WO2017164400A1

WO2017164400A1 - Motor with brake, and actuator

Info

Publication number: WO2017164400A1
Application number: PCT/JP2017/012137
Authority: WO
Inventors: 高田　声一
Original assignee: Ntn株式会社
Priority date: 2016-03-25
Filing date: 2017-03-24
Publication date: 2017-09-28

Abstract

As a brake for holding the rotation direction position of an output shaft (13) when a motor (1) is stopped, a reverse input blocking clutch (11) is used having a structure whereby when the motor (1) is rotated, a cam receiver (12) rotates as an integrated unit with a motor shaft (3), and by eccentric rotation of an eccentric cam (14) fitted so as to be relatively rotatable in an eccentric hole (12c) of the cam receiver (12), an output shaft (13) rotates as an integrated unit with the eccentric cam (14), and when the motor (1) is in a stopped state, even when reverse input torque is applied to the output shaft (13), the eccentric rotation by the output shaft (13) around an eccentric axis line (O₂) is regulated and locked by a brake housing (15), thus holding the rotation direction position of the output shaft (13).

Description

Brake motor and actuator

The present invention relates to a motor with a brake provided with a brake for holding the position of a driven member when the motor stops, and an actuator using the motor with a brake.

In a positioning device such as an actuator that operates a driven member by driving a motor, when the motor is stopped to stop the operation of the driven member or when the motor stops due to a power failure or the like When the driven member receives an external force such as gravity and changes its position (posture), various troubles may occur. For this reason, a motor with a brake provided with a brake for holding the position of the driven member when the motor is stopped (hereinafter, a member having the same function as this is also simply referred to as “brake”) is used.

In the motor with a brake as described above, a non-excitation operation type electromagnetic brake is often used as the brake (for example, see

Patent Documents

1 and 2 below). A non-excitation operation type electromagnetic brake generally includes 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 shrunk 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 moved by the elasticity of the spring. By pressing against the brake plate and restricting the rotation of the brake plate and the motor shaft, the position of the driven member that has been driven by the motor until then is held.

JP-A-8-9589 JP 2001-165208 A

In the motor with a brake using the non-excitation operation type electromagnetic brake as described above, it is necessary to always supply electric power to the electromagnet of the brake so that the brake is not applied during the rotation of the motor. there were. Moreover, since the weight of the coil part which comprises the electromagnet of a brake is large, there also existed a difficulty that the whole motor with a brake became heavy.

Therefore, an object of the present invention is to provide a motor with a brake that consumes less power and can be reduced in weight, and an actuator using the motor with a brake.

In order to solve the above-described problems, the present invention provides a brake-equipped motor in which a brake that holds a rotational direction position of an output shaft connected to the motor shaft when the motor is stopped is provided as the brake. 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. A configuration incorporating a reverse input shut-off clutch that stops is adopted.

In other words, as a brake that holds the rotational position of the output shaft when the motor is stopped, a reverse input shut-off clutch that can prevent rotation of the output shaft to which reverse input torque has been applied by a mechanical locking action is used, so that non-excited operation This makes it possible to reduce power consumption and weight compared to those using a type electromagnetic brake.

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 axis of the motor shaft when 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 motor of the input side member is stopped Rotational torque of fairly are able to adopt a 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.

When an input torque is applied to the motor shaft, the cam receiver rotates integrally with the motor shaft, and the eccentric cam fitted in the eccentric hole of the cam receiver and the cam receiver is the motor shaft or the output shaft. When the output shaft rotates integrally with the eccentric cam and reverse input torque is applied to the output shaft, the output side member rotates around the axis of the motor shaft of the input side member. The output shaft is locked by a brake housing that is fixed so as not to rotate, and the rotational torque from the output shaft to the motor shaft is cut off, trying to rotate around the eccentric axis of the eccentric cam. .

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.

In addition to the above, as a means for assisting the realization of the magnitude relationship between the rotational torques of the input side member and the output side member, the cam receiver of the reverse input cutoff clutch has a diameter on a surface facing the motor shaft in the axial direction. A convex connecting portion extending in a direction perpendicular to the eccentric direction of the eccentric cam is provided in a cross section, and the connecting portion of the cam receiver is fitted into a connecting hole provided in the brake side end surface of the motor shaft. In addition, a configuration in which the motor shaft and the cam receiver are coupled so as not to rotate relative to each other, or a configuration in which a rolling bearing that supports the motor shaft is attached to the motor housing in a state of receiving preload can be employed.

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. A state of rotating integrally with the motor shaft In can be employed which are connected.

If the output shaft is rotatably supported by a rolling bearing attached to the brake housing, the output shaft does not come into contact with the brake housing. Therefore, even when a steel material is used as the brake housing material, heat treatment is performed. Such a curing process is not required, the change in dimensional accuracy can be suppressed, and the brake housing can be formed of a material other than steel to reduce the weight of the entire brake.

Further, it is preferable to adopt 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. In this way, while 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. By rotating the manual operation member and rotating the motor shaft, the operator can rotate the output shaft by the same mechanism as when driving the motor and move the driven member connected to the output shaft. .

The actuator of the present invention uses the above-mentioned motor with brake and is connected to a reduction mechanism on the output shaft of the motor with brake.

As described above, the brake motor and actuator of the present invention employs a reverse input cutoff clutch that can prevent rotation of the output shaft to which reverse input torque is applied as a brake by a mechanical locking action. Power saving and weight reduction can be achieved as compared with a conventional non-excitation operation type electromagnetic brake.

Longitudinal front view of the motor with brake of the first embodiment 1 is an exploded perspective view of the main part of FIG. Sectional view along line III-III in FIG. 1 is a cross-sectional view taken along line IV-IV for explaining the operation of the brake in FIG. A longitudinal front view showing a modification incorporating a leaf spring for pressing the cam receiver of FIG. Longitudinal front view of the motor with brake of the second embodiment Fig. 6 is a longitudinal front view showing a modified example of the connection structure between the motor and the brake in Fig. 6. 7A is an exploded perspective view of the main part of FIG. 7A. Longitudinal front view of the motor with brake of the third embodiment Longitudinal front view of the motor with brake of the fourth embodiment Sectional view along line XX in FIG. Sectional drawing explaining operation | movement of a brake corresponding to FIG. Sectional drawing explaining operation | movement of a brake corresponding to FIG. 1 is a longitudinal front view of an actuator in which a motor with a brake according to the first embodiment is partially deformed and incorporated. Longitudinal front view of an actuator incorporating a brake-equipped motor according to the fourth embodiment in a partially deformed manner

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 motor with a brake has a position of a driven member (not shown) that has been driven by the motor 1 until the motor 1 is stopped on one side (output side) of the motor 1. A reverse input cutoff clutch 11 is provided as a brake to be held.

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 motor with a brake 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 a deep groove ball is inserted into the eccentric hole 12c of the cam receiver 12. When the eccentric cam 14 fitted so as to be relatively rotatable via the bearing 17 rotates eccentrically (rotates while rotating), the output shaft 13 rotates together with the eccentric cam 14 and is connected to the output shaft 13. The drive member 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 restricted by the fixed brake housing 15 via the deep groove ball bearing 16, the output shaft 13 is locked and does not rotate, and the rotational position of the output shaft 13 and the driven member. Is retained.

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.

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.

When the torque transmitted from the motor shaft 3 to the output shaft 13 is large, the number of deep groove ball bearings 17 between the cam receiver 12 and the eccentric cam 14 is increased or a large load capacity is used, and the reverse input torque is large. In this case, it is preferable to increase the number of deep groove ball bearings 16 that support the output shaft 13 or use a bearing having a large load capacity.

In this motor with a brake, the reverse input cutoff clutch 11 that prevents the rotation of the output shaft 13 to which the reverse input torque is applied while the motor 1 is stopped is mechanically locked as a brake. Compared to those using non-excitation actuated electromagnetic brakes, power saving and light weight can be achieved, and wiring is unnecessary.

Further, the brake (reverse input cutoff clutch) 11 performs a locking action by using the cogging torque of the motor 1 in a stopped state, and it is not necessary to provide a separate torque load portion, so that it has a simple structure. ing. The output shaft 13 receiving the reverse input torque is locked by being pressed against the inner ring of the deep groove ball bearing 16 and does not come into contact with the brake housing 15. Therefore, a steel material is used as the material of the brake housing 15. Even if it exists, the hardening process of heat processing etc. is unnecessary, the change of a dimensional accuracy can also be suppressed, and the brake housing 15 can be formed with materials other than steel materials, and the weight of the brake 11 whole can also be achieved.

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.

7A and 7B show a modification of the connection structure between the motor 1 and the brake 11 of the second embodiment. In this modification, a convex shape extending in a direction perpendicular to the eccentric direction of the eccentric cam 14 in the radial cross section at the center of the outer surface of the disk portion 12a of the cam receiver 12 (the surface facing the motor shaft 3 in the axial direction). A connecting portion 12d is provided, and the connecting portion 12d is fitted into a connecting hole 3b provided at the center of the end surface on the brake 11 side of the motor shaft 3 so that the motor shaft 3 and the cam receiver 12 are connected so as not to be relatively rotatable. As a result, compared to the example shown in FIG. 6, when reverse input torque is applied to the output shaft 13, the cam receiver 12 easily tilts, and the rotational torque of the input side member increases. It will be possible to lock securely.

In the example of FIG. 6, the brake housing 15 that slides with the cam receiver 12 needs to be formed of a hard material as a whole, but in the modified examples of FIGS. 7A and 7B, the brake housing 15 slides with the cam receiver 12 of the brake housing 15. Since the ring member 15c, which is a separate ring member 15c fitted into the inner periphery of the main body portion 15a, is formed of a hard material and the other portions can be formed of a soft material. The brake housing 15 can be manufactured more easily than in the above example, and the weight can be reduced.

FIG. 8 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. 8, 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 is in contact with stepped

surfaces

3 c and 3 d 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 and the rotational direction position is maintained.

9 to 11B show a fourth embodiment. In this embodiment, a reverse input cutoff clutch 21 having a basic structure different from that of the reverse input cutoff clutch 11 of the first to third embodiments is incorporated as a brake.

As shown in FIGS. 9 and 10, the brake (reverse input cutoff clutch) 21 of the fourth embodiment includes an input shaft 22 connected to the motor shaft 3, an output shaft 24 integrally formed with an inner ring 23, and A two-stage cylindrical brake housing 26 integrally formed with a fixed outer ring 25 disposed radially outside the inner ring 23, and a perforated disk-shaped mounting plate 27 integrally formed on the motor 1 side of the brake housing 26. , A cage 28 having a plurality of pillars 28a inserted between the inner ring 23 and the fixed outer ring 25, a roller 29 and a coil spring 30 incorporated between the inner ring 23 and the fixed outer ring 25, a brake housing 26, etc. It is comprised with the bearing 31 which is engage | inserted by the inner periphery of the small diameter part of an end, and supports the output shaft 24 rotatably. The coil spring 30 can be replaced with a leaf spring.

The mounting plate 27 is formed with a stepped portion having a shape along a stepped portion on one side surface of the motor housing 2 in the middle of the radial direction, and a plurality of mounting holes 27a formed on the outer peripheral side of the stepped portion. The brake housing 26 and the motor housing 2 are fixed together.

The input shaft 22 is serrated on the inner periphery of a connecting hole 22a provided in the center of the end surface on the motor 1 side, and the motor shaft 3 is fitted into the connecting hole 22a by fitting one end 3a of the motor shaft 3 into the motor shaft. 3 and non-rotatable relative to each other. The input shaft 22 includes an engaging portion 22b having a two-sided width (two engaging surfaces parallel to the shaft center and parallel to each other) on the outer periphery, and a small-diameter cylinder protruding from the end surface of the engaging portion 22b. A distal end portion of the engagement portion 22b is inserted into an engagement hole 23a provided in the center of the inner ring 23, and the small-diameter cylindrical portion 22c extends from the bottom of the engagement hole 23a of the inner ring 23. The output shaft 24 is fitted in a circular hole 24 a and rotates around the same axis as the output shaft 24. Here, the engagement hole 23a of the inner ring 23 is formed so that a slight clearance in the rotational direction is generated when the input shaft 22 is inserted, and thereby the rotation of the motor shaft 3 is slightly transmitted via the input shaft 22. Torque transmitting means for transmitting to the output shaft 24 with an angular delay is configured.

Then, the cylindrical portion 28b of the retainer 28 is fitted into the axially central portion of the engaging portion 22b of the input shaft 22 so that the input shaft 22 and the retainer 28 rotate integrally. Thereby, the retainer 28 is also connected to the motor shaft 3 so as to rotate integrally.

The inner periphery of the fixed outer ring 25 is a cylindrical surface, and a plurality of cam surfaces 23b are provided on the outer periphery of the inner ring 23 in the circumferential direction, and the inner peripheral cylindrical surface of the fixed outer ring 25 and each cam surface 23b of the inner ring 23 are A wedge-shaped space 32 that is gradually narrowed on both sides in the circumferential direction is formed therebetween. A pair of rollers 29 is incorporated in each wedge-shaped space 32, and the coil spring 30 is assembled so as to be sandwiched between the pair of rollers 29, and each roller 29 is pushed into a narrow portion of the wedge-shaped space 32. Yes.

Further, on both sides in the circumferential direction of each wedge-shaped space 32 (positions facing the coil spring 30 in the circumferential direction across the roller 29), column portions 28a of the cage 28 are inserted. Thus, when an input torque is applied from the motor shaft 3 to the input shaft 22, the cage 28 rotates integrally with the input shaft 22, and the column portion 28 a of the cage 28 rotates between the pair of rollers 29. The roller 29 on the rear side in the direction is pushed out to the wide part of the wedge-shaped space 32.

In the fourth embodiment that employs the brake (reverse input shut-off clutch) 21 having the above-described configuration, each roller 29 of the brake 21 is pushed into the narrow portion of the wedge-shaped space 32 by the elasticity of the coil spring 30, so that the motor 1 is stopped. Even if a reverse input torque is applied to the output shaft 24 in the state where the output shaft 24 is engaged, the roller 29 on the rear side in the rotational direction engages with the fixed outer ring 25 and the inner ring 23 which is a part of the output shaft 24, so that the output shaft 24 The output shaft 24 and the driven member connected to the output shaft 24 are locked and held in the rotational direction.

On the other hand, when the motor 1 is rotated, first, as shown in FIG. 11A, the column portion of the cage 28 that rotates integrally with the input shaft 22 as the input shaft 22 connected to the motor shaft 3 rotates. 28a pushes the roller 29 on the rear side in the rotational direction against the elastic force of the coil spring 30 to the wide part of the wedge-shaped space 32, so that the engagement between the roller 29 and the fixed outer ring 25 and the inner ring 23 is released. The output shaft 24 is released from the locked state. 11B, when the input shaft 22 further rotates and the engaging portion 22b engages with the engagement hole 23a of the inner ring 23, the rotation of the input shaft 22 is transmitted to the output shaft 24. (At this time, the roller 29 on the front side in the rotational direction moves relative to the wide portion of the wedge-shaped space 32, and therefore does not engage with the fixed outer ring 25 and the inner ring 23).

As described above, also in the fourth embodiment, as in the first to third embodiments, when the motor 1 is rotated, the rotation of the motor shaft 3 is transmitted to the output shaft 24 and the motor 1 is stopped. When reverse input torque is applied to the output shaft 24 in this state, the reverse input cutoff clutch 21 that mechanically locks and stops the output shaft 24 is incorporated as a brake. Power saving and weight reduction can be achieved as compared with the one using.

FIG. 12 shows a partial modification of the structure of the motor with brake according to the first embodiment, and a wave gear device 41 as a speed reduction mechanism and a cross roller bearing are provided between the brake (reverse input cutoff clutch) 11 and a driven member. An actuator incorporating 46 is shown. Hereinafter, the difference between this actuator and the motor with brake of the first embodiment, and the configurations of the wave gear device 41 and the cross roller bearing 46 will be described.

In the motor with a brake of this actuator, a connecting shaft 12d protruding from the other end surface of the cam receiver 12 of the reverse input cutoff clutch 11 is fitted into a connecting hole 3b provided on one end surface of the motor shaft 3, so that the motor shaft 3 and the cam The 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 41 so as not to be relatively rotatable by a serration provided on the outer periphery of the one end portion 13a as will be described later. The reverse input cutoff clutch 11, the wave gear device 41, and the cross roller bearing 46 are integrally supported by the motor housing 2 as will be described later.

The wave gear device 41 includes a rotation transmission shaft 42 connected to the output shaft 13 of the reverse input cutoff clutch 11 on the input side, a wave generator 43 bolted to a flange portion 42a of the rotation transmission shaft 42, and a wave generator. 43, a circular spline 44 disposed on the outer side in the radial direction of 43, and a flex spline 45 having a large diameter portion sandwiched between the wave generator 43 and the circular spline 44.

The rotation transmission shaft 42 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 42a is formed at the other end. The inner periphery of the connecting hole 42b 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 42b. 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 42b of the rotation transmission shaft 42. Due to the elasticity of the leaf spring 20, the cam receiver 12 of the reverse input cut-off clutch 11 is moved through the sliding plate 8 in the axial direction. The motor housing 2 is pressed against one side.

The wave generator 43 is obtained by fitting and fixing an inner ring of a ball bearing 43b on the outer periphery of a cam 43a having an elliptical cross section in the radial direction. The circular spline 44 is an annular component having teeth provided on the inner periphery thereof, and an outer peripheral portion thereof is integrated with the motor housing 2 as will be described later. The flex spline 45 is a thin cup-shaped part formed of a metal elastic body, and teeth that mesh with teeth on the inner periphery of the circular spline 44 are provided on the outer periphery of the large diameter portion, and the cross roller bearing 46 is formed on the small diameter portion. The inner ring 47 is bolted.

Then, when rotation is transmitted from the output shaft 13 of the reverse input cutoff clutch 11 to the rotation transmission shaft 42 and the wave generator 43 rotates integrally with the rotation transmission shaft 42, the inner circumference of the large diameter portion is formed on the outer ring of the ball bearing 43 b of the wave generator 43. When the flex spline 45 pressed is elastically deformed to change the meshing position with the circular spline 44, the flex spline 45 rotates integrally with the inner ring 47 of the cross roller bearing 46 by a difference in the number of teeth with the circular spline 44, A large deceleration rate can be obtained.

The cross roller bearing 46 has a plurality of rollers 49 adjacent to each other in the circumferential direction between an inner ring 47 bolted to the flex spline 45 of the wave gear device 41 and an outer ring 48 bolted to the circular spline 44. They are arranged so that they are orthogonal to each other. The inner ring 47 has

center holes

47a and 47b on both end surfaces, and is connected to the driven member by the center hole 47a on one end surface. A ball bearing 50 that supports the small diameter portion of the rotation transmission shaft 42 of the wave gear device 41 is fitted into a counterbore portion of the center hole 47 b on the other end surface of the inner ring 47 and a center hole of the flex spline 45.

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 41. The spline 44 and the outer ring 48 of the cross roller bearing 46 are also provided with axial holes, and the outer ring 48 of the cross roller bearing 46 is bolted to the motor housing 2 by using these axial holes, whereby the reverse input blocking clutch 11 is provided. The wave gear device 41 and the cross roller bearing 46 are integrally supported by the motor housing 2.

Further, in this actuator, the manual operation member 4 is fixed to the motor shaft 3 by a screw 9 screwed in the radial direction from the outer periphery of the cylindrical portion 4a formed on the other end side. The point that the driven member can be easily moved by rotating the manual operation member 4 to rotate the motor shaft 3 is the same as the motor with brake of the first embodiment.

FIG. 13 shows a partial modification of the structure of the motor with brake according to the fourth embodiment. Between the brake (reverse input cutoff clutch) 21 and the driven member, a wave gear device 41 similar to that in FIG. An actuator incorporating a cross roller bearing 46 is shown. Hereinafter, the difference between the fourth embodiment of the motor with brake of this actuator and the difference between the wave gear device 41 and the cross roller bearing 46 of FIG. 12 will be described.

In the motor with a brake of this actuator, the input shaft 22 of the reverse input cutoff clutch 21 is formed integrally with the motor shaft 3 so that the connection between the two is unnecessary and the size is reduced. Further, the inner ring 23 and the output shaft 24 of the reverse input cut-off clutch 21 are integrally formed with the rotation transmission shaft 42 of the wave gear device 41 to simplify the structure. And the small diameter cylindrical part 22c of the input shaft 22 penetrates the circular hole 24a of the output shaft 24 integrally formed in the inner peripheral side of the rotation transmission shaft 42 rotatably.

12, the brake housing 26 has an axial hole in the outer peripheral portion and is integrated with the motor housing 2 together with the circular spline 44 of the wave gear device 41 and the outer ring 28 of the cross roller bearing 46. ing. In the motor with a brake according to the fourth embodiment, the bearing 31 that supports the output shaft 24 is fitted on the inner peripheral side of the brake housing 26. In this actuator, the inner ring 23 is directly connected to the inner peripheral portion of the brake housing 26. I support it.

Further, the wave gear device 41 omits the small-diameter portion of the rotation transmission shaft 42 and the bearing 50 that supports the rotation transmission shaft 42 in FIG. 12, and the cross roller bearing 46 is a central hole for connection with the driven member of the inner ring 47. The point which penetrates 47a to an axial direction differs from the thing of FIG. On the other hand, the manual operation member 4 is fixed to the motor shaft 3 with a screw 9 screwed in the radial direction from the outer periphery of the cylindrical portion 4a formed on the other end side, as in FIG.

In addition to the above, the shape, size ratio, etc. of the constituent members of the reverse input cutoff clutch 21 are slightly different from those of the motor with brake of the fourth embodiment, but the function of each member and the operation of the reverse input cutoff clutch 21 as a whole. These are the same as the motor with a brake of the fourth embodiment.

Since the actuators shown in FIGS. 12 and 13 incorporate the motors with brakes of the first and fourth embodiments, respectively, as described above, the driven roller is moved from the driven member while the motor 1 is stopped. When reverse input torque is applied to the

output shafts

13 and 24 via the bearing 46 and the wave gear device 41, the

output shafts

13 and 24 are locked, and each member from the

output shafts

13 and 24 to the driven members is locked. When the rotation direction position is maintained and the motor 1 is rotated, the

output shafts

13 and 24 are released from the locked state, and the members from the

output shafts

13 and 24 to the driven members also rotate. Even when the motor 1 is stopped, the driven member can be easily moved by rotating the manual operation member 4.

1 Motor 2 Motor housing (fixing member)
3 Motor shaft 3b Connecting hole 4 Manual operation member 6 Angular contact ball bearing 7 Belleville spring 11 Brake (reverse input cutoff clutch)
12 Cam receiver

12c Eccentric hole

12d Connecting part 13 Output shaft 14 Eccentric cam 15

Brake housing

16, 17 Deep groove ball bearing (rolling bearing)
20 Leaf spring (elastic member)
21 Brake (reverse input cutoff clutch)
22 Input shaft 23 Inner ring 24 Output shaft 25 Fixed outer ring 26 Brake housing 28 Cage 28a Pillar part 29 Roller 30 Coil spring 32 Wedge-shaped space 41 Wave gear device (reduction mechanism)
46 Crossed roller bearing

Claims

In a motor with a brake provided with a brake that holds the rotational direction position of an output shaft connected to the motor shaft when the motor stops,
As the brake, 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 A motor with a brake, which incorporates a reverse input cutoff clutch that locks and stops the motor.
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. Rolling torque, which is set larger than the rotational torque of the eccentric axis about the eccentric cam of the output-side member,
When an input torque is applied to the motor shaft, the cam receiver rotates integrally with the motor shaft, and the eccentric cam fitted in the eccentric hole of the cam receiver and the cam receiver is the motor shaft or the output shaft. The output shaft rotates together with the eccentric cam,
When reverse input torque is applied to the output shaft, the output side member is restrained by the rotational torque of the input side member around the axis of the motor shaft and rotates around the eccentric axis of the eccentric cam. 2. The motor with a brake according to claim 1, wherein the output shaft is locked by a brake housing that is impossiblely fixed, and rotational torque from the output shaft to the motor shaft is interrupted.
The brake member 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 outward of the cam receiver. motor.
4. A motor with a brake 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 cam receiver of the reverse input shut-off clutch is provided with a convex coupling portion extending in a direction perpendicular to the eccentric direction of the eccentric cam in a radial section on a surface facing the motor shaft in the axial direction, 3. The motor shaft and the cam receiver are connected so as not to be relatively rotatable by fitting a connecting portion of the cam receiver into a connecting hole provided in a brake side end surface of the motor shaft. Motor with brake.
The motor with a brake according to claim 2, wherein the rolling bearing for supporting 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 that incorporates rollers and pushes each roller into a narrow portion of the wedge-shaped space is incorporated, and a cage having column portions inserted on both sides in the circumferential direction of each wedge-shaped space is in a state of rotating integrally with the motor shaft. It is connected Motor with brake according to claim 1, wherein the.
The motor with a brake according to any one of claims 1 to 7, wherein the output shaft is rotatably supported by a rolling bearing attached to a brake housing.
The brake-equipped motor according to any one of claims 1 to 8, wherein a manual operation member is attached to an end portion of the motor shaft opposite to the side connected to the output shaft so as not to be relatively rotatable. .
An actuator comprising the motor with a brake according to any one of claims 1 to 9 and a speed reduction mechanism connected to an output shaft of the motor with the brake.