WO2018066652A1 - Reverse input prevention clutch and actuator - Google Patents

Abstract

A reverse input prevention clutch is configured by combining: a reverse input prevention mechanism (1) in which, when an outer ring (5) arranged on the outside in the radial direction of an output shaft (output-side member) (4) of a reverse input prevention clutch is in an arrested state in which rotation is impossible, the rotation of an input shaft (input-side member) (3) is transmitted to the output shaft 4, and the output shaft (4) is locked to an outer ring (5) with respect to reverse input torque applied to the output shaft (4), thereby preventing rotation of the output shaft (4); and an operation control mechanism (2) which, when not in operation, arrests the outer ring (5) of the reverse input prevention mechanism (1) so as to be incapable of rotation, and when manually operated, releases the outer ring (5) so as to be able to rotate freely. Thus, if the operation control mechanism (2) is not operated the output shaft (4) can be rendered incapable of rotation with respect to reverse input torque, and merely by manually operating the operation control mechanism (2) the state can be switched to a state in which the output shaft (4) is allowed to rotate with respect to reverse input torque.

Description

Reverse input cutoff clutch and actuator

The present invention relates to a reverse input cutoff clutch that transmits rotation of an input side member to an output side member when input torque is applied, and prevents the input side member from rotating in response to reverse input torque, and its reverse input The present invention relates to an actuator incorporating a cutoff clutch as a brake.

The reverse input cutoff clutch transmits the rotation to the output side member when an input torque is applied to the input side member, and prevents the input side member from rotating when the reverse input torque is applied to the output side member. It is to make. There is a type of the reverse input cutoff clutch that locks the output side member against reverse input torque (hereinafter, this method is referred to as “lock type”).

The lock-type reverse input cutoff clutch as described above includes torque transmission means for transmitting the rotation of the input side member to the output side member between the input side member and the output side member rotating around the same axis. Provide a fixed outer ring on the radially outer side of the output side member, and provide a plurality of cam surfaces on the outer peripheral surface of the output side member, between the inner peripheral cylindrical surface of the outer ring and each cam surface of the output side member. A wedge-shaped space that gradually narrows in the circumferential direction is formed, and a pair of rollers and a spring that pushes the pair of rollers into the narrow portion of the wedge-shaped space are incorporated in each wedge-shaped space, and both circumferential sides of each wedge-shaped space (the rollers are In many cases, a column part of an unlocking piece that rotates integrally with the input side member is inserted at a position facing the spring in the circumferential direction (see, for example, Patent Document 1).

According to this configuration, even when reverse input torque is applied to the output side member in a state where the input side member and the output side member are stopped, the rollers on the rear side in the rotational direction are engaged with the outer ring and the output side member to output. Since the side member is locked to the outer ring, the rotational direction positions of the input side member and the output side member can be maintained.

On the other hand, when an input torque is applied to the input side member, the column portion of the unlocking piece that rotates together with the input side member pushes the roller on the rear side in the rotation direction against the elastic portion of the spring to the wide portion of the wedge-shaped space. Thus, after the engagement between the roller, the outer ring, and the output side member is released and the output side member is released from the locked state, rotation is transmitted from the input side member to the output side member by the torque transmitting means ( At this time, since the roller on the front side in the rotational direction moves relative to the wide portion of the wedge-shaped space, it does not engage with the outer ring and the output side member).

By the way, in an actuator that is used for a robot joint or the like and that operates a driven member by driving a motor, when the motor stops due to a power failure or the like, the driven member receives an external force such as gravity to receive a position (posture). ) May cause various troubles. For this reason, a brake that normally holds the position of the driven member when the motor is stopped (hereinafter, a member having the same function is also simply referred to as a “brake”) is provided.

ア ク チ ュ エ ー タ In the actuators as described above, a non-excitation electromagnetic brake is often used as the brake. The electromagnetic brake is generally composed of a brake plate that is attached to a motor shaft so as not to rotate relative to the motor shaft, an armature that is pressed against the brake plate by a brake spring, and an electromagnet that moves the armature away from the brake plate against the elasticity of the brake spring when energized. When the motor is rotating (energized), the armature is attracted by the electromagnet to keep it away from the brake plate. When the motor is stopped (not energized), the armature is pressed against the brake plate by the elasticity of the brake spring. By restricting the rotation of the brake plate and the motor shaft, the position of the driven member that has been driven by the motor until then is held (for example, see Patent Documents 2 and 3).

However, an actuator incorporating the above-described non-excited operation type electromagnetic brake requires a brake capacity corresponding to the maximum torque applied to the driven member, that is, a force that the brake spring presses the armature against the brake plate. In order to move the armature away from the brake plate against the spring elasticity (so that the brake is not applied), it is necessary to supply power to the electromagnet of the brake at all times, which causes a problem of increased power consumption. .

On the other hand, instead of the non-excitation actuated electromagnetic brake, the reverse input cutoff clutch described above is used as a brake, and if the input side member is connected to the motor shaft and the output side member is connected to the driven member, the motor is When driven, the rotation of the motor shaft is transmitted to the output side member and the driven member operates, and even when an external force such as gravity is applied to the driven member when the motor is stopped, the position of the driven member can be maintained. Since electric power for preventing the brake from being applied during the rotation of the motor is not required, it is possible to reduce the electric power consumption as compared with an apparatus incorporating a non-excitation operation type electromagnetic brake.

JP 2010-281375 A JP-A-8-9589 JP 2008-144786 A

However, in an apparatus such as an actuator incorporating the reverse input cutoff clutch as described above, the output side member of the reverse input cutoff clutch is locked against the reverse input torque, so the input side member connected to a drive source such as a motor. When performing maintenance or the like in a state where the engine is stopped, the worker cannot move the driven member connected to the output side member of the reverse input cutoff clutch from the output side, and the workability is lowered. .

In view of this, the present invention incorporates a reverse input cutoff clutch that can easily switch between a state in which rotation of the output side member is prevented with respect to reverse input torque and a state in which rotation of the output side member is allowed, and the reverse input cutoff clutch as a brake. An object is to provide an actuator.

In order to solve the above problems, a reverse input cutoff clutch according to the present invention includes an input side member, an output side member, and an outer ring disposed radially outside the output side member, and the outer ring is constrained to be non-rotatable. In the state, the rotation of the input side member is transmitted to the output side member, and the reverse input torque is applied to the output side member to lock the output side member with the outer ring and prevent the output side member from rotating. A shut-off mechanism and an operation control mechanism that restrains the outer ring to be non-rotatable when not in operation and freely releases the outer ring when in operation, and reverses the output side member in a state in which the outer ring is freely released. When the input torque is applied, the output side member rotates in a locked state with the outer ring.

That is, when the operation control mechanism is not operated, the rotation of the input side member is transmitted to the output side member by restraining the outer ring to be non-rotatable, and the rotation of the output side member is prevented against reverse input torque. Thus, it is possible to switch to a state in which the rotation of the output side member is allowed with respect to the reverse input torque only by operating the operation control mechanism to freely release the outer ring.

As the reverse input blocking mechanism, the input side member and the output side member are arranged in a state of rotating around the same axis, and the rotation of the input side member is between the input side member and the output side member. Torque transmitting means is provided to the output side member, and a plurality of cam surfaces are provided on the outer peripheral surface of the output side member, and the inner peripheral cylindrical surface of the outer ring and each cam surface of the output side member A wedge-shaped space gradually narrowing on both sides in the circumferential direction is formed between the pair of rollers and an elastic member that is sandwiched between the pair of rollers and pushes each roller into the narrow portion of the wedge-shaped space. In addition, it is possible to employ a structure in which lock release pieces having column portions inserted on both sides in the circumferential direction of each wedge-shaped space are connected to the input side member so as not to be relatively rotatable.

Further, the operation control mechanism can be operated by a manual operation. Specifically, a brake plate that is connected to the outer peripheral side of the outer ring so as not to rotate relative to the outer ring and projects outward in the radial direction of the outer ring. A brake plate facing one side of the brake plate and held axially movable and non-rotatable, a brake spring pressing the brake plate against the brake plate, and the brake plate being made elastic by a manual operation A configuration including a brake release member that resists and separates from the brake plate can be employed.

Alternatively, the operation control mechanism may be an electromagnetic brake that operates when energized. Here, the electromagnetic brake is connected to the outer peripheral side of the outer ring in a relatively non-rotatable manner, and extends outward in the radial direction of the outer ring, facing one side surface of the brake plate, and movable in the axial direction. An armature that is held non-rotatable, a brake spring that presses the armature against a brake plate, and an electromagnet that separates the armature from the brake plate against the elasticity of the brake spring when energized can be used. .

The actuator according to the present invention is an actuator including a motor and a brake that holds a rotational position of an output shaft connected to the motor shaft when the motor is stopped. An input cutoff clutch is used, the motor shaft is an input side member of the reverse input cutoff clutch, and the output shaft is an output side member of the reverse input cutoff clutch.

In the actuator having the above configuration, during normal use (when the operation control mechanism of the reverse input cutoff clutch is not in operation), the operation control mechanism restrains the outer ring of the reverse input cutoff mechanism to be non-rotatable. It is transmitted to the output shaft, and the output shaft can be stopped with respect to the reverse input torque. In addition, the brake composed of the reverse input cutoff clutch can be mechanically configured if the operation control mechanism is operated by manual operation, and even if the operation control mechanism is an electromagnetic brake, the motor is rotated and connected to the output shaft. When the driven member is moved, the electromagnetic brake may be de-energized, so that the power consumption can be reduced as compared with the conventional one that requires energization of the electromagnetic brake during motor rotation. Then, when performing maintenance or the like while the motor is stopped, the operator can move the driven member from the output side by operating the operation control mechanism to freely release the outer ring.

Here, the motor shaft is rotatably supported by the first bearing and the output shaft is rotatably supported by the second bearing, respectively, and the tip end portion of the motor shaft is inserted into the output shaft so that the second shaft is inserted. If the structure reaches the inside in the radial direction of the bearing, the motor shaft is rotatably supported at two locations in the longitudinal direction, so that it is easy to ensure the coaxiality of the motor shaft and the output shaft, and the actuator The stability of the operation can be improved.

Further, when the outer ring is opposed to the motor in the axial direction, the outer ring is reversely rotated in a freely released state if the outer ring is arranged with a gap between the outer ring and the motor. This is preferable because it does not slide with the motor when the output shaft is locked with the output shaft to which the input torque is applied, and the generation of wear powder can be prevented.

Furthermore, in the actuator of the present invention, the rotation of the motor shaft that is transmitted from the motor shaft and is connected to an external driven member, and the motor shaft that is required to match the rotational direction position of the connection shaft to the target position. A control device that determines the number of rotations and controls the motor so that the motor shaft rotates by the number of rotations, and the control device reverses the rotation direction of the motor shaft and the connection shaft. It is possible to add a configuration for adjusting the number of rotations of the motor shaft based on the total of the rotation angle from the rotational direction position to the target position and the preset rotation delay angle of the connecting shaft at the time of reversal.

If the above configuration is added, when the rotation direction of the motor shaft and the connecting shaft is reversed, the motor shaft is set in advance in addition to the amount corresponding to the rotation angle from the rotation direction position of the connecting shaft to the target position. Since the rotation corresponding to the rotation delay angle of the connecting shaft at the time of reversal is performed, the positioning error of the driven member due to the backlash of the reverse input cutoff clutch incorporated as a brake can be reduced.

Further, in the case where the connecting shaft can apply a reverse input torque by the weight of the driven member, the control device is applied to the connecting shaft by the weight of the driven member during the driving of the motor. When the direction of the reverse input torque changes from the reverse direction to the same direction as the input torque applied to the motor shaft by the motor, the number of rotations of the motor shaft corresponds to a preset rotation advance angle of the connecting shaft. The number of rotations of the motor shaft is increased by an amount corresponding to a preset rotation delay angle of the connecting shaft when the direction of the reverse input torque changes from the same direction as the input torque to the reverse direction. It is good to do. In this way, even when reverse input torque is applied by the weight of the driven member during driving of the motor, the driven member can be accurately positioned.

As described above, the reverse input cut-off clutch of the present invention is a combination of the reverse input cut-off mechanism and the operation control mechanism for controlling the operation thereof. If the operation control mechanism is not operated, the input side member by the input torque is used. The rotation of the output side member is transmitted to the output side member, and the rotation of the output side member can be prevented with respect to the reverse input torque. It is possible to easily switch to a state that allows rotation.

The actuator of the present invention incorporates the reverse input shut-off clutch having the above-described configuration as a brake, and the operation control mechanism is normally inactivated, so that it is the same as when a conventional reverse input shut-off clutch is incorporated. It can be used, power consumption can be reduced, and when performing maintenance etc., the operation control mechanism can be operated so that the worker can move the driven member from the output side efficiently. it can.

Longitudinal front view of the reverse input cutoff clutch of the first embodiment FIG. 1 is a front view of the operation control mechanism in FIG. Sectional view along line III-III in FIG. Sectional view along line IV-IV in FIG. 4A is an enlarged cross-sectional view of the main part of FIG. Sectional drawing explaining the operation | movement with respect to input torque corresponding to FIG. 4B Sectional drawing explaining the operation | movement following FIG. 5A The front view which shows the state at the time of manual operation of an operation control mechanism corresponding to FIG. Sectional drawing explaining the operation | movement with respect to reverse input torque when the operation control mechanism is manually operated corresponding to FIG. 4B 1 is a longitudinal front view of an actuator incorporating the reverse input cutoff clutch of the first embodiment. Longitudinal front view of the reverse input cutoff clutch of the second embodiment (when the electromagnetic brake is not energized) Sectional view along line XX in FIG. The principal part expanded sectional view along the XI-XI line of FIG. Corresponding to FIG. 9, a longitudinal front view of the main part showing a state when the electromagnetic brake is energized FIG. 9 is a longitudinal front view showing a modification in which the outer ring of FIG. 9 is integrally formed with the brake cylinder. Longitudinal front view of an actuator incorporating the reverse input cutoff clutch of the second embodiment FIG. 14 is a longitudinal front view showing a modification in which the configuration of the reverse input cutoff clutch in FIG. 14 is partially changed. Sectional drawing explaining operation | movement when the rotation direction is reversed from the state of FIG. 5B Sectional drawing explaining the operation | movement following FIG. 16A Sectional drawing explaining operation | movement when the direction of reverse input torque changes from the direction opposite to input torque to the same direction during motor drive corresponding to FIG. 4B Sectional drawing explaining operation | movement when the direction of a reverse input torque changes from the same direction as an input torque to a reverse direction during a motor drive corresponding to FIG. 4B

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 7 show the reverse input cutoff clutch of the first embodiment. As shown in FIGS. 1 and 2, the reverse input cutoff clutch includes a reverse input cutoff mechanism 1 and an operation control mechanism 2 that controls the operation of the reverse input cutoff clutch 1. (Not shown) is connected to a driven member (not shown) which is operated by driving the motor to the output side member.

As shown in FIGS. 1 and 3, the reverse input blocking mechanism 1 includes an input shaft (input side member) 3, an output shaft (output side member) 4, and two radially disposed outside the output shaft 4. A stepped cylindrical outer ring 5, an unlocking piece 6 having a plurality of column portions 6 a inserted into a radial gap between an input side end of the output shaft 4 and a large diameter portion of the outer ring 5, and an input side end of the output shaft 4 And a roller 7 and a coil spring (elastic member) 8 incorporated in the radial gap between the outer ring 5 and the large-diameter portion of the outer ring 5. The coil spring can be replaced with another elastic member such as a leaf spring.

The input shaft 3 has an engaging portion 3a having a two-sided width formed on the outer periphery thereof inserted into an engaging hole 4a provided on the input side end surface of the output shaft 4, and protrudes from the end surface of the engaging portion 3a. The small diameter cylindrical portion is slidably fitted into a circular hole provided at the bottom of the engagement hole 4 a of the output shaft 4, and rotates around the same axis as the output shaft 4.

Here, as shown in FIGS. 4A and 4B, the engagement hole 4 a of the output shaft 4 is formed so that a slight clearance in the rotational direction is generated when the input shaft 3 is inserted, thereby rotating the input shaft 3. Is transmitted to the output shaft 4 with a slight angular delay. A plurality of cam surfaces 4 b are provided in the circumferential direction on the outer periphery of the input side end portion of the output shaft 4, and both sides in the circumferential direction are provided between the inner circumferential cylindrical surface of the large diameter portion of the outer ring 5 and each cam surface 4 b of the output shaft 4. Thus, a wedge-shaped space 9 that is gradually narrowed is formed. A pair of the rollers 7 is incorporated in each wedge-shaped space 9, and the coil spring 8 is assembled so as to be sandwiched between the pair of rollers 7, and the rollers 7 are pushed into the narrow portion of the wedge-shaped space 9.

As shown in FIGS. 3, 4 </ b> A, and 4 </ b> B, the pillars of the unlocking piece 6 are disposed on both circumferential sides of the wedge-shaped spaces 9 (positions facing the coil spring 8 in the circumferential direction across the rollers 7). A portion 6 a is inserted, and the unlocking piece 6 is fitted into the outer periphery of the engaging portion 3 a of the input shaft 3 without a gap and rotates together with the input shaft 3.

The outer ring 5 is provided with a plurality of protrusions extending in the axial direction on the outer peripheral surface of the large diameter portion, and these protrusions are connected to the operation control mechanism 2 as described later. Further, sintered oil-impregnated bearings 10a and 10b are incorporated between the outer ring 5 large-diameter portion and the unlocking piece 6, and between the outer ring 5 small-diameter portion and the output shaft 4 center portion, respectively.

In this reverse input blocking mechanism 1, each roller 7 is pushed into the narrow portion of the wedge-shaped space 9 by the elastic force of the coil spring 8, so that when the outer ring 5 is constrained as will be described later, the reverse input is applied to the output shaft 4. Even when torque is applied, the roller 7 on the rear side in the rotation direction engages with the outer ring 5 and the output shaft 4 so that the output shaft 4 is locked to the outer ring 5 and does not rotate.

When an input torque is applied to the input shaft 3 while the outer ring 5 is constrained, first, as shown in FIG. 5A, as the input shaft 3 rotates, an unlocking piece integral with the input shaft 3 is provided. 6, the roller 7 on the rear side in the rotational direction pushes the roller 7 against the elastic force of the coil spring 8 to the wide part of the wedge-shaped space 9, thereby disengaging the roller 7 from the outer ring 5 and the output shaft 4. As a result, the output shaft 4 is released from the locked state. Then, as shown in FIG. 5B, when the input shaft 3 further rotates and the engaging portion 3 a of the input shaft 3 engages with the engaging hole 4 a of the output shaft 4, the rotation of the input shaft 3 is applied to the output shaft 4. (At this time, the roller 7 on the front side in the rotational direction moves relative to the wide portion of the wedge-shaped space 9 and therefore does not engage with the outer ring 5 and the output shaft 4).

On the other hand, the operation control mechanism 2 is connected to the outer peripheral side of the outer ring 5 of the reverse input blocking mechanism 1 and the outer peripheral side of the brake cylinder 11 as shown in FIGS. 5, the brake plate 12 projecting radially outward, the brake plate 13 facing one side surface (output side surface) of the brake plate 12, and the other side surface (input side surface) facing the brake plate 12. A fixed plate 14 fixed to the external member A, a plurality of brake springs 15 that press the brake plate 13 against the brake plate 12, a spring receiving plate 16 that faces one side surface of the brake plate 13 with each brake spring 15 interposed therebetween, A brake release member 17 that separates the brake plate 13 from the brake plate 12 against the elasticity of the brake spring 15 by a manual operation described later is provided. In addition, although the coil spring is used for the brake spring 15, another elastic member can also be employ | adopted.

The brake cylinder 11 is formed with a plurality of axial grooves on the inner peripheral surface and the outer peripheral surface, respectively, and the protrusions on the outer periphery of the outer ring 5 are fitted into the axial grooves on the inner periphery, and the axial directions of the outer periphery are fitted. By fitting a protrusion on the inner periphery of the brake plate 12 into the groove, the outer ring 5 and the brake plate 12 are connected so as not to rotate relative to each other (see FIGS. 3, 4A, and 4B). That is, the brake plate 12 is connected to the outer peripheral side of the outer ring 5 through the brake cylinder 11 so as not to be relatively rotatable.

The brake plate 13 is slidably fitted on the outer periphery of the output side portion of the brake cylinder 11, and is movable in the axial direction and rotated by passing a plurality of bolts 18 screwed into one side surface of the fixed plate 14. Held impossible. The bolts 18 are also passed through the brake springs 15 and the spring receiving plates 16, and each brake spring 15 is supported at one end by the spring receiving plate 16 and presses the braking plate 13 at the other end.

The fixing plate 14 is formed in a substantially oval outer periphery, and includes a main body portion disposed radially outside the input side portion of the brake cylinder 11 and a large-diameter disk portion continuous to the input side of the main body portion. The outer member A is fixed to the external member A with a plurality of mounting pieces 14a projecting radially outward from the outer periphery of the large-diameter disk portion. Further, a pair of linear portions on the outer periphery of the main body is provided with support shafts 14b that project in a direction parallel to the radial direction and support the brake release member 17 as will be described later (see FIG. 3). .

2, 3 and 4A, the brake release member 17 is a substantially inverted Y-shaped member, and is a lever portion 17a extending radially outward from between the main body portions of the brake plate 13 and the fixed plate 14. As shown in FIG. And a pair of leg portions 17b which are divided into two forks from the lower end of the lever portion 17a and are arranged on the outer side in the radial direction of the brake plate 12. And the attaching part 17c provided in the lower end of each leg part 17b is rotatably attached to the spindle 14b of the fixing plate 14, respectively.

Further, in the vicinity of the attachment portion 17 c of each leg portion 17 b of the brake release member 17, a projection 17 d that faces the other side surface of the brake plate 13 is provided. The two protrusions 17d are arranged at positions facing each other across the axis of the input shaft 3, and can press the brake plate 13 in a well-balanced manner when the brake release member 17 is rotated to the output side. . A notch 17e for avoiding interference with the bolt 18 screwed into the fixing plate 14 is provided on the inner circumference of the boundary portion between each leg portion 17b and both leg portions 17b.

Therefore, since the brake release member 17 is not operated during normal use, the brake spring 15 presses the brake plate 13 against the brake plate 12 and the brake plate 12 presses against the fixed plate 14. Then, by manually operating the lever portion 17a of the brake release member 17, as shown in FIG. 6, when the entire brake release member 17 is rotated around the support shaft 14b of the fixed plate 14 to the output side, The two protrusions 17 d on one side of the brake release member 17 push the brake plate 13 to move in the axial direction against the elasticity of the brake spring 15, and the brake plate 13 is separated from the brake plate 12. That is, during normal use, the brake plate 12 and the outer ring 5 of the reverse input blocking mechanism 1 connected thereto are restrained so as not to rotate, and the brake plate 12, the brake cylinder 11 and the outer ring 5 are rotated by manual operation on the brake release member 17. It is designed to be freely released.

This reverse input cutoff clutch is configured as described above, and in the state where the outer ring 5 is restrained to be non-rotatable, the rotation of the input shaft 3 by the input torque is transmitted to the output shaft 4 and the reverse input torque applied to the output shaft 4 On the other hand, the reverse input blocking mechanism 1 that locks the output shaft 4 with the outer ring 5 to prevent the output shaft 4 from rotating, and the outer ring 5 of the reverse input blocking mechanism 1 is restrained from being non-rotatable when not operated (not operated). In addition, it is combined with an operation control mechanism 2 that freely releases the outer ring 5 when operated manually.

That is, during normal use (when the operation control mechanism 2 is not operated), the outer ring 5 of the reverse input blocking mechanism 1 is restrained, and thus the same function as that of the conventional reverse input blocking clutch is obtained, and the operation control mechanism When the outer ring 5 is freely released by manually operating the brake release member 17 of No. 2, when the reverse input torque is applied to the output shaft 4, the output shaft 4 is locked with the outer ring 5 as shown in FIG. Thus, it rotates together with the brake cylinder 11 and the brake plate 12 (the rotation of the output shaft 4 is allowed with respect to the reverse input torque).

Therefore, in the apparatus incorporating the reverse input cutoff clutch, the operation control mechanism 2 is normally in a non-operating state, so that the motor connected to the input shaft 3 is similar to the case where the conventional reverse input cutoff clutch is incorporated. By driving the driven member connected to the output shaft 4 by driving, the rotational direction position of the driven member can be held when the motor is stopped. When performing maintenance or the like, the operation control mechanism 2 is manually operated. As a state where the worker can move the driven member from the output side, it is possible to work efficiently.

In the first embodiment described above, the outer ring 5 of the reverse input blocking mechanism 1 and the brake cylinder 11 of the operation control mechanism 2 and the brake cylinder 11 and the brake plate 12 of the operation control mechanism 2 are connected so as not to be relatively rotatable. The outer ring 5 and the brake cylinder 11 may be integrally formed, or the brake cylinder 11 and the brake plate 12 may be integrally formed.

FIG. 8 shows an actuator in which the reverse input cutoff clutch of the first embodiment described above is partially modified and incorporated. This actuator incorporates a reverse input cutoff clutch 20 as a brake, a wave gear device 21 as a speed reduction mechanism, and a cross roller bearing 22 on the output side of the motor 19.

The motor 19 has a motor housing 19a fixed to an external member (not shown) and integrally supports a reverse input cutoff clutch 20, a wave gear device 21, and a cross roller bearing 22, as will be described later. A motor shaft partially protruding from the motor housing 19 a is an input shaft (input side member) 3 of the reverse input cutoff clutch 20. An encoder (rotation detector) 31 is attached to the motor 19 outside the motor housing 19a in the axial direction. In addition, a driven member (not shown) that operates by driving the motor 19 is connected to the output side of the cross roller bearing 4 via a connecting shaft 32. In the following description of the actuator, “input shaft” is referred to as “motor shaft”.

The changes of the reverse input cutoff clutch 20 from the first embodiment are as follows. First, the output shaft (output-side member) 4 has an output-side end portion formed in a D-shaped cross section, and is connected to the input side of the wave gear device 21 as will be described later at the output-side end portion having the D-shaped cross section. Has been. The lever portion 17a of the brake release member 17 protrudes radially outward from a brake housing 20a that is bolted to the motor housing 19a, and the fixing plate 14 has an attachment piece 14a of the motor housing 19a and the brake housing 20a. It is fixed by being sandwiched between the bolt coupling portions. The input-side sintered oil-impregnated bearing 10a is between the large diameter portion of the outer ring 5 and the motor shaft 3, and the output-side sintered oil-impregnated bearing 10b is between the brake cylinder 11 and the center portion of the output shaft 4, respectively. It has been incorporated.

The wave gear device 21 includes a rotation transmission shaft 23 connected to the output shaft 4 of the reverse input cutoff clutch 20 on its input side, a wave generator 24 bolted to the flange portion 23a of the rotation transmission shaft 23, and a wave generator. 24 is provided with a circular spline 25 arranged on the outer side in the radial direction of 24, and a flex spline 26 having a large diameter portion sandwiched between the wave generator 24 and the circular spline 25.

The rotation transmission shaft 23 has a three-stage cylindrical shape in which a small diameter portion is formed at one end and a large diameter portion having a flange portion 23a is formed at the other end. And the output side end part of the output shaft 4 of the reverse input cutoff clutch 20 is fitted to the output shaft 4 in a relatively non-rotatable manner by being fitted into a connecting hole having a D-shaped cross section provided on the other end surface.

The wave generator 24 is obtained by fitting and fixing an inner ring of a ball bearing 24b on the outer periphery of a cam 24a having an elliptical cross section in the radial direction. The circular spline 25 is an annular component having teeth provided on the inner periphery thereof, and an outer peripheral portion thereof is integrated with the brake housing 20a as described later. Further, the flex spline 26 is a thin cup-shaped part formed of a metal elastic body, and teeth that mesh with the teeth of the inner periphery of the circular spline 25 are provided on the outer periphery of the large diameter portion, and the cross roller bearing 22 of the small diameter portion. The inner ring 27 is bolted.

Then, when rotation is transmitted from the output shaft 4 of the reverse input cutoff clutch 20 to the rotation transmission shaft 23 and the wave generator 24 rotates together with the rotation transmission shaft 23, the inner diameter of the large-diameter portion is formed on the outer ring of the ball bearing 24 b of the wave generator 24. When the flex spline 26 pressed is elastically deformed to change the meshing position with the circular spline 25, the flex spline 26 rotates integrally with the inner ring 27 of the cross roller bearing 22 by the difference in the number of teeth with the circular spline 25, A large deceleration rate can be obtained.

The cross roller bearing 22 includes a plurality of rollers 29 that are adjacent to each other in the circumferential direction between an inner ring 27 that is bolted to the flex spline 26 of the wave gear device 21 and an outer ring 28 that is bolted to the circular spline 25. They are arranged so that they are orthogonal to each other. The inner ring 27 has center holes 27a and 27b on both end faces, and is connected to a driven member by a connecting shaft 32 fitted and fixed to the center hole 27a on one end face. A ball bearing 30 that supports the small diameter portion of the rotation transmission shaft 23 of the wave gear device 21 is fitted into the hole 27b.

The outer ring 28 of the cross roller bearing 22 and the brake housing 20a are coupled with a bolt that penetrates the circular spline 25 of the wave gear device 21, and the brake housing 20a is coupled to the motor housing 19a as described above. Thus, the reverse input cutoff clutch 20, the wave gear device 21, and the cross roller bearing 22 are integrally supported by the motor housing 19a.

This actuator has the above-described configuration, and as a brake, in a state where the outer ring 5 is restrained so as not to rotate, the rotation of the motor shaft 3 is transmitted to the output shaft 4 and against the reverse input torque applied to the output shaft 4. The reverse input blocking mechanism 1 that locks and stops the output shaft 4 with the outer ring 5 and the outer ring 5 of the reverse input blocking mechanism 1 when it is not operated are restrained so as not to rotate, and the outer ring 5 is freely released by manual operation. A reverse input cutoff clutch 20 combined with the operation control mechanism 2 is incorporated on the output side of the motor 19.

Therefore, during normal use (when the operation control mechanism 2 is not operated), when the motor 19 is rotated, the rotation of the motor shaft 3 is transmitted to the output shaft 4, and the rotation of the output shaft 4 is decelerated by the wave gear device 21. After that, it is transmitted to the driven member via the cross roller bearing 22 and the connecting shaft 32, and the driven member is driven. In addition, when the motor 19 is stopped, even if reverse input torque is applied from the driven member to the output shaft 4 via the connecting shaft 32, the cross roller bearing 22 and the wave gear device 21, the output shaft 4 is locked with the outer ring 5. Therefore, the rotation direction position of each member from the output shaft 4 to the driven member is maintained. On the other hand, when the motor 19 is stopped and the brake release member 17 of the operation control mechanism 2 is manually operated to release the outer ring 5 in a freely rotatable manner, the output is output when reverse input torque is applied to the output shaft 4 from the driven member. The shaft 4 rotates integrally with the brake plate 12 and the motor shaft 3 in a state where the shaft 4 is locked with the outer ring 5.

And since the reverse input interruption | blocking clutch 20 is comprised mechanically and does not require electric power, electric power consumption can be reduced rather than the conventional one using an electromagnetic brake, and maintenance etc. are performed while the motor 19 is stopped. In some cases, the operator can easily move the driven member from the output side by manually operating the operation control mechanism 2, so that the work can be efficiently performed.

Further, the reverse input cutoff clutch 20 can reduce the axial length compared to the case of using an electromagnetic brake that needs to incorporate an electromagnet so as to be aligned with the brake plate in the axial direction. It is possible to reduce the size in the axial direction, and the wiring of the electromagnetic brake becomes unnecessary, so that the actuator can be easily incorporated into the robot arm or the like.

9 to 13 show the reverse input cutoff clutch of the second embodiment. In this embodiment, as shown in FIG. 9, the operation control mechanism 2 of the first embodiment is replaced with an operation control mechanism 2 'composed of an electromagnetic brake. Hereinafter, differences from the first embodiment will be mainly described. In addition, about the member of the same function as 1st Embodiment, the same code | symbol as 1st Embodiment is attached | subjected and detailed description is abbreviate | omitted.

As shown in FIGS. 9 to 11, the reverse input blocking mechanism 1 of the second embodiment has the same number of cam surfaces 4b, rollers 7 and coil springs (elastic members) 8 as the outer periphery of the output shaft 4 as in the first embodiment. The other configurations and functions are the same as those of the first embodiment except for the differences.

On the other hand, the electromagnetic brake (operation control mechanism) 2 ′ includes a brake cylinder 11 and a brake plate 12 arranged in the same manner as in the first embodiment, and an armature 33 that faces one side surface (output side surface) of the brake plate 12. And the friction plate 34 facing the other side surface (input side surface) of the brake plate 12 in a state where the brake cylinder 11 is passed, a plurality of brake springs 35 pressing the armature 33 against the brake plate 12, and the armature 33 is braked by energization. The electromagnet 36 is separated from the brake plate 12 against the elasticity of the spring 35, and the housing 37 is assembled with the brake spring 35 and the electromagnet 36. The housing 37 has an attachment hole 37a penetrating the outer periphery thereof. It is fixed to an external member (not shown).

The brake cylinder 11 is connected to the outer ring 5 of the reverse input blocking mechanism 1 in the same manner as in the first embodiment, and is connected to the brake plate 12 in the same manner as in the first embodiment at the flange portion 11a. Further, a lid 38 through which the input shaft 3 passes is fitted and fixed to the inner periphery of the brake cylinder 11, and a ball bearing 39 for rotatably supporting the output shaft 4 on the output side and the ball bearing 39 in the axial direction A retaining ring 40 for positioning is fitted. A lid 41 through which the input shaft 3 passes is fitted and fixed to the inner periphery of the input side end of the outer ring 5.

The armature 33 is slidably fitted on the outer periphery of an inner cylindrical portion 37 b provided on the inner peripheral side of the housing 37, and a plurality of bolts for fixing the friction plate 34 to the housing 37 on the outer peripheral portion. By passing 18, it is held axially movable and non-rotatable.

Therefore, when the electromagnet 36 is not energized, the brake spring 35 presses the armature 33 against the brake plate 12, whereby the brake plate 12 pressed by the armature 33 is pressed against the friction plate 34 fixed to the housing 37. When the electromagnet 36 is energized, as shown in FIG. 12, the electromagnet 36 attracts the armature 33, moves it axially against the elasticity of the brake spring 35, and moves away from the brake plate 12. That is, when not energized, the brake plate 12 and the brake cylinder 11 connected thereto and the outer ring 5 of the reverse input blocking mechanism 1 are restrained so as not to rotate, and the brake plate 12, the brake cylinder 11 and the outer ring 5 can be rotated freely by energization. It comes to release.

The reverse input cut-off clutch of the second embodiment has the above-described configuration, and the reverse input cut-off mechanism 1 similar to that of the first embodiment and the outer ring 5 of the reverse input cut-off mechanism 1 when not energized (not operated). This is combined with an electromagnetic brake 2 ′ that is restrained to be non-rotatable and that freely releases the outer ring 5 when operated by energization.

That is, if the electromagnetic brake 2 '(the electromagnet 36) is de-energized, the outer ring 5 of the reverse input cutoff mechanism 1 is restrained, so that a function similar to that of the conventional reverse input cutoff clutch can be obtained. When 2 ′ is energized, the outer ring 5 is rotatably released, so that when the reverse input torque is applied to the output shaft 4, the output shaft 4 rotates with the outer ring 5 locked (reverse input). The output shaft 4 is allowed to rotate with respect to the torque).

Therefore, in the apparatus incorporating the reverse input cutoff clutch, the electromagnetic brake 2 'is normally de-energized, so that the motor connected to the input shaft 3 is similar to the case where the conventional reverse input cutoff clutch is incorporated. By driving the driven member connected to the output shaft 4 by driving, the rotational direction position of the driven member can be held when the motor is stopped. When performing maintenance or the like, by energizing the electromagnetic brake 2 ′, It is possible to work efficiently as the worker can move the driven member from the output side.

In the second embodiment described above, the outer ring 5 of the reverse input blocking mechanism 1 and the brake cylinder 11 of the electromagnetic brake 2 ′ are connected so as not to be relatively rotatable. However, as in the modification shown in FIG. The brake cylinder 11 may be integrally formed.

FIG. 14 shows an actuator in which the reverse input cutoff clutch of the second embodiment described above is partially modified and incorporated. This actuator incorporates a reverse input cutoff clutch 20 ′ as a brake, a wave gear device 21 as a speed reduction mechanism, and a cross roller bearing 22 on the output side of the motor 19. The parts other than the reverse input cutoff clutch 20 ', that is, the configuration of the motor 19, the wave gear device 21, the cross roller bearing 22 and the connecting shaft 32 are the same as those of the actuator shown in FIG.

The changes from the second embodiment of the reverse input cutoff clutch 20 'are as follows. First, the output shaft (output side member) 4 is connected to the input side of the wave gear device 21 at the output side end portion formed in a semicircular cross section.

In the electromagnetic brake 2 ′, the brake cylinder 11 and the brake plate 12 are integrally formed, and a brake housing 20a ′ in which the brake spring 35 and the electromagnet 36 are incorporated is bolted to the motor housing 19a and the wave gear device. 21 and the cross roller bearing 22 are bolted together. The brake spring 35 is disposed on the radially outer side than the bolt 18 that fixes the friction plate 34 to the brake housing 20 a ′, and the friction plate 34 is provided in a state in which the motor shaft 3 is slidably passed.

Then, instead of the input side covers 38 and 41 of the outer ring 5, a sintered oil-impregnated bearing (first bearing) 10 a on the input side is incorporated between the large-diameter portion of the outer ring 5 and the motor shaft 3. Instead of the output-side ball bearing 39 and the retaining ring 40, an output-side sintered oil-impregnated bearing (second bearing) 10 b is incorporated between the brake cylinder 11 and the center portion of the output shaft 4.

This actuator has the above-described configuration, and as a brake, in a state where the outer ring 5 is restrained so as not to rotate, the rotation of the motor shaft 3 is transmitted to the output shaft 4 and against the reverse input torque applied to the output shaft 4. A reverse input blocking mechanism 1 that locks and stops the output shaft 4 with the outer ring 5, and an electromagnetic that restrains the outer ring 5 of the reverse input blocking mechanism 1 to be non-rotatable when not energized, and freely releases the outer ring 5 when energized. A reverse input cutoff clutch 20 ′ combined with the brake 2 ′ is incorporated on the output side of the motor 19.

Therefore, when the electromagnetic brake 2 '(electromagnet 36) is deenergized and the motor 19 is rotated with the outer ring 5 of the reverse input blocking mechanism 1 being restrained, the rotation of the motor shaft 3 is transmitted to the output shaft 4, After the rotation of the output shaft 4 is decelerated by the wave gear device 21, it is transmitted to the driven member via the cross roller bearing 22 and the connecting shaft 32, and the driven member is driven. Further, when the motor 19 is stopped while the electromagnetic brake 2 ′ is not energized, even if reverse input torque is applied to the output shaft 4 from the driven member via the connecting shaft 32, the cross roller bearing 22 and the wave gear device 21. Since the output shaft 4 is locked with the outer ring 5 and does not rotate, the rotational direction position of each member from the output shaft 4 to the driven member is maintained. On the other hand, when the electromagnetic brake 2 ′ is energized, the outer ring 5 is rotatably released, so that when the reverse input torque is applied from the driven member to the output shaft 4, the output shaft 4 rotates with the outer ring 5 locked. Will do.

That is, when the motor 19 is rotated and the driven member is moved, it is not necessary to energize the electromagnetic brake 2 '. Therefore, the power consumption can be reduced as compared with the conventional one using only the electromagnetic brake, and the motor 19 is stopped. Even when the electromagnetic brake 2 'is deenergized, the brake can be applied. Further, when maintenance or the like is performed while the motor 19 is stopped, the operator can easily move the driven member from the output side by energizing the electromagnetic brake 2 ', so that the work can be performed efficiently.

FIG. 15 shows a modification in which a part of the configuration of the reverse input cutoff clutch 20 ′ of the actuator shown in FIG. 14 is changed. In this modification, the arrangement of the constituent members of the electromagnetic brake 2 'in the axial direction is opposite to that in FIG. The brake plate 12 is connected to the brake cylinder 11 formed in a cylindrical shape integrally with the outer ring 5 so as not to be relatively rotatable. As a result, the brake plate 12, the brake cylinder 11 and the outer ring 5 are simpler and easier to manufacture than the example of FIG. 14, are easy to press-fit both, and are less likely to be deformed by press-fitting. It has become.

Further, in the axial arrangement of the constituent members of the electromagnetic brake 2 ', the friction plate 34 is disposed on the radially outer side of the outer ring 5, and as a result, the outer ring 5 is axially formed with the protrusion formed at one end of the motor housing 19a. Directly opposite. However, the outer ring 5 is arranged in a state where a gap is formed between the outer housing 5 and the projecting portion of the motor housing 19a. The outer ring 5 is locked and rotated with the output shaft 4 to which reverse input torque is applied in a freely released state. In this case, it does not slide with the motor housing 19a, and there is no possibility of generating abrasion powder.

Further, the sintered oil-impregnated bearing (first bearing) 10a on the input side for rotatably supporting the motor shaft 3 is formed to have a smaller axial dimension than that of FIG. 14, and an output for rotatably supporting the output shaft 4. The sintered oil-impregnated bearing (second bearing) 10b on the side has a larger axial dimension than that of FIG. The motor shaft 3 has a tip portion (small-diameter cylindrical portion) inserted into the output shaft 4 that reaches the radially inner side of the output-side sintered oil-impregnated bearing (second bearing) 10b, and has two longitudinal portions. It is designed to be supported in a freely rotatable manner. This makes it easier to ensure the coaxiality of the motor shaft 3 and the output shaft 4 than in the example of FIG. 14 and improve the operational stability of the actuator.

By the way, in the actuator incorporating the reverse input cutoff clutches 20, 20 ′ of each embodiment as a brake, the engaging portion 3 a of the motor shaft 3 that is the input side member of the reverse input cutoff mechanism 1 and the output shaft that is the output side member. Since there is a slight clearance in the rotational direction between the four engagement holes 4a, the rotational clearance becomes a backlash, and when the rotational direction is reversed, a rotation delay of the output shaft 4 with respect to the motor shaft 3 occurs. Is inevitable. Therefore, when a control device that performs general motor control is incorporated, when the rotation direction is reversed, the motor 19 is stopped before the driven member reaches the target position, resulting in positioning error of the driven member. May occur.

Therefore, each of the actuators described above incorporates a control device that performs control in consideration of backlash and the like of the reverse input blocking mechanism 1 as will be described later.

The control device includes an encoder (rotation detector) 31 attached to the outside of the motor 19 and a controller (not shown). The controller aligns the rotational position of the connecting shaft 32 connected to the driven member with the target position. The number of rotations of the motor shaft 3 necessary for this is obtained, and the motor 19 is controlled using the encoder 31 so that the motor shaft 3 rotates by the number of rotations. Hereinafter, functions of the control device will be described.

First, when the motor 19 is driven to rotate the motor shaft 3 from the initial state shown in FIG. 4B, the rotation of the motor shaft 3 is transmitted to the output shaft 4 of the reverse input blocking mechanism 1 as described above, and the output After the rotation of the shaft 4 is decelerated by the wave gear device 21, it is transmitted to the connecting shaft 32 via the cross roller bearing 22, and the driven member connected to the connecting shaft 32 is driven (state of FIG. 5B).

Then, after the motor 19 is stopped in the state shown in FIG. 5B, when the motor 19 is driven again, if the motor shaft 3 is rotated in the same direction as before the stop, the state of FIG. 5B is continued. The output shaft 4 and the connecting shaft 32 rotate without being delayed from the motor shaft 3. However, when the motor shaft 3 is rotated in the direction opposite to that before stopping, the rotation direction gap between the engaging portion 3a of the motor shaft 3 and the inner surface of the engaging hole 4a of the output shaft 4 becomes backlash, At the start of rotation, as shown in FIG. 16A, only the motor shaft 3 rotates and the output shaft 4 and the connecting shaft 32 do not rotate, and then the engaging portion 3a of the motor shaft 3 outputs as shown in FIG. 16B. Even if the output shaft 4 and the connecting shaft 32 start to rotate by engaging with the engaging hole 4a of the shaft 4, a rotation delay of the connecting shaft 32 with respect to the motor shaft 3 remains.

Therefore, when reversing the rotation directions of the motor shaft 3 and the connection shaft 32, the control device takes into account the rotation angle from the rotation direction position of the connection shaft 32 to the target position, the backlash of the reverse input blocking mechanism 1, and the like in advance. The rotation angle of the motor shaft 3 is obtained by multiplying the sum of the set rotation delay angle of the connecting shaft 32 at the time of reversal and the reduction ratio of the wave gear device 21, and this is converted into the number of rotations of the motor shaft 3. . Thereby, the rotation delay of the connecting shaft 32 is absorbed, and the connecting shaft 32 can be made to coincide with the target position with high accuracy.

Further, when reverse input torque is applied to the connecting shaft 32 by the weight of the driven member even while the motor 19 is driven, the control device also performs the following control.

That is, when the direction of the reverse input torque applied to the connecting shaft 32 changes from the reverse direction to the same direction as the input torque applied to the motor shaft 3 by the motor 19, the output shaft 4 of the reverse input blocking mechanism 1 is Due to the reverse input torque transmitted from the coupling shaft 32 through the cross roller bearing 22 and the wave gear device 21, the forward phenomenon is caused to rotate faster than the motor shaft 3 from the state shown in FIG. 5B as shown in FIG. (For the sake of explanation, only the relative rotation of the output shaft 4 with respect to the motor shaft 3 is indicated by an arrow in FIG. 17), and the connecting shaft 32 rotates more than the angle corresponding to the number of rotations of the motor shaft 3. Therefore, the control device reduces the number of rotations of the motor shaft 3 by an amount corresponding to a preset rotation advance angle of the connecting shaft 32 so that the deviation of the connecting shaft 32 from the target position is reduced. Yes.

On the other hand, when the direction of the reverse input torque changes from the same direction as the input torque to the reverse direction, the output shaft 4 of the reverse input blocking mechanism 1 is in the state shown in FIG. 18 also causes a delay phenomenon that is slower than the motor shaft 3 as shown in FIG. 18 (for the sake of explanation, only relative rotation of the motor shaft 3 with respect to the output shaft 4 is indicated by an arrow in FIG. 18). The rotation is less than the angle corresponding to the number of rotations of the motor shaft 3. Therefore, the control device increases the number of rotations of the motor shaft 3 by an amount corresponding to a preset rotation delay angle of the connection shaft 32 so that the connection shaft 32 approaches the target position.

As described above, the actuator is configured such that the control device adjusts the number of rotations of the motor shaft 3 in consideration of the rotation delay and the rotation advance of the connection shaft 32 due to the backlash of the reverse input blocking mechanism 1. Since the deviation from the target position is reduced, the direction of the reverse rotation torque applied when the rotation direction is reversed or when the direction of the reverse input torque applied by the weight of the driven member during driving of the motor 19 is changed. Positioning can be performed accurately.

1 Reverse Input Blocking Mechanism 2 Motion Control Mechanism 2 'Electromagnetic Brake (Motion Control Mechanism)
3 Input shaft (input side member)
4 Output shaft (output side member)
4b Cam surface 5 Outer ring 6 Unlocking piece 6a Column 7 Roller 8 Coil spring (elastic member)
9 Wedge-shaped space 11 Brake cylinder 12 Brake plate 13 Brake plate 14 Fixing plate 15 Brake spring 16 Spring receiving plate 17 Brake release member 19 Motor 19a Motor housing 20, 20 'Reverse input cutoff clutch 20a, 20a' Brake housing 21 Wave gear device 22 Cross roller bearing 31 Encoder (rotation detector)
32 Connecting shaft 33 Armature 34 Friction plate 35 Brake spring 36 Electromagnet 37 Housing

Claims (11)

Including an outer ring disposed radially outside the input side member, the output side member, and the output side member, and in a state in which the outer ring is restrained so as not to rotate, the rotation of the input side member is transmitted to the output side member, For reverse input torque applied to the output side member, a reverse input blocking mechanism that locks the output side member with the outer ring and prevents rotation of the output side member;
An operation control mechanism that restrains the outer ring to be non-rotatable during non-operation and releases the outer ring rotatably during operation;
A reverse input cutoff clutch that rotates when the output side member is locked with the outer ring when a reverse input torque is applied to the output side member with the outer ring being rotatably released. The reverse input blocking mechanism is arranged in a state in which the input side member and the output side member rotate around the same axis, and the input side member rotates between the input side member and the output side member. Torque transmitting means for transmitting to the output side member is provided, a plurality of cam surfaces are provided on the outer peripheral surface of the output side member, and between the inner peripheral cylindrical surface of the outer ring and each cam surface of the output side member. Wedge-shaped spaces that are gradually narrowed on both sides in the circumferential direction are formed, and in each of these wedge-shaped spaces are incorporated a pair of rollers and an elastic member that is sandwiched between the pair of rollers and pushes each roller into the narrow portion of the wedge-shaped space. 2. The unlocking piece having pillar portions inserted on both sides in the circumferential direction of each wedge-shaped space is connected to the input side member so as not to be relatively rotatable. Reverse input cutoff clutch. The reverse input cutoff clutch according to claim 1 or 2, wherein the operation control mechanism is operated by a manual operation. The operation control mechanism is connected to the outer peripheral side of the outer ring so as not to rotate relative to the outer ring. The brake plate projects outward in the radial direction of the outer ring, and faces one side surface of the brake plate, and is axially movable and non-rotatable. A brake plate that is held; a brake spring that presses the brake plate against the brake plate; and a brake release member that manually moves the brake plate away from the brake plate against the elasticity of the brake spring. The reverse input cutoff clutch according to claim 3. The reverse input cut-off clutch according to claim 1 or 2, wherein the operation control mechanism is an electromagnetic brake that operates by energization. The electromagnetic brake is connected to the outer peripheral side of the outer ring so as not to rotate relative to the outer ring. The brake plate projects outwardly in the radial direction of the outer ring, faces one side of the brake plate, and is axially movable and non-rotatable. 6. An armature, a brake spring that presses the armature against a brake plate, and an electromagnet that separates the armature from the brake plate against the elasticity of the brake spring when energized. The reverse input cut-off clutch described in 1. In an actuator comprising a motor and a brake that holds a rotational direction position of an output shaft connected to the motor shaft when the motor stops,
The reverse input cutoff clutch according to any one of claims 1 to 6 is used as the brake, the motor shaft is an input side member of the reverse input cutoff clutch, and the output shaft is an output side member of the reverse input cutoff clutch. An actuator characterized by that. The motor shaft is rotatably supported by the first bearing and the output shaft is rotatably supported by the second bearing, and the tip of the motor shaft is inserted into the output shaft so that the diameter of the second bearing The actuator according to claim 7, wherein the actuator reaches inward in the direction. 9. The actuator according to claim 7, wherein the outer ring is arranged in a state of facing the motor in the axial direction and creating a gap between the outer ring and the motor. Rotation is transmitted from the motor shaft, and the number of rotations of the connecting shaft connected to an external driven member and the number of rotations of the motor shaft necessary to make the rotational direction position of the connecting shaft coincide with the target position are determined. And a control device for controlling the motor so that the motor shaft rotates by an amount,
When the control device reverses the rotation direction of the motor shaft and the connection shaft, the rotation angle from the rotation direction position of the connection shaft to the target position, and the rotation delay angle of the connection shaft at the time of reverse rotation set in advance, The actuator according to any one of claims 7 to 9, wherein the number of rotations of the motor shaft is adjusted based on the sum of the above. The connecting shaft can be applied with reverse input torque by the weight of the driven member,
In the control device, the direction of the reverse input torque applied to the connecting shaft by the weight of the driven member changes from the reverse direction to the same direction as the input torque applied to the motor shaft by the motor during driving of the motor. In this case, the number of rotations of the motor shaft is reduced by an amount corresponding to a preset rotation advance angle of the connecting shaft, and when the direction of the reverse input torque changes from the same direction as the input torque to the reverse direction, 11. The actuator according to claim 10, wherein the number of rotations of the motor shaft is increased by an amount corresponding to a preset rotation delay angle of the connecting shaft.

Images