WO2017164400A1 - Moteur avec frein, et actionneur - Google Patents

Moteur avec frein, et actionneur Download PDF

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Publication number
WO2017164400A1
WO2017164400A1 PCT/JP2017/012137 JP2017012137W WO2017164400A1 WO 2017164400 A1 WO2017164400 A1 WO 2017164400A1 JP 2017012137 W JP2017012137 W JP 2017012137W WO 2017164400 A1 WO2017164400 A1 WO 2017164400A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
output shaft
brake
shaft
cam
Prior art date
Application number
PCT/JP2017/012137
Other languages
English (en)
Japanese (ja)
Inventor
高田　声一
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2016061880A external-priority patent/JP2017175850A/ja
Priority claimed from JP2017047033A external-priority patent/JP2017184602A/ja
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2017164400A1 publication Critical patent/WO2017164400A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C25/00—Bearings for exclusively rotary movement adjustable for wear or play
    • F16C25/06—Ball or roller bearings
    • F16C25/08—Ball or roller bearings self-adjusting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D1/00—Couplings for rigidly connecting two coaxial shafts or other movable machine elements
    • F16D1/02—Couplings for rigidly connecting two coaxial shafts or other movable machine elements for connecting two abutting shafts or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D41/00—Freewheels or freewheel clutches
    • F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
    • F16D41/064—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls
    • F16D41/066—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls all members having the same size and only one of the two surfaces being cylindrical
    • F16D41/067—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface the intermediate members wedging by rolling and having a circular cross-section, e.g. balls all members having the same size and only one of the two surfaces being cylindrical and the members being distributed by a separate cage encircling the axis of rotation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D41/00—Freewheels or freewheel clutches
    • F16D41/06—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface
    • F16D41/08—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action
    • F16D41/10—Freewheels or freewheel clutches with intermediate wedging coupling members between an inner and an outer surface with provision for altering the freewheeling action with self-actuated reversing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D67/00—Combinations of couplings and brakes; Combinations of clutches and brakes
    • F16D67/02—Clutch-brake combinations
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • H02K7/112—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction clutches in combination with brakes

Definitions

  • 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.
  • a positioning device such as an actuator that operates a driven member by driving a motor
  • the 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
  • the driven member receives an external force such as gravity and changes its position (posture)
  • an external force such as gravity and changes its position (posture)
  • various troubles may occur.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cam receiver 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 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. .
  • the cam receiver 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. 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
  • 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.
  • 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.
  • 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.
  • 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.
  • the cam receiver 12 may not be brought into sliding contact with the motor housing 2.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the driven roller is moved from the driven member while the motor 1 is stopped.
  • the output shafts 13 and 24 are locked, and each member from the output shafts 13 and 24 to the driven members is locked.
  • 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.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Braking Arrangements (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

En tant que frein pour maintenir la position de direction de rotation d'un arbre de sortie (13) lorsqu'un moteur (1) est arrêté, un embrayage de blocage d'entrée inverse (11) est utilisé ayant une structure par laquelle, lorsque le moteur (1) est mis en rotation, un récepteur de came (12) tourne sous la forme d'une unité intégrée avec un arbre de moteur (3), et par rotation excentrique d'une came excentrique (14) montée de façon à être relativement rotative dans un trou excentrique (12c) du récepteur de came (12), un arbre de sortie (13) tourne sous la forme d'une unité intégrée avec la came excentrique (14), et lorsque le moteur (1) est dans un état arrêté, même lorsqu'un couple d'entrée inversé est appliqué à l'arbre de sortie (13), la rotation excentrique par l'arbre de sortie (13) autour d'une ligne d'axe excentrique (O2) est régulée et verrouillée par un boîtier de frein (15), maintenant ainsi la position de direction de rotation de l'arbre de sortie (13).
PCT/JP2017/012137 2016-03-25 2017-03-24 Moteur avec frein, et actionneur WO2017164400A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2016061880A JP2017175850A (ja) 2016-03-25 2016-03-25 アクチュエータ
JP2016-061880 2016-03-25
JP2016063740 2016-03-28
JP2016-063740 2016-03-28
JP2017047033A JP2017184602A (ja) 2016-03-28 2017-03-13 ブレーキ付モータ
JP2017-047033 2017-03-13

Publications (1)

Publication Number Publication Date
WO2017164400A1 true WO2017164400A1 (fr) 2017-09-28

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ID=59900437

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/012137 WO2017164400A1 (fr) 2016-03-25 2017-03-24 Moteur avec frein, et actionneur

Country Status (1)

Country Link
WO (1) WO2017164400A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021139434A (ja) * 2020-03-05 2021-09-16 株式会社オリジン ロックタイプ双方向クラッチ
CN114233771A (zh) * 2021-11-26 2022-03-25 人本股份有限公司 可改变止动方向的单向轴承

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05122890A (ja) * 1991-10-29 1993-05-18 Nippon Parusumootaa Kk 出力軸シール型直動アクチユエータ
JP2006105186A (ja) * 2004-10-01 2006-04-20 Naoto Akeboshi リニアアクチュエータ
JP4141812B2 (ja) * 2002-11-26 2008-08-27 Ｎｔｎ株式会社 逆入力遮断クラッチ
JP2014134269A (ja) * 2013-01-11 2014-07-24 Asmo Co Ltd クラッチ装置及びパワーウィンドウ駆動装置
WO2017061306A1 (fr) * 2015-10-07 2017-04-13 Ntn株式会社 Embrayage de découplage à entrée inversée

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05122890A (ja) * 1991-10-29 1993-05-18 Nippon Parusumootaa Kk 出力軸シール型直動アクチユエータ
JP4141812B2 (ja) * 2002-11-26 2008-08-27 Ｎｔｎ株式会社 逆入力遮断クラッチ
JP2006105186A (ja) * 2004-10-01 2006-04-20 Naoto Akeboshi リニアアクチュエータ
JP2014134269A (ja) * 2013-01-11 2014-07-24 Asmo Co Ltd クラッチ装置及びパワーウィンドウ駆動装置
WO2017061306A1 (fr) * 2015-10-07 2017-04-13 Ntn株式会社 Embrayage de découplage à entrée inversée

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021139434A (ja) * 2020-03-05 2021-09-16 株式会社オリジン ロックタイプ双方向クラッチ
CN114233771A (zh) * 2021-11-26 2022-03-25 人本股份有限公司 可改变止动方向的单向轴承
CN114233771B (zh) * 2021-11-26 2024-02-02 人本股份有限公司 可改变止动方向的单向轴承

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