JP2014020515A - Brake device, driving system, and robot - Google Patents

Abstract

An object of the present invention is to increase the certainty of holding an arm or the like.
A brake device according to an embodiment includes a brake disk, a plurality of armatures, a moving mechanism, a plurality of locked portions, and a plurality of locking portions. The brake disk rotates as the shaft of the rotating electrical machine rotates. The plurality of armatures are arranged to face the brake disc. The moving mechanism moves the plurality of armatures relative to the brake disk. The plurality of locked portions are provided at a predetermined pitch with respect to the armature side plate surface of the brake disc. The plurality of locking portions are provided at pitches that can be engaged with the locked portions with respect to the plate surfaces on the brake disk side of the plurality of armatures. And the phase of the latching | locking part formed in at least 1 among several armatures differs from the phase of the latching | locking part formed in another armature.
[Selection] Figure 7A

Description

  The disclosed embodiments relate to a brake device, a drive system, and a robot.

  Conventionally, robots equipped with motors are frequently used in production sites. A motor that drives a movable part such as an arm of a robot may be provided with a brake device that uses frictional force to stop the rotation of the motor, and the position of the movable part such as an arm is held by such a brake device. It is said.

JP 2008-307618 A

  In the brake device described above, the braking force may be reduced due to, for example, deterioration over time due to wear of a brake shoe or the addition of oil and fat, and it may be difficult to hold a movable part such as an arm.

  For this reason, at present, for example, maintenance of the brake device is regularly performed, and replacement work is performed as necessary before the braking force is reduced. However, the movable part such as the arm is more reliably held. It is desirable to be done.

  One aspect of the embodiments has been made in view of the above, and an object thereof is to provide a brake device, a drive system, and a robot that can increase the certainty of holding an arm or the like.

  A brake device according to an aspect of an embodiment includes a brake disk, a plurality of armatures, a moving mechanism, a plurality of locked portions, and a plurality of locking portions. The brake disk rotates as the shaft of the rotating electrical machine rotates. The plurality of armatures are arranged to face the brake disc. The moving mechanism moves the plurality of armatures relative to the brake disk. The plurality of locked portions are provided at a predetermined pitch with respect to the armature side plate surface of the brake disc. The plurality of locking portions are provided at pitches that can be engaged with the locked portions with respect to the plate surfaces on the brake disk side of the plurality of armatures. And the phase of the latching | locking part formed in at least 1 among several armatures differs from the phase of the latching | locking part formed in another armature.

  Moreover, the drive system which concerns on the one aspect | mode of embodiment is provided with a rotary electric machine and the brake device which controls rotation of the shaft of a rotary electric machine. The brake device includes a brake disk, a plurality of armatures, a moving mechanism, a plurality of locked portions, and a plurality of locking portions. The brake disk rotates as the shaft of the rotating electrical machine rotates. The plurality of armatures are arranged to face the brake disc. The moving mechanism moves the plurality of armatures relative to the brake disk. The plurality of locked portions are provided at a predetermined pitch with respect to the armature side plate surface of the brake disc. The plurality of locking portions are provided at pitches that can be engaged with the locked portions with respect to the plate surfaces on the brake disk side of the plurality of armatures. And the phase of the latching | locking part formed in at least 1 among several armatures differs from the phase of the latching | locking part formed in another armature.

  A robot according to one aspect of the embodiment includes the drive system according to one aspect of the embodiment, and changes or holds the posture using the drive system.

  According to one aspect of the embodiment, the certainty of holding an arm or the like can be increased.

FIG. 1 is a schematic perspective view of the robot according to the first embodiment. FIG. 2 is a schematic side view of the robot. FIG. 3 is a schematic cross-sectional view showing the configuration of the motor, the speed reducer, and the external brake. FIG. 4 is a schematic front view showing the configuration of the brake disc. FIG. 5 is a schematic front view showing the configuration of the first armature and the second armature. FIG. 6 is a diagram for explaining the phase shift of the locking portion. FIG. 7A is an explanatory diagram of an engaging operation between the first meshing portion and the second meshing portion. FIG. 7B is an explanatory diagram of an engaging operation between the first meshing portion and the second meshing portion. FIG. 8 is a diagram illustrating operation timings of the first armature and the second armature. FIG. 9 is a diagram illustrating an example of a power supply line to the first coil. FIG. 10 is a schematic cross-sectional view showing the configuration of the external brake according to the second embodiment. FIG. 11A is a diagram illustrating another arrangement example of the first armature and the second armature. FIG. 11B is a diagram illustrating another arrangement example of the first armature and the second armature. FIG. 12 is a diagram illustrating a configuration of the first armature provided in the external brake according to the fourth embodiment. FIG. 13 is a schematic perspective view of a robot according to the fifth embodiment.

  Hereinafter, embodiments of a brake device, a drive system, and a robot disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

(First embodiment)
First, the configuration of the robot according to the first embodiment will be described with reference to FIG. FIG. 1 is a schematic perspective view of the robot according to the first embodiment. Hereinafter, for convenience of explanation, the positional relationship of each part in the robot 1 will be described assuming that the turning position of the robot 1 is in the state shown in FIG. In the following description, the Z-axis direction is the vertical direction.

  Here, an example in which the robot 1 is a transfer robot including two hand units will be described, but the number of hand units is not limited thereto. For example, the present invention can be applied to a transfer robot having a single hand unit. In addition, here, a description will be given by taking a thin plate-like workpiece such as a glass substrate for liquid crystal or a substrate for photovoltaic power generation as an example of the object to be conveyed by the hand unit, but the object to be conveyed is limited to this. Absent.

  As shown in FIG. 1, the robot 1 includes a turning mechanism 10, an elevating mechanism 20, and a horizontal arm unit 30.

  The turning mechanism 10 includes a base 11 and a turntable 12. The base 11 is installed on a floor surface, for example. A swivel base 12 is attached to the upper part of the base 11 so as to be pivotable about a swivel axis O. The swivel base 12 swivels around a swivel axis O that is a vertical axis. As the turntable 12 turns, the elevating mechanism 20 and the horizontal arm unit 30 turn about the turning axis O.

  The elevating mechanism 20 includes a column 21 and a leg unit 22. The column 21 is a member that is erected in the vertical direction from the tip of the swivel base 12. The leg unit 22 is a member that is supported at the distal end portion of the support column 21 at the proximal end portion and supports the horizontal arm unit 30 at the distal end portion. The elevating mechanism 20 moves the horizontal arm unit 30 up and down along an axis parallel to the turning axis O by changing the posture of the leg unit 22.

  The leg unit 22 includes a first lifting arm 24 and a second lifting arm 26. The first lifting / lowering arm 24 is connected to the distal end portion of the support column 21 via the first joint portion 23 at the base end portion. Thus, the first lifting / lowering arm 24 is rotatably supported by the distal end portion of the support column 21 around the joint axis of the first joint portion 23 that is a horizontal axis.

  The base of the second lifting arm 26 is connected to the distal end of the first lifting arm 24 via the second joint 25. As a result, the second lifting arm 26 is rotatably supported by the distal end portion of the first lifting arm 24 around the joint axis of the second joint portion 25 that is a horizontal axis.

  The horizontal arm unit 30 is connected to the distal end portion of the second lifting arm 26 via the third joint portion 27. As a result, the horizontal arm unit 30 is rotatably supported by the distal end portion of the second lifting / lowering arm 26 around the joint axis of the third joint portion 27 that is a horizontal axis.

  As described above, the robot 1 according to the first embodiment supports the horizontal arm unit 30 using one leg unit 22. For this reason, a structure can be simplified compared with the case where the horizontal arm unit 30 is supported by two or more raising / lowering arm units.

  The horizontal arm unit 30 includes a lower arm unit 31a and an upper arm unit 31b. The lower arm unit 31a includes a hand portion 33a, an arm portion 32a, and a lower support member 34a. The hand unit 33a places a thin plate-like workpiece W, which is an object to be transported. The arm portion 32a is supported at the base end portion by the lower support member 34a, and supports the hand portion 33a at the distal end portion. The lower support member 34 a is supported at the tip of the second lifting arm 26 so as to be rotatable about the joint axis of the third joint portion 27. A base end portion of the upper support member 34b is fixed to the lower support member 34a, and a base end portion of the arm portion 32a is rotatably supported.

  The upper arm unit 31b includes a hand portion 33b, an arm portion 32b, and an upper support member 34b. The hand portion 33b places a thin plate-like workpiece W (not shown) that is an object to be transported. The arm portion 32b has a proximal end portion rotatably supported by the upper support member 34b, and supports the hand portion 33b at the distal end portion. The upper end of the upper support member 34 b is coupled to the base end of the lower support member 34 a and is supported rotatably about the joint axis of the third joint portion 27.

  The horizontal arm unit 30 moves the hand portions 33a and 33b in a predetermined direction by expanding and contracting the arm portions 32a and 32b. For example, when the robot 1 is at the turning position shown in FIG. 1, the arm portions 32a and 32b move the hand portions 33a and 33b linearly in the positive direction or the negative direction in the X direction.

  The robot 1 according to the first embodiment, for example, takes out a work W stored in a stocker (not shown) from the stocker as follows and transports it to a transport position (not shown). In addition, although the case where the workpiece | work W is scooped up and conveyed here is demonstrated by the hand part 33a, the conveyance by the hand part 33b is also the same.

  First, the robot 1 raises or lowers the horizontal arm unit 30 by the elevating mechanism 20, thereby positioning the hand portion 33a at a height slightly lower than the height of the workpiece W that is stored in the stocker and is to be taken out. In the stocker, for example, the workpieces W are stacked and stored at a certain interval between the height near the ceiling of the factory where the robot 1 is installed and the height near the floor.

  Subsequently, the robot 1 drives the arm portion 32a to linearly move the hand portion 33a in the horizontal direction to allow the hand portion 33a to enter the stocker that stores the workpiece W. The arm unit 30 is raised. Thereby, the workpiece | work W is mounted on the hand part 33a.

  Subsequently, the robot 1 retracts the hand portion 33a on which the workpiece W is placed linearly in the horizontal direction from the stocker by contracting the arm portion 32a. Thereafter, the robot 1 causes the turning mechanism 10 to turn the horizontal arm unit 30 and the lifting mechanism 20 so that the distal end portion of the hand portion 33a faces the transfer position of the workpiece W.

  Subsequently, the robot 1 extends the arm portion 32a again to linearly move the hand portion 33a in the horizontal direction, and causes the hand portion 33a to enter above the transport position. Then, the robot 1 lowers the horizontal arm unit 30 by the lifting mechanism 20. As a result, the position of the hand portion 33a is lowered, and the work W is placed at the transport position.

  As described above, the robot 1 conveys the workpiece W by moving the hand portions 33a and 33b by extending and contracting the arm portions 32a and 32b, raising and lowering the horizontal arm unit 30 by the elevating mechanism 20, and turning the horizontal arm unit 30 by the turning mechanism 10. I do.

  Such an operation of the robot 1 is performed by an instruction from the control device 5 connected to the robot 1 via a communication network.

  The control device 5 is a control device that performs drive control of the robot 1. Specifically, motors are provided in the joint portions 23, 25, and 27 of the robot 1, and the control device 5 instructs driving of these motors. The robot 1 drives the turning mechanism 10, the elevating mechanism 20, and the horizontal arm unit 30 by rotating each motor individually by an arbitrary angle in accordance with an instruction from the control device 5. As a communication network for connecting the robot 1 and the control device 5, for example, a general network such as a wired LAN (Local Area Network) or a wireless LAN can be used. In addition, although illustration is abbreviate | omitted here, the same motor is provided also in the turntable 12 and arm part 32a, 32b, and the control apparatus 5 also performs the drive instruction | indication of these motors.

  Here, the motor incorporates, for example, a brake device (hereinafter referred to as “internal brake”) for restricting the rotation of the motor when the drive power supply is shut off. Also, a brake device (hereinafter referred to as “external brake”) for restricting the rotation of the motor is provided outside the motor.

  In the first embodiment, non-excitation actuated electromagnetic brakes are used as the internal brake and the external brake. The non-excitation actuated electromagnetic brake is a brake device having a mechanism in which a braking force is released by an electromagnetic force when power is supplied and a braking force is applied by a mechanical action such as a spring when the power is shut off. With these brake devices, the posture of the robot 1 is maintained, and positional deviation of the elevating mechanism 20 and the horizontal arm unit 30 is prevented.

  In general, the brake device stops the rotation of the motor by using a frictional force. For this reason, the braking force may decrease due to, for example, deterioration over time due to wear of the brake shoes or the addition of oil or fat. Conventionally, for example, maintenance is performed periodically, and replacement work is performed as necessary, thereby preventing a positional shift of the elevating mechanism 20 or the like due to a decrease in braking force of the brake. However, it is desirable to prevent the displacement of the lifting mechanism 20 and the like more reliably.

  In particular, the robot 1 according to the first embodiment is a type of robot that supports the horizontal arm unit 30 with one leg unit 22 as shown in FIG. For this reason, the configuration can be simplified as compared with a robot of a type that supports a horizontal arm unit with two or more leg units, but when the braking force of the brake is reduced, the position of the lifting mechanism or the like is displaced. It is easy to generate. Further, like the robot 1 according to the first embodiment, a robot that transports a glass substrate for liquid crystal or a substrate for photovoltaic power generation has an enlarged arm as the size of the substrate increases. Therefore, the weighted arm is more likely to be displaced.

  Therefore, the robot 1 according to the first embodiment increases the certainty of holding the lifting mechanism 20 or the like by adopting a brake device that stops the motor using not only the frictional force but also the shearing force as an external brake. It was.

  Below, the structure and operation | movement of an internal brake with which the robot 1 which concerns on 1st Embodiment is provided are demonstrated concretely. In the following, an example in which the internal brake and the external brake are non-excitation actuating electromagnetic brakes will be described, but the internal brake and the external brake are not limited to non-excitation actuating electromagnetic brakes.

  FIG. 2 is a schematic side view of the robot 1. As shown in FIG. 2, the robot 1 includes a first joint part 23, a second joint part 25, and a third joint part 27. The first joint portion 23 is a joint portion that connects the proximal end portion of the first lifting arm 24 and the distal end portion of the support column 21. The second joint portion 25 is a joint portion that connects the base end portion of the second lifting arm 26 and the distal end portion of the first lifting arm 24. The third joint portion 27 is a joint portion that connects the horizontal arm unit 30 and the distal end portion of the second lifting arm 26.

  The first joint portion 23 is provided with a motor 41a, a speed reducer 42a, and an external brake 44a. The second joint portion 25 is provided with a motor 41b, a speed reducer 42b, and an external brake 44b. The third joint portion 27 is provided with a motor 41c, a speed reducer 42c, and an external brake 44c. And each motor 41a-41c incorporates the internal brakes 43a-43c.

  A drive system is configured including these motors 41a to 41c, external brakes 44a to 44c, internal brakes 43a to 43c, and speed reducers 42a to 42c. The drive system only needs to include at least one of the motors 41a to 41c and one external brake 44a to 44c corresponding thereto. The motors 41a to 41c are examples of rotating electrical machines.

  In the first joint portion 23, the rotation of the motor 41a is decelerated by the speed reducer 42a and output, whereby the first lifting arm 24 rotates and the posture of the first lifting arm 24 with respect to the column 21 changes. Further, in the first joint portion 23, when the power supply is cut off, the posture of the first lifting / lowering arm 24 with respect to the column 21 is maintained by operating the internal brake 43a and the external brake 44a.

  In the second joint portion 25, the rotation of the motor 41 b is decelerated by the speed reducer 42 b and output, whereby the second lifting arm 26 rotates and the posture of the second lifting arm 26 with respect to the first lifting arm 24. Changes. In the second joint portion 25, when the power supply is cut off, the posture of the second lifting / lowering arm 26 with respect to the first lifting / lowering arm 24 is maintained by operating the internal brake 43b and the external brake 44b.

  In the third joint portion 27, the rotation of the motor 41c is decelerated and output by the speed reducer 42c, whereby the horizontal arm unit 30 rotates and the posture of the horizontal arm unit 30 with respect to the second lifting / lowering arm 26 changes. In the third joint portion 27, when the power supply is cut off, the posture of the horizontal arm unit 30 with respect to the second lifting / lowering arm 26 is maintained by operating the internal brake 43c and the external brake 44c.

  In addition, although illustration is abbreviate | omitted here, the drive system similar to the 1st joint part 23-the 3rd joint part 27 is provided also in the joint part which connects the base 11 and the swivel base 12. FIG. With this drive system, the swivel base 12 swivels about the swivel axis O, and the swivel base 12 swivels, so that the lifting mechanism 20 and the horizontal arm unit 30 swivel about the swivel axis O. Thus, the base 11 and the turntable 12 are an example of a turning mechanism that turns the lifting mechanism 20 using a drive system.

  Next, specific configurations of the motors 41a to 41c, the speed reducers 42a to 42c, and the external brakes 44a to 44c will be described. Here, as an example, the configuration of the motor 41a, the speed reducer 42a, and the external brake 44a provided in the first joint portion 23 will be described with reference to FIG. FIG. 3 is a schematic cross-sectional view showing the configuration of the motor 41a, the speed reducer 42a, and the external brake 44a.

  As shown in FIG. 3, in the first joint portion 23, the motor 41 a is fixed to the support column 21, and the speed reducer 42 a is fixed to the first lifting / lowering arm 24. The external brake 44a is disposed opposite to the motor 41a via the speed reducer 42a, and is fixed to the speed reducer main body 421 of the speed reducer 42a.

  The motor 41a includes a shaft 51, a housing 52, a stator 53, a rotor 54, and an internal brake 43a. The shaft 51 is rotatably supported by the housing 52 via a bearing 56.

  A stator 53 is fixed to the inner periphery of the housing 52. The stator 53 includes a stator core 53a and a stator winding 53b. Further, on the inner peripheral side of the stator 53, a rotor 54 is disposed so as to face the gap. The rotor 54 includes a cylindrical rotor core 54 a provided on the outer peripheral surface of the shaft 51, and a plurality of permanent magnets 54 b arranged on the outer peripheral side of the rotor core 54 a, and rotates coaxially with the shaft 51.

  In the motor 41 a configured as described above, a current flows through the stator winding 53 b of the stator 53, so that a rotating magnetic field is generated inside the stator 53. The rotor 54 rotates due to the interaction between the rotating magnetic field and the magnetic field generated by the permanent magnet 54 b of the rotor 54, and the shaft 51 rotates as the rotor 54 rotates.

  The internal brake 43 a is provided on the opposite side of the shaft 51. The internal brake 43a is a general non-excitation operation type electromagnetic brake, and includes a brake disc 61, a brake shoe 62 (corresponding to a friction member), an armature 63, a side plate 64, a spring 65, a coil 66, Is provided.

  In the internal brake 43a, when a voltage is applied to the coil 66, the armature 63 is magnetically attracted against the spring 65, and the space between the armature 63 and the brake shoe 62 is opened. Thereby, the shaft 51 is released from the braking force and becomes rotatable. On the other hand, when the power supply is cut off and the non-excited state is established, the armature 63 moves to the brake shoe 62 side by the force of the spring 65, and the brake shoe 62 is pressed by the armature 63 and the side plate 64 to generate a braking force. As a result, the shaft 51 is in a state in which the rotation is restricted.

  The speed reducer 42 a is connected to the load side of the shaft 51. The speed reducer 42 a is, for example, a planetary gear type speed reducer, and an input shaft 422, a sun gear 423, a planetary gear 424, and an output shaft 425 are disposed in the speed reducer main body 421. The input shaft 422 is connected to the shaft 51 and rotates integrally and coaxially with the shaft 51. The sun gear 423 is fixed to the input shaft 422, and the center axis thereof is the same as the center axis of the shaft 51. The planetary gear 424 is rotatably disposed between the inner peripheral surface of the speed reducer main body 421 and the outer peripheral surface of the sun gear 423. The output shaft 425 has a proximal end connected to the rotational center position of the planetary gear 424 and a distal end fixed to the column 21.

  In the speed reducer 42 a configured as described above, when the input shaft 422 rotates integrally with the shaft 51, the sun gear 423 rotates with the rotation of the input shaft 422, and the planetary gear 424 with the rotation of the sun gear 423. Revolves around the sun gear 423 while rotating. As the planetary gear 424 revolves, the output shaft 425 rotates, so that the posture of the first lifting / lowering arm 24 with respect to the column 21 changes.

  Note that the speed reducer 42a only needs to be capable of reducing the rotation of the shaft 51 and outputting it, and the configuration is not limited to that shown in FIG.

  Next, the configuration of the external brake 44a will be described. The external brake 44a is a brake device that is disposed at a position facing the motor 41a via the speed reducer 42a and restricts the rotation of the shaft 51 by restricting the rotation of the input shaft 422 of the speed reducer 42a. As described above, the external brake 44a according to the first embodiment regulates the rotation of the motor using not only the frictional force but also the shearing force.

  The external brake 44a includes a brake disc 71, a side plate 72, two first armatures 73A and 73B, two first springs 74A and 74B (corresponding to a biasing member), and a first coil 75 (an electromagnetic coil). Equivalent) and a first guide 76. The external brake 44a includes a second armature 77, a second spring 78 (corresponding to a second urging member), a second coil 79 (corresponding to a second electromagnetic coil), and a second guide 80.

  The brake disc 71 is an annular member having an inner peripheral surface formed in the shape of an internal gear. The brake disk 71 is rotated integrally with the input shaft 422 by the inner peripheral surface meshing with a spline portion 422a formed on the input shaft 422 of the speed reducer 42a, and along the extending direction of the input shaft 422. It is movable.

  A brake shoe 131 and a first engagement portion 132 are provided on the plate surface of the brake disc 71. These configurations will be described with reference to FIG. FIG. 4 is a schematic front view showing the configuration of the brake disc 71.

  The brake shoe 131 is a member formed of a material having a high frictional resistance such as rubber, for example, and is provided in an annular shape along the circumferential direction in the vicinity of the outer peripheral portion of the brake disk 71 as shown in FIG. The brake shoes 131 are provided on both surfaces of the brake disc 71 (see FIG. 3), and generate frictional force by contacting the side plate 72 and the second armature 77 during braking.

  The first engagement portion 132 is a member provided on the plate surface of the brake disc 71 on the side where the first armatures 73 </ b> A and 73 </ b> B and the second armature 77 are disposed, and is provided on the inner peripheral side of the brake shoe 131.

  The first meshing portion 132 has a plurality of locked portions 132a. The locked portion 132 a is a portion that protrudes substantially perpendicular to the plate surface of the brake disc 71 (here, the negative direction of the X axis), and extends along the radial direction of the brake disc 71. The locked portions 132 a are provided radially at a predetermined pitch along the rotation direction of the brake disc 71. Here, the shape of the locked portion 132a is assumed to be trapezoidal, but the shape of the locked portion 132a may be, for example, an involute shape.

  Returning to FIG. 3, the side plate 72 will be described. The side plate 72 is a member that is disposed to face the brake disc 71 and is fixed to, for example, the speed reducer main body 421 of the speed reducer 42a.

  The first armatures 73A and 73B and the second armature 77 are members arranged to face the brake disc 71 on the side opposite to the side on which the side plate 72 is arranged. The first armatures 73A and 73B are disposed at positions facing the lower half (Z-axis negative direction side) of the brake disc 71, and the second armature 77 is disposed on the upper half (Z-axis positive direction side) of the brake disc 71. It arrange | positions in the position which opposes.

  An insertion hole 111, a notch portion 112, and second meshing portions 113, 114 are provided on the plate surface of the first armature 73A, 73B on the brake disc 71 side. Further, an insertion hole 121 is provided on the plate surface of the second armature 77 on the brake disk 71 side.

  Here, the configuration of the first armatures 73A and 73B and the second armature 77 will be specifically described with reference to FIG. FIG. 5 is a schematic front view showing configurations of the first armatures 73A and 73B and the second armature 77. As shown in FIG.

  As shown in FIG. 5, the second armature 77 has a shape obtained by dividing an annular ring in half. In the vicinity of the outer peripheral portion of the second armature 77, a plurality of (here, three) insertion holes 121 are formed along the circumferential direction. A second guide 80 (see FIG. 3) extending along the X-axis direction is inserted into each insertion hole 121. The second armature 77 is supported by the second guide 80 so as to be movable between the second coil 79 and the side plate 72.

  The second armature 77 has a larger opening on the inner peripheral side than the first armatures 73A and 73B so as not to come into contact with the first meshing portion 132 of the brake disc 71.

  On the other hand, the first armatures 73A and 73B each have a shape obtained by dividing the ring into ¼. In the vicinity of the outer periphery of the first armatures 73A and 73B, a plurality of (here, two) insertion holes 111 are formed along the circumferential direction. A first guide 76 (see FIG. 3) extending along the X-axis direction is inserted into each insertion hole 111. The first armatures 73A and 73B are supported by the first guide 76 so as to be movable between the first coil 75 and the side plate 72.

  Further, the first armature 73A, 73B is formed with a notch 112 on the inner peripheral side with respect to the insertion hole 111. Specifically, the notch 112 is formed at a position facing the brake shoe 131 on the plate surface on the brake disc 71 side. By providing the notch 112, the first armatures 73A and 73B come into contact with the brake shoe 131, and the engagement operation between the first meshing portion 132 and the second meshing portions 113 and 114, which will be described later, is inhibited. Can be prevented.

  Second engagement portions 113 and 114 are provided further on the inner peripheral side than the notch portion 112, respectively. These second meshing portions 113 and 114 are formed at positions facing the first meshing portion 132 on the plate surface on the brake disc 71 side.

  The 2nd meshing parts 113 and 114 have a plurality of locking parts 113a and 114a, respectively. The locking portions 113a and 114a have the same shape as the locked portion 132a included in the first meshing portion 132 of the brake disk 71, and can be engaged with the locked portion 132a, for example, the same pitch or an integral multiple or It is provided at a pitch that is a fraction of an integer. Each locking portion 113a, 114a extends along the radial direction of the first armature 73A, 73B (brake disc 71), and the rotational direction of the brake disc 71 with respect to the plate surface of the first armature 73A, 73B. Are arranged radially.

  In the external brake 44a according to the first embodiment, the phase of the locking portion 113a provided at a predetermined pitch with respect to one first armature 73A and the predetermined pitch with respect to the other first armature 73B. The phase of the provided locking portion 114a is made different. This point will be described with reference to FIG. FIG. 6 is a diagram for explaining a phase shift between the locking portions 113a and 114a.

  In FIG. 6, for easy understanding, a diagram in which the locking portions 113 a and 114 a arranged in the circumferential direction L (see FIG. 5) are developed on a straight line is shown.

  As shown in FIG. 6, the plurality of locking portions 113 a included in the second meshing portion 113 and the plurality of locking portions 114 a included in the second meshing portion 114 have the same pitch but different phases. FIG. 6 shows an example in which the phases of the plurality of locking portions 114a are provided with a half-cycle shift with respect to the phases of the plurality of locking portions 113a.

  Returning to FIG. 3, another configuration of the external brake 44a will be described. The first springs 74 </ b> A and 74 </ b> B are urging members that urge the first armatures 73 </ b> A and 73 </ b> B in the direction approaching the brake disc 71, respectively. The first coil 75 is an electromagnetic coil that electromagnetically attracts the first armatures 73A and 73B against the urging force of the first springs 74A and 74B when energized.

  The second springs 78 are urging members that urge the second armature 77 in the direction approaching the brake disc 71. The second coil 79 is an electromagnetic coil that electromagnetically attracts the second armature 77 against the biasing force of the second spring 78 when energized.

  When the first coil 75 and the second coil 79 are energized, the external brake 44a is in an excited state. Then, the first armatures 73A and 73B and the second armature 77 are magnetically attracted to the first coil 75 and the second coil 79 against the urging forces of the first springs 74A and 74B and the second spring 78, respectively. As a result, the pressing force against the brake disc 71 is released, and the shaft 51 can be rotated.

  On the other hand, when the drive power supply is cut off and the non-excited state is established, the second armature 77 is pressed against the brake disc 71 by the urging force of the second spring 78 in the external brake 44a. Thereby, the brake disc 71 moves to the side plate 72 side together with the second armature 77, and the rotation of the brake disc 71 is restricted by the frictional force of the brake shoe 131. As a result, the rotation of the shaft 51 is restricted.

  In this manner, the external brake 44 a can regulate the rotation of the shaft 51 by using the frictional force of the brake shoe 131 by pressing the brake disc 71 against the side plate 72 using the second armature 77.

  Furthermore, in the external brake 44a according to the first embodiment, when the drive power supply is cut off and the non-excited state is established, the first armatures 73A and 73B are pressed against the side plate 72 by the urging force of the first springs 74A and 74B. . As a result, the second meshing portions 113 and 114 of the first armatures 73A and 73B engage with the first meshing portion 132 of the brake disc 71, and the shearing force generated thereby restricts the rotation of the brake disc 71 and the shaft 51. Rotation is regulated.

  As described above, the plurality of locking portions 113a included in the second meshing portion 113 and the plurality of locking portions 114a included in the second meshing portion 114 are out of phase. Thus, even if one of the second meshing portions 113 and 114 cannot mesh with the first meshing portion 132, the other second meshing portion 113 and 114 can mesh with the first meshing portion 132. Yes. This point will be described with reference to FIGS. 7A and 7B. 7A and 7B are explanatory diagrams of the engaging operation between the first meshing portion 132 and the second meshing portions 113 and 114. FIG.

  As shown in FIG. 7A, depending on the rotational position of the brake disc 71, the locked portion 132a of the first meshing portion 132 and the locking portion 113a of the second meshing portion 113 collide, that is, the first meshing. There is a possibility that the peaks of the portion 132 and the second meshing portion 113 come into contact with each other. In such a case, the second engagement portion 113 cannot be engaged with the first engagement portion 132.

  However, since the plurality of locking portions 114a included in the second meshing portion 114 are out of phase with the plurality of locking portions 113a included in the second meshing portion 113, the second meshing portion 113 is in the first meshing state as described above. Even if it does not mesh with the portion 132, it can be engaged with the first meshing portion 132.

  In addition, as shown in FIG. 7B, the peaks of the first engagement portion 132 and the second engagement portion 114 may come into contact with each other, and the first engagement portion 132 and the second engagement portion 114 may not be engaged. However, in such a case, the rotation of the shaft 51 can be restricted by the second engagement portion 113 engaging with the first engagement portion 132.

  As described above, in the external brake 44a according to the first embodiment, the brake disk 71 is provided with the first meshing portion 132, and the first armatures 73A and 73B are provided with the second meshing portions 113 and 114, and these are engaged. I decided to let them. In other words, since the rotation of the brake disc 71 is restricted by the shearing force, the braking force is reduced due to aging of the brake shoe 131 or the like as compared with the case where the rotation of the shaft 51 is restricted using the frictional force. It is difficult to hold the movable part such as the first lifting / lowering arm 24 more reliably.

  Moreover, the external brake 44a according to the first embodiment includes two first armatures 73A and 73B, and the phases of the locking portions 113a and 114a provided on one first armature 73A and 73B are set to the other first armature 73A and 73B. The phases of the locking portions 113a and 114a provided on the armatures 73A and 73B are different from each other. Thereby, the 1st meshing part 132 and the 2nd meshing parts 113 and 114 can be engaged more reliably.

  Next, the operation timing of the first armatures 73A and 73B and the second armature 77 will be described with reference to FIG. FIG. 8 is a diagram illustrating operation timings of the first armatures 73A and 73B and the second armature 77.

  As shown in FIG. 8, in the robot 1 according to the first embodiment, the operation timing of the first armatures 73 </ b> A and 73 </ b> B is delayed from the second armature 77. Specifically, when the power supply is interrupted (see (1) in FIG. 8), first, the second armature 77 is activated (see (2) in FIG. 8), and the shaft 51 is caused by the frictional force of the brake shoe 131. Rotation is regulated.

  Then, after a predetermined time t has elapsed since the second armature 77 is activated, the first armatures 73A and 73B are activated (see (3) in FIG. 8). The predetermined time t is a time longer than the time from when the second armature 77 is operated until the shaft 51 is stopped. That is, the first armatures 73A and 73B operate with the shaft 51 stopped.

  Thus, in the robot 1 according to the first embodiment, the operation timing of the first armatures 73A and 73B is delayed from that of the second armature 77. In other words, the energization cutoff timing of the first coil 75 is delayed from that of the second coil 79.

  Thereby, compared with the case where 1st armature 73A, 73B and 2nd armature 77 are act | operated simultaneously, the impact which the motor 41a and the reduction gear 42a receive can be reduced. In addition, since the first armatures 73A and 73B are operated with the shaft 51 stopped, the first engagement portion 132 and the second engagement portions 113 and 114 can be easily engaged with each other, and the locked portion 132a and the engagement portion 132 can be engaged. The parts 113a and 114a are hardly damaged.

  In the robot 1 according to the first embodiment, the first armatures 73A and 73B are replaced by the second armature 77 by providing a flywheel diode which is a kind of delay circuit for the power supply line to the first coil 75. It is supposed to be operated later. FIG. 9 is a diagram illustrating an example of a power supply line to the first coil 75.

  As shown in FIG. 9, a flywheel diode 45 is connected in antiparallel with the first coil 75 on the power supply line to the first coil 75. By providing the flywheel diode 45 in this way, for example, when the switch 46 is turned off or when the power supply from the DC (Direct Current) power supply 47 is cut off, the current flows along the path h. As a result, the operation timing of the first armatures 73 </ b> A and 73 </ b> B is delayed from the second armature 77.

  As described above, the flywheel diode 45 which is a kind of delay circuit is provided in the power supply line to the first coil 75, and the current cutoff timing of the first coil 75 is set to be higher than that of the second coil 79 by using the flywheel diode 45. I decided to delay. In other words, the operation timing of the first armatures 73A and 73B is realized by using a delay circuit such as the flywheel diode 45 to control the operation timing of the first armatures 73A and 73B. Unlike the case, even when the robot 1 and the control device 5 are down due to a power failure or the like, the operation timing of the first armatures 73A and 73B can be shifted.

  Here, the flywheel diode 45 has been described as one of the delay circuits. However, the present invention is not limited to this. For example, a capacitor or the like may be used as the delay circuit. In addition, here, an example in which the operation timing of the first armatures 73A and 73B is shifted using the delay circuit has been described. However, the control device 5 operates the first armatures 73A and 73B and the second armature 77 as described above. The operation timing of the first armatures 73A and 73B may be shifted by controlling the timing.

  The first springs 74A, 74B and the first coil 75 are an example of a moving mechanism that moves the first armatures 73A, 73B relative to the brake disc 71. Similarly, the second spring 78 and the second coil 79 are an example of a second moving mechanism that moves the second armature 77 relative to the brake disc 71. Here, an example in which one first coil 75 is provided is shown, but the first coil 75 may be provided for each of the first armatures 73A and 73B.

  As described above, the external brake 44a according to the first embodiment includes the brake disc 71, the plurality of first armatures 73A and 73B, the first springs 74A and 74B, the first coil 75, and the plurality of engaged members. A stop portion 132a and a plurality of locking portions 113a and 114a are provided.

  The brake disc 71 rotates as the shaft 51 of the motor 41a rotates. The plurality of first armatures 73 </ b> A and 73 </ b> B are disposed to face the brake disc 71. The first springs 74A and 74B and the first coil 75 move the plurality of first armatures 73A and 73B relative to the brake disc 71. The plurality of locked portions 132a are provided at a predetermined pitch with respect to the plate surface of the brake disc 71 on the first armature 73A, 73B side. The plurality of locking portions 113a and 114a are provided at a pitch that can be engaged with the locked portion 132a with respect to the plate surfaces on the brake disk 71 side of the plurality of first armatures 73A and 73B. And the phase of the latching | locking part 113a, 114a formed in at least 1 among several 1st armature 73A, 73B differs from the phase of the latching | locking part 113a, 114a formed in other 1st armature 73A, 73B. .

  Therefore, according to the external brake 44a which concerns on 1st Embodiment, the certainty of holding | maintenance of an arm etc. can be improved.

  In the drive system according to the first embodiment, the motor 41a further includes an internal brake 43a that is built in the motor 41a and restricts the rotation of the shaft 51, and the external brake 44a is provided separately from the motor 41a. It was decided.

  As described above, since the two brake devices of the internal brake 43a and the external brake 44a are provided for one motor 41a, the braking force is increased as compared with the case where the rotation of the motor 41a is restricted only by the internal brake 43a. be able to. Further, even if the braking force of one of the internal brake 43a and the external brake 44a becomes insufficient due to aging or the like, the rotation of the motor 41a can be restricted by the other brake device, so that the arm Such misalignment can be prevented more reliably.

  The drive system according to the first embodiment further includes a speed reducer 42a that reduces and outputs the rotation of the shaft 51, and the external brake 44a regulates the rotation of the input shaft 422 of the speed reducer 42a, thereby the shaft 51. It was decided to regulate the rotation.

  Thereby, even if it is a case where the to-be-latched part 132a and the latching | locking part 113a, 114a are formed with a comparatively wide pitch, position shift of an arm etc. can be prevented suitably, Processing of the locking portions 113a and 114a can be facilitated.

  That is, when the locked portion 132a and the locking portions 113a and 114a are formed at a wider interval, the amount of the brake disc 71 that is displaced before the locked portion 132a and the locking portions 113a and 114a are engaged with each other increases. However, the amount of displacement of the brake disk 71, that is, the amount of displacement of the shaft 51 is reduced by the reducer 42a and transmitted to the first lifting / lowering arm 24. Compared with the amount of deviation of 71, the amount is slight.

  In this way, even if the brake disc 71 is displaced relatively greatly, the first lifting / lowering arm 24 is slightly displaced, so that the locked portion 132a and the locking portions 113a and 114a are formed at a relatively wide pitch. Even in this case, it is possible to suitably prevent the positional deviation of the arm or the like. Therefore, processing of the locked portion 132a and the locking portions 113a and 114a is facilitated.

(Second Embodiment)
The external brake is not limited to the configuration shown in the first embodiment. Therefore, hereinafter, another configuration of the external brake will be described with reference to FIG. FIG. 10 is a schematic cross-sectional view showing the configuration of the external brake according to the second embodiment. In the following description, parts that are the same as those already described are given the same reference numerals as those already described, and redundant descriptions are omitted.

  As shown in FIG. 10, the external brake 44a_1 according to the second embodiment includes a brake disk 71_1 and a side plate 72_1 instead of the brake disk 71 and the side plate 72 provided in the external brake 44a according to the first embodiment. Prepare.

  The brake disc 71_1 includes a third engagement portion 133 on the plate surface on the side plate 72_1 side. The 3rd meshing part 133 is a member similar to the 1st meshing part 132, and has a some to-be-latched part (equivalent to a 2nd to-be-latched part). Further, the side plate 72_1 includes a fourth meshing portion 142 at a position facing the third meshing portion 133 on the plate surface on the brake disk 71_1 side. The fourth engagement portion 142 is a member similar to the second engagement portions 113 and 114 and includes a plurality of engagement portions (corresponding to the second engagement portion).

  When the drive power supply is cut off and the non-excited state is established, in the external brake 44a_1, the second armature 77 is pressed against the brake disc 71_1 by the urging force of the second spring 78, and the brake disc 71_1 together with the second armature 77 is on the side plate 72_1 side. Move to. Accordingly, the third engagement portion 133 of the brake disc 71_1 is engaged with the fourth engagement portion 142 of the side plate 72_1, and the shearing force generated thereby restricts the rotation of the brake disc 71_1 and restricts the rotation of the shaft 51. The

  The side plate 72_1 is formed with a notch 141 at a position facing the third meshing portion 133 of the plate surface on the brake disc 71_1 side so that the rotation restriction using the frictional force by the brake shoe 131 is not obstructed. A fourth engagement portion 142 is formed with respect to the notch portion 141.

  As described above, the external brake 44a_1 according to the second embodiment uses the shear force not only between the brake disc 71_1 and the first armatures 73A and 73B but also between the brake disc 71_1 and the side plate 72_1. Rotation regulation is performed. For this reason, the certainty of holding | maintenance of movable parts, such as the 1st raising / lowering arm 24, can be improved further.

(Third embodiment)
Further, the arrangement of the first armature and the second armature is not limited to the above-described embodiments. Therefore, in the following, another arrangement example of the first armature and the second armature will be described with reference to FIGS. 11A and 11B. FIG. 11A and FIG. 11B are diagrams showing other arrangement examples of the first armature and the second armature.

  For example, as shown in FIG. 11A, the external brake may be configured to include first armatures 73A_1 and 73B_1 on the inner peripheral side of the annular second armature 77_1. In this case, the first armatures 73A_1 and 73B_1 each have a shape obtained by dividing the ring into halves.

  The first armatures 73A_1 and 73B_1 include a plurality of insertion holes 111_1 in the vicinity of the outer peripheral portion, and include second engagement portions 113_1 and 114_1 on the inner peripheral side of the insertion hole 111_1. The second engagement portions 113_1 and 114_1 are provided with a plurality of engagement portions 113a and 114a, respectively, similar to the second engagement portions 113 and 114 described above, and the engagement portions 113a and 114a are out of phase. The second armature 77_1 includes a plurality of insertion holes 121_1 in the vicinity of the outer peripheral portion.

  Thus, the first armatures 73A_1 and 73B_1 may be disposed on the inner peripheral side of the second armature 77_1 formed in an annular shape.

  On the contrary, the first armature may be arranged on the outer peripheral side of the second armature. That is, as shown in FIG. 11B, the external brake may be configured to include the first armatures 73A_2 and 73B_2 on the outer peripheral side of the annular second armature 77_2. The first armatures 73A_2 and 73B_2 in such a case also have a shape obtained by dividing the ring into halves.

  The first armatures 73A_2 and 73B_2 include a plurality of insertion holes 111_2 in the vicinity of the outer peripheral portion, and include second engagement portions 113_2 and 114_2 on the inner peripheral side of the insertion hole 111_2. Similar to the second meshing portions 113 and 114 described above, the second meshing portions 113_2 and 114_2 are provided with a plurality of latching portions 113a and 114a, respectively, and the phases of the latching portions 113a and 114a are shifted. Note that the second armature 77_2 includes a plurality of insertion holes 121_2 in the vicinity of the outer peripheral portion.

(Fourth embodiment)
By the way, in each embodiment mentioned above, although the example in case an external brake was provided with the 1st armature and the 2nd armature was shown, the external brake does not necessarily need to be provided with the 2nd armature. This point will be described with reference to FIG. FIG. 12 is a diagram illustrating a configuration of the first armature provided in the external brake according to the fourth embodiment.

  As shown in FIG. 12, the external brake according to the fourth embodiment includes only the first armatures 73_3 and 73B_3 and does not include the second armature. The first armatures 73_3 and 73B_3 each have a shape obtained by dividing the ring into halves. The first armatures 73A_3 and 73B_3 include a plurality of insertion holes 111_3 in the vicinity of the outer peripheral portion, and second engagement portions 113_3 and 114_3 on the inner peripheral side of the insertion hole 111_3. The second engagement portions 113_3 and 114_3 are provided with a plurality of engagement portions 113a and 114a, respectively, like the second engagement portions 113 and 114 described above, and the phases of the engagement portions 113a and 114a are shifted.

  As described above, the external brake may be configured to perform only the rotation restriction using the shearing force.

(Fifth embodiment)
In each of the embodiments described above, an example in which the robot is a type of robot that supports the horizontal arm unit with one leg unit has been described. However, the type of robot is not limited to this.

  For example, the robot may be a type of robot that supports a horizontal arm unit with two or more leg units. Below, the example of this robot is demonstrated using FIG. FIG. 13 is a schematic perspective view of a robot according to the fifth embodiment.

  As shown in FIG. 13, the robot 1 a according to the fifth embodiment includes a base 310, an elevating mechanism 320, and a horizontal arm unit 330. The elevating mechanism 320 includes a swivel unit 321 that is rotatably attached to the base 310, and support columns 322 and 323 that are respectively erected on both ends of the swivel unit 321. Further, the elevating mechanism 320 includes a support base portion 324 that rotatably supports the horizontal arm unit 330, and two legs that support the support base portion 324 at the distal end portions, with the base end portions supported by the support column portions 322 and 323, respectively. Unit 325,326.

  In addition, the leg unit 325 has a first leg portion 325a whose base end portion is rotatably supported with respect to the column portion 322, and a base end portion that is rotatably supported by the distal end portion of the first leg portion 325a. And the 2nd leg part 325b which supports the support base part 324 with a front-end | tip part is provided. Similarly, the leg unit 326 has a first leg portion 326a whose base end portion is rotatably supported with respect to the support column portion 323, and a base end portion rotatably supported by the tip end portion of the first leg portion 326a. And a second leg portion 326b that supports the support base portion 324 at the tip end portion.

  The horizontal arm unit 330 includes hand portions 331a and 331b for placing a workpiece, and arm portions 332a and 332b that support the hand portions 331a and 331b at their tips, respectively. Similar to the horizontal arm unit 30 according to the first embodiment, the horizontal arm unit 330 moves the hand portions 331a and 331b in a predetermined direction by extending and contracting the arm portions 332a and 332b.

  In the elevating mechanism 320, the horizontal arm unit 330 is moved in the vertical direction by changing the postures of the two leg units 325 and 326. In addition, since the lifting mechanism 320 supports the horizontal arm unit 330 using the two leg units 325 and 326, the horizontal arm unit 330 is more reliably held compared to the lifting mechanism 20 according to the first embodiment. can do.

  And each joint part of the raising / lowering mechanism 320, ie, the 1st joint part and the 2nd leg part 325b with which the base end part of 1st leg part 325a, 326a is rotatably connected in the front-end | tip part of support | pillar part 322,323. A motor having a built-in brake, a speed reducer, and an external brake are respectively provided at the second joint portion, in which the base end portion of 326b is rotatably connected to the distal ends of the first leg portions 325a and 326a. The configurations of the motor, the speed reducer, the internal brake, and the external brake are the same as those of the motor, the speed reducer, the internal brake, and the external brake according to each embodiment described above.

  As described above, the robot may be a type of robot that supports the horizontal arm unit by two leg units. In addition, as this robot, the robot currently disclosed in patent 4466785, patent 4822085, Unexamined-Japanese-Patent No. 2011-125947 etc. is applicable, for example. Although FIG. 13 shows a robot including two leg units, the number of leg units may be two or more.

  Further, the robot may be a direct-acting transfer robot, for example. As such a robot, for example, the robots disclosed in Japanese Patent No. 4221733, Japanese Patent No. 4911371, Japanese Patent Application Laid-Open No. 2010-274413, and the like can be applied.

  The robot may be a robot having a traveling axis. As such a robot, for example, a robot disclosed in Japanese Patent No. 4501103, Japanese Patent Laid-Open No. 2000-084877, or the like can be applied. The traveling axis may be one axis or two axes orthogonal to each other.

  In each of the embodiments described above, an example in which the brake device disclosed in the present application is applied to an external brake has been described. However, the brake device disclosed in the present application can be applied to an internal brake built in a rotating electrical machine. Is applicable.

  In each of the above-described embodiments, the example in which the external brake and the internal brake are non-excitation operation type electromagnetic brakes has been described. However, the external brake and the internal brake are brake devices other than the non-excitation operation type. May be. The moving mechanism for moving the armature relative to the brake disk may be other than the urging member and the electromagnetic coil described in each embodiment.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1 Robot 41a Motor 42a Reduction gear 43a Internal brake 44a External brake 71 Brake disk 72 Side plate 73A, 73B 1st armature 74A, 74B 1st spring 75 1st coil 76 1st guide 77 2nd armature 78 2nd spring 79 2nd Coil 80 Second guide 112 Notch portion 113, 114 Second engagement portion 113a, 114a Locking portion 131 Brake shoe 132 First engagement portion 132a Locked portion 133 Third engagement portion 141 Notch portion 142 Fourth engagement portion

Claims (14)

A brake disc that rotates as the shaft of the rotating electrical machine rotates,
A plurality of armatures arranged to face the brake disc;
A moving mechanism for moving the plurality of armatures relative to the brake disc;
A plurality of locked portions provided at a predetermined pitch with respect to the armature side plate surface of the brake disc;
A plurality of locking portions provided at a pitch engageable with the locked portion with respect to a plate surface on the brake disc side of the plurality of armatures,
The brake device according to claim 1, wherein a phase of the locking portion formed on at least one of the plurality of armatures is different from a phase of the locking portion formed on another armature. A friction member provided on a plate surface of the brake disc;
A second armature disposed opposite to the brake disc;
The brake device according to claim 1, further comprising: a second moving mechanism that moves the second armature relative to the brake disk. The moving mechanism is
A biasing member that biases the plurality of armatures in a direction approaching the brake disc;
An electromagnetic coil that electromagnetically attracts the plurality of armatures against the biasing force of the biasing member when energized,
The second moving mechanism includes:
A second urging member that abuts the second armature against the friction member by urging the second armature in a direction approaching the brake disc;
The brake device according to claim 2, further comprising: a second electromagnetic coil that electromagnetically attracts the second armature against an urging force of the second urging member when energized. 4. The brake device according to claim 3, wherein energization cutoff timing of the electromagnetic coil is delayed with respect to the second electromagnetic coil. 5. A delay circuit provided in a power supply line to the electromagnetic coil;
The brake device according to claim 4, wherein an energization cutoff timing of the electromagnetic coil is delayed with respect to the second electromagnetic coil using the delay circuit. The plurality of armatures are:
The brake device according to any one of claims 2 to 5, wherein a notch portion is provided at a position facing the friction member on a plate surface on the brake disc side. A side plate disposed opposite to the brake disc on the side opposite to the side on which the plurality of armatures are disposed;
A plurality of second locked portions provided at a predetermined pitch with respect to the plate surface on the side plate side of the brake disc;
2. A plurality of second locking portions provided at a pitch engageable with the second locked portion with respect to a plate surface of the side plate on the brake disk side. The brake device as described in any one of 6. The side plate is
A notch is provided at a position facing the second locked portion of the plate surface on the brake disc side,
The brake device according to claim 7, wherein the plurality of second locking portions are formed in the notch portion. Rotating electrical machinery,
A brake device for restricting rotation of the shaft of the rotating electrical machine,
The brake device is
A brake disc that rotates as the shaft of the rotating electrical machine rotates,
A plurality of armatures arranged to face the brake disc;
A moving mechanism for moving the plurality of armatures relative to the brake disc;
A plurality of locked portions provided at a predetermined pitch with respect to the armature side plate surface of the brake disc;
A plurality of locking portions provided at a pitch engageable with the locked portion with respect to a plate surface on the brake disc side of the plurality of armatures,
The drive system according to claim 1, wherein a phase of the locking portion formed in at least one of the plurality of armatures is different from a phase of the locking portion formed in another armature. The rotating electric machine is
An internal brake device built in the rotating electrical machine to restrict the rotation of the shaft;
The brake device is
The drive system according to claim 9, wherein the drive system is provided separately from the rotating electrical machine. A speed reducer that reduces the rotation of the shaft and outputs the output;
The brake device is
The drive system according to claim 8 or 9, wherein the rotation of the shaft is regulated by regulating the rotation of the input shaft of the speed reducer.   A robot comprising the drive system according to claim 9, 10 or 11, wherein the posture is changed or held by using the drive system. The robot is
An arm unit including an end effector and an arm unit for moving the end effector;
The robot according to claim 12, comprising a lifting mechanism that lifts and lowers the arm unit using the drive system. The robot according to claim 13, further comprising a turning mechanism that turns the lifting mechanism using the drive system.

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