brake-equipped driving device 700 according to the seventh embodiment will be described below with reference to FIGS. 11 and 12. FIG. FIG. 11 is a longitudinal sectional view of a brake-equipped driving device 700 according to the seventh embodiment. FIG. 12 is a cross-sectional view of the planetary speed reduction mechanism provided in the brake-equipped driving device 700 according to the seventh embodiment when viewed in the axial direction.

In the following description, members having the same functions and configurations as those shown in the first to sixth embodiments are denoted by the same reference numerals as in the first to sixth embodiments, and duplicate explanations are omitted. A driving device 700 with a brake according to the seventh embodiment differs from the driving device 400 with a brake according to the fourth embodiment mainly in that a planetary speed reduction mechanism 759 is provided instead of the planetary speed reduction mechanism 459 .

The planetary speed reduction mechanism 759 is an eccentric swing speed reduction mechanism. Specifically, the planetary speed reduction mechanism 759 includes a rigid internal gear (rigid ring) 760 , an external gear (rolling element) 770 , an input portion 780 and an output member 490 .

The input portion 780 is a substantially cylindrical portion that extends axially about the central axis C of the drive device 700 with brake. The input part 780 includes an eccentric part 781 that is coaxially coupled to the rotating shaft 431 so as to be non-rotatable relative to the rotating shaft 431 . In this embodiment, the rotating shaft 431 and the eccentric portion 781 are a single member.

The eccentric portion 781 is a portion that rotates together with the rotating shaft 431 at the same rotational speed as the rotating shaft 431 . The eccentric portion 781 is provided on the other side of the input portion 780 in the axial direction. The eccentric portion 781 has a cylindrical outer peripheral surface centered on an eccentric axis D extending parallel to the central axis C at a position off the central axis C. As shown in FIG. When the input portion 780 rotates around the central axis C, the position of the eccentric axis D moves around the central axis C in the circumferential direction. At this time, the eccentric portion 781 rotates around the central axis C. As shown in FIG.

In this embodiment, two eccentric portions 781 are provided side by side in the axial direction. The positions of the eccentric axes D of the two eccentric portions 781 are rotationally symmetrical with respect to the central axis C. As shown in FIG. As a result, the fluctuation of the center of gravity caused by the rotation of the eccentric portion 781 can be suppressed.

The rigid internal gear 760 of this embodiment is part of the second tubular portion 412 . Rigid internal gear 760 is annular. The inner peripheral portion of the rigid internal gear 760 has internal teeth (inner contact portion) 761 . A plurality of internal teeth 761 are arranged at a constant pitch in the circumferential direction.

The external gear 770 has an annular shape with a constant thickness in the axial direction. The external gear 770 is arranged radially inward of the rigid internal gear 760 and radially outward of the input portion 780 and the eccentric portion 781 . A bearing 775 is interposed between the eccentric portion 781 and the external gear 770 . The external gear 770 is rotatably supported around the eccentric axis D by a bearing 775 . The outer peripheral portion of the external gear 770 has external teeth (outer contact portion) 771 . A plurality of external teeth 771 are arranged at a constant pitch in the circumferential direction. The number of teeth of the external teeth 771 is slightly different from the number of teeth of the internal teeth 761 .

The external gear 770 has a plurality of through holes (mounting portions) 772 . Each through hole 772 axially penetrates the external gear 770 . The plurality of through-holes 772 are arranged around the eccentric axis D at regular intervals in the circumferential direction.

When the input portion 780 rotates around the central axis C, the external gear 770 revolves around the central axis C together with the eccentric axis D. At this time, the external gear 770 revolves while changing the meshing position between the external teeth 771 and the internal teeth 761 in the circumferential direction. At this time, for each revolution of the external gear 770, the positions of the external teeth 771 meshing with the internal teeth 761 of the rigid internal gear 760 at the same positions are shifted by the difference in the number of teeth. Along with this, the position of the through hole 772 of the external gear 770 rotates at the reduced rotational speed.

The ends of the plurality of carrier pins 773 on the other side in the axial direction are fixed to the attached portion 491 . Specifically, the plurality of carrier pins 773 are fixed at equal intervals in the circumferential direction around the central axis C of the attached portion 491 . Thus, the output member 490 is configured. Each of the plurality of carrier pins 773 is inserted into the through hole 772 of the external gear 770 with a gap therebetween. As a result, when the external gear 770 rotates at the rotational speed after deceleration, the carrier pin 773 is pressed against the inner peripheral surface of the through hole 772, so that the attached portion 491 also rotates around the central axis C after deceleration. Rotate at the number of revolutions. Therefore, the output member 490 also rotates at the rotational speed after deceleration.

In the drive device 700 with a brake configured as described above, the braking force generated between the friction plate 150 and the disk 32 regulates the rotation of the rotor 30 and quickly stops the rotation of the input portion 780. , the rotation of the output member 490 is restricted. In this way, it is possible to realize rotation/stopping of the electric motor 701 and on/off of the brake at the same time with a small number of parts. can.

In the brake-equipped driving device 700 according to the present embodiment, the rigid ring is the rigid internal gear 760, the rolling element is the external gear 770, and the input member is the input portion 780 and the eccentric portion 781. According to such a configuration, the speed reduction ratio is large and the rigidity is high, so it is possible to reduce the size of the speed reduction mechanism.

<8. Eighth Embodiment>
The configuration of a brake-equipped driving device 800 according to the eighth embodiment will be described below with reference to FIGS. 13 and 14. FIG. FIG. 13 is a longitudinal sectional view of a drive device 800 with a brake according to the eighth embodiment. FIG. 14 is a cross-sectional view of the planetary speed reduction mechanism provided in the brake-equipped driving device 800 according to the eighth embodiment when viewed in the axial direction.

In the following description, members having the same functions and configurations as those shown in the first to seventh embodiments are denoted by the same reference numerals as in the first to seventh embodiments, and repeated explanations are omitted. The drive device 800 with brake according to the eighth embodiment differs from the drive device 400 with brake according to the fourth embodiment mainly in that a planetary speed reduction mechanism 859 is provided instead of the planetary speed reduction mechanism 459 .

The planetary reduction mechanism 859 is a planetary friction reduction mechanism. Specifically, the planetary speed reduction mechanism 859 includes an internal ring (rigid ring) 860 , a plurality of planetary rollers (rolling elements) 870 , a sun roller (input member) 880 and an output member 490 .

The sun roller 880 is a substantially cylindrical portion arranged coaxially with the rotating shaft 431 . In this embodiment, the sun roller 880 and rotating shaft 431 are a single member.

A plurality of planetary rollers 870 are arranged around the sun roller 880 radially outward of the sun roller 880 . In this embodiment, five planetary rollers 870 are equally spaced around the sun roller 880 . However, the number of planetary rollers 870 that the planetary speed reduction mechanism 459 has may be 2 to 4, or may be 6 or more.

The planetary roller 870 has a disk portion 871 and a shoulder portion 872 . The disc portion 871 has a disc shape extending perpendicularly to the axial direction. The shoulder portions 872 are provided on both sides of the disk portion 871 in the axial direction. The shoulder portion 872 has a tapered outer peripheral surface whose radial dimension increases as it approaches the disk portion 871 . The radial dimension of the shoulder portion 872 is smaller than the radial dimension of the disk portion 871 . The shoulder portion 872 is arranged coaxially with the disk portion 871 . The outer peripheral surface of the disk portion 871 of the planetary roller 870 contacts the outer peripheral surface of the sun roller 880 .

A pair of internal rings 860 are provided at positions corresponding to the two shoulder portions 872 in the axial direction. The inner peripheral surface of the internal ring 860 on one side in the axial direction has a tapered shape that converges toward the one side in the axial direction. The inner peripheral surface of the internal ring 860 on the other side in the axial direction has a tapered shape that converges toward the other side in the axial direction. The inner peripheral surface of internal ring 860 contacts the outer peripheral surface of shoulder 872 of planetary roller 870 .

Thus, each of the plurality of planetary rollers 870 is in constant contact with both the sun roller 880 and the internal ring 860 . Therefore, when the sun roller 880 rotates, the plurality of planetary rollers 870 receive power from the sun roller 880 and rotate due to friction with the sun roller 880 . Moreover, the plurality of planetary rollers 870 revolve around the sun roller 880 along the internal ring 860 due to friction with the internal ring 860 . At this time, the number of revolutions of the planetary roller 870 becomes smaller than the number of rotations of the sun roller 880 .

The ends of the plurality of carrier pins 874 on the other side in the axial direction are fixed to the attached portion 491 . Specifically, the plurality of carrier pins 874 are fixed at equal intervals in the circumferential direction around the central axis C of the attached portion 491 . Thus, the output member 490 is configured. The planetary roller 870 has a through hole 873 penetrating in the axial direction at its axial center. A cylindrical carrier pin 874 extending in the axial direction is inserted into the through hole 873 . When the planetary roller 870 revolves at the decelerated rotational speed, the attached portion 491 also rotates at the decelerated rotational speed. Therefore, the output member 490 also rotates at the rotational speed after deceleration.

In the brake-equipped driving device 800 having such a configuration as well, the braking force generated between the friction plate 150 and the disk 32 regulates the rotation of the rotor 30 and quickly stops the rotation of the sun roller 880. , the rotation of the output member 490 is restricted. In this way, it is possible to realize rotation/stopping of the electric motor 801 and on/off of the brake at the same time with a small number of parts. can.

Further, in the brake-equipped driving device 800 according to the present embodiment, the internal ring 860 has a friction surface 860a as an inner contact portion, and the planetary roller 870 has a friction surface 870a as an outer contact portion. The friction surface 860a as the inner contact portion and the friction surface 870a as the outer contact portion are in surface contact. As a result, it is possible to realize a quiet driving device 800 with a brake that does not generate noise that occurs when gears mesh.

In the brake-equipped driving device 800 according to the present embodiment, the rigid ring is the internal ring 860, the rolling element is the planetary roller 870, and the input member is the sun roller 880. As a result, the planetary speed reduction mechanism 859 of the brake-equipped drive device 800 can be constructed using a general-purpose machine tool, so that the processing cost can be suppressed and the delivery time can be shortened.

Further, in the brake-equipped driving device 800 according to the present embodiment, the seal member 417 is provided between the end surface of the partition portion 419 exposed to the second space S2 and the outer peripheral surface of the sun roller (input member) 880. be done. As a result, the lubricating oil supplied into the second space S2 to lubricate the planetary speed reduction mechanism 859 can be prevented from reaching the first space S1.

<9. Ninth Embodiment>
The configuration of a brake-equipped wheel drive device 900 according to the ninth embodiment will be described below with reference to FIGS. 15 to 17 . FIG. 15 is a longitudinal sectional view of a brake-equipped wheel drive device 900 according to the ninth embodiment. FIG. 16 is a schematic diagram of a portion of a brake-equipped wheel drive device 900 according to the ninth embodiment, viewed in the axial direction. FIG. 17 is an axial view of the planetary speed reduction mechanism 959 provided in the brake-equipped wheel drive system 900 according to the ninth embodiment.

In the following description, members having the same functions and configurations as those shown in the first to eighth embodiments are denoted by the same reference numerals as those in the first to eighth embodiments, and repeated explanations are omitted.

A brake-equipped wheel drive device 900 according to this embodiment includes an electric motor 901 and a planetary reduction mechanism 959 . Furthermore, the brake-equipped wheel drive device 900 according to this embodiment includes a wheel 905 . In the electric motor 901 , the action of magnetic flux between the stator and the rotor causes the rotor to rotate with respect to the stator, and the rotation is input to the planetary speed reduction mechanism 959 . The planetary deceleration mechanism 959 decelerates the input rotation and inputs it to the wheel 905 . The brake-equipped wheel drive device 900 also includes a brake mechanism for stopping rotation of the rotor with respect to the stator.

<9-1. Configuration of Planetary Reduction Mechanism>
The planetary speed reduction mechanism 959 of the brake-equipped wheel drive device 900 is a planetary friction speed reducer. Specifically, the planetary speed reduction mechanism 959 includes an internal ring (rigid ring) 860 , three planetary rollers (rolling elements) 870 , a sun roller (input member) 880 and an output member 990 .

The output member 990 is an axially extending generally annular member. An inner ring of a fourth bearing 494 is fixed to the outer peripheral surface of the output member 990 . An outer ring of fourth bearing 494 is fixed to the inner peripheral surface of casing 410 . This allows the output member 990 to rotate relative to the casing 410 . The output member 990 is coupled to the ends of the plurality of carrier pins 874 on the other side in the axial direction. As a result, the output member 990 rotates about the central axis C at the same number of revolutions as the carrier pin 874 revolves.

<9-2. Configuration of Electric Motor and Brake Mechanism>
An electric motor 901 of a brake-equipped wheel drive device 900 includes a stator 20 , a rotor 30 , a pair of friction plates 150 and a spacer 40 . The rotor 30 has a rotating shaft 931 , a pair of discs 32 , 32 , magnets 33 , 33 and a pressing member 34 .

The rotating shaft 931 is a generally cup-shaped portion extending in the axial direction. One axial end of the rotating shaft 931 is open. The other axial end of the rotating shaft 931 is closed. The rotary shaft 931 has a substantially cylindrical internal space S3 along the central axis C. As shown in FIG. 15 and 16, the rotating shaft 931 has a spline 931s on a part of its outer peripheral surface in the axial direction.

As shown in FIG. 15, the sun roller 880 and the rotating shaft 931 are coaxially fixed so as not to rotate relative to each other.

<9-3. Wheel Configuration>
Wheel 905 has a flange portion 906 and a wheel mounting portion 907 . The flange portion 906 is an annular portion having thickness in the axial direction. The flange portion 906 can be coaxially attached to the other axial end surface of the output member 990 . The wheel mounting portion 907 is a portion cylindrically extending from the outer edge of the flange portion 906 toward one side in the axial direction. The wheel mounting portion 907 is positioned radially outward of the planetary speed reduction mechanism 959 . A tire (wheel) 908 can be attached to the radially outer side of the wheel attachment portion 907 .

As described above, the brake-equipped wheel drive device 900 according to this embodiment includes the electric motor 901 , the planetary reduction mechanism 959 , and the wheel 905 . Thereby, a compact and powerful brake-equipped wheel drive device 900 can be realized.

<10. Tenth Embodiment>
The configuration of the brake-equipped wheel drive system 1000 according to the tenth embodiment will be described below with reference to FIGS. 18 and 19. FIG. FIG. 18 is a longitudinal sectional view of a brake-equipped wheel drive system 1000 according to the tenth embodiment. FIG. 19 is a diagram showing the configuration of a planetary speed reduction mechanism 959 provided in the brake-equipped wheel drive system 1000 according to the tenth embodiment.

In the following description, members having the same functions and configurations as those shown in the first to ninth embodiments are denoted by the same reference numerals as those in the first to ninth embodiments, and repeated explanations are omitted.

The brake-equipped wheel drive device 1000 according to the present embodiment mainly includes (1) a rotating shaft 1031 instead of the rotating shaft 931, (2) a lid portion 413 including a shaft portion 413a, and (3) seventh It differs from the brake-equipped wheel drive device 900 according to the ninth embodiment in that the bearing 1007 is provided and (4) the planetary speed reduction mechanism 959 is provided with five planetary rollers 870 .

The rotating shaft 1031 has a cylindrical shape extending in the axial direction. The rotary shaft 1031 is arranged radially inward of the pressing member 34 . Rotating shaft 1031 has splines on its outer peripheral surface. The other axial end of the rotating shaft 1031 is coupled to one axial end of the sun roller 880 . In this embodiment, rotating shaft 1031 and sun roller 880 are a single member.

A shaft portion 413a extends cylindrically from the inner edge portion of the lid portion 413 toward the other side in the axial direction. The shaft portion 413 a is coaxially arranged radially inward of the rotating shaft 1031 .

A seventh bearing 1007 is provided between the outer peripheral surface of the other axial end of the shaft portion 413 a and the inner peripheral surface of the output member 990 . The seventh bearing 1007 is a rolling ball bearing.

One end in the axial direction of the wheel mounting portion 907 of this embodiment extends to the vicinity of the position where the lid portion 413 is arranged in the axial direction. In other words, substantially all of the planetary speed reduction mechanism 959 and the electric motor 901 of the brake-equipped wheel drive device 1000 are accommodated in the radially inner space of the wheel mounting portion 907 .

As described above, the brake-equipped wheel drive device 1000 according to this embodiment includes the electric motor 901 , the planetary reduction mechanism 959 , and the wheel 905 . Further, substantially the entire brake-equipped wheel drive device 1000 is housed in a space radially inward of the wheel mounting portion 907 of the wheel 905 . Therefore, the compact and powerful brake-equipped wheel drive device 1000 can be mounted on the vehicle without spoiling the appearance of the vehicle.

<11. Variation>
In the above embodiments, the bearings 61, 39, 375, 499, 1007 are rolling ball bearings, but are not limited to this. Alternatively, the bearings may be slide bearings, for example.

In the above fourth to tenth embodiments, the friction plate 150 is fixed to the inner surface of the lid portion 413 and to the axial end surface of the partition portion 419 that is exposed to the first space S1. It is assumed that However, it is not necessarily limited to this. Instead of the above, the friction plate may be fixed to one of both axial end faces of the disc 32 that does not face the stator 20 .

In the above fourth to tenth embodiments, the planetary speed reduction mechanism may be a simple planetary gear mechanism having an internal gear, a planetary gear and a sun gear.

Also, the detailed shapes of the motor with brake, the drive device with brake, and the wheel drive device with brake may differ from the shapes shown in the drawings of the present application. Also, the elements appearing in the above embodiments and modifications may be appropriately combined as long as there is no contradiction.

The present application is applicable to motors with brakes, drives with brakes, and wheel drives with brakes.

REFERENCE SIGNS LIST 10 casing 11 cylindrical portion 13 first lid portion 14 second lid portion 20 stator 30 rotor 31 rotating shaft 32 disk 33 magnet 34 pressing member 50 friction plate 100 motor with brake C central shaft

Claims (35)

a casing having a tubular portion extending in the axial direction, a first lid portion closing one side of the tubular portion in the axial direction, and a second lid portion closing the other side of the tubular portion in the axial direction;
an annular stator having an outer peripheral surface fixed radially inward of the cylindrical portion of the casing and having a through hole axially penetrating through an axial center portion;
a rotor disposed radially inward of the tubular portion of the casing and rotatable relative to the stator;
with
The rotor is
a rotating shaft extending in the axial direction and inserted into the through hole of the stator;
a pair of discs provided on both sides in the axial direction of the stator with the stator interposed therebetween and coupled to the rotating shaft so as to be non-rotatable relative to and slidable in the axial direction;
a magnet fixed to one of both axial end faces of the disc facing the stator;
a pressing member disposed radially outward of the rotating shaft and inserted into the through hole of the stator to press the pair of discs in a direction away from each other;
has
Between the disk and the first cover arranged on one side in the axial direction of the stator, and between the disk and the second cover arranged on the other side in the axial direction of the stator. A braked motor further comprising a pair of friction plates positioned therebetween. A motor with a brake according to claim 1,
A motor equipped with a brake, comprising a spacer arranged radially outwardly of the pressing member and radially inwardly of the magnet, sandwiched between the pair of discs in the axial direction, and having a through hole in an axial center portion thereof. A motor with a brake according to claim 1 or claim 2,
A motor with a brake, wherein the friction plate is fixed to one of both axial end faces of the disk that does not face the stator. A motor with a brake according to claim 1 or claim 2,
A motor with a brake, wherein the friction plate is fixed to the inner surface of the first lid and the inner surface of the second lid. A motor with a brake according to any one of claims 1 to 4,
A motor with a brake, wherein an outer peripheral surface of the stator is fixed to an inner peripheral surface of the tubular portion. A motor with a brake according to any one of claims 1 to 5,
A motor with a brake, comprising a first bearing arranged between an inner peripheral surface of the casing and an outer peripheral surface of the rotating shaft. A motor with a brake according to claim 6,
A motor with a brake, wherein a gap adjusting member is provided between the first bearing and the inner surface of the lid portion in the axial direction. A motor with a brake according to claim 2,
A motor with a brake, comprising a second bearing disposed between an inner peripheral surface of the through hole of the stator and an outer peripheral surface of the spacer. A motor with a brake according to claim 2,
The disc is
a through-hole passing through the axial center;
a boss extending axially from the inner edge of the through hole of the disc toward the pair of discs;
A motor with a brake, wherein a gap is interposed between an inner peripheral surface of the through hole of the spacer and an outer peripheral surface of the boss portion of the disk so that the spacer and the boss portion can slide with each other. A motor with a brake according to claim 9,
A motor equipped with a brake, comprising a pair of retaining rings attached to the rotating shaft for restricting movement of the disk in a direction approaching the pair of disks. A motor with a brake according to any one of claims 1 to 10,
The rotating shaft axially penetrates the first lid portion and the second lid portion,
A motor with a brake, wherein the rotary shaft has a hollow portion that axially penetrates the shaft center portion. A motor with a brake according to any one of claims 2, 8, 9, and 10,
A motor with a brake, wherein the spacer is made of a resin material. A motor with a brake according to any one of claims 2, 8, 9, 10, and 12,
The spacer is
a small diameter portion disposed inside the through hole of the stator;
large-diameter portions provided on both axial sides of the small-diameter portion with the small-diameter portion sandwiched therebetween;
has
A motor with a brake, wherein the large-diameter portion and the disk are in contact when the stator is energized. A motor with a brake according to any one of claims 1 to 13,
A cover member that covers the first lid portion from one side in the axial direction and has an internal space for mounting an electronic device,
The rotating shaft axially penetrates the first lid,
A motor with a brake, wherein at least one of an encoder, a sensor, and a driver is mounted in the inner space. a casing having a cylindrical portion extending in the axial direction and a lid closing one side of the cylindrical portion in the axial direction;
a partition portion that partitions a space radially inward of the cylindrical portion of the casing into a first space on one side in the axial direction and a second space on the other side in the axial direction;
an electric motor arranged in the first space;
a planetary speed reduction mechanism arranged in the second space;
with
The planetary speed reduction mechanism is
an annular rigid ring fixed to the inner peripheral surface of the casing so as not to rotate relatively, and having an inner abutting portion on the inner peripheral portion;
a rolling element disposed radially inward of the rigid ring, having an outer contact portion that contacts the inner contact portion, and having a mounting portion to which an output member can be mounted;
an input member that is arranged radially inward of the rolling element and rotates to change a contact position between the inner contact portion and the outer contact portion in a circumferential direction;
has
The electric motor
an annular stator having an outer peripheral surface fixed radially inward of the cylindrical portion of the casing and having a through hole axially penetrating through an axial center portion;
a rotor rotatable relative to the stator;
with
The rotor is
a rotating shaft extending in the axial direction and inserted into the through hole of the stator;
a pair of discs provided on both sides in the axial direction of the stator with the stator interposed therebetween and coupled to the rotating shaft so as to be non-rotatable relative to and slidable in the axial direction;
a magnet fixed to one of both axial end faces of the disc facing the stator;
a pressing member disposed radially outward of the rotating shaft and inserted into the through hole of the stator to press the pair of discs in a direction away from each other;
has
The electric motor
Positioned between the disk arranged on one side in the axial direction of the stator and the lid portion, and between the disk arranged on the other side in the axial direction of the stator and the partition portion , further comprising a pair of friction plates,
A braked drive device, wherein the input member and the rotary shaft are non-rotatably coupled. 16. A braked drive device according to claim 15, comprising:
The rotor is
A driving device with a brake, comprising a spacer disposed radially outwardly of the pressing member and radially inwardly of the magnet, sandwiched between the pair of discs in the axial direction, and having a through-hole in an axial center portion thereof. A drive device with a brake according to claim 15 or 16,
A driving device with a brake, wherein the friction plate is fixed to one of both axial end faces of the disk that does not face the stator. A drive device with a brake according to claim 15 or 16,
A driving device with a brake, wherein the friction plate is fixed to an inner surface of the lid portion and an end surface of the partition portion exposed to the first space. A drive device with a brake according to any one of claims 15 to 18,
A drive device with a brake, wherein an outer peripheral surface of the stator is fixed to an inner peripheral surface of the tubular portion. A drive device with a brake according to any one of claims 15 to 19,
The inner contact portion has internal teeth,
The outer contact portion has external teeth,
A drive device with a brake, wherein the internal teeth and the external teeth mesh. A braked drive device according to claim 20, comprising:
the rigid ring is an internal gear;
The rolling element is a planetary gear,
A drive with brake, wherein said input member is a sun gear. A braked drive device according to claim 20, comprising:
the rigid ring is a rigid internal gear;
The rolling element is a flexible external gear,
A drive with brake, wherein the input member is a wave generator. A braked drive device according to claim 20, comprising:
the rigid ring is a rigid internal gear;
The rolling element is an external gear,
A braked drive device, wherein the input member is an input portion and an eccentric portion. A drive device with a brake according to any one of claims 15 to 19,
The inner contact portion has a friction surface,
The outer contact portion has a friction surface,
A driving device with a brake, wherein the friction surface of the inner contact portion and the friction surface of the outer contact portion are in surface contact. 25. A braked drive device according to claim 24,
the rigid ring is an internal ring,
The rolling element is a planetary roller,
A drive with brake, wherein said input member is a sun roller. 17. A braked drive device according to claim 16, comprising:
A drive device with a brake, comprising a second bearing disposed between an inner peripheral surface of the through hole of the stator and an outer peripheral surface of the spacer. 23. A braked drive device according to claim 22, wherein
A drive device with a brake, comprising a third bearing that rotatably supports the rotating shaft radially inward of the flexible external gear. A drive device with a brake according to any one of claims 15 to 27,
A drive device with a brake, comprising a first bearing disposed between an inner peripheral surface of the lid portion and an outer peripheral surface of the rotating shaft. A drive device with a brake according to claim 22 or claim 27,
a disc-shaped attached portion attached to the attaching portion;
a shaft portion extending from the attached portion toward one side in the axial direction;
an output member having
a fourth bearing arranged between the inner peripheral surface of the tubular portion of the casing and the outer peripheral surface of the mounted portion;
A drive with brake, comprising: 30. A braked drive device according to claim 29, comprising:
A drive device with a brake, wherein a fifth bearing is provided between an inner peripheral surface of the input member and an outer peripheral surface of the shaft portion of the output member. A drive device with a brake according to any one of claims 15 to 30,
A driving device with a brake, wherein a seal member is provided between an end surface of the partition portion exposed to the second space and an end surface on one side in the axial direction of the input member or an outer peripheral surface of the input member. 29. A braked drive device according to claim 28, comprising:
A drive device with a brake, comprising a gap adjusting member arranged axially between an inner surface of the lid portion and the first bearing. 30. A braked drive device according to claim 29, comprising:
The rotating shaft has a first hollow portion that axially penetrates the axial center portion, and axially penetrates the partition portion,
the shaft portion of the output member is inserted into the first hollow portion;
The output member has a second hollow portion axially penetrating through the axial center portions of the attached portion and the shaft portion,
A driving device with a brake, wherein one axial end of the shaft extends axially through the lid. A drive device with a brake according to claim 16 or claim 26,
A driving device with a brake, wherein the spacer is made of a resin material. A braked wheel drive, comprising a braked drive according to any one of claims 15 to 34,
an annular flange portion that can be attached to the other end surface of the output member in the axial direction;
a wheel mounting portion cylindrically extending from the outer edge of the flange portion toward one side in the axial direction, covering part or all of the casing, and capable of mounting a wheel radially outward;
A wheel drive with brake, further comprising a wheel having a

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