JP2019060477A - Reduction gear and actuator employing the same - Google Patents

Abstract

To provide a reduction gear capable of easily rotating an output-side member from an output side.SOLUTION: A first carrier 16 of a reduction mechanism (differential planetary gear mechanism) 3 is coupled in a non-rotatable manner, to a brake disk 31 of an operation control mechanism (non-excited electromagnetic brake) 4 as a controlled member. In a state where an electromagnet 35 of the operation control mechanism 4 is non-electrified, the brake disk 31 and the first carrier 16 are restricted in a non-rotatable manner, and rotation of an input shaft (input-side member) 1 is reduced and transmitted to an output shaft (output-side member) 2 by the reduction mechanism 3. In a state where the electromagnet 35 is electrified, on the other hand, the brake disk 31 and the first carrier 16 are released in a freely rotatable manner. When an inverse input torque is applied to the output shaft 2, the first carrier 16 is rotated with rotation of the output shaft 2, and the reduction mechanism 3 does not perform an operation for rotating the input shaft 1 while increasing the speed thereof, such that the rotation is not transmitted to the input shaft 1. Thus, the output shaft 2 can be easily rotated from an output side.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a reduction gear that decelerates the rotation of an input side member and transmits it to the output side member, and an actuator using the same.

  Devices that operate driven members by motor drive often incorporate a reduction gear that decelerates and outputs the rotation of the drive motor to obtain a large rotational force (torque) on the output side. As a reduction gear capable of obtaining a high reduction ratio, one using a differential planetary gear mechanism (see, for example, Patent Document 1) and one using a wave gear mechanism (see, for example, Patent Document 2) are known. ing. Such a reduction gear with a high reduction ratio can greatly contribute to the miniaturization of the drive motor of a device incorporating the reduction gear.

JP-A-2-245543 JP 2001-218422 A

  However, in a device using a reduction gear having a high reduction ratio as described above, since the rotational torque for rotating the output side member of the reduction gear from the output side is large, the output of the reduction gear when the drive motor stops There is a problem that it is difficult to manually move the driven member connected to the side member, and it is difficult to perform operations such as maintenance and origin adjustment. In addition, there is also a risk that the internal parts such as the reduction gear may be damaged when an impact reverse input torque is applied to the driven member while the drive motor is stopped.

  Then, this invention makes it a subject to provide the reduction gear which can rotate an output side member easily from an output side, and the actuator using the reduction gear.

  In order to solve the above-mentioned problems, the reduction gear of the present invention restrains the control member included in the reduction mechanism so as not to be rotatable when the reduction mechanism is provided between the input side member and the output side member and when not operating. When an input torque is applied to the input side member in a state where the operation control mechanism rotatably releases the controlled member by operation and the controlled member is unrotatably restrained by the operation control mechanism The reduction mechanism decelerates the rotation of the input side member and transmits it to the output side member, and a reverse input torque is applied to the output side member in a state where the controlled member is rotatably released from the operation control mechanism. When this happens, the controlled member rotates with the rotation of the output side member, and the reduction mechanism does not transmit the rotation to the input side member.

  According to the above configuration, the operation control mechanism is operated to rotatably release the controlled member of the speed reduction mechanism, thereby accelerating and rotating the input side member even when the reverse input torque is applied to the output side member. Therefore, the output side member can be easily rotated from the output side by operating the operation control mechanism at the time of maintenance or home position adjustment.

  As the reduction gear mechanism, a first sun gear connected to the input side member so as to be able to transmit rotation, a first internal gear disposed radially outward of the first sun gear, and the first sun gear and the first sun gear A first planetary gear mechanism including a plurality of first planetary gears meshing with both internal gears and a first carrier rotatably supporting the first planetary gears, and the first carrier serving as the controlled member; and the input side A second sun gear connected to a member so as to be capable of transmitting rotation, and a gear specification different from that of the first internal gear, is disposed radially outward of the second sun gear, and rotates integrally with the first internal gear. , Rotatably supporting a plurality of second planetary gears meshing with both the second sun gear and the second internal gear, and the respective second planetary gears, and capable of transmitting rotation to the output side member A second planetary gear mechanism comprising a second carrier connected to the It can be employed differential planetary gear mechanism which is arranged in direction.

  Alternatively, as the reduction mechanism, a wave generator connected to the input side member so as to be capable of transmitting rotation, a circular spline disposed on the radially outer side of the wave generator and serving as the controlled member, the wave generator and the circular spline And a wave gear mechanism comprising a flex spline connected so as to rotate integrally with the output side member.

  On the other hand, as the operation control mechanism, a brake plate connected non-rotatably with the controlled member, an armature axially opposed to the brake plate and held so as to be axially movable and non-rotatable, A non-excitation type electromagnetic brake provided with a brake spring for pressing the armature against the brake plate and an electromagnet for moving the armature away from the brake plate against the elastic force of the brake spring when energized, or non-rotatable relative to the controlled member A brake plate to be connected, an armature axially opposed to the brake plate and held axially movably and non-rotatably, a separating spring for separating the armature from the brake plate, and a spring for separating the armature by energization Use an excitation type electromagnetic brake equipped with an electromagnet that presses against the brake plate against the elasticity of the Can.

  Further, as the operation control mechanism, a brake plate connected non-rotatably to the controlled member, a brake plate axially opposed to the brake plate and held so as to be axially movable and non-rotatable, It is also possible to employ one provided with a brake spring that presses the brake plate against the brake plate and a brake release member that moves the brake plate away from the brake plate against the elastic force of the brake spring by manual operation.

  In the actuator according to the present invention, the drive motor is connected to the input side member of the reduction gear having the above-mentioned configuration, and an absolute encoder for detecting the rotational direction position of the output side member of the reduction gear is provided. By controlling the drive motor based on the above, the positioning of the output side member is performed.

  In the reduction gear of the present invention, as described above, the operation control mechanism is operated to rotatably release the controlled member of the reduction mechanism, so that the input member can be applied even if reverse input torque is applied to the output member. Since the operation of increasing the speed of rotation is not performed, the output side member can be easily rotated from the output side. Therefore, in a device incorporating this reduction gear, the driven member connected to the output side member of the reduction gear is manually operated while the operation control mechanism of the reduction gear is operating when the drive motor is stopped. It can be easily moved, can perform operations such as maintenance and home position adjustment efficiently, and there is no risk that the internal parts will be damaged even if an impactive reverse input torque is applied to the driven member.

  Further, the actuator according to the present invention connects the drive motor to the input side member of the reduction gear having the above-described configuration, and is provided with an absolute encoder for detecting the rotational direction position of the output side member of the reduction gear. Even after the mechanism is actuated and the output side member is rotated from the output side, the rotational direction position of the output side member can be accurately detected, and the drive motor is controlled based on the detected value. The driven member can be accurately positioned.

Longitudinal front view of the reduction gear of the first embodiment Sectional view along line II-II in FIG. 1 Sectional view along line III-III in FIG. 1 Sectional view along line IV-IV in FIG. 1 Longitudinal front view showing the state when the electromagnetic brake is energized corresponding to FIG. 1 Longitudinal front view showing a modification of the motion control mechanism corresponding to FIG. 1 Longitudinal front view showing the state when the electromagnetic brake is energized corresponding to FIG. 6 Longitudinal front view of the reduction gear of the second embodiment Sectional view along line IX-IX in FIG. 8 Longitudinal front view which shows the state which operated the brake releasing member corresponding to FIG. 8 Longitudinal front view of the reduction gear of the third embodiment Principal part enlarged sectional view along the XII-XII line of FIG. 11 Longitudinal front view of the reduction gear of the fourth embodiment Longitudinal front view of an actuator using the reduction gear of the first embodiment Longitudinal front view of an actuator using the reduction gear of the third embodiment

  Hereinafter, embodiments of the present invention will be described based on the drawings. 1 to 5 show a reduction gear according to a first embodiment. As shown in FIG. 1, this speed reducer includes an input shaft (input side member) 1, a hollow shaft-like output shaft (output side member) 2 passing one end of the input shaft 1, an input shaft 1 and an output shaft A speed reduction mechanism 3 provided between the two, an operation control mechanism 4 for controlling the operation of the speed reduction mechanism 3, and a housing 5 fixed to an external member (not shown). The input shaft 1 is connected to a drive motor (not shown), and the output shaft 2 is connected to a driven member (not shown).

  The housing 5 comprises a cylindrical main body 5a disposed radially outside the speed reducing mechanism 3, and a lid 5b integrated with one end thereof as described later, and is formed at the other end of the main body 5a. The flange portion is fixed to the external member by a plurality of mounting holes 5c axially penetrating the flange portion. The cover 5 b rotatably supports the output shaft 2 via the bearing 6, and a pair of bearings that allow relative rotation between the output shaft 2 and one end of the input shaft 1. 7 is incorporated.

  The reduction gear mechanism 3 is a differential planetary gear mechanism in which the first planetary gear mechanism 11 and the second planetary gear mechanism 21 are arranged in the axial direction in the housing 5.

  The first planetary gear mechanism 11 is, as shown in FIGS. 1 and 2, a first sun gear 12 coupled rotatably to the input shaft 1 and a first sun gear 12 disposed radially outward of the first sun gear 12. 1 through internal bearings 13, a plurality of first planetary gears 14 meshing with both the first sun gear 12 and the first internal gears 13, and a shaft portion 14 a projecting from the center of each first planetary gear 14 via a bearing 15 It consists of the 1st career 16 supported rotatably. The first sun gear 12 is fitted and fixed to the outer periphery of the cross-sectional D-shaped portion of the input shaft 1, but may be formed integrally with the input shaft 1. Further, the first carrier 16 is a controlled member which is connected to the operation control mechanism 4 as will be described later, and which is restricted by the operation control mechanism 4 so as to be unrotatable or rotatably released.

  In addition, as shown in FIGS. 1 and 3, the second planetary gear mechanism 21 is disposed radially outside the second sun gear 22 integrally formed on the input shaft 1, and the first sun gear 22. A second internal gear 23 integrally formed with different internal gear 13 specifications, a plurality of second planetary gears 24 meshing with both the second sun gear 22 and the second internal gear 23, and each second planetary gear 24 And a second carrier 26 rotatably supporting each of the second planetary gears 24 via a bearing 25. The second carrier 26 is integrally formed with the output shaft 2. The second internal gear 23 is rotatably supported by the housing 5 via the bearings 17 and 27 together with the first internal gear 13. The second sun gear 22 may be formed separately from the input shaft 1 and coupled so as to transmit rotation, and the second carrier 26 may be formed separately from the output shaft 2 and coupled so as to transmit rotation. It is also good.

  As shown in FIGS. 1 and 4, the motion control mechanism 4 includes a brake plate 31 coupled to the first carrier 16 of the first planetary gear mechanism 11 and an armature axially facing the outer surface of the brake plate 31. 32, a friction plate 33 axially facing the inner surface of the brake plate 31, a plurality of brake springs 34 pressing the armature 32 against the brake plate 31, and a brake against the elastic force of the brake spring 34 when energized. It is a non-excitation type electromagnetic brake provided with an electromagnet 35 separated from the plate 31 and a plurality of spacers 36 sandwiched between the friction plate 33 and the electromagnet 35 radially outside the brake plate 31 and the armature 32.

  As shown in FIG. 4, the brake plate 31 has an inner periphery formed in a substantially square shape, and is fitted on the outer periphery of the cylindrical connecting portion 16 a of the first carrier 16 formed in the same shape, It is connected to the carrier 16 so as to be non-rotatable and axially movable. A bearing 8 is incorporated between the cylindrical connecting portion 16 a of the first carrier 16 and the D-shaped cross section of the input shaft 1 so as to allow the both to rotate relative to each other.

  The armature 32 is slidably fitted on the outer periphery of the D-shaped cross section of the input shaft 1 as shown in FIG. 1, and a plurality of bolts 37 connecting the friction plate 33 and the electromagnet 35 are passed through the outer peripheral portion. Thus, it is held axially movable and non-rotatable.

  The brake spring 34 is held in an elastically compressed state in a recess provided on the surface of the electromagnet 35 facing the armature 32 to press the armature 32. In addition, although the coil spring is used for the brake spring 34, another elastic member can also be employ | adopted.

  The friction plate 33, the spacer 36 and the electromagnet 35 are integrated by a plurality of bolts 38 which penetrate the spacer 36 from the inner surface of the friction plate 33 and are screwed into the electromagnet 35. Then, a plurality of bolts 9 penetrate through the housing main body 5a, the friction plate 33 and the spacer 36 from the outer surface of the cover 5b of the housing 5 and are screwed into the electromagnet 35, whereby the cover 5b of the housing 5 is the main body A friction plate 33, spacers 36 and an electromagnet 35 are fixed to the housing 5 as well as integrated with 5a. In addition, a bearing 10 rotatably supporting the other end of the input shaft 1 is incorporated in the inner periphery of the electromagnet 35.

  Therefore, when the electromagnet 35 is not energized, the brake spring 34 presses the armature 32 against the brake plate 31 so that the brake plate 31 pressed by the armature 32 is pressed against the friction plate 33 fixed to the housing 5, thereby the electromagnet When the power supply 35 is energized, as shown in FIG. 5, the electromagnet 35 attracts the armature 32 to axially move it against the elastic force of the brake spring 34 and separate it from the brake plate 31. That is, at the time of non-energization (at the time of non-operation), the brake plate 31 and the first carrier 16 of the reduction mechanism 3 connected thereto are restrained so as not to rotate, and the brake plate 31 and the first carrier 16 are rotated by energization (operation). It is designed to be released freely. The friction plate 33 can be omitted if the brake plate 31 is fixed to the first carrier 16.

  Next, the operation of this reduction gear will be described. In this reduction gear, normally, the electromagnet 35 of the operation control mechanism (non-excitation type electromagnetic brake) 4 is not energized, and the first carrier 16 which is a controlled member of the reduction mechanism 3 is restrained from rotating. . In this state, when an input torque is applied to the input shaft 1 from a drive motor (not shown), first, the input shaft 1, the first sun gear 12 and the second sun gear 22 rotate integrally. Then, in the first planetary gear mechanism 11, the first internal gear 13 is rotated in the direction opposite to the input shaft 1 by rotating in a state where the first planetary gear 14 is restrained from being revolved by the first carrier 16. Then, in the second planetary gear mechanism 21, since the second internal gear 23 rotates integrally with the first internal gear 13, the second planetary gear 24 is a rotational speed difference between the second sun gear 22 and the second internal gear 23. Accordingly, it revolves while rotating, and the revolution of the second planetary gear 24 is transmitted to the output shaft 2 via the second carrier 26.

  On the other hand, when the drive motor is stopped and work such as maintenance is performed, the electromagnet 35 of the operation control mechanism 4 is energized to release the first carrier 16 of the speed reduction mechanism 3 rotatably. In this state, when a reverse input torque is applied to the output shaft 2 from a driven member (not shown), first, the second carrier 26 rotates integrally with the output shaft 2. Then, in the second planetary gear mechanism 21, since the second sun gear 22 is stopped, the second planetary gear 24 revolves while rotating, and the second internal gear 23 is rotated. Then, in the first planetary gear mechanism 11, since the first sun gear 12 is stopped, the rotation of the first internal gear 13 integral with the second internal gear 23 causes the first planetary gear 14 to rotate while rotating. Revolute with carrier 16 Therefore, the rotation is not transmitted to the input shaft 1 and the drive motor.

  As described above, in the reduction gear, the first carrier 16 which is a controlled member of the reduction gear mechanism (differential planetary gear mechanism) 3 is unrotatably restrained by the operation control mechanism (non-excitation type electromagnetic brake) 4 Then, when the input torque is applied to the input shaft 1, the reduction mechanism 3 decelerates the rotation of the input shaft 1 and transmits it to the output shaft 2, and the first carrier 16 is rotatably released from the operation control mechanism 4. In this state, when the reverse input torque is applied to the output shaft 2, the first carrier 16 rotates with the rotation of the output shaft 2 so that the reduction mechanism 3 does not transmit the rotation to the input shaft 1. Then, when the first carrier 16 is rotatably released, the operation of increasing the speed of the input shaft 1 is not performed for the reverse input torque, and the first carrier 16 is restrained from rotating. Since the rotational torque is significantly reduced in comparison, the output shaft 2 can be easily rotated from the output side.

  Therefore, in a device incorporating this reduction gear, in normal operation, a high reduction ratio is obtained using the differential movement by the two planetary gear mechanisms 11 and 21 of the reduction mechanism 3, and the drive motor is stopped. At that time, simply by energizing the electromagnet 35 of the operation control mechanism 4, the driven member connected to the output shaft 2 can be easily moved manually, and work such as maintenance and home position adjustment can be performed efficiently. .

  In addition, if the electromagnet 35 of the operation control mechanism 4 is energized while the drive motor is stopped, the output shaft 2 receives a large resistance even if an impactive reverse input torque is applied to the output shaft 2 from the driven member. Without rotation, there is no risk of damage to internal parts such as the reduction gear.

  Here, the operation control mechanism 4 can be changed to a no backlash type non-excitation type electromagnetic brake as shown in FIGS. 6 and 7. The motion control mechanism (non-excitation type electromagnetic brake) 4 of this modification uses a flexible disc as the brake plate 31 and has its inner peripheral portion screwed to the end face of the cylindrical connecting portion 16 a of the first carrier 16. By stopping, the backlash of the brake plate 31 with respect to the cylindrical connecting portion 16 a of the first carrier 16 is eliminated. Further, annular linings 32a and 33a are attached to the inner side surface of the armature 32 and the outer side surface of the friction plate 33 sandwiching the brake plate 31.

  Then, when the electromagnet 35 is not energized, as shown in FIG. 6, when the armature 32 pushed by the brake spring 34 bends the brake plate 31 and presses it against the friction plate 33 and the electromagnet 35 is energized, FIG. As shown, the armature 32 attracted by the electromagnet 35 moves axially against the elasticity of the brake spring 34, and the brake plate 31 elastically recovers and is released so as to rotate away from the armature 32 and the friction plate 33. It is supposed to be.

  Therefore, if the operation control mechanism 4 composed of this no-backlash type non-excitation type electromagnetic brake is incorporated, the mutual sliding of the brake plate 31 and the cylindrical connecting portion 16a of the first carrier 16 in the example of FIGS. There is no wear due to the above, and the stability of the operation of the operation control mechanism 4 can be improved.

  8 to 10 show a reduction gear according to a second embodiment. In this embodiment, instead of the operation control mechanism (non-excitation type electromagnetic brake) 4 of the first embodiment, an operation control mechanism 40 for manually controlling the operation of the speed reduction mechanism 3 is adopted.

  The motion control mechanism 40 of the second embodiment, as shown in FIGS. 8 and 9, includes a brake plate 41 connected to the first carrier 16 of the first planetary gear mechanism 11, an outer surface of the brake plate 41, and an axis. , The friction plate 43 axially facing the inner surface of the brake plate 41, a plurality of brake springs 44 pressing the brake plate 42 against the brake plate 41, and a spring receiver for holding the brake spring 44 Plate 45, a plurality of spacers 46 sandwiched by friction plate 43 and spring support plate 45 radially outside brake plate 41 and brake plate 42, and brake plate 42 against the elasticity of brake spring 44 by manual operation The brake release member 47 is provided to be separated from the brake plate 41.

  Among them, the brake plate 41, the brake plate 42, the friction plate 43, the brake spring 44 and the spacer 46 are the brake plate 31, the armature 32, the friction plate 33, the brake spring 34 and the spacer 36 of the operation control mechanism 4 of the first embodiment. The spring receiving plate 45 is disposed at the same position as the electromagnet 35 of the operation control mechanism 4 of the first embodiment. The brake plate 41 is connected to the first carrier 16 in a relatively non-rotatable and axially movable manner, and the brake plate 42 is axially movable by being passed through a plurality of bolts 48 connecting the friction plate 43 and the spring support plate 45. And it is held unrotatable. The friction plate 43 can be omitted by fixing the brake plate 41 to the first carrier 16.

  The friction plate 43, the spacer 46 and the spring support plate 45 are integrated by a bolt 49 and fixed to the housing 5 by a bolt 9. Further, the friction plate 43 is provided with a support shaft 43a which protrudes in a direction parallel to the radial direction from the two-surface width portion and supports the brake releasing member 47 as described later.

  The brake releasing member 47 is a member whose main body portion is substantially reverse Y-shaped. The main body portion is bifurcated from a lever portion 47a extending radially outward from between the brake plate 42 and the friction plate 43, and a lower end of the lever portion 47a, and a pair of leg portions disposed radially outward of the brake plate 41 It consists of 47b. And the attachment part 47c provided in the lower end of each leg part 47b is rotatably attached to the spindle 43a of the friction plate 43, respectively. Further, in the vicinity of the attachment portion 47c of each leg 47b, a protrusion 47d opposed to the inner side surface of the brake plate 42 is provided. The two projections 47d are disposed at opposite positions across the axis of the input shaft 1, and when the brake release member 47 is turned to the input side, the brake plate 42 can be pressed in a balanced manner. . A notch 47 e for avoiding interference with the spacer 46 and the bolt 48 is provided on the inner periphery of the boundary portion between each leg 47 b and both legs 47 b.

  Therefore, when the brake releasing member 47 is not operated, the brake spring 44 presses the brake plate 42 against the brake plate 41 so that the brake plate 41 pressed by the brake plate 42 is fixed to the housing 5. When the lever portion 47a of the brake releasing member 47 is manually operated to turn the entire brake releasing member 47 to the input side around the pivot 43a of the friction plate 43, as shown in FIG. The two projections 47 d on the outer surface of the brake releasing member 47 push the brake plate 42 to move axially against the elastic force of the brake spring 44, and the brake plate 42 separates from the brake plate 41. That is, at the time of non-operation (at the time of non-operation), the brake plate 41 and the first carrier 16 of the speed reduction mechanism 3 connected to this are non-rotatably restrained, and the brake plate 41 and the first carrier 16 are manually operated (operated). It is designed to release freely.

  In the second embodiment as well, as in the first embodiment, a high speed reduction ratio can be obtained by the speed reduction mechanism 3 consisting of a differential planetary gear mechanism during normal operation, and when the drive motor is stopped, the brake of the operation control mechanism 40 is released. Since the output shaft 2 can be easily rotated from the output side only by manually rotating the member 47, the driven member can be manually moved to perform maintenance etc. efficiently.

  Further, for example, by inserting a hook-like stopper between the brake release member 47 in the rotated state and the housing 5 while the drive motor is stopped, the operation control mechanism 40 can be maintained in the operated state. As in the first embodiment, even if an impulsive reverse input torque is applied to the output shaft 2, damage to the internal components can be prevented.

  And in 1st Embodiment, the power supply device for electrically supplying to electromagnet 35 of operation control mechanism 4 at the time of a power failure is needed separately, but, in 2nd Embodiment, electric power is used to operate operation control mechanism 40. Since it is not necessary, the configuration of the entire apparatus can be simplified. Further, in the first embodiment, it is necessary to keep the electromagnet 35 energized in order to protect the internal components against the shocking reverse input torque while the drive motor is stopped, but in the second embodiment, the brakes Since the release member 47 may be held in a rotated state, the apparatus consumes less power than the first embodiment.

  11 and 12 show a reduction gear according to a third embodiment. In this embodiment, a wave gear mechanism using a differential between an ellipse and a perfect circle is adopted as a reduction mechanism 60 which replaces the reduction mechanism (differential planetary gear mechanism) 3 of the first embodiment. In addition, a cross roller bearing 54 for supporting the output shaft 52 is incorporated by using the input shaft 51, the output shaft 52, and the housing 53 having a configuration different from that of the first embodiment. The housing 53 has a shape in which the main body 5a of the first embodiment is shortened and the lid 5b is eliminated, and is fixed to the external member by a plurality of mounting holes 53a as in the first embodiment. . The housing 53 and the outer ring of the cross roller bearing 54 are integrated with the friction plate 33, the spacers 36 and the electromagnet 35 of the operation control mechanism 4 by a plurality of bolts 55 instead of the bolts 9 of the first embodiment.

  The reduction mechanism (wave gear mechanism) 60 according to the third embodiment includes a wave generator (wave generator) 61 coupled to the input shaft 51 so as to be capable of transmitting rotation, and a circular spline disposed radially outward of the wave generator 61. It consists of a (rigid internal gear) 62 and a flex spline (flexible external gear) 63 in which the cylindrical portion is sandwiched between the wave generator 61 and the circular spline 62. The circular spline 62 is connected to the operation control mechanism 4 as will be described later, and is a controlled member which is unrotatably restrained or rotatably released by the operation control mechanism 4.

  The wave generator 61 has an inner ring of a ball bearing 61b fitted and fixed to the outer periphery of a cam 61a having an elliptical radial cross section, and is coupled to a small diameter portion on one end side of the input shaft 51 so as to transmit rotation by key coupling. There is. Note that one end of the input shaft 51 is formed to have a diameter smaller than that of the small diameter portion, and the bearing 7 is incorporated between the one end and the output shaft 52. In the input shaft 51, the large diameter portion on the other end side is fitted into the inner periphery of the bearings 8 and 10, and only the other end portion is formed in a D-shaped cross section for connection with a drive motor (not shown). There is.

  The circular spline 62 is an annular part provided with teeth on its inner periphery, and is bolted to a connecting member 64 disposed instead of the first carrier 16 of the first embodiment. As in the first carrier 16, a tubular connecting portion 64 a having a substantially square cross section is fitted to the inner periphery of the brake plate 31 of the operation control mechanism 4, whereby the circular spline 62 is connected to the connecting member 64. The brake plate 31 is non-rotatably connected to the brake plate 31 via the reference numeral 64.

  Also, the flex spline 63 is a thin cup-shaped component formed of a metal elastic body and provided with teeth that mesh with the teeth on the inner periphery of the circular spline 62 on the outer periphery of the cylindrical portion, and fixed to the output shaft 52 by its lid It is done. The output shaft 52 is bolted to the inner ring of the cross roller bearing 54 together with the lid portion of the flex spline 63 and the intermediate member 52a bolted with two clamping members arranged on both sides in the axial direction thereof and the intermediate member 52a. It consists of a lid member 52b and is connected to a driven member (not shown) by an appropriate means.

  In the reduction gear of the third embodiment, the drive motor is operated in a state where the electromagnet 35 of the operation control mechanism 4 is not energized and the circular spline 62 which is a controlled member of the reduction mechanism 60 is unrotatably restrained. When an input torque is applied to the input shaft 51, the inner ring of the ball bearing 61b of the wave generator 61 rotates integrally with the input shaft 51 first. Then, the flex spline 63 whose inner periphery of the cylindrical portion is pressed against the outer ring of the ball bearing 61 b elastically deforms and changes the meshing position with the circular spline 62. As a result, the flex spline 63 rotates by the difference in the number of teeth with the circular spline 62, and the rotation is transmitted to the output shaft 52.

  On the other hand, when reverse input torque is applied from the driven member to the output shaft 52 in a state where the electromagnet 35 of the operation control mechanism 4 is energized and the circular spline 62 of the reduction mechanism 60 is freely released, The flex spline 63 rotates integrally with the output shaft 52. Then, the circular spline 62 rotates integrally with the flex spline 63 (without changing the meshing position with the flex spline 63). At this time, the flex spline 63 and the outer ring of the ball bearing 61b of the wave generator 61 fitted in the inner periphery thereof rotate while being elastically deformed along the outer ring of the stopped ball bearing 61b. No rotation is transmitted to 51. Then, if the circular spline 62 is released freely, the operation of increasing the speed of the input shaft 51 is not performed for the reverse input torque as compared with the case where the circular spline 62 is restrained from rotating. Since the rotational torque is greatly reduced, the output shaft 52 can be easily rotated from the output side.

  Therefore, as in the first embodiment, a high speed reduction rate is obtained by the speed reduction mechanism 60 during normal operation (state in which the electromagnet 35 of the operation control mechanism 4 is not energized), and the electromagnet of the operation control mechanism 4 is stopped while the drive motor is stopped. By energizing 35, the driven member connected to the output shaft 2 can be easily moved manually at the time of maintenance etc., and internal components can be protected even if an impactive force is applied to the driven member. It will be.

  FIG. 13 shows a speed reducer according to a fourth embodiment. In this embodiment, in the third embodiment, the operation control mechanism (non-excitation type electromagnetic brake) 4 is replaced with the operation control mechanism 40 of the second embodiment, and the operation of the reduction mechanism (wave gear mechanism) 60 is manually controlled. It is something like that. Also in this fourth embodiment, the same effect as in the first to third embodiments can be obtained.

  Although not shown, in the first and third embodiments, the operation control mechanism can be changed to one composed of an excitation type electromagnetic brake. The configuration of the operation control mechanism (excitation type electromagnetic brake) in that case is opposed to the brake plate axially coupled to the brake plate that is connected non-rotatably to the controlled member (first carrier or circular spline) of the reduction mechanism. An armature that is axially movable and non-rotatably held, a separating spring that separates the armature from the brake plate, and an electromagnet that presses the armature against the brake plate against the elastic force of the separating spring when energized. Become. When the brake plate is connected to the controlled member so as to be movable in the axial direction, a friction plate fixed to the housing or the like and capable of pressing the brake plate by energization to the electromagnet is required. When fixed, it is not necessary to provide a friction plate.

  As described above, when the excitation type electromagnetic brake is employed as the operation control mechanism, the electromagnet of the electromagnet decelerates the controlled member of the speed reduction mechanism by energizing the electromagnet, so the electromagnet is energized during normal operation. In order to stop the drive motor and rotate the output shaft from the output side for maintenance or the like, the electromagnet may be brought into a non-energized state. In addition, if the electromagnet is energized by a normal power supply, the electromagnet is automatically de-energized at the time of a power failure, so that internal parts can be protected against shocking reverse input torque, and at the time of a power failure The entire configuration of the apparatus is simplified as compared to the first and third embodiments that require a separate power supply apparatus for energizing.

  On the other hand, if the brake release member of the second embodiment or the fourth embodiment is added to the operation control mechanism in the first embodiment or the third embodiment, the normal power source can supply electricity to the electromagnet during maintenance or the like. Since the control member can be released and the controlled member can be released by the manual operation of the brake releasing member at the time of power failure, the power supply device for energizing the electromagnet at the time of the power failure can be made unnecessary.

  FIG. 14 shows an actuator incorporating the reduction gear of the first embodiment (the example of FIGS. 1 to 5). In this actuator, the motor shaft 71 of the drive motor 70 is connected to the input shaft 1 of the reduction gear of the first embodiment, and the input encoder 72 for detecting the rotational speed of the drive motor 70 is attached to the outer surface of the drive motor 70 ing. Further, a cross roller bearing 73 is provided instead of the housing cover 5b of the first embodiment, and the outer ring is integrated with the housing body 5a, and the inner ring is bolted to the second carrier 26 integrally formed with the output shaft 2. doing. Then, instead of the small diameter end portion of the output shaft 2 of the first embodiment, the output shaft connecting member 74 forming a part of the output side member is bolted to the outer surface of the inner ring of the cross roller bearing 73, and this output shaft connection While fittingly fixing the encoder disc 75a to the outer periphery of the member 74 and fixing the detecting portion 75b to the outer surface of the outer ring of the cross roller bearing 73, the rotation direction of the output side member (the output shaft connecting member 74 and the output shaft 2) The output side encoder 75 which detects a position is comprised. An absolute encoder is used as the output encoder 75, and an incremental encoder is used as the input encoder 72.

  Then, based on the rotational direction position information of the output side member sent from the output side encoder 75 and the rotational speed information of the drive motor 70 sent from the input side encoder 72, the motor controller (not shown) decelerates the reduction gear. In consideration of the ratio, the drive motor 70 is fully closed.

  Therefore, this actuator can accurately detect the rotational direction position of the output side member even after the operation control mechanism 4 is operated and the output side member is rotated from the output side, and the output side member is connected to the output side member after resumption of operation. Thus, the driven member can be accurately positioned. Note that an absolute encoder can be used as the input encoder, and depending on the required control accuracy, the input encoder can be omitted and control of the drive motor can be performed using only information of the output encoder.

  FIG. 15 shows an actuator incorporating the reduction gear of the third embodiment. This actuator also connects the motor shaft 71 of the drive motor 70 to the input shaft 51 of the reduction gear as in the case where the reduction gear of the first embodiment is incorporated, and the input side encoder ( While attaching the incremental encoder 72 and fittingly fixing the encoder disc 75a to the outer periphery of the intermediate member 52a of the output shaft 52, and fixing the detecting portion 75b to the outer surface of the outer ring of the cross roller bearing 54, the output encoder (absolute encoder) ) 75 is composed.

  Therefore, even with this actuator, even after the operation control mechanism 4 is operated and the output shaft 52 is rotated from the output side, the rotational direction position of the output shaft 52 can be accurately detected. The members can be accurately positioned.

1 Input shaft (input side member)
2 Output shaft (output side member)
3 Reduction mechanism (differential planetary gear mechanism)
4 Motion control mechanism (non-excitation type electromagnetic brake)
Reference Signs List 5 housing 11 first planetary gear mechanism 12 first sun gear 13 first internal gear 14 first planetary gear 16 first carrier (controlled member)
21 second planetary gear mechanism 22 second sun gear 23 second internal gear 24 second planetary gear 26 second carrier 31 brake plate 32 armature 33 friction plate 34 brake spring 35 electromagnet 40 operation control mechanism 41 brake plate 42 brake plate 43 friction Plate 44 Brake spring 45 Spring support plate 47 Brake release member 51 Input shaft 52 Output shaft 53 Housing 54 Cross roller bearing 60 Speed reduction mechanism (wave gear mechanism)
61 Wave generator 62 Circular spline 63 Flex spline 64 Connecting member 70 Drive motor 71 Motor shaft 72 Input encoder 73 Cross roller bearing 74 Output shaft connecting member 75 Output encoder

Claims (7)

A decelerating mechanism provided between an input side member and an output side member, and an operation of uncontrollably restraining a controlled member included in the decelerating mechanism when not operated, and rotatably releasing the controlled member by operation Equipped with a control mechanism,
When an input torque is applied to the input side member in a state in which the controlled member is restrained from rotation by the operation control mechanism, the speed reduction mechanism decelerates the rotation of the input side member and transmits it to the output side member. When a reverse input torque is applied to the output side member in a state where the controlled member is rotatably released from the operation control mechanism, the controlled member rotates with the rotation of the output side member, A reduction gear that does not transmit rotation to the input side member.   The speed reduction mechanism includes a first sun gear connected rotatably to the input side member, a first internal gear disposed radially outward of the first sun gear, and the first sun gear and the first sun gear. A first planetary gear mechanism comprising a plurality of first planetary gears meshing with both internal gears and a first carrier rotatably supporting each of the first planetary gears, and a first carrier serving as the controlled member; and the input side member And a second sun gear which is rotatably coupled to the first inner gear, and is disposed radially outward of the second sun gear so as to rotate integrally with the first inner gear. A second internal gear, a plurality of second planetary gears meshing with both the second sun gear and the second internal gear, and the second planetary gears rotatably supported so as to be capable of transmitting rotation to the output side member And a second planetary gear mechanism comprising a second carrier coupled thereto, Reduction gear according to claim 1, characterized in that the differential planetary gear mechanism arranged base.   The speed reduction mechanism includes a wave generator connected to the input side member so as to be capable of transmitting rotation, a circular spline which is disposed radially outward of the wave generator and which becomes the controlled member, and the wave generator and the circular spline. The speed reducer according to claim 1, characterized in that it is a wave gear mechanism comprising a flex spline disposed between and coupled so as to rotate integrally with the output side member.   The motion control mechanism comprises: a brake plate connected non-rotatably to the controlled member; an armature axially opposed to the brake plate and held so as to be axially movable and non-rotatable; and brake the armature 4. A non-excitation type electromagnetic brake comprising: a brake spring pressing against a plate; and an electromagnet for causing the armature to move away from the brake plate against the elastic force of the brake spring by energization. The reducer described in.   The motion control mechanism comprises: a brake plate connected non-rotatably to the controlled member; an armature axially opposed to the brake plate and held so as to be axially movable and non-rotatable; and brake the armature The excitation type electromagnetic brake according to any one of claims 1 to 3, characterized by comprising: a separating spring for separating from the plate; and an electromagnet for pressing the armature against the brake plate against the elastic force of the separating spring by energization. The speed reducer described.   The operation control mechanism includes: a brake plate connected to the controlled member so as not to be relatively rotatable; a brake plate axially opposed to the brake plate and held so as to be axially movable and non-rotatable; 4. A brake spring according to claim 1, further comprising: a brake spring for pressing the brake plate against the brake plate; and a brake release member for moving the brake plate away from the brake plate against the elastic force of the brake spring by a manual operation. The reducer according to any one.   A drive motor is connected to the input side member of the reduction gear according to any one of claims 1 to 6, and an absolute encoder for detecting the rotational direction position of the output side member of the reduction gear is provided. An actuator for positioning the output side member by controlling a drive motor based on the above.

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