Braking and decelerating mechanisms

Abstract

A brake mechanism and a speed reduction mechanism are provided. The speed reduction mechanism of the present invention includes a speed reduction portion that reduces an input rotational speed, a speed increase portion that increases a rotational speed output from the speed reduction portion, and a brake portion that applies a brake force to brake the speed increase portion.

Description

TECHNICAL FIELD

[0001] The present application relates to a brake mechanism and a speed reduction mechanism, and particularly relates to a technology suitable for a mechanism having a brake and a speed reducer. BACKGROUND

[0002] In an industrial robot, a machine tool, or the like, when stopped due to some abnormality at the time of emergency stop, at the time of power failure, or the like, if the posture cannot be maintained and the robot is lowered due to its own weight, it is dangerous. Therefore, in general, a brake for maintaining the posture is provided in a robot or the like.

[0003] As such an example, as described in Patent Document 1, a driving unit 10 provided in a first joint body 3 of a robot 1 has a structure in which a motor 20, a brake shaft 25 provided in parallel with a motor shaft 29 of the motor 20, a pulley mechanism 40 that links an output shaft 29 and one end portion 25a of the brake shaft 25 and transmits rotation of the motor 20 to the brake shaft 25, and an electromagnetic brake 21 and a speed reducer 22 provided concentrically with the brake shaft 25 are provided.

[0004] Here, a structure is known in which a central portion 25b and the other end portion 25c of the brake shaft 25 are respectively inserted through the speed reducer 22 and the electromagnetic brake 21, and a working end of a second joint body 4 is connected to the outer periphery of an output portion 31 of the speed reducer 22.

[0005] Prior art documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent No. 5976400 SUMMARY

[0008] Problem to be solved by the invention

[0009] In these structures, in the case where the driving force is large when braking is performed, in the case where a large component is to be stopped, or the like, a large brake is required, and thus there is a demand to make the brake smaller.

[0010] In particular, in order to prevent the driving force on the driving side from disappearing, or the like, there is a demand to make the brake for applying the brake smaller without reducing the braking function.

[0011] The present application aims to provide a speed reduction mechanism that has a sufficient braking function and can be made smaller.

[0012] Solution to the problem

[0013] The deceleration mechanism according to one aspect of the present application solves the above problems by the following means,

[0014] The deceleration mechanism according to one aspect of the present application solves the above problems by the following means,

[0015] a deceleration section that decelerates input rotation;

[0016] an acceleration section that accelerates rotation of the deceleration section; and

[0017] a braking section that imparts a braking force to the acceleration section,

[0018] The acceleration section of the deceleration mechanism according to one aspect of the present application is accelerated by the braking force of the braking section.

[0019] Generally, in a case where the deceleration section is to be braked against input rotation input from a driving source such as a motor, the rotation after deceleration by the deceleration section is braked, and thus the braking force of the braking section, i.e., the braking force, needs to be for the rotation after deceleration. Therefore, the required braking torque becomes large, and the braking section is large-sized.

[0020] In contrast, according to the deceleration mechanism according to one aspect of the present application, the rotation of the deceleration section is accelerated, i.e., the rotational speed is increased, by the acceleration section, and thus the braking force of the braking section, i.e., the braking force, can be only an amount required for the rotation after acceleration. Therefore, the required braking torque can be suppressed, and the braking section can be downsized.

[0021] The deceleration mechanism according to the present application can be configured such that the deceleration section has a deceleration center axis that is a rotation center,

[0022] the acceleration section and the braking section are connected by a gear having rotation axes parallel to each other,

[0023] the acceleration section and the braking section are arranged to overlap each other in an axial direction along the rotation axes.

[0024] The deceleration mechanism according to the present application can be configured such that the deceleration section has a deceleration center axis that is a rotation center,

[0025] the deceleration section and the braking section are arranged to overlap each other in a circumferential direction with respect to the rotation axes.

[0026] The deceleration mechanism according to the present application can be configured such that the deceleration section has a center gear that is a rotation center of the deceleration center axis,

[0027] the braking section has a braking idler gear that has a rotation axis parallel to the rotation axis of the center gear and is rotated by the center gear,

[0028] the braking idler gear is braked.

[0029] The speed reduction mechanism of the present application can be configured such that the speed reduction section has a center gear that has the speed reduction center axis as a rotation center, and a spur gear that has a rotation axis parallel to the rotation axis of the center gear, is rotated by the center gear,

[0030] The brake section brakes the spur gear.

[0031] The speed reduction mechanism of the present application can be configured such that the speed reduction section has a center gear that has the speed reduction center axis as a rotation center,

[0032] The brake section brakes the center gear.

[0033] The speed reduction mechanism of the present application can be configured such that the speed reduction section has a center gear that has the speed reduction center axis as a rotation center, and an outer tube that is rotated by the center gear with the speed reduction center axis as a rotation center,

[0034] The brake section brakes the outer tube.

[0035] The speed reduction mechanism of the present application can be configured such that the speed reduction section has another speed-up section that increases the output rotation of the speed reduction section,

[0036] The brake force of the brake section is imparted to the other speed-up section.

[0037] The speed reduction mechanism of the present application can be configured such that the speed reduction section has a center gear that has the speed reduction center axis as a rotation center, and an outer tube that is rotated by the center gear with the speed reduction center axis as a rotation center,

[0038] The speed reduction section has:

[0039] A first output shaft that rotates by the outer tube;

[0040] A second output shaft that is parallel to the first output shaft;

[0041] A first output gear and a second output gear that connect the first output shaft and the second output shaft to transmit rotation; and

[0042] Another speed-up section that is connected to the second output shaft to increase the output of the speed reduction section,

[0043] The other speed-up section is braked by the brake force of the brake section that is connected to the other speed-up section.

[0044] The speed reduction mechanism of the present application can be configured such that a rotation driving source that inputs a rotation driving force is connected to one end of the first output shaft via the speed reduction section, the other speed increasing section is connected to the other end of the first output shaft via the first output gear and the second output gear, and an inclined rotation section is provided between the one end and the other end.

[0045] The speed reduction mechanism of the present application can be configured such that the speed reduction mechanism has a leg section that rotatably supports the first output shaft that is an inclined rotation shaft,

[0046] The second output shaft and the brake section are supported by the leg section.

[0047] The speed reduction mechanism of the present application can be configured such that

[0048] The speed reduction mechanism has:

[0049] a speed reduction section that reduces an input rotation;

[0050] a speed increasing section that increases a rotation of the speed reduction section; and

[0051] a brake section that imparts a braking force to the speed increasing section,

[0052] The speed reduction section has: a sun gear that has a speed reduction center axis that is a rotation center of the speed reduction section as a rotation center; an idle gear that is connected to the sun gear; a crank shaft that is integral with the idle gear; a cam that is provided to the crank shaft; an outer gear that is swing-rotated about the speed reduction center axis by the cam; and an outer cylinder that has an inner gear that engages with the outer gear and rotates about the speed reduction center axis,

[0053] The speed reduction section has:

[0054] a first output shaft that rotates by the outer cylinder;

[0055] a second output shaft that is parallel to the first output shaft;

[0056] a first output gear and a second output gear that connect the first output shaft and the second output shaft to transmit a rotation; and

[0057] a further speed increasing section that connects the second output shaft to increase an output of the speed reduction section,

[0058] a rotation driving source that inputs a rotation driving force is connected to one end of the first output shaft via the speed reduction section, the other speed increasing section is connected to the other end of the first output shaft via the first output gear and the second output gear, and an inclined rotation section is provided between the one end and the other end,

[0059] The deceleration mechanism has a leg portion that rotatably supports the first output shaft as a tilt rotation axis,

[0060] The second output shaft and the brake portion are supported by the leg portion,

[0061] The brake portion connected to the other speed-up portion brakes the other speed-up portion using the brake force.

[0062] According to the deceleration mechanism of one aspect of the present application, the rotation of the deceleration portion is speeded up, i.e., the rotational speed is increased, by the other speed-up portion. Therefore, the brake force of the brake portion, i.e., the braking torque, can be only the amount required for the rotated speed after the speed-up. Thus, the required braking torque can be suppressed, and the brake portion can be downsized.

[0063] The deceleration mechanism of another aspect of the present application solves the above-described problem by including a brake mechanism having a speed-up portion that speeds up an input rotational speed and a brake portion that applies a brake force to brake the speed-up portion, and a deceleration portion that decelerates the input rotational speed, the brake mechanism being connected to the deceleration portion.

[0064] According to the deceleration mechanism of another aspect of the present application, the brake force, i.e., the braking torque, of the brake portion can be increased by the speed-up portion. Thus, in a case where a larger brake force is required, the required braking torque can be applied by a smaller brake portion. Therefore, downsizing, space saving, reduction in the number of components, and reliable braking can be achieved.

[0065] The deceleration mechanism of another aspect of the present application can be configured to include a deceleration portion that decelerates an input rotational speed,

[0066] The brake mechanism described above is connected to the deceleration portion.

[0067] The deceleration mechanism of the present application can be configured such that the deceleration portion has a deceleration center axis that is a rotation center,

[0068] The deceleration portion and the speed-up portion are arranged to overlap each other in an axial direction along the deceleration center axis.

[0069] The deceleration mechanism of the present application can be configured such that the axis of the speed-up portion is arranged to be parallel to the deceleration center axis.

[0070] The deceleration mechanism of the present application can be configured such that the axis of the speed-up portion is arranged to cross the deceleration center axis.

[0071] The deceleration mechanism of the present application can be configured such that the deceleration portion and the speed-up portion are connected by a rotation transmission portion.

[0072] The speed reduction mechanism of the present application can be configured such that the rotation transmission portion is a brake output gear connecting the speed reduction portion and the speed increase portion, or a brake output pulley and a belt connecting the speed reduction portion and the speed increase portion, or a brake output sprocket and a chain connecting the speed reduction portion and the speed increase portion.

[0073] The speed reduction mechanism of the present application can be configured such that the rotation transmission portion is connected to the outer periphery of the speed reduction portion.

[0074] The speed reduction mechanism of the present application can be configured such that the speed reduction portion has an outer cylinder rotating around the speed reduction center axis,

[0075] The brake mechanism brakes the outer cylinder.

[0076] The speed reduction mechanism of the present application can be configured such that the speed reduction portion has an output shaft rotating by the outer cylinder,

[0077] The brake mechanism has a brake shaft parallel to the output shaft,

[0078] The rotation transmission portion is connected to the output shaft and the brake shaft to transmit rotation, and

[0079] The speed increase portion of the brake mechanism is connected to the brake shaft to increase the output of the speed reduction portion,

[0080] The speed reduction portion is braked by the brake force of the brake portion of the brake mechanism.

[0081] The speed reduction mechanism of the present application can be configured such that a rotation driving source inputting a rotation driving force is connected to one end of the output shaft via the speed reduction portion, the other end of the output shaft is supported by a bearing, and an inclined rotation portion is provided between the one end and the other end.

[0082] The speed reduction mechanism has a leg portion supporting the output shaft as an inclined rotation shaft so as to be rotatable,

[0083] The brake shaft and the brake mechanism are supported by the leg portion.

[0084] According to the speed reduction mechanism of one aspect of the present application, an input rotation inputted from a driving source such as a motor is reduced in speed by a speed reduction portion to rotate a first output shaft as an inclined rotation shaft, an inclined rotation portion is set to maintain a predetermined angle or is rotated by setting an inclined angle. At this time, the first output shaft is braked by a main brake.

[0085] Further, in a case where the input rotation from a drive source such as a motor is not input to the tilt rotation section, or in a case where the input rotation of the reduction section is not input to the tilt rotation section, the rotation of the tilt rotation section is braked by another speed-up section. In this case, the braking at the other speed-up section brakes the rotation speeded up by the other speed-up section, and thus, as compared with a structure in which the reduction section is braked, the required braking torque can be suppressed, and the brake section can be downsized.

[0086] Further, the first output shaft and the brake section are supported by the leg, and thus, downsizing can be achieved.

[0087] Effects of the invention

[0088] According to the present application, in a reduction mechanism in which downsizing can be achieved, the brake section can be downsized and sufficiently braked. BRIEF DESCRIPTION OF DRAWINGS

[0089] Fig. 1 is a schematic cross-sectional view along a reduction center axis of a first embodiment of a reduction mechanism of the present application, and Fig. 3 corresponds to line I-I in

[0090] Fig. 2 is a cross-sectional view of a reduction section in the first embodiment of the reduction mechanism of the present application, as viewed in a direction along the reduction center axis.

[0091] Fig. 3 is a cross-sectional view along an axial direction of the reduction section in the first embodiment of the reduction mechanism of the present application.

[0092] Fig. 4 is a schematic cross-sectional view along a reduction center axis of a second embodiment of a reduction mechanism of the present application.

[0093] Fig. 5 is a cross-sectional view of a third embodiment of the reduction mechanism of the present application, as viewed in a direction along the reduction center axis.

[0094] Fig. 6 is a cross-sectional view along an axial direction of a fourth embodiment of a reduction mechanism of the present application.

[0095] Fig. 7 is a side view of the fourth embodiment of the reduction mechanism of the present application, as viewed in the axial direction.

[0096] Fig. 8 is a schematic view of a fifth embodiment of a brake mechanism, a reduction mechanism of the present application.

[0097] Fig. 9 is a schematic view of a sixth embodiment of a brake mechanism, a reduction mechanism of the present application.

[0098] Fig. 10 is a schematic view showing a 7th embodiment of the brake mechanism, speed reduction mechanism of the present application.

[0099] Fig. 11 is a schematic view showing an 8th embodiment of the brake mechanism, speed reduction mechanism of the present application.

[0100] Fig. 12 is a cross-sectional view along an axial direction showing a 9th embodiment of the brake mechanism, speed reduction mechanism of the present application.

[0101] Fig. 13 is a side view in an axial direction showing the 9th embodiment of the brake mechanism, speed reduction mechanism of the present application.

[0102] Fig. 14 is a cross-sectional view along an axial direction showing a 10th embodiment of the brake mechanism, speed reduction mechanism of the present application.

[0103] Explanation of reference numerals

[0104] 1, 1000, speed reduction mechanism; 100, 1100, speed reduction part; 20, 1020, speed up part; 30, 1030, brake part; 211, outer tube; 430, transmission gear (spur gear); 500, center gear; 501, brake idle gear; 502, brake gear; 1002, motor (rotary drive source); 1011, base block (leg); 1012, holding device; 1012a, bearing; 1200, 2nd speed up part (another speed up part); 2000, brake mechanism; 3000, rotation transmission part; 3011, 1st brake output gear; 3012, 2nd brake output gear; 3013, 1st brake output bevel gear; 3014, 2nd brake output bevel gear; 3021, 1st brake output pulley, 1st brake output sprocket; 3022, 1st brake output pulley, 2nd brake output sprocket; 3023, winding belt, winding chain; F0, speed reduction center axis (center axis); F1000, horizontal axis (speed reduction center axis); F2000, brake axis. DETAILED DESCRIPTION

[0105] Hereinafter, a 1st embodiment of the speed reducer of the present application will be explained based on the drawings.

[0106] In addition, in each drawing used in the following explanation, the scale of each member is appropriately changed in order to set each member to a size that can be recognized. The size and ratio of each constituent element are made different from actual ones appropriately.

[0107] Fig. 1 is a schematic cross-sectional view along an axial direction showing the speed reduction mechanism of the present embodiment, Fig. 2is a cross-sectional view showing a reduction portion of the reduction mechanism of the present embodiment as viewed in a direction along an axial direction, Fig. 3 is a schematic cross-sectional view along an axial direction showing the reduction portion of the reduction mechanism in the present embodiment, in which reference numeral 1 is a reduction mechanism.

[0108] As Fig. 1 , Fig. 2 shown, the reduction mechanism 1 of the present embodiment includes a reduction portion (reducer) 100 for reducing an input rotation, a speed-up portion 20 for increasing a rotation of the reduction portion 100, and a brake portion 30 for imparting a braking force to the speed-up portion 20.

[0109] The reduction portion 100 is configured as an eccentric swing reducer. As Fig. 2 , 3 shown, the reducer 100 includes a case cylinder 200, a gear portion (external tooth member) 300, three crank assemblies 400, and a center gear 500. The case cylinder 200 houses the gear portion 300 and the three crank assemblies 400. Further, there are structures that are omitted from illustration or are represented by modification in Fig. 3 .

[0110] The case cylinder 200 includes a housing (outer cylinder portion) 210, a gear carrier portion (gear carrier) 220, and two main bearings 230. The gear carrier portion 220 is disposed inside the housing (outer cylinder portion) 210. The two main bearings 230 are disposed between the housing (outer cylinder portion) 210 and the gear carrier portion 220. The two main bearings 230 enable relative rotational movement between the housing (outer cylinder portion) 210 and the gear carrier portion 220. The output portion of the reducer 100 in the present embodiment is exemplified by one of the housing (outer cylinder portion) 210 and the gear carrier portion 220.

[0111] With respect to the reduction portion 100, as Fig. 1 to Fig. 3 shown, a reduction center axis (central axis) F0 that is defined as a rotational center axis of the two main bearings 230 is shown. In a case where the gear carrier portion 220 is fixed, the housing (outer cylinder portion) 210 rotates around the main shaft F0. That is, one of the housing (outer cylinder portion) 210 and the gear carrier portion 220 is relatively rotatable around the main shaft F0 with respect to the other of the housing (outer cylinder portion) 210 and the gear carrier portion 220.

[0112] In the present embodiment, a direction along a center axis (main shaft) F0 of the reducer 100 that is a rotational center axis of the two main bearings 230 is referred to as an axial direction.

[0113] The housing (outer cylinder portion) 210 includes an outer cylinder 211 and a plurality of inner tooth pins (inner teeth) 212. The outer cylinder 211 defines a cylindrical inner space in which the gear carrier portion 220, the gear portion 300, and the crankshaft assembly 400 are housed. Each of the inner tooth pins 212 is a cylindrical member extending substantially parallel to the main shaft F0. Each of the inner tooth pins 212 is inserted into a groove portion formed in the inner wall of the outer cylinder 211. Thus, each of the inner tooth pins 212 is properly held by the outer cylinder 211.

[0114] The plurality of inner tooth pins 212 are arranged at substantially constant intervals around the main shaft F0. The semicircular surface of each of the inner tooth pins 212 protrudes from the inner wall of the outer cylinder 211 toward the main shaft F0. Thus, the plurality of inner tooth pins 212 function as inner teeth that engage with the gear portion 300.

[0115] The gear carrier portion 220 includes a base portion (first member) 221, an end plate portion (second member) 222, a positioning pin 223, and a strut bolt (fixing bolt) 224. The gear carrier portion 220 is overall in a cylindrical shape. A through-hole 229 concentric with the main shaft F0 is formed in the gear carrier portion 220. The inner cylinder 510 is inserted through the through-hole 229. The inner cylinder 510 is provided concentric with the main shaft F0.

[0116] The base portion (first member) 221 includes a base plate portion 225 and three shaft portions 226. The three shaft portions 226 extend from the base plate portion 225 toward the end plate portion (second member) 222, respectively. A threaded hole 227 and a hinge hole 228 are formed in the top end surface of each of the three shaft portions 226. The positioning pin 223 is inserted into the hinge hole 228. As a result, the end plate portion (second member) 222 is accurately positioned with respect to the base portion (first member) 221.

[0117] The strut bolt 224 is fastened to the threaded hole 227. As a result, the end plate portion (second member) 222 is properly fixed to the base portion (first member) 221.

[0118] The fixing between the base portion (first member) 221 and the end plate portion (second member) 222 by the strut bolt 224 is set to become a predetermined preload. The end plate portion (second member) 222 is referred to as a retainer.

[0119] The gear portion 300 is arranged between the base plate portion 225 and the end plate portion (second member) 222. The three shaft portions 226 pass through the gear portion 300 and are connected to the end plate portion (second member) 222.

[0120] The gear portion 300 includes two gears 310 and 320. The gear 310 is arranged between the base plate portion 225 and the gear 320. The gear 320 is arranged between the end plate portion (second member) 222 and the gear 310.

[0121] Gear 310 is approximately the same as gear 320 in shape and size. Gears 310 and 320 mesh with the internal toothed pin 212 while rotating relative to the outer cylinder 211 within the outer cylinder 211. Thus, the centers of gears 310 and 320 and the outer cylinder 211 rotate about the main shaft F0.

[0122] The rotation phase of gear 310 deviates approximately 180° from the rotation phase of gear 320. During the period when gear 310 is engaged with half of the plurality of internal toothed pins 212 of housing (outer cylinder portion) 210, gear 320 is engaged with the remaining half of the plurality of internal toothed pins 212. Therefore, gear portion 300 is capable of rotating housing (outer cylinder portion) 210 or gear carrier portion 220.

[0123] In this embodiment, the gear unit 300 includes two gears 310 and 320. Alternatively, more than two gears may be used as the gear unit. Moreover, alternatively, a single gear may be used as the gear unit.

[0124] The three crankshaft assemblies 400 each include a crankshaft 410, four bearings 421, 422, 423, and 424, and a transmission gear (external gear) 430. The transmission gear (spur gear) 430 can also be a conventional spur gear. The transmission gear 430 of the reducer 100 in this embodiment is not limited to a specific type.

[0125] The transmission gear (spur gear) 430 receives the driving force directly from the drive source (e.g., a motor) from the center gear 500. The transmission gear (spur gear) 430 has a rotation axis F3 parallel to the reduction center axis (center axis) F0.

[0126] like Fig. 2 , 3 As shown, crankshaft 410 rotates about crankshaft axis (transmission axis) F3. Transmission axis F3 is approximately parallel to main shaft F0.

[0127] The crankshaft 410 includes two journals (crankshaft journals) 411 and 412 and two eccentric portions (eccentric bodies) 413 and 414. Journals 411 and 412 extend along the transmission axis F3. The central axis of journals 411 and 412 coincides with the transmission axis F3. Eccentric portions 413 and 414 are formed between journals 411 and 412. Eccentric portions 413 and 414 are eccentric relative to the transmission axis F3.

[0128] The journal 411 is inserted in the bearing 421. The bearing 421 is disposed between the journal 411 and the end plate portion (second member) 222. Thus, the journal 411 is supported by the end plate portion (second member) 222 and the bearing 421. The journal 412 is inserted in the bearing 422. The bearing 422 is disposed between the journal 412 and the base portion (first member) 221. Thus, the journal 412 is supported by the base portion (first member) 221 and the bearing 422.

[0129] In the present embodiment, the bearing 421 is provided as a needle bearing, and a plurality of needles 431 are disposed around the journal 411. The bearing 422 is provided as a needle bearing, and a plurality of needles 432 are disposed around the journal 412.

[0130] The eccentric portion 413 is inserted in the bearing 423. The bearing 423 is disposed between the eccentric portion 413 and the gear 310. The eccentric portion 414 is inserted in the bearing 424. The bearing 424 is disposed between the eccentric portion 414 and the gear 320.

[0131] In the present embodiment, the bearing 423 is provided as a needle bearing, and a plurality of needles 433 are disposed around the eccentric portion (eccentric body) 413. The bearing 424 is provided as a needle bearing, and a plurality of needles 434 are disposed around the eccentric portion (eccentric body) 414.

[0132] If a driving force is input to the transmission gear 430, the crankshaft 410 rotates around the transmission axis F3. As a result, the eccentric portions 413, 414 eccentrically rotate around the transmission axis F3. The gears 310, 320, which are connected to the eccentric portions 413, 414 via the bearings 423, 424, oscillate within the circular space defined by the housing (outer cylindrical portion) 210. The gears 310, 320 are engaged with the inner tooth pin 212, and thus, relative rotational movement is caused between the housing (outer cylindrical portion) 210 and the gear frame portion 220.

[0133] The sun gear 500 is rotatably supported to the outer periphery of the inner cylinder 510. The sun gear 500 is provided concentrically with the main shaft F0. The sun gear 500 is engaged with the transmission gear 430. As shown in FIG. 6, the sun gear 500 is engaged with the drive gear 521. The drive gear 521 is connected to a driving source (e.g., a motor) via the drive gear 522. The sun gear 500 directly or indirectly receives a driving force generated by the driving source (e.g., a motor) via the drive gears 521, 522. The sun gear 500 transmits a rotational driving force (input rotation) to the transmission gear 430. Fig. 3

[0134] ​In the reduction portion 100, a rotation driving force (input rotation) transmitted from a driving source (for example, a motor) to the sun gear 500 via the drive gears 521, 522 is reduced with respect to the outer tube 211 and then output. The reduction portion 100 can appropriately set a transmission path of the driving force from the driving source to the transmission gear 430 according to its use environment and use conditions. Thus, the reduction portion 100 in the present embodiment is not limited to the above-described structure as long as it is located on a reduction driving transmission path from the driving source to the transmission gear 430.

[0135] As shown in FIG. 6, the brake idler gear 501 is engaged with the sun gear 500. The brake idler gear 501 has a rotation axis F1 parallel to the reduction central axis (central axis) F0. The brake idler gear 501 is set in shape, arrangement position, gear ratio, and the like in such a manner that the driving rotation is increased in speed with respect to the sun gear 500. The brake idler gear 501 can be supported to the gear frame portion 220. Fig. 1 Fig. 2 The brake idler gear 501 is engaged with the brake gear 502. The brake gear 502 has a rotation axis F2 parallel to the reduction central axis (central axis) F0. The brake gear 502 is set in shape, arrangement position, gear ratio, and the like in such a manner that the driving rotation is increased in speed with respect to the brake idler gear 501. The brake gear 502 can be located at a position radially outward of the brake idler gear 501 with respect to the reduction central axis (central axis) F0.

[0136] The brake gear 502 is connected with the field-shunt brake 31. The field-shunt brake 31 is connected with a brake power source not shown. Specifically, the field-shunt brake 31 can have a brake disc connected integrally with a rotation shaft 502a of the brake gear 502, a torsion spring contracted at the time of energization by a coil, and an armature pressed to the brake disc by the torsion spring elongated at the time of de-energization. Alternatively, the field-shunt brake is not limited to this structure as long as it is a publicly known field-shunt brake.

[0137] The brake idler gear 501 and the brake gear 502 are supported to the mounting flange 219.

[0138] The brake idler gear 501 and the brake gear 502 are supported to the mounting flange 219.

[0139] The field-shunt brake 31 brakes the brake idler gear 501 via the brake gear 502. The field-shunt brake 31 and the brake gear 502 constitute the brake portion 30.

[0140] The field-shunt brake 31 and the brake gear 502 are located radially outward of the sun gear 500. Thus, the reduction portion 100 and the brake portion 30 become arranged so as to overlap each other in the circumferential direction.

[0141] ​The sun gear 500, the brake idler gear 501, and the brake gear 502 constitute a speed-up section 20. In the speed-up section 20, the rotational drive (input rotation) of the sun gear 500 is speeded up and transmitted to the brake section 30 in the speed reduction drive transmission path from the sun gear 500 at the speed reduction section 100 to the outer tube 211.

[0142] In the speed reduction mechanism 1 of the present embodiment, the sun gear 500, the brake idler gear 501, and the brake gear 502 are located in substantially the same plane and mesh with each other. Thus, the brake section 30 is configured to overlap the speed-up section 20 in the axial direction along the speed reduction central axis (central axis) FO. That is, the brake section 30 overlaps the speed-up section 20 in the axial direction along the speed reduction central axis (central axis) FO. Thus, in the speed reduction mechanism 1 of the present embodiment, the brake section 30 is not configured to be offset from the speed reduction section 100 in the axial direction along the speed reduction central axis (central axis) FO, and the speed reduction mechanism 1 can be downsized in the direction along the speed reduction central axis (central axis) FO.

[0143] In addition, the brake gear 502 brakes the rotational drive force (input rotation) transmitted to the sun gear 500 from the drive source (for example, a motor) using the braking force of the field weakening brake 31. At this time, compared to the case where the sun gear 500 is directly braked, the rotational drive force is speeded up by the brake gear 502 and the brake idler gear 501, that is, the torque is reduced and transmitted, and thus the braking force required for the braking of the field weakening brake 31 at the speed-up section 20 is reduced. Thus, the field weakening brake 31 can be downsized.

[0144] Thus, in the speed reduction mechanism 1 of the present embodiment, by providing the brake section 30 on the input side, the speed reduction mechanism 1 can be downsized, and thus the operability can be improved.

[0145] Hereinafter, a second embodiment of the speed reduction mechanism of the present application will be described based on the drawings.

[0146] Fig. 4 is a cross-sectional view showing the speed reduction mechanism of the present embodiment. In the present embodiment, the point different from the above-described first embodiment is the point related to the connection position of the brake section with respect to the speed reduction section, and the structures corresponding to the structures of the above-described first embodiment except for this point are denoted by the same reference numerals and the description thereof is omitted.

[0147] In the present embodiment, as shown in Fig. 4 The brake gear 502 meshes with one transmission gear (spur gear) 430. The brake gear 502 has a rotational axis F2 parallel to the speed reduction central axis (central axis) FO. The brake gear 502 is configured to have a shape, a configuration position, a gear ratio, and the like so as to speed up the rotational drive of the transmission gear (spur gear) 430.

[0148] The brake gear 502 can be disposed at a position where the radial distance from the reduction center axis (center axis) F0 is the same as or smaller than that of the transmission gear (spur gear) 430. That is, the brake gear 502 can be disposed at a position where the radial distance from the reduction center axis (center axis) F0 to the rotation axis F2 of the brake gear 502 is the same as or smaller than the radial distance from the reduction center axis (center axis) F0 to the rotation axis F3 of the transmission gear (spur gear) 430.

[0149] As with the first embodiment, the brake gear 502 is connected with the field-shunt brake 31. The field-shunt brake 31 is connected with a brake power source not shown. As long as the field-shunt brake 31 is a publicly known field-shunt brake, it is not limited to a particular structure.

[0150] The brake gear 502 is supported to the mounting flange 219. The field-shunt brake 31 and the brake gear 502 constitute the brake section 30.

[0151] The field-shunt brake 31 brakes the transmission gear (spur gear) 430 via the brake gear 502.

[0152] The sun gear 500, the transmission gear (spur gear) 430, and the brake gear 502 constitute the step-up section 20. In the step-up section 20, in the reduction drive transmission path from the sun gear 500 at the reduction section 100 to the outer tube 211, the rotational drive (input rotation) of the sun gear 500 is stepped up and transmitted to the brake section 30.

[0153] In the reduction mechanism 1 of the present embodiment, the sun gear 500, the transmission gear (spur gear) 430, and the brake gear 502 are located in substantially the same plane and mesh with each other. Thus, the brake section 30 is configured to be disposed so as to overlap with the step-up section 20 in the axial direction along the reduction center axis (center axis) F0. That is, the brake section 30 overlaps with the step-up section 20 in the axial direction along the reduction center axis (center axis) F0. Thus, in the reduction mechanism 1 of the present embodiment, the brake section 30 is not disposed at a position deviated from the reduction section 100 in the axial direction along the reduction center axis (center axis) F0, and the reduction mechanism 1 can be downsized in the direction along the reduction center axis (center axis) F0.

[0154] As such, in the reduction mechanism 1 of the present embodiment, by providing the brake section 30 on the input side, the downsizing is achieved, and thus the operability can be improved.

[0155] Further, the brake gear 502 brakes the rotational driving force (input rotation) transmitted from the driving source (e.g., motor) to the transmission gear (spur gear) 430 using the braking force of the field weakening brake 31. At this time, compared to the case where the central gear 500 is directly braked, the rotational speed is increased, that is, the torque is made small and transmitted by the brake gear 502 and the transmission gear (spur gear) 430, and thus the braking force required for the field weakening brake 31 at the speed increasing portion 20 becomes small. Thus, the field weakening brake 31 can be downsized.

[0156] Further, in the speed reduction mechanism 1 of the present embodiment, the central gear 500, the transmission gear (spur gear) 430, and the brake gear 502 constitute the speed increasing portion 20, and thus the number of parts can be reduced.

[0157] Hereinafter, a third embodiment of the speed reduction mechanism of the present application will be described based on the drawings.

[0158] Fig. 5 is a schematic cross-sectional view of the speed reduction mechanism in the present embodiment as viewed in the direction along the axial direction. In the present embodiment, the point different from the above-described first embodiment and second embodiment is the point related to the connection position of the braking portion with respect to the speed reduction portion, and the structure corresponding to the portion other than this of the above-described first embodiment is labeled with the same reference numeral and the description thereof is omitted.

[0159] In the present embodiment, as shown in Fig. 5 , the brake gear 502 is directly engaged with the central gear 500. The brake gear 502 has a rotational axis F2 parallel to the speed reduction central axis (central axis) FO. The brake gear 502 is set in shape, arrangement position, gear ratio, and the like in such a manner that the driving rotation is speeded up with respect to the central gear 500.

[0160] The brake gear 502 can be arranged at a position where the radial distance with respect to the speed reduction central axis (central axis) FO is the same as or smaller than that of the transmission gear (spur gear) 430. That is, the brake gear 502 can be arranged at a position where the radial distance from the speed reduction central axis (central axis) FO to the rotational axis F2 of the brake gear 502 is the same as or smaller than the radial distance from the speed reduction central axis (central axis) FO to the rotational axis F3 of the transmission gear (spur gear) 430.

[0161] As with the first embodiment, the field weakening brake 31 is connected to the brake gear 502. The field weakening brake 31 is connected to a brake power source not shown. As long as the field weakening brake 31 is a publicly known field weakening brake, it is not limited to a particular structure.

[0162] The brake gear 502 is supported to the mounting flange 219. The field weakening brake 31 and the brake gear 502 constitute the braking portion 30.

[0163] The field brake 31 brakes the sun gear 500 by means of the brake gear 502.

[0164] The sun gear 500 and the brake gear 502 constitute the speed-up section 20. In the speed-up section 20, the rotational drive (input rotation) of the sun gear 500 is speeded up and transmitted to the brake section 30 in the speed-reduction drive transmission path from the sun gear 500 at the speed-reduction section 100 to the outer tube 211.

[0165] In the speed-reduction mechanism 1 of the present embodiment, the sun gear 500 and the brake gear 502 are located in substantially the same plane and mesh with each other. Thus, the brake section 30 is arranged so as to overlap the speed-up section 20 in the axial direction along the speed-reduction central axis (central axis) FO. That is, the brake section 30 overlaps the speed-up section 20 in the axial direction along the speed-reduction central axis (central axis) FO. Thus, in the speed-reduction mechanism 1 of the present embodiment, the brake section 30 is not arranged at a position deviated from the speed-reduction section 100 in the axial direction along the speed-reduction central axis (central axis) FO, and the speed-reduction mechanism 1 can be downsized in the direction along the speed-reduction central axis (central axis) FO.

[0166] Thus, in the speed-reduction mechanism 1 of the present embodiment, the brake section 30 is arranged on the input side, and the speed-reduction mechanism 1 can be downsized, and thus the operability can be improved.

[0167] Further, the brake gear 502 brakes the rotational drive force (input rotation) transmitted to the sun gear 500 from the drive source (e.g., a motor) by means of the braking force of the field brake 31. Thus, the rotational drive force is speeded up by the brake gear 502, that is, the torque is reduced and transmitted, and thus the required braking force is reduced. Thus, the field brake 31 can be downsized. Further, in the speed-reduction mechanism 1 of the present embodiment, the sun gear 500, the transmission gear (spur gear) 430, and the brake gear 502 constitute the speed-up section 20, and thus the number of parts can be reduced.

[0168] Hereinafter, a fourth embodiment of the speed-reduction mechanism of the present application will be described based on the drawings.

[0169] Fig. 6 is a schematic cross-sectional view of the speed-reduction mechanism in the present embodiment, as viewed in the axial direction, Fig. 7 is a schematic side view of the speed-reduction mechanism in the present embodiment, as viewed in the axial direction. In the present embodiment, the structures corresponding to the first to third embodiments described above are denoted by the same reference numerals, and the descriptions thereof are omitted.

[0170] The manufacturing device (deceleration mechanism) 1000 is a device used when performing a predetermined process and machining such as cutting, grinding, or the like, welding, assembly of parts, or the like on a workpiece placed on the turntable 1003. The turntable 1003 is configured to rotate around a table axis F1003, and the table axis F1003 itself is configured to rotate around a horizontal axis F1000.

[0171] As shown in Fig. 6 , Fig. 7 The manufacturing device 1000 includes a base block (leg portion) 1011 provided on the ground, a deceleration portion (decelerator) 1100 fixedly provided to an upper surface of one end side in the horizontal axis F1000 direction of the base block 1011, a motor (rotary drive source) 1002 as a rotary drive source that outputs power to the decelerator 1100, a holding device 1012 fixedly provided to an upper surface of the other end side in the horizontal axis F1000 direction of the base block 1011, and a rotary block (tilt and rotation portion) 1013 that supports both end portions in the horizontal axis F1000 direction to the decelerator 1100 and the holding device 1012.

[0172] The motor 1002 is integrally mounted to the input side of the decelerator 1100. An emergency brake that operates at the time of power failure can also be provided to the motor 1002.

[0173] The decelerator 1100 decelerates the rotation of the motor 1002 and transmits the rotation to one end side in the horizontal axis F1000 direction of the rotary block 1013. The holding device 1012 supports the other end side in the horizontal axis F1000 direction of the rotary block 1013 so as to be rotatable. Power is transmitted from the motor 1002 to the rotary block 1013 via the decelerator 1100, and thus the rotary block 1013 rotates around the horizontal axis F1000.

[0174] The rotary block 1013 has the turntable 1003 that rotates around the horizontal axis F1000. The turntable 1003 has a workpiece support surface 1003a on its surface. A workpiece as a work object is mounted to the workpiece support surface 1003a of the turntable 1003.

[0175] The rotary block 1013 is tilted and rotationally moved around the horizontal axis F1000 by the rotation of the motor 1002. Thus, the workpiece mounted to the workpiece support surface 1003a of the turntable 1003 is moved toward a work position by the rotation of the rotary block 1013 by the motor 1002.

[0176] In addition, the rotary block 1013 has a table drive motor 1004 that rotates the turntable 1003 around a table axis F1003 orthogonal to the horizontal axis F1000.

[0177] The table driving motor 1004 is used to rotate the turntable 1003 tilted around the horizontal axis F1000 around the table axis F1003. Thus, the workpiece mounted to the workpiece support surface 1003a of the turntable 1003 is moved in rotation at the work position by the rotation of the turntable 1003 by the table driving motor 1004.

[0178] A work device such as a welding robot can also be provided at the work position. Furthermore, in the Fig. 6 , Fig. 7 , the workpiece support surface 1003a of the turntable 1003 is shown facing downward.

[0179] The lower end of the speed reducer 1100 is fixedly provided to the upper surface of the one end side of the base block (leg portion) 1011. The speed reducer 1100 is provided to the base block 1011 in such a manner that the reduction center axis F0 at the time of output coincides with the horizontal axis F1000 of the manufacturing device 1000.

[0180] The speed reducer (reduction portion) 1100 is provided as an eccentric swing speed reducer. The speed reducer (reduction portion) 1100 has a structure equivalent to that of the reduction portion 100 in the first to third embodiments shown in Fig. 1 to Fig. 5 . Furthermore, the speed reducer (reduction portion) 1100 is a solid speed reducer, but can also be a hollow speed reducer having a structure equivalent to that of the reduction portion 100 in the first to third embodiments shown in Fig. 1 to Fig. 5 .

[0181] Here, the speed reducer (reduction portion) 1100 has an input shaft 1102 connected to the motor 1002. The input shaft 1102 is disposed along the horizontal axis F1000. The speed reducer 1100 has an output portion 1211 connected to the outer cylinder 211 (refer to Fig. 1 to Fig. 4 ). The output portion 1211 rotates at the same speed as the speed of the outer cylinder 211 (refer to Fig. 1 to Fig. 4 ).

[0182] The output portion 1211 reduces and outputs the drive rotation from the motor 1002 in the speed reducer (reduction portion) 1100. The output portion 1211 is assembled integrally with the rotation block (tilt rotation portion) 1013. The output portion 1211 rotates at the same speed as the speed of the rotation block (tilt rotation portion) 1013.

[0183] The output portion 1211 and the rotation block (tilt rotation portion) 1013 are provided integrally to constitute a first output shaft. The portion of the first output shaft on the one end side of the base block 1011 is supported by the reduction portion 1100, and the portion of the first output shaft on the other end side of the base block 1011 is supported by the holding device 1012. The holding device 1012 is located at the upper portion of the base block 1011 and has a bearing 1012a.

[0184] The first output shaft has a first output gear 1021 at its other end. The rotation axis of the first output gear 1021 is aligned with the horizontal axis F1000. The first output gear 1021 rotates integrally with the rotating block (tilted rotating part) 1013 and the output part 1211. The second output gear 1022 meshes with the first output gear 1021.

[0185] The second output gear 1022 is located below the first output gear 1021. The second output gear 1022 rotates about an axis F1002 (second output shaft) parallel to the horizontal axis F1000 (first output shaft). The second output gear 1022 is rotatably supported on the base block (leg) 1011. The second output gear 1022 is connected to the second speed-increasing unit (another speed-increasing unit) 1200.

[0186] The second output gear 1022 is configured in terms of shape, position, gear ratio, etc., to increase the drive rotation speed relative to the first output gear 1021.

[0187] The second speed-increasing section 1200 is supported by the base block (leg) 1011.

[0188] The second speed-increasing section 1200 is configured as an eccentric oscillating reducer. The second speed-increasing section 1200 has... Fig. 1 to Fig. 5 The deceleration unit 100 shown in the first to third embodiments has the same structure.

[0189] The second speed-increasing section 1200 is connected to the braking section 1030.

[0190] In the second speed-increasing section 1200, the second output gear 1022 and the output side of the reducer, i.e., the outer cylinder 211 (see reference) Fig. 1 to Fig. 4 In addition, in the second speed-increasing section 1200, the brake gear 502 of the braking section 1030 is connected to the input side of the reducer.

[0191] In the second speed-increasing section 1200, when the rotational driving force is output from the second speed-increasing section 1200 to the brake gear 502, the speed-increasing force is increased and then output. The brake gear 502 is configured as a speed-increasing section 1020.

[0192] Braking unit 1030 and Fig. 1 to Fig. 5 The braking unit 30 in the first to third embodiments shown also includes a de-energized brake 31. The de-energized brake 31 is connected to a brake power supply (not shown). As long as the de-energized brake 31 is a known de-energized brake, it is not limited to a specific structure.

[0193] The braking unit 1030 is supported on the base block (leg) 1011.

[0194] In the 2nd speed-up section 1200, in the transmission path from the 1st output gear 1021 to the brake section 1030 via the 2nd speed-up section 1200, the drive rotation is speeded up in at least a part thereof and transmitted to the brake section 1030. That is, at least a part of the 2nd speed-up section 1200 and the brake gear 502 function as the speed-up section 1020 in the transmission path from the 2nd output gear 1022 to the brake section 1030.

[0195] Further, in the 1st output gear 1021 to the 2nd output gear 1022, the drive rotation is speeded up. Thus, in the transmission path from the 1st output gear 1021 to the brake section 1030, the 1st output gear 1021, the 2nd output gear 1022, and the 2nd speed-up section 1200 constitute the speed-up section 1020.

[0196] In the speeded-up drive transmission path from the speed-down section 100 to the outer cylinder 211 (refer to Fig. 1 to Fig. 4 ), the speed-up section 1020 speed up the rotational drive (input rotation) of the outer cylinder 211 (refer to Fig. 1 to Fig. 4 ) and transmits it to the brake section 1030.

[0197] In the manufacturing apparatus (speed-down mechanism) 1000 of the present embodiment, the rotational block (tilt rotation section) 1013 is rotated about the horizontal axis F1000 from the motor 1002 as a drive source via the speed-down section 1100. At this time, the rotational block (tilt rotation section) 1013 is set so that the angle about the horizontal axis F1000 becomes a predetermined tilt rotation state by controlling the drive rotation of the motor 1002 with a signal from a control section not shown. Thus, the angle of the workpiece support surface 1003a of the turntable 1003 about the horizontal axis F1000 becomes a predetermined tilt rotation state. Further, the motor 1002 is braked by control from the control section, whereby the rotational block (tilt rotation section) 1013 can be stopped in a manner that the tilt rotation angle of the rotational block (tilt rotation section) 1013 does not change.

[0198] At this time, in a case where the rotational block (tilt rotation section) 1013 is rotated and tilted by the motor 1002 as a drive source in a manner that the drive rotation is speeded down and transmitted by the speed-down section 1100, the 1st output gear 1021 rotates integrally with the rotational block (tilt rotation section) 1013 and the output section 1211. Further, the rotation of the 1st output gear 1021 is speeded up and transmitted to the 2nd output gear 1022.

[0199] Furthermore, the rotation of the 1st output gear 1021 is speeded up by the 2nd output gear 1022 and the 2nd speed-up section 1200 and transmitted to the brake section 1030.

[0200] The motor 1002 as a driving source is supplied with power, and during the period in which the motor 1002 performs braking or driving of the rotating block (tilt-rotating portion) 1013, the brake portion 1030 is also supplied with power.

[0201] Here, the brake portion 1030 is of a de-excitation brake operation type. That is, it is configured to switch operation in conjunction with the supply of power to the motor 1002 or to switch operation in correspondence with the state of the supply of power to the motor 1002 by sensing. Therefore, it does not operate during the supply of power to the motor 1002. Thus, the brake portion 1030 does not exert a braking force applied to the second speed-increasing portion 1200 from the brake portion 1030.

[0202] Thus, the tilt-rotating state of the rotating block (tilt-rotating portion) 1013 can be set by the motor 1002.

[0203] Next, a state in which the braking of the rotating block (tilt-rotating portion) 1013 by the motor 1002 is unexpectedly stopped is assumed. In this case, a stop in the supply of power at the time of power failure or the like, or a failure in the driving rotation transmission in the speed-reducing portion 1100 or the like is assumed.

[0204] First, a case in which the motor 1002 becomes a power failure state and an emergency brake system provided in the motor 1002 does not function is assumed.

[0205] In this case, the braking from the motor 1002 side at the rotating block (tilt-rotating portion) 1013 is released. Here, in the case where the workpiece is a heavy object or the like, there is a possibility that the rotating block (tilt-rotating portion) 1013 is directly rotated around the horizontal axis F1000 at will due to the weight.

[0206] Here, at the instant at which the motor 1002 changes from the power-on state to the power failure state, the state in which the braking or driving of the rotating block (tilt-rotating portion) 1013 by the motor 1002 is performed changes to a state in which the braking and driving are lost. At this instant, the brake portion 1030 as a de-excitation brake switches from a state in which the brake portion 1030 does not exert a braking force applied to the second speed-increasing portion 1200 to a state in which braking is performed.

[0207] Then, the brake portion 1030 switches to a state in which the brake portion 1030 exerts a braking force applied to the second speed-increasing portion 1200 to perform braking. Thus, the second output gear 1022 is braked, and the first output gear 1021 is braked.

[0208] Thus, even if the motor 1002 becomes a power failure state, the rotating block (tilt-rotating portion) 1013 can be stopped in such a manner that the tilt-rotating angle of the rotating block (tilt-rotating portion) 1013 does not change by the braking force of the brake portion 1030.

[0209] In addition, a case is conceived in which the motor 1002 is supplied with power as a driving source, but the braking or driving of the rotation block (tilt-rotating portion) 1013 by the deceleration portion 1100 is not performed.

[0210] In this case, the braking from the deceleration portion 1100 side at the rotation block (tilt-rotating portion) 1013 is released. Here, in a case where the workpiece is a heavy object, or the like, there is a possibility that the rotation block (tilt-rotating portion) 1013 is randomly rotated around the horizontal axis F1000 due to the weight of the workpiece itself.

[0211] Here, the motor 1002 continues the energization state.

[0212] Therefore, at the instant when the braking state is changed, even if the state is changed from a state in which the braking or driving of the rotation block (tilt-rotating portion) 1013 by the deceleration portion 1100 is performed to a state in which the braking and driving are lost, the braking portion 1030 as a field weakening brake is not directly switched to the braking state.

[0213] Thus, in the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, there is a detection device that detects a case in which the braking or driving of the rotation block (tilt-rotating portion) 1013 by the deceleration portion 1100 is normally maintained. As the detection device, for example, a combination of an angle sensor for detecting the rotation angle of the output portion 1211 and a sensor for detecting the driving state of the motor 1002, a combination of an angle sensor for detecting the tilt-rotation angle of the rotation block (tilt-rotating portion) 1013 and a sensor for detecting the driving state of the motor 1002, a control portion that monitors the output of a photographing sensor for detecting the tilt-rotation angle of the rotation block (tilt-rotating portion) 1013 and the power supply state to the motor 1002, or the like can be exemplified.

[0214] In a case where it is determined by the detection device and the control portion that at least either the energization of the motor 1002 or the tilt-rotation angle of the rotation block (tilt-rotating portion) 1013 is not maintained, the power supply to the braking portion 1030 is stopped. That is, the braking portion 1030 is caused to switch to the field weakening state and operate.

[0215] Then, at the instant, the braking portion 1030 as a field weakening brake is switched from a state in which the braking force applied from the braking portion 1030 to the 2nd speed-up portion 1200 is not exerted to a state in which the braking is performed.

[0216] Thus, it is possible to stop the rotation block (tilt-rotating portion) 1013 in such a manner that the tilt-rotation angle of the rotation block (tilt-rotating portion) 1013 is not changed by the braking force of the braking portion 1030.

[0217] In the manufacturing device (reduction mechanism) 1000 of the present embodiment, in the 2nd speed-up portion 1200, the transmission gear (spur gear) 430 and the brake gear 502 are located in substantially the same plane and are engaged with each other. Thus, the brake portion 1030 is configured to overlap the speed-up portion 1020 in the axial direction along the horizontal axis F1000. That is, the brake portion 1030 is configured to overlap the speed-up portion 1020 in the axial direction along the horizontal axis F1000 and is supported by the base block 1011. Thus, in the reduction mechanism 1000 of the present embodiment, the brake portion 1030 is not configured to be offset from the 2nd speed-up portion 1200 in the axial direction along the horizontal axis F1000, and the reduction mechanism 1000 can be downsized in the direction along the reduction center axis (central axis) F1002.

[0218] In the reduction mechanism 1000 of the present embodiment, by providing the 2nd speed-up portion 1200 and the brake portion 1030 to the base block 1011, downsizing can be achieved, and thus, operability can be improved.

[0219] In the manufacturing device (reduction mechanism) 1000 of the present embodiment, in the reduction portion 1100, the rotational driving force from the motor 1002 or the tilting rotation force (rotation) generated by the self-weight of the tilting rotation portion (tilting rotation portion) 1013 and the like is speeded up and transmitted to the 1st output gear 1021 and the 2nd output gear 1022. Also, the tilting rotation force (rotation) is speeded up by the 2nd speed-up portion 1200 and the speed-up portion 1020 and is transmitted to the brake portion 1030. Thus, when braking the tilting rotation force (rotation), the brake gear 502 is used to speed up, that is, the torque is reduced and transmitted, and thus, the required braking force is reduced. Thus, the field weakening brake 31 can be downsized.

[0220] In addition, in the reduction mechanism 1000 of the present embodiment, the number of components of the reduction portion 1100 can be reduced.

[0221] In the present embodiment, the 2nd speed-up portion 1200 is configured to have the same structure as the structure of the reduction portion 100, but is not limited thereto. As long as the rotational driving can be speeded up, other structures can be used.

[0222] In addition, the configuration of the brake portion 1030 is not limited to the above-described configuration, and can be any position as long as it is located in the circumferential direction of the horizontal axis (reduction center axis) F1000 with respect to the reduction device (reduction portion) 1100.

[0223] According to the present application, the structures of the respective embodiments described above can be selected and combined, respectively. For example, the brake portion 30 can be used to the outer tube 211 (see FIG. 1) of the field weakening brake 31 (see FIG. 1) described above. Fig. 1 to Fig. 4braking is performed. According to this configuration, effects equivalent to those of the above-described embodiments can be obtained.

[0224] A fifth embodiment of a braking mechanism and a speed reduction mechanism of the present application will be described below with reference to the drawings.

[0225] Fig. 8 is a schematic view of the braking mechanism and the speed reduction mechanism of the present embodiment along the axial direction. In the drawing, reference numeral 2000 is a braking mechanism, and reference numeral 1000 is a speed reduction mechanism. In the present embodiment, structures corresponding to those of the above-described first to fourth embodiments are sometimes designated by the same reference numerals and explanations thereof are omitted.

[0226] The speed reduction mechanism 1000 of the present embodiment is configured to have a tilt rotation section 1013 having a turntable or the like that rotates around a horizontal axis F1000, a braking mechanism 2000 that can hold the tilt rotation section 1013 in a posture in which the rotation angle around the horizontal axis F1000 is at a predetermined position, and a control section 4000.

[0227] As shown in Fig. 8 , the speed reduction mechanism 1000 includes a speed reduction section (speed reducer) 1100 provided to one end side in the direction of the horizontal axis F1000, a motor (rotary drive source) 1002 as a rotary drive source that outputs power to the speed reducer 1100, a holding device 1012 provided to the other end side in the direction of the horizontal axis F1000, and a rotary block (tilt rotation section) 1013 that supports both end portions in the direction of the horizontal axis F1000 to the speed reducer 1100 and the holding device 1012.

[0228] The motor 1002 is connected to the control section 4000. The motor 1002 is driven by supply power supplied from the control section 4000.

[0229] The motor 1002 is integrally mounted to the input side of the speed reducer 1100. The speed reducer 1100 reduces the rotation of the motor 1002 and transmits the rotation to one end side in the direction of the horizontal axis F1000 of the rotary block (tilt rotation section) 1013. The holding device 1012 supports the other end side in the direction of the horizontal axis F1000 of the rotary block (tilt rotation section) 1013 so as to be rotatable.

[0230] Power is transmitted from the motor 1002 to the rotary block (tilt rotation section) 1013 via the speed reducer 1100, and thus the rotary block (tilt rotation section) 1013 rotates around the horizontal axis F1000 to change the tilt angle (tilt) around the horizontal axis F1000. The rotary block (tilt rotation section) 1013 maintains the tilt angle (tilt) around the horizontal axis F1000 by the drive of the motor 1002.

[0231] The rotating block (tilting rotating part) 1013 in this embodiment can also be a heavy object with a weight of, for example, a few tons.

[0232] like Fig. 8 As shown, the motor 1002 can also be fixedly mounted on a fixed part such as a base block. The reducer 1100 can also be fixedly mounted on a fixed part such as a base block in the same way as the motor 1002. The reducer 1100 is arranged such that the reduction center axis F0 at output is aligned with the horizontal axis F1000 of the manufacturing device (reduction mechanism) 1000.

[0233] The reducer (reduction section) 1100 is configured as an eccentric oscillating reducer. The reducer (reduction section) 1100 is capable of having the same characteristics as... Fig. 1 to Fig. 5 The reduction gear 100 shown in the first to third embodiments has the same structure. Furthermore, the reducer (reduction section) 1100 may also be a reducer with other structures, such as a reducer having a planetary gear mechanism. In this embodiment, a reducer (reduction section) 1100 with a large reduction ratio, that is, a reducer with a large torque ratio, is envisioned.

[0234] Here, the reducer (reduction section) 1100 has an input shaft 1102 connected to the motor 1002. The input shaft 1102 is arranged along the horizontal axis F1000.

[0235] The reducer 1100 includes an outer cylinder that rotates around a horizontal axis (reduction center axis) F1000. The reducer 1100 has an output section 1211 connected to, for example, the outer cylinder 211. The output section 1211 rotates at the same speed as the outer cylinder 211.

[0236] The output unit 1211 reduces the rotational speed of the drive from the motor 1002 within the reducer (reduction section) 1100 and outputs the reduced speed. The output unit 1211 is integrally assembled with the rotating block (tilting rotating section) 1013. The output unit 1211 rotates at the same speed as the rotating block (tilting rotating section) 1013. The reducer (reduction section) 1100, the motor 1002, and the rotating block (tilting rotating section) 1013 rotate around the horizontal axis F1000. The horizontal axis F1000 serves as the reduction center axis of the reducer (reduction section) 1100.

[0237] The output section 1211 and the rotating block (tilting rotating section) 1013 are integrated to form the first output shaft. One end of the first output shaft near the base block (leg) 1011 is supported by the reduction gear 1100, while the other end is supported by the holding device 1012. A bearing 1012a is provided in the holding device 1012.

[0238] The reducer (reduction section) 1100 is connected to the braking mechanism 2000 via the rotation transmission section 3000. The braking mechanism 2000 applies braking force to the reducer (reduction section) 1100 via the rotation transmission section 3000 to brake the reducer (reduction section) 1100.

[0239] The braking mechanism 2000 includes: a second speed-increasing section (another speed-increasing section) 1200, which increases the rotational speed input via the rotational transmission section 3000; and a braking section 1030, which provides braking force to the second speed-increasing section (another speed-increasing section) 1200.

[0240] The second speed-increasing section (another speed-increasing section) 1200 and the speed reducer (speed reduction section) 1100 are arranged to overlap each other axially along the horizontal axis (speed reduction center axis) F1000, which is the rotation center of the speed reducer (speed reduction section) 1100.

[0241] like Fig. 8 As shown, the braking mechanism 2000 has a braking axis F2000 that is parallel to the horizontal axis (deceleration center axis) F1000. The braking axis F2000 of the braking mechanism 2000 is arranged parallel to the horizontal axis (deceleration center axis) F1000.

[0242] like Fig. 8 As shown, the rotation transmission unit 3000 may include: a first brake output gear 3011, which is connected to the reducer (reduction unit) 1100; and a second brake output gear 3012, which meshes with the first brake output gear 3011. The second brake output gear 3012 is connected to the second speed-increasing unit (another speed-increasing unit) 1200 of the braking mechanism 2000. The second brake output gear 3012 has a rotation axis parallel to the horizontal axis (reduction center axis) F1000. The rotation axis of the second brake output gear 3012 may be aligned with the brake axis F2000.

[0243] The braking mechanism 2000 can be positioned on the lower side in the vertical direction relative to the reducer (reduction section) 1100. However, the configuration of the braking mechanism 2000 is not limited to this, and it can be set to any position as long as it is located circumferentially relative to the reducer (reduction section) 1100 along the horizontal axis (reduction center axis) F1000.

[0244] The first brake output gear 3011 can be coaxially connected to the outer cylinder 211 of the reducer (reduction section) 1100.

[0245] The braking mechanism 2000 applies braking force to the reducer (reduction section) 1100 by means of the rotation transmission section 3000 and the outer cylinder 211, thereby braking the reducer (reduction section) 1100.

[0246] Thus, without affecting the structure of the output portion 1211, the brake mechanism 2000 can be connected to the speed reducer (reduction portion) 1100 so that the braking force of the brake mechanism 2000 acts on the speed reducer (reduction portion) 1100.

[0247] The rotation transmission portion 3000 is not limited to whether or not the rotation is speeded up as long as the rotation transmission portion 3000 can transmit the rotation, that is, the torque, between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, and the shape, the arrangement position, the gear ratio, and the like can be appropriately set. Further, it is preferable that the rotation transmission portion 3000 be set in a manner in which the driving rotation is speeded up between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, the shape, the arrangement position, the gear ratio, and the like.

[0248] The second speed-up portion (another speed-up portion) 1200 is supported by a fixed portion such as a base block. The second speed-up portion (another speed-up portion) 1200 is provided as an eccentric swing speed reducer. Further, the second speed-up portion (another speed-up portion) 1200 can be provided as a speed reducer having another structure such as a planetary gear mechanism. In the present embodiment, as the second speed-up portion (another speed-up portion) 1200, a second speed-up portion having a large speed-up ratio (reduction ratio), that is, a second speed-up portion having a large torque ratio is assumed. The second speed-up portion 1200 can have a structure equivalent to that of the reduction portion 100 in the first to third embodiments shown in FIGS. 1 to 3. Fig. 1 to Fig. 5

[0249] The second speed-up portion (another speed-up portion) 1200 is connected to the brake portion 1030.

[0250] In the second speed-up portion (another speed-up portion) 1200, the second brake output gear 3012 of the rotation transmission portion 3000 is connected to the outer tube 211 on the output side of the speed reducer. In addition, in the second speed-up portion 1200, the brake gear 502 of the brake portion 1030 is connected to the input side of the speed reducer.

[0251] In the second speed-up portion (another speed-up portion) 1200, when the rotational driving force is output from the second speed-up portion (another speed-up portion) 1200 to the brake gear 502, the rotational driving force is speeded up and output. The brake gear 502 is configured as the speed-up portion 1020.

[0252] The brake portion 1030 is provided with the field weakening brake 31 similarly to the brake portion 30 in the first to third embodiments shown in FIGS. 1 to 3. The field weakening brake 31 of the brake portion 1030 is connected to the control portion 4000 as a brake power source. As long as the field weakening brake 31 is a publicly known field weakening brake, it is not limited to a specific structure. Fig. 1 to Fig. 5

[0253] ​​The brake portion 1030 is supported by a fixed portion such as a base block, similarly to the second speed-up portion (another speed-up portion) 1200.

[0254] The field-shunt brake 31 is configured to stop the supply of electric power to the field-shunt brake 31 at the same time as the supply of electric power to the motor 1002 from the control portion 4000 is stopped. Alternatively, the field-shunt brake 31 can be configured to stop the supply of electric power to the field-shunt brake 31 using an output of a sensor that detects a situation in which the supply of electric power to the motor 1002 from the control portion 4000 is stopped.

[0255] Alternatively, a field brake can be provided as the brake portion 1030 and the control portion 4000 or the like that supplies electric power to the field brake as a backup brake power source. In this case, the field brake can be configured to perform a braking operation using electric power supplied from the backup brake power source when the supply of electric power to the motor 1002 from the control portion 4000 is stopped.

[0256] In the second speed-up portion (another speed-up portion) 1200, the drive rotation is speeded up and transmitted to the brake portion 1030 in a transmission path that reaches the brake portion 1030 via the first brake output gear 3011, the second brake output gear 3012, and the second speed-up portion (another speed-up portion) 1200 of the rotation transmission portion 3000. That is, the rotation transmission portion 3000 and the second speed-up portion 1200 function as the speed-up portion 1020 in the transmission path from the outer tube 211 of the speed reducer (speed reduction portion) 1100 to the brake portion 1030.

[0257] In addition, in the rotation transmission portion 3000 and the second speed-up portion 1200, the drive rotation is speeded up. Thus, in the transmission path from the outer tube 211 of the speed reducer (speed reduction portion) 1100 to the brake portion 1030, the rotation transmission portion 3000 and the second speed-up portion 1200 constitute the speed-up portion 1020.

[0258] In the speed-up portion 1020, the rotational drive (input rotation) of the outer tube 211 of the speed reducer (speed reduction portion) 1100 is speeded up in the speed reduction drive transmission path at the speed reduction mechanism 1000 and transmitted to the brake portion 1030.

[0259] In the manufacturing apparatus (speed reduction mechanism) 1000 of the present embodiment, the motor 1002 that is supplied with electric power from the control portion 4000 as a drive source is driven. The motor 1002 is driven, and the rotation block (tilting rotation portion) 1013 is rotated about the horizontal axis F1000 by the speed reduction portion 1100, and the tilt angle of the rotation block (tilting rotation portion) 1013 about the horizontal axis F1000 is maintained in a predetermined state.

[0260] At this time, the driving rotation of the motor 1002 is controlled by a signal from the control section 4000, and the rotation block (tilt rotation section) 1013 is set in such a manner that the angle about the horizontal axis F1000 becomes a predetermined tilt rotation state.

[0261] In addition, the motor 1002 is braked by control from the control section 4000, whereby the tilt rotation angle of the rotation block (tilt rotation section) 1013 can be maintained, and the rotation block (tilt rotation section) 1013 is stopped in such a manner that the tilt rotation angle of the rotation block (tilt rotation section) 1013 does not change.

[0262] At this time, in the case where the rotation block (tilt rotation section) 1013 is rotated and tilted by the motor 1002 as a driving source in such a manner that the driving rotation is decelerated by the deceleration section 1100 and transmitted, the outer tube 211 of the decelerator (deceleration section) 1100 rotates integrally with the rotation block (tilt rotation section) 1013 and the output section 1211.

[0263] At this time, the rotation of the outer tube 211 of the decelerator (deceleration section) 1100 is transmitted to the second brake output gear 3012 via the first brake output gear 3011 of the rotation transmission section 3000. The rotation of the second brake output gear 3012 is transmitted to the second speed-up section (another speed-up section) 1200 of the brake mechanism 2000. That is, the rotation of the outer tube 211 of the decelerator (deceleration section) 1100 is speeded up by the second speed-up section (another speed-up section) 1200 of the rotation transmission section 3000 and the brake mechanism 2000, and is transmitted to the brake section 1030 of the brake mechanism 2000.

[0264] The motor 1002 as a driving source is supplied with power from the control section 4000, and is also supplied with power to the brake section 1030 during the period in which the motor 1002 performs braking or driving of the rotation block (tilt rotation section) 1013.

[0265] Here, the brake section 1030 is of a de-excitation brake operation type. That is, the brake section 1030 is switched in operation in conjunction with the supply of power to the motor 1002 from the control section 4000. Alternatively, the brake section 1030 is configured to sense the supply of power to the motor 1002 from the control section 4000 and to switch in operation in correspondence with this state.

[0266] Therefore, the brake section 1030 does not operate during the supply of power to the motor 1002 from the control section 4000. Thus, the brake section 1030 does not exert the braking force applied to the second speed-up section (another speed-up section) 1200 from the brake section 1030.

[0267] Thus, the tilt rotation state of the rotation block (tilt rotation section) 1013 can be set by the motor 1002.

[0268] Next, a state in which the braking of the motor 1002 to the rotation block (tilt rotation section) 1013 is unexpectedly stopped is considered. In this case, a stop of the power supply by the control section 4000 or the like at the time of power failure, or a bad situation of the driving rotation transmission in the speed reduction section 1100 or the like is considered.

[0269] First, a case in which the power supply from the control section 4000 is stopped, and the motor 1002 becomes a power failure state is considered.

[0270] Then, the braking from the motor 1002 side at the rotation block (tilt rotation section) 1013 is released. Here, in a case where the rotation block (tilt rotation section) 1013 or a support workpiece thereof is a heavy object or the like, there is a possibility that the rotation block (tilt rotation section) 1013 is randomly rotated around the horizontal axis F1000 due to the self weight.

[0271] Here, at the instant when the motor 1002 changes from the power-on state to the power failure state, the state in which the braking or the driving of the motor 1002 to the rotation block (tilt rotation section) 1013 is performed changes to a state in which the braking and the driving are lost. At this instant, the braking section 1030 as a field weakening brake switches from a state in which the braking force applied from the braking section 1030 to the 2nd speed-up section (another speed-up section) 1200 is not exerted to a state in which the braking is performed.

[0272] Then, the braking section 1030 switches to a state in which the braking force applied from the braking section 1030 to the 2nd speed-up section (another speed-up section) 1200 is exerted to perform the braking.

[0273] Thus, the 2nd braking output gear 3012 of the rotation transmission section 3000 is braked, and the 1st braking output gear 3011 engaged with the 2nd braking output gear 3012 is braked.

[0274] Thus, even if the motor 1002 becomes the power failure state, it is possible to stop the rotation block (tilt rotation section) 1013 in such a manner that the tilt rotation angle of the rotation block (tilt rotation section) 1013 is not changed by the braking force of the braking section 1030.

[0275] In addition, a case in which the motor 1002 as a driving source is supplied with power from the control section 4000, but the braking or the driving of the speed reduction section 1100 to the rotation block (tilt rotation section) 1013 is not performed is considered.

[0276] In this case, the braking from the speed reduction section 1100 side at the rotation block (tilt rotation section) 1013 is released. Here, in a case where the workpiece is a heavy object or the like, there is a possibility that the rotation block (tilt rotation section) 1013 is randomly rotated around the horizontal axis F1000 due to the self weight.

[0277] Here, the motor 1002 continues the energization state.

[0278] Therefore, at the instant when the braking state changes, even if the state changes from the state where the deceleration unit 1100 performs the braking or driving of the rotation block (tilt rotation unit) 1013 to the state where the braking and driving disappear, the braking unit 1030 as the field weakening brake is not directly switched to the braking state.

[0279] Thus, in the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, there is a detection apparatus that detects the case where the braking or driving of the rotation block (tilt rotation unit) 1013 by the deceleration unit 1100 is normally maintained.

[0280] As the detection apparatus, for example, a combination of an angle sensor 4001 for detecting the rotation angle of the output unit 1211 and a sensor for detecting the driving state of the motor 1002 can be exemplified. In this case, the sensor for detecting the driving state of the motor 1002 can be included in the control unit 4000.

[0281] Alternatively, as the detection apparatus, a combination of an angle sensor for detecting the tilt rotation angle of the rotation block (tilt rotation unit) 1013 and a sensor for detecting the driving state of the motor 1002 can be exemplified. Alternatively, as the detection apparatus, the control unit 4000 that monitors the output of a photographing sensor for detecting the tilt rotation angle of the rotation block (tilt rotation unit) 1013 and the power supply state to the motor 1002 can be exemplified.

[0282] Further, as the detection apparatus, a combination of an angle sensor for detecting the rotation angle of the second brake output gear 3012 of the rotation transmission unit 3000 and a sensor for detecting the driving state of the motor 1002 can be exemplified. Alternatively, as the detection apparatus, a combination of an angle sensor for detecting the rotation angle of the first brake output gear 3011 of the rotation transmission unit 3000 and a sensor for detecting the driving state of the motor 1002 can be exemplified. Alternatively, as the detection apparatus, a combination of a sensor for detecting the rotation state of the second speed-up unit (another speed-up unit) 1200 and a sensor for detecting the driving state of the motor 1002, and the like can be exemplified.

[0283] In the case where at least either of the energization of the motor 1002 and the tilt rotation angle of the rotation block (tilt rotation unit) 1013 is not maintained as judged by the detection apparatus 4001 and the like and the control unit 4000, the power supply to the braking unit 1030 by the control unit 4000 is stopped. That is, the braking unit 1030 is switched to the field weakening state and operates.

[0284] Thus, at this instant, the braking portion 1030 as a field weakening brake switches from a state in which the braking force applied from the braking portion 1030 to the second speed-up portion (another speed-up portion) 1200 is not exerted to a state in which braking is performed.

[0285] Thus, the braking force of the braking portion 1030 can be used to stop the tilting rotation angle of the tilting rotation portion 1013 without changing the tilting rotation angle of the tilting rotation portion 1013.

[0286] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the first braking output gear 3011 and the second braking output gear 3012 provided to the outer periphery of the outer cylinder 211 of the speed reducer (speed reduction portion) 1100 are located in substantially the same plane and are engaged with each other. Thus, the braking portion 1030 is configured to overlap the speed reducer (speed reduction portion) 1100 in the axial direction along the horizontal axis F1000.

[0287] That is, the braking portion 1030 is configured to overlap the speed reducer (speed reduction portion) 1100 in the axial direction along the horizontal axis F1000. Thus, in the speed reduction mechanism 1000 of the present embodiment, the braking portion 1030 is not configured to be offset from the speed reducer (speed reduction portion) 1100 in the axial direction along the horizontal axis F1000, and the speed reduction mechanism 1000 can be downsized in the direction along the speed reduction center axis (center axis) F1002.

[0288] The braking mechanism 2000 of the present embodiment includes the second speed-up portion (another speed-up portion) 1200 in addition to the braking portion 1030, and thus the braking mechanism 2000 can have sufficient braking torque. Thus, the braking mechanism 2000 itself can be downsized.

[0289] In the speed reduction mechanism 1000 of the present embodiment, the braking mechanism 2000 and the rotation transmission portion 3000 are added, and thus the speed reduction mechanism 1000 as a conventional positioner or the like can be provided with an emergency stop function. Further, the speed reduction mechanism 1000 is provided with the emergency stop function and can be downsized, and thus operability can be improved.

[0290] In the speed reduction mechanism 1000 of the present embodiment, only the braking mechanism 2000 including the braking portion 1030 and the second speed-up portion (another speed-up portion) 1200 and the rotation transmission portion 3000 are provided, and thus the speed reduction mechanism 1000 can be provided with an emergency stop function and can be downsized, and thus the number of components at the time of addition can be reduced.

[0291] In the manufacturing device (deceleration mechanism) 1000 of the present embodiment, in the deceleration section 1100, the rotational drive force from the motor 1002 or the tilting rotation force (rotation) generated by the self-weight of the rotation block (tilting rotation section) 1013 and the like is speeded up and transmitted to the 1st brake output gear 3011 and the 2nd brake output gear 3012 of the rotation transmission section 3000. Also, the tilting rotation force (rotation) is speeded up by the 2nd speed-up section (another speed-up section) 1200 and the rotation transmission section 3000 and transmitted to the brake section 1030.

[0292] Thus, when braking the tilting rotation force (rotation), the speed-up by the brake gear 502, that is, the torque becomes small and is transmitted, and thus the required braking force becomes small. Thus, it is possible to downsize the field weakening brake 31.

[0293] In addition, in the deceleration mechanism 1000 of the present embodiment, it is possible to reduce the number of components of the deceleration section 1100.

[0294] In the present embodiment, the 2nd speed-up section (another speed-up section) 1200 is provided in the same structure as the structure of the deceleration section 100, but is not limited thereto. As long as it is possible to speed up the drive rotation, it is possible to provide other structures.

[0295] In the present application, it is also possible to combine each structure of the above-described respective embodiments.

[0296] Hereinafter, a 6th embodiment of the brake mechanism and the deceleration mechanism of the present application will be described based on the drawings.

[0297] Fig. 9 is a schematic view of the brake mechanism and the deceleration mechanism in the present embodiment along the axial direction. In the present embodiment, sometimes the same reference numerals are assigned to the structures corresponding to the structures of the 1st embodiment to the 5th embodiment described above and the explanation thereof is omitted. In the present embodiment, the point different from the 5th embodiment described above is the point related to the arrangement of the rotation transmission section and the brake mechanism, and the same reference numerals are assigned to the structures corresponding to the parts other than this of the 5th embodiment described above and the explanation thereof is omitted.

[0298] As shown in Fig. 9 , the brake mechanism 2000 of the present embodiment has a brake axis F2000 intersecting with a horizontal axis (deceleration center axis) F1000. The brake axis F2000 of the brake mechanism 2000 and the horizontal axis (deceleration center axis) F1000 are arranged, for example, orthogonally to each other.

[0299] As shown in Fig. 9As illustrated, the rotation transmission portion 3000 of the present embodiment can have the first brake output bevel gear 3013 connected to the decelerator (deceleration portion) 1100 and the second brake output bevel gear 3014 engaged with the first brake output bevel gear 3013. The second brake output bevel gear 3014 is connected to the second speed-up portion (another speed-up portion) 1200 of the brake mechanism 2000. The second brake output bevel gear 3014 has a rotation axis orthogonal to the horizontal axis (deceleration center axis) F1000. The rotation axis of the second brake output bevel gear 3014 can coincide with the brake axis F2000.

[0300] The brake mechanism 2000 can be disposed on the lower side in the vertical direction with respect to the decelerator (deceleration portion) 1100. Furthermore, the disposition of the brake mechanism 2000 is not limited thereto, and can be set to an arbitrary position as long as it is located in the circumferential direction of the horizontal axis (deceleration center axis) F1000 with respect to the decelerator (deceleration portion) 1100.

[0301] The first brake output bevel gear 3013 can be connected coaxially with the outer tube 211 of the decelerator (deceleration portion) 1100.

[0302] The brake mechanism 2000 brakes the decelerator (deceleration portion) 1100 by causing the brake force to act on the decelerator (deceleration portion) 1100 via the rotation transmission portion 3000 and the outer tube 211.

[0303] Thus, the brake mechanism 2000 can be connected to the decelerator (deceleration portion) 1100 without affecting the structure of the output portion 1211, and the brake force of the brake mechanism 2000 can act on the decelerator (deceleration portion) 1100.

[0304] The rotation transmission portion 3000 is not limited to whether or not the rotation is speeded up as long as it can transmit the rotation, that is, the torque, between the decelerator (deceleration portion) 1100 and the brake mechanism 2000, and the shape, disposition position, gear ratio, and the like can be appropriately set. Furthermore, it is preferable that the rotation transmission portion 3000 be set in a manner in which the driving rotation is speeded up between the decelerator (deceleration portion) 1100 and the brake mechanism 2000, in terms of the shape, disposition position, gear ratio, and the like.

[0305] In the manufacturing device (deceleration mechanism) 1000 of the present embodiment, as a detection device that detects that the braking or driving of the rotation block (tilt rotation portion) 1013 by the deceleration portion 1100 is normally maintained, for example, a combination of an angle sensor 4002 that detects the rotation angle of the second brake output bevel gear 3014 and a sensor that detects the driving state of the motor 1002 can be exemplified. In this case, the sensor that detects the driving state of the motor 1002 can be included in the control portion 4000.

[0306] In a case where it is determined by the detection device 4002 and the control section 4000 that at least either of the energization of the motor 1002 and the tilt rotation angle of the tilt rotation block (tilt rotation section) 1013 is not maintained, the supply of electric power from the control section 4000 to the brake section 1030 is stopped. That is, the brake section 1030 is switched to the de-excitation state and operates.

[0307] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the first brake output bevel gear 3013 provided to the outer periphery of the outer tube 211 of the speed reducer (speed reduction section) 1100 is engaged with the second brake output bevel gear 3014. Thus, the brake section 1030 is arranged so as to overlap the speed reducer (speed reduction section) 1100 in the axial direction along the horizontal axis F1000.

[0308] Thus, the tilt rotation block (tilt rotation section) 1013 can be stopped by the brake force of the brake section 1030 in a manner such that the tilt rotation angle of the tilt rotation block (tilt rotation section) 1013 does not change.

[0309] Further, the configuration of the brake mechanism 2000 is not limited as long as the first brake output bevel gear 3013 and the second brake output bevel gear 3014 are engaged with each other.

[0310] In the present embodiment, effects equivalent to those of the above-described fifth embodiment can be obtained. Further, the brake axis F2000 of the brake mechanism 2000 intersects the horizontal axis (speed reduction center axis) F1000, and thus the degree of freedom of the configuration of the brake mechanism 2000 can be improved.

[0311] Hereinafter, a seventh embodiment of a brake mechanism and a speed reduction mechanism of the present application will be described with reference to the drawings.

[0312] Fig. 10 is a schematic view of the brake mechanism and the speed reduction mechanism of the present embodiment along the axial direction. In the present embodiment, the same reference numerals are assigned to structures corresponding to those of the above-described fifth embodiment and sixth embodiment, and the description thereof is omitted. In the present embodiment, the point different from the above-described fifth embodiment and sixth embodiment is the point related to the configuration of the rotation transmission section and the brake mechanism, and the same reference numerals are assigned to structures corresponding to those of the above-described fifth embodiment and sixth embodiment except for this point, and the description thereof is omitted.

[0313] As Fig. 10As shown, the rotation transmission unit 3000 of this embodiment can have a first brake output pulley 3021 connected to the reducer (reduction unit) 1100 and a second brake output pulley 3022 connected to the first brake output pulley 3021 by means of a winding belt 3023 wound around the first brake output pulley 3021. The second brake output pulley 3022 is connected to the second speed-increasing unit (another speed-increasing unit) 1200 of the braking mechanism 2000. The second brake output pulley 3022 has a rotation axis parallel to the horizontal axis (reduction center axis) F1000. The rotation axis of the second brake output pulley 3022 can be aligned with the brake axis F2000.

[0314] Furthermore, the rotation transmission unit 3000 can also be configured to have a first brake output sprocket 3021, a second brake output sprocket 3022, and a winding chain 3023 instead of the first brake output pulley 3021, the second brake output pulley 3022, and the winding belt 3023.

[0315] like Fig. 10 As shown, the braking mechanism 2000 can be positioned vertically downward relative to the reducer (reduction section) 1100. However, the configuration of the braking mechanism 2000 is not limited to this; it can be positioned arbitrarily as long as it is located circumferentially relative to the reducer (reduction section) 1100 along the horizontal axis (reduction center axis) F1000.

[0316] The first brake output pulley 3021 can be coaxially connected to the outer cylinder 211 of the reducer (reduction section) 1100.

[0317] The braking mechanism 2000 applies braking force to the reducer (reduction section) 1100 by means of the rotation transmission section 3000 and the outer cylinder 211, thereby braking the reducer (reduction section) 1100.

[0318] Therefore, without affecting the connection structure of the output section 1211, the braking mechanism 2000 can be connected to the reducer (reduction section) 1100 so that the braking force of the braking mechanism 2000 can be applied to the reducer (reduction section) 1100.

[0319] The rotation transmission unit 3000 is not limited to whether it can increase the rotational speed, as long as it can transmit rotation between the reducer (reduction unit) 1100 and the braking mechanism 2000, that is, it can transmit torque. Its shape, arrangement position, gear ratio, etc. can be appropriately set. In addition, it is preferable that the rotation transmission unit 3000 is set in a way that increases the drive rotational speed between the reducer (reduction unit) 1100 and the braking mechanism 2000, including its shape, arrangement position, gear ratio, etc.

[0320] Further, in the manufacturing apparatus (reduction mechanism) 1000 of the present embodiment, as the detection apparatus that detects the case where the braking or driving of the reduction unit 1100 to the swivel block (tilt swivel unit) 1013 is normally maintained, for example, a combination of the sensor 4003 that detects the rotation angle of the 2nd braking output pulley 3022 or the 2nd braking output sprocket 3022 and a sensor that detects the driving state of the motor 1002 can be exemplified. In this case, the sensor that detects the driving state of the motor 1002 can be included in the control unit 4000.

[0321] Alternatively, the sensor 4003 can also be configured to detect the winding position of the winding belt 3023 or the winding chain 3023.

[0322] In the case where it is thus determined by the detection apparatus (sensor) 4003 and the control unit 4000 that at least either the energization of the motor 1002 or the tilt swivel angle of the swivel block (tilt swivel unit) 1013 is not maintained, the supply of power to the braking unit 1030 by the control unit 4000 is stopped. That is, the braking unit 1030 is caused to switch to the de-excitation state and operate.

[0323] In the manufacturing apparatus (reduction mechanism) 1000 of the present embodiment, the 1st braking output pulley 3021 and the 2nd braking output pulley 3022 that are provided to the outer periphery of the outer cylinder 211 of the reduction gear (reduction unit) 1100 are caused to rotate in synchronization with each other by the winding belt 2023. Thereby, the braking unit 1030 is configured in a configuration in which it overlaps the reduction gear (reduction unit) 1100 in the axial direction along the horizontal axis F1000.

[0324] Thereby, the swivel block (tilt swivel unit) 1013 can be stopped by the braking force of the braking unit 1030 in a manner in which the tilt swivel angle of the swivel block (tilt swivel unit) 1013 is not changed.

[0325] Further, the braking mechanism 2000 is not limited in the separation distance or the like of the configuration of the 1st braking output pulley 3021 and the 2nd braking output pulley 3022 as long as they are located in positions in which they are synchronized with each other by the winding belt 2023.

[0326] In the present embodiment, effects equivalent to those of the 5th embodiment and the 6th embodiment described above can be exerted. Further, the braking axis F2000 of the braking mechanism 2000 and the horizontal axis (reduction center axis) F1000 can be separated from each other, and thus the degree of freedom of the configuration of the braking mechanism 2000 can be improved.

[0327] Hereinafter, the 8th embodiment of the braking mechanism and the reduction mechanism of the present application will be described based on the drawings.

[0328] Fig. 11is a schematic view of a brake mechanism, a speed reduction mechanism in the embodiment. In the drawing, reference numeral 2000 is a brake mechanism, and reference numeral 1000 is a speed reduction mechanism. In the embodiment, the structure corresponding to the structures of the first to seventh embodiments described above is sometimes designated by the same reference numeral and the description thereof is omitted.

[0329] The speed reduction mechanism 1000 in the embodiment is provided with a tilt rotation section 1013 having a turntable or the like that rotates around a horizontal axis F1000, a brake mechanism 2000 that can hold the tilt rotation section 1013 in a posture in which the rotation angle around the horizontal axis F1000 is a predetermined position, and a control section 4000.

[0330] The manufacturing device (speed reduction mechanism) 1000 is a device used when a predetermined processing and machining such as cutting, grinding, or the like, welding, or parts assembly of a workpiece placed on the turntable 1003 is performed. The turntable 1003 is provided with a structure in which the table axis F1003 rotates around the horizontal axis F1000, and the table axis F1003 itself rotates around the horizontal axis F1000.

[0331] As shown in Fig. 11 , the speed reduction mechanism 1000 is provided with a speed reduction section (speed reducer) 1100 provided to one end side in the horizontal axis F1000 direction, a motor (rotary drive source) 1002 as a rotary drive source that outputs power to the speed reducer 1100, a holding device 1012 provided to the other end side in the horizontal axis F1000 direction, and a rotary block (tilt rotation section) 1013 that supports both end sections in the horizontal axis F1000 direction of the speed reducer 1100 and the holding device 1012.

[0332] The motor 1002 is integrally mounted to the input side of the speed reducer 1100. The speed reducer 1100 reduces the rotation of the motor 1002 and transmits the rotation to one end side in the horizontal axis F1000 direction of the rotary block (tilt rotation section) 1013. The holding device 1012 supports the other end side in the horizontal axis F1000 direction of the rotary block (tilt rotation section) 1013 so as to be rotatable. The power is transmitted from the motor 1002 to the rotary block (tilt rotation section) 1013 via the speed reducer 1100, and thus the rotary block (tilt rotation section) 1013 rotates around the horizontal axis F1000.

[0333] The rotary block (tilt rotation section) 1013 has the turntable 1003 that rotates around the horizontal axis F1000. The turntable 1003 has a workpiece support surface 1003a on the surface thereof. A workpiece as an object of work is mounted to the workpiece support surface 1003a of the turntable 1003.

[0334] The swivel block (tilt swivel section) 1013 is tilted and swivel moved about the horizontal axis F1000 by the rotation of the motor 1002. By this, the workpiece of the workpiece support surface 1003a mounted to the turntable 1003 is moved toward the work position by the rotation of the swivel block (tilt swivel section) 1013 by the motor 1002.

[0335] The swivel block (tilt swivel section) 1013 in the present embodiment can also be provided with a weight having a weight of, for example, several t or so in a state where the workpiece is mounted.

[0336] In addition, the swivel block (tilt swivel section) 1013 has a table drive motor 1004 that rotates the turntable 1003 about a table axis F1003 orthogonal to the horizontal axis F1000.

[0337] The turntable 1003 tilted about the horizontal axis F1000 is rotated about the table axis F1003 by the table drive motor 1004. By this, the workpiece of the workpiece support surface 1003a mounted to the turntable 1003 is swivel moved at the work position by the rotation of the turntable 1003 by the table drive motor 1004.

[0338] A work device such as an assembly robot, a welding robot, or the like can also be provided at the work position. In addition, in the present embodiment, the workpiece support surface 1003a of the turntable 1003 is indicated in a manner facing downward. Fig. 11

[0339] The lower end of the speed reducer 1100 is fixedly provided to the upper surface of one end side of the base block (leg section) 1011. The speed reducer 1100 is provided to the base block (leg section) 1011 in a manner in which the reduction center axis F0 at the time of output coincides with the horizontal axis F1000 of the manufacturing device (reduction mechanism) 1000.

[0340] The speed reducer (reduction section) 1100 is provided as an eccentric swing speed reducer. The speed reducer (reduction section) 1100 can have a structure equivalent to the structure of the reduction section 100 in the first to third embodiments shown in Fig. 1 to Fig. 5 In addition, the speed reducer (reduction section) 1100 can also be provided as a speed reducer having a planetary gear mechanism or other speed reducers having other structures. In the present embodiment, as the speed reducer (reduction section) 1100, a speed reducer having a large reduction ratio, that is, a speed reducer having a large torque ratio is assumed.

[0341] ​Here, the speed reducer (reduction section) 1100 has an input shaft 1102 connected to the motor 1002. The input shaft 1102 is disposed along the horizontal axis F1000. The input shaft 1102 is supported by a bearing 1103. The bearing 1103 is fixed to the base block (leg) 1011. The speed reducer 1100 has an outer cylinder 211 that rotates with the horizontal axis (reduction center axis) F1000 as the center of rotation. The speed reducer 1100 has an output section 1211 connected to, for example, the outer cylinder 211. The output section 1211 rotates at the same speed as the outer cylinder 211.

[0342] The output section 1211 reduces and outputs the drive rotation from the motor 1002 in the speed reducer (reduction section) 1100. The output section 1211 is assembled integrally with the rotating block (tilt rotation section) 1013. The output section 1211 rotates at the same speed as the rotating block (tilt rotation section) 1013. The speed reducer (reduction section) 1100, the motor 1002, and the rotating block (tilt rotation section) 1013 have the horizontal axis F1000 as the center of rotation. The horizontal axis F1000 becomes the reduction center axis of the speed reducer (reduction section) 1100.

[0343] The output section 1211 and the rotating block (tilt rotation section) 1013 are integrated to constitute a first output shaft. The portion of the first output shaft on the side of one end of the base block (leg) 1011 is supported by the reduction section 1100, and the portion of the first output shaft on the side of the other end of the base block (leg) 1011 is supported by the holding device 1012. The holding device 1012 is located at the upper portion of the base block (leg) 1011 and has a bearing 1012a.

[0344] The speed reducer (reduction section) 1100 is connected to the brake mechanism 2000 via the rotation transmission section 3000. The brake mechanism 2000 applies a braking force to the speed reducer (reduction section) 1100 via the rotation transmission section 3000 to brake the speed reducer (reduction section) 1100.

[0345] The brake mechanism 2000 is supported by the base block (leg) 1011.

[0346] The brake mechanism 2000 has a second speed-up section (another speed-up section) 1200 that speed-up the rotation speed input via the rotation transmission section 3000, and a brake section 1030 that imparts a braking force that brakes the second speed-up section (another speed-up section) 1200.

[0347] The second speed-up section (another speed-up section) 1200 and the speed reducer (reduction section) 1100 are disposed so as to overlap each other in the axial direction along the horizontal axis (reduction center axis) F1000 that becomes the center of rotation of the speed reducer (reduction section) 1100.

[0348] As Fig. 11As shown, the brake mechanism 2000 has a brake axis F2000 parallel to the horizontal axis (deceleration center axis) F1000. The brake axis F2000 of the brake mechanism 2000 is arranged parallel to the horizontal axis (deceleration center axis) F1000.

[0349] As shown, the rotation transmission portion 3000 is connected to the outer tube 211 of the decelerator (deceleration portion) 1100 and the 2nd speed-up portion (another speed-up portion) 1200. Fig. 11

[0350] The rotation transmission portion 3000 can have the same structure as the 5th embodiment, which has the 1st brake output gear 3011 and the 2nd brake output gear 3012 coaxially connected to the outer tube 211 of the decelerator (deceleration portion) 1100.

[0351] Alternatively, the rotation transmission portion 3000 can have the same structure as the 7th embodiment, which has the 1st brake output pulley 3021, the 2nd brake output pulley 3022, and the winding belt 3023 coaxially connected to the outer tube 211 of the decelerator (deceleration portion) 1100. Alternatively, the rotation transmission portion 3000 can have the same structure as the 7th embodiment, which has the 1st brake output sprocket 3021, the 2nd brake output sprocket 3022, and the winding chain 3023 coaxially connected to the outer tube 211 of the decelerator (deceleration portion) 1100.

[0352] Further, the rotation transmission portion 3000 can also have the same structure as the 6th embodiment, which has the 1st brake output bevel gear 3013 and the 2nd brake output bevel gear 3014 coaxially connected to the outer tube 211 of the decelerator (deceleration portion) 1100. In this case, the brake axis F2000 of the brake mechanism 2000 is arranged to cross the horizontal axis (deceleration center axis) F1000.

[0353] The brake mechanism 2000 can be arranged to be supported by the base block (leg portion) 1011 on the lower side in the vertical direction with respect to the decelerator (deceleration portion) 1100. Further, the arrangement of the brake mechanism 2000 is not limited thereto, and can be at any position with respect to the decelerator (deceleration portion) 1100 in the circumferential direction of the horizontal axis (deceleration center axis) F1000, and can be supported by the base block (leg portion) 1011.

[0354] The brake mechanism 2000 brakes the decelerator (deceleration portion) 1100 by causing the brake force to act on the decelerator (deceleration portion) 1100 via the rotation transmission portion 3000 and the outer tube 211.

[0355] ​Thus, without affecting the structure of the output portion 1211, the brake mechanism 2000 can be connected to the speed reducer (reduction portion) 1100 so that the braking force of the brake mechanism 2000 acts on the speed reducer (reduction portion) 1100.

[0356] The rotation transmission portion 3000 is not limited to whether or not the rotation is speeded up as long as the rotation transmission portion 3000 can transmit the rotation, that is, can transmit the torque, between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, and the shape, the arrangement position, the gear ratio, and the like can be appropriately set. Further, it is preferable that the rotation transmission portion 3000 be set in a manner in which the driving rotation is speeded up between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, the shape, the arrangement position, the gear ratio, and the like.

[0357] The second speed-up portion (another speed-up portion) 1200 is supported by the base block (leg portion) 1011.

[0358] The second speed-up portion (another speed-up portion) 1200 is provided as an eccentric swing speed reducer. Further, the second speed-up portion (another speed-up portion) 1200 can be provided as a second speed-up portion having another structure such as a speed reducer having a planetary gear mechanism. In the present embodiment, as the second speed-up portion (another speed-up portion) 1200, a second speed-up portion having a large speed-up ratio (reduction ratio), that is, a second speed-up portion having a large torque ratio is assumed. The second speed-up portion 1200 can have a structure equivalent to that of the reduction portion 100 in the first embodiment to the third embodiment shown in FIG. 1. Fig. 1 to Fig. 5

[0359] The second speed-up portion (another speed-up portion) 1200 is connected to the brake portion 1030.

[0360] In the second speed-up portion (another speed-up portion) 1200, the second brake output gear 3012 of the rotation transmission portion 3000 is connected to the outer tube 211 on the output side as the speed reducer and on the input side as the speed-up mechanism. In addition, in the second speed-up portion 1200, the brake gear 502 of the brake portion 1030 is connected to the sun gear 500 on the input side as the speed reducer and on the output side as the speed-up mechanism.

[0361] In the second speed-up portion (another speed-up portion) 1200, when the rotational driving force is output from the second speed-up portion (another speed-up portion) 1200 to the brake gear 502, the rotational driving force is speeded up and output. The brake gear 502 is configured as the speed-up portion 1020.

[0362] The brake portion 1030 is connected to Fig. 1 to Fig. 5 ​The brake portion 30 in the first to third embodiments is provided with a field weakening brake 31. The field weakening brake 31 of the brake portion 1030 is connected to the control portion 4000 as a brake power source. The field weakening brake 31 is not limited to a specific structure as long as it is a publicly known field weakening brake.

[0363] The brake portion 1030 is supported by the base block (leg portion) 1011 as with the second speed-increasing portion (another speed-increasing portion) 1200.

[0364] The field weakening brake 31 is configured to stop the supply of power to the field weakening brake 31 at the same time as the supply of power to the motor 1002 from the control portion 4000 is stopped. Alternatively, the field weakening brake 31 can be configured to stop the supply of power to the field weakening brake 31 using the output of a sensor that detects the situation in which the supply of power to the motor 1002 from the control portion 4000 is stopped.

[0365] Alternatively, a field magnet brake can be provided as the brake portion 1030 and the control portion 4000 as a backup brake power source that supplies power to the field magnet brake. In this case, the field magnet brake can be configured to perform a braking action using power supplied from the backup brake power source when the supply of power to the motor 1002 from the control portion 4000 is stopped.

[0366] In the second speed-increasing portion (another speed-increasing portion) 1200, the drive rotation is speeded up and transmitted to the brake portion 1030 in the transmission path that reaches the brake portion 1030 via the rotation transmission portion 3000 and the second speed-increasing portion (another speed-increasing portion) 1200. That is, the rotation transmission portion 3000 and the second speed-increasing portion 1200 function as the speed-increasing portion 1020 in the transmission path from the outer tube 211 of the speed reducer (speed-reducing portion) 1100 to the brake portion 1030 of the brake mechanism 2000.

[0367] In addition, in the rotation transmission portion 3000 and the second speed-increasing portion 1200, the drive rotation is speeded up. Thus, in the transmission path from the outer tube 211 of the speed reducer (speed-reducing portion) 1100 to the brake portion 1030, the rotation transmission portion 3000 and the second speed-increasing portion 1200 constitute the speed-increasing portion 1020.

[0368] In the speed-increasing portion 1020, the rotational drive (input rotation) of the outer tube 211 of the speed reducer (speed-reducing portion) 1100 is speeded up in the speed-reducing drive transmission path at the speed reduction mechanism 1000 and transmitted to the brake portion 1030.

[0369] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the rotation block (tilting rotation portion) 1013 is supported at both ends thereof by the bearing 1012a and the speed reducer 1100. In addition, the input shaft 1102 is supported by the bearing 1103.

[0370] That is, the swivel block (tilt swivel section) 1013 is supported by the bearing 1103 and the bearing 1012a. That is, in the manufacturing device (reduction mechanism) 1000, the swivel block (tilt swivel section) 1013 as a positioner is supported by the bearing 1103 and the bearing 1012a like a shaft of which the rotation is variable in a plurality of stages together with the input shaft 1102, the reducer 1100, and the output section 1211. Thereby, in the structure for supporting the swivel block (tilt swivel section) 1013, the number of parts can be reduced.

[0371] In the manufacturing device (reduction mechanism) 1000 of the present embodiment, the motor 1002 as a drive source is driven by being supplied with power from the control section 4000. The swivel block (tilt swivel section) 1013 is rotated around the horizontal axis F1000 by the drive of the motor 1002 and by the reduction section 1100, and the tilt angle of the swivel block (tilt swivel section) 1013 around the horizontal axis F1000 is maintained in a predetermined state.

[0372] At this time, the drive rotation in the motor 1002 is controlled by a signal from the control section 4000, and the swivel block (tilt swivel section) 1013 is set in a manner such that the angle around the horizontal axis F1000 becomes a predetermined tilt swivel state.

[0373] In addition, the motor 1002 is braked by control from the control section 4000, whereby the tilt swivel angle of the swivel block (tilt swivel section) 1013 can be maintained, and the swivel block (tilt swivel section) 1013 is stopped in a manner such that the tilt swivel angle of the swivel block (tilt swivel section) 1013 does not change.

[0374] At this time, in a case where the swivel block (tilt swivel section) 1013 is rotated and tilted by the motor 1002 as a drive source in a manner such that the drive rotation is reduced and transmitted by the reduction section 1100, the outer cylinder 211 of the reducer (reduction section) 1100 rotates integrally with the swivel block (tilt swivel section) 1013 and the output section 1211.

[0375] Here, the rotation of the outer cylinder 211 of the reducer (reduction section) 1100 is transmitted to the second speed-up section (another speed-up section) 1200 of the brake mechanism 2000 via the rotation transmission section 3000. That is, the rotation of the outer cylinder 211 of the reducer (reduction section) 1100 is speeded up by the rotation transmission section 3000, the second speed-up section (another speed-up section) 1200 of the brake mechanism 2000, and is transmitted to the brake section 1030 of the brake mechanism 2000.

[0376] The motor 1002 as a drive source is supplied with power from the control section 4000, and power is also supplied to the brake section 1030 during execution of braking or driving of the rotation block (tilt-rotating section) 1013 by the motor 1002.

[0377] Here, the brake section 1030 is of a de-excitation brake operation type. That is, the brake section 1030 is switched in operation in conjunction with supply of power to the motor 1002 from the control section 4000. Alternatively, the brake section 1030 is configured to sense the supply of power to the motor 1002 from the control section 4000 and switch in operation in correspondence with the state.

[0378] Therefore, during the supply of power to the motor 1002 from the control section 4000, the brake section 1030 is not in operation. Thus, the brake section 1030 does not exert the braking force applied to the second speed-up section (another speed-up section) 1200 from the brake section 1030.

[0379] Thus, the tilt-rotating state of the rotation block (tilt-rotating section) 1013 can be set using the motor 1002.

[0380] Next, a state is assumed in which the braking of the rotation block (tilt-rotating section) 1013 by the motor 1002 is unexpectedly stopped. In this case, a stop of the supply of power by the control section 4000 or the like, or a failure in driving rotation transmission in the speed-reducing section 1100 or the like is assumed.

[0381] Here, a case is assumed in which the supply of power from the control section 4000 is stopped and the motor 1002 becomes in a power-off state.

[0382] In this case, the braking from the motor 1002 side at the rotation block (tilt-rotating section) 1013 is released. Here, in a case where the rotation block (tilt-rotating section) 1013 or a support member thereof is a heavy object or the like, there is a possibility that the rotation block (tilt-rotating section) 1013 is rotated arbitrarily about the horizontal axis F1000 due to the weight of the rotation block (tilt-rotating section) 1013.

[0383] At the instant when the motor 1002 changes from the power-on state to the power-off state, the state changes from the state in which the braking or driving of the rotation block (tilt-rotating section) 1013 by the motor 1002 is executed to the state in which the braking and driving are lost. At this instant, the brake section 1030 as a de-excitation brake is switched from the state in which the brake section 1030 does not exert the braking force applied to the second speed-up section (another speed-up section) 1200 from the brake section 1030 to the state in which the braking is performed.

[0384] Then, the brake section 1030 is switched to the state in which the braking force applied to the second speed-up section (another speed-up section) 1200 is exerted.

[0385] Thus, the rotation of the outer tube 211 of the speed reducer (speed reducing portion) 1100 is braked by the 2nd speed increasing portion (another speed increasing portion) 1200 and the rotation transmission portion 3000.

[0386] Thus, even if the motor 1002 becomes a power-off state, the rotation block (tilt rotation portion) 1013 that is integrated with the outer tube 211 can be stopped in a manner that the tilt rotation angle of the rotation block (tilt rotation portion) 1013 does not change using the braking force of the brake portion 1030.

[0387] In addition, a case is conceived in which the motor 1002 as a drive source is supplied with power from the control portion 4000, but the braking or driving of the rotation block (tilt rotation portion) 1013 by the speed reducing portion 1100 is not performed.

[0388] In this case, the braking from the speed reducing portion 1100 side is released at the rotation block (tilt rotation portion) 1013. Here, in a case in which the workpiece is a heavy object or the like, there is a possibility that the rotation block (tilt rotation portion) 1013 is rotated arbitrarily around the horizontal axis F1000 due to the weight of the workpiece.

[0389] Here, the motor 1002 continues the power-on state.

[0390] Thus, at the instant at which the braking state changes, even if the state changes from a state in which the braking or driving of the rotation block (tilt rotation portion) 1013 by the speed reducing portion 1100 is performed to a state in which the braking and driving are lost, the brake portion 1030 as a field weakening brake does not directly switch to the braking state.

[0391] Thus, in the manufacturing device (speed reducing mechanism) 1000 of the present embodiment, there is a detection device that detects a case in which the braking or driving of the rotation block (tilt rotation portion) 1013 by the speed reducing portion 1100 is normally maintained.

[0392] As the detection device, for example, a combination of an angle sensor 4001 that detects the rotation angle of the output portion 1211 and a sensor that detects the driving state of the motor 1002 can be exemplified. In this case, the sensor that detects the driving state of the motor 1002 can be included in the control portion 4000. As the detection device, other structures can also be provided.

[0393] In a case in which it is determined by the angle sensor 4001 and the control portion 4000 as the detection device that at least either of the power-on of the motor 1002 and the tilt rotation angle of the rotation block (tilt rotation portion) 1013 is not maintained, the power supply to the brake portion 1030 by the control portion 4000 is stopped. That is, the brake portion 1030 is switched to the field weakening state and operates.

[0394] Thus, at this instant, the braking portion 1030 as a field weakening brake switches from a state in which the braking force applied from the braking portion 1030 to the second speed-up portion (another speed-up portion) 1200 is not exerted to a state in which braking is performed.

[0395] Thus, the braking force of the braking portion 1030 can be used to stop the tilting rotation angle of the tilting rotation portion 1013 without changing the tilting rotation angle of the tilting rotation portion 1013.

[0396] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the speed reducer (speed reduction portion) 1100, the rotation transmission portion 3000, and the braking mechanism 2000 are located at positions including substantially the same plane orthogonal to the horizontal axis F1000 and are engaged with each other. Thus, the braking portion 1030 is configured to be arranged so as to overlap the speed reducer (speed reduction portion) 1100 in the axial direction along the horizontal axis F1000.

[0397] In addition, in the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the speed reducer (speed reduction portion) 1100, the rotation transmission portion 3000, and the braking mechanism 2000 are arranged so as to overlap in the axial direction along the horizontal axis F1000 and are supported by the base block (leg portion) 1011.

[0398] Thus, in the speed reduction mechanism 1000 of the present embodiment, the speed reduction mechanism 1000 can be miniaturized in the direction along the speed reduction center axis (center axis) F1002.

[0399] In the speed reduction mechanism 1000 of the present embodiment, the speed reducer (speed reduction portion) 1100, the rotation transmission portion 3000, and the braking mechanism 2000 are arranged on the same side of the base block (leg portion) 1011 in the direction along the speed reduction center axis (center axis) F1002, and thus the speed reduction mechanism 1000 can be miniaturized.

[0400] Furthermore, a cover or the like does not need to be provided near the holding device 1012 on the other end side of the base block (leg portion) 1011 in the horizontal axis F1000 direction, and thus the number of parts can be reduced.

[0401] In the speed reduction mechanism 1000 of the present embodiment, by additionally providing the braking mechanism 2000 and the rotation transmission portion 3000, the speed reduction mechanism 1000 as a conventional positioner or the like can be provided with an emergency stop function. Furthermore, the speed reduction mechanism 1000 is provided with the emergency stop function and can be miniaturized, and thus the operability can be improved.

[0402] Hereinafter, a ninth embodiment of a braking mechanism and a speed reduction mechanism of the present application will be described based on the drawings.

[0403] Fig. 12is a schematic view of the brake mechanism, the speed reduction mechanism of the present embodiment in the axial direction. Fig. 13 is a schematic side view of the speed reduction mechanism of the present embodiment as viewed in the axial direction. In the drawing, reference numeral 2000 is a brake mechanism, and reference numeral 1000 is a speed reduction mechanism. In the present embodiment, the structure corresponding to the structures of the above-described first to eighth embodiments is sometimes labeled with the same reference numeral and the explanation thereof is omitted.

[0404] The speed reduction mechanism 1000 in the present embodiment is provided with a tilt rotation section 1013 having a turntable or the like that rotates around a horizontal axis F1000, a brake mechanism 2000 that can hold the tilt rotation section 1013 in a posture in which the rotation angle around the horizontal axis F1000 is a predetermined position, and a control section 4000.

[0405] The manufacturing device (speed reduction mechanism) 1000 is a device used when a predetermined processing and machining, welding, parts assembly, or the like of a workpiece placed on the turntable 1003 is performed, such as cutting, grinding, or the like. The turntable 1003 is provided with a structure in which the table axis F1003 rotates around the horizontal axis F1000 and the table axis F1003 itself rotates around the horizontal axis F1000.

[0406] As shown in Fig. 12 , Fig. 13 , the manufacturing device (speed reduction mechanism) 1000 is provided with a base block (leg section) 1011 that is disposed on the ground, a speed reduction section (speed reducer) 1100 that is fixedly disposed to the upper surface of the one end side in the horizontal axis F1000 direction of the base block (leg section) 1011, a motor (rotary drive source) 1002 that is a rotary drive source that outputs power to the speed reducer 1100, a holding device 1012 that is fixedly disposed to the upper surface of the other end side in the horizontal axis F1000 direction of the base block (leg section) 1011, and a rotary block (tilt rotation section) 1013 that supports both end sections in the horizontal axis F1000 direction to the speed reducer 1100 and the holding device 1012.

[0407] The base block (leg section) 1011 stands up in the vertical direction at positions on both sides in the horizontal axis F1000 direction of the rotary block (tilt rotation section) 1013 and supports the rotary block (tilt rotation section) 1013. The base block (leg section) 1011 is provided as a plate shape that is substantially orthogonal to the direction of the horizontal axis F1000.

[0408] The motor 1002 is integrally attached to the input side of the speed reducer 1100. The speed reducer 1100 decelerates the rotation of the motor 1002 and transmits the rotation to the one end side of the horizontal axis F1000 direction of the swivel block (tilt-rotating portion) 1013. The motor 1002 is attached to the upper portion of the base block (leg portion) 1011 closer to the speed reducer 1100 than the swivel block (tilt-rotating portion) 1013 in the horizontal axis F1000 direction.

[0409] The holding device 1012 rotatably supports the other end side of the horizontal axis F1000 direction of the swivel block (tilt-rotating portion) 1013. The power is transmitted from the motor 1002 to the swivel block (tilt-rotating portion) 1013 via the speed reducer 1100, and thus the swivel block (tilt-rotating portion) 1013 rotates around the horizontal axis F1000.

[0410] The swivel block (tilt-rotating portion) 1013 has a turntable 1003 that rotates around the horizontal axis F1000. The turntable 1003 has a workpiece support surface 1003a on the surface thereof. A workpiece that is a work object is attached to the workpiece support surface 1003a of the turntable 1003.

[0411] The swivel block (tilt-rotating portion) 1013 tilts and rotates around the horizontal axis F1000 by the rotation of the motor 1002. Thus, the workpiece attached to the workpiece support surface 1003a of the turntable 1003 moves toward the work position by the rotation of the swivel block (tilt-rotating portion) 1013 by the motor 1002.

[0412] The swivel block (tilt-rotating portion) 1013 in the present embodiment can also be provided with a weight having a weight of, for example, several t or the like in a state in which the workpiece is attached.

[0413] In addition, the swivel block (tilt-rotating portion) 1013 has a table drive motor 1004 that rotates the turntable 1003 around a table axis F1003 orthogonal to the horizontal axis F1000.

[0414] In the swivel block (tilt-rotating portion) 1013, the turntable 1003 tilted around the horizontal axis F1000 is rotated around the table axis F1003 by the table drive motor 1004. Thus, the workpiece attached to the workpiece support surface 1003a of the turntable 1003 is rotated and moved at the work position by the rotation of the turntable 1003 by the table drive motor 1004.

[0415] That is, the turntable 1003 is a positioner that performs position control on two axes around the horizontal axis F1000 and around the table axis F1003.

[0416] A work device such as a welding robot can also be provided at the work position. In addition, a work device such as a welding robot can also be provided at the work position. Fig. 12 、 Fig. 13In the diagram, the workpiece support surface 1003a of the turntable 1003 is shown facing downwards.

[0417] The lower end of the reducer 1100 is fixedly mounted on the upper surface of one end of the base block (leg) 1011. The reducer 1100 is mounted on the base block (leg) 1011 such that the deceleration center axis F0 during output is aligned with the horizontal axis F1000 of the manufacturing device (reduction mechanism) 1000.

[0418] The reducer (reduction section) 1100 is configured as an eccentric oscillating reducer. The reducer (reduction section) 1100 is capable of having the same characteristics as... Fig. 1 to Fig. 5 The reduction gear 100 shown in the first to third embodiments has the same structure. Furthermore, the reducer (reduction section) 1100 may also be a reducer with other structures, such as a reducer having a planetary gear mechanism. In this embodiment, a reducer (reduction section) 1100 with a large reduction ratio, that is, a reducer with a large torque ratio, is envisioned.

[0419] Here, the reducer (reduction section) 1100 has an input shaft 1102 connected to the motor 1002. The input shaft 1102 is arranged along the horizontal axis F1000. The input shaft 1102 is supported by a bearing 1103. The bearing 1103 is fixed to the base block (leg) 1011. The reducer 1100 has an outer cylinder 211 that rotates around the horizontal axis (reduction center axis) F1000. The reducer 1100 has an output section 1211 connected to the rotating block (tilting rotating section) 1013 side of the outer cylinder 211. The output section 1211 rotates at the same speed as the outer cylinder 211.

[0420] The output unit 1211 reduces the rotational speed of the drive from the motor 1002 within the reducer (reduction section) 1100 and outputs the reduced speed. The output unit 1211 is integrally assembled with the rotating block (tilting rotating section) 1013. The output unit 1211 rotates at the same speed as the rotating block (tilting rotating section) 1013. The reducer (reduction section) 1100, the motor 1002, and the rotating block (tilting rotating section) 1013 rotate around the horizontal axis F1000. The horizontal axis F1000 serves as the reduction center axis of the reducer (reduction section) 1100.

[0421] The output section 1211 and the rotating block (tilting rotating section) 1013 are integrated to constitute a first output shaft. The portion of the first output shaft on the end side of the base block (leg section) 1011 is supported by the reduction section 1100 together with the input shaft 1102 using a bearing 1103. In addition, the portion of the first output shaft on the other end side of the base block (leg section) 1011 is supported by the holding device 1012. The holding device 1012 is located at the upper portion of the base block (leg section) 1011 and has a bearing 1012a. The rotating axis of the first output shaft coincides with the horizontal axis F1000.

[0422] The reduction gear (reduction section) 1100 is connected to the brake mechanism 2000 via the rotation transmission section 3000. The brake mechanism 2000 causes a braking force to act on the reduction gear (reduction section) 1100 via the rotation transmission section 3000 to brake the reduction gear (reduction section) 1100.

[0423] As shown in Fig. 12 , the brake mechanism 2000 is supported on the base block (leg section) 1011. The brake mechanism 2000 penetrates the base block (leg section) 1011 in the direction along the horizontal axis F1000, which is located directly below the reduction gear (reduction section) 1100.

[0424] The brake mechanism 2000 has a second speed-up section (another speed-up section) 1200 that speed-up the rotation speed input via the rotation transmission section 3000 and a brake section 1030 that imparts a braking force that brakes the second speed-up section (another speed-up section) 1200.

[0425] The second speed-up section (another speed-up section) 1200 and the reduction gear (reduction section) 1100 are arranged so as to overlap each other in the axial direction along the horizontal axis (reduction center axis) F1000 of the reduction gear (reduction section) 1100 that becomes the center of rotation. The second speed-up section (another speed-up section) 1200 is located directly below the reduction gear (reduction section) 1100.

[0426] As shown in Fig. 11 , the brake mechanism 2000 has a brake axis F2000 that is parallel to the horizontal axis (reduction center axis) F1000. The brake axis F2000 of the brake mechanism 2000 is arranged so as to be parallel to the horizontal axis (reduction center axis) F1000.

[0427] As shown in Fig. 11 , the rotation transmission section 3000 is connected to the outer cylinder 211 of the reduction gear (reduction section) 1100 and the second speed-up section (another speed-up section) 1200.

[0428] The rotation transmission portion 3000 has the same configuration as the fifth embodiment, and has the first brake output gear 3011 and the second brake output gear 3012 connected coaxially with the outer tube 211 of the speed reducer (reduction portion) 1100. The axis of the second brake output gear 3012 can be disposed at a position lower than the axis of the first brake output gear 3011.

[0429] The brake mechanism 2000 can be disposed so as to be supported by the base block (leg portion) 1011 that is located on the vertically lower side with respect to the speed reducer (reduction portion) 1100. Furthermore, the disposition of the brake mechanism 2000 is not limited thereto, and can be supported by the base block (leg portion) 1011 at any position with respect to the circumferential direction of the horizontal axis (speed reduction center axis) F1000 of the speed reducer (reduction portion) 1100.

[0430] The brake mechanism 2000 brakes the speed reducer (reduction portion) 1100 by causing a braking force to act on the speed reducer (reduction portion) 1100 via the rotation transmission portion 3000 and the outer tube 211.

[0431] Thus, the brake mechanism 2000 can be connected to the speed reducer (reduction portion) 1100 without affecting the structure of the output portion 1211, and the braking force of the brake mechanism 2000 can be caused to act on the speed reducer (reduction portion) 1100.

[0432] The rotation transmission portion 3000 is not limited to whether or not the rotation is speeded up, as long as it can transmit rotation, that is, torque, between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, and the shape, disposition position, gear ratio, and the like can be appropriately set. Furthermore, it is preferable that the rotation transmission portion 3000 be set in a manner in which the driving rotation is speeded up between the speed reducer (reduction portion) 1100 and the brake mechanism 2000, in terms of the shape, disposition position, gear ratio, and the like.

[0433] The second speed-up portion (another speed-up portion) 1200 is supported by the base block (leg portion) 1011. The second speed-up portion (another speed-up portion) 1200 penetrates the base block (leg portion) 1011 in a direction along the horizontal axis (speed reduction center axis) F1000.

[0434] The second speed-up portion (another speed-up portion) 1200 is configured as an eccentric swing speed reducer. Furthermore, the second speed-up portion (another speed-up portion) 1200 can also be configured as a speed reducer having a planetary gear mechanism or another speed reducer having another configuration.

[0435] In the present embodiment, as the second speed-up portion (another speed-up portion) 1200, a second speed-up portion having a large speed-up ratio (reduction ratio), that is, a second speed-up portion having a large torque ratio, is assumed. The second speed-up portion 1200 can have the same configuration as the first speed-up portion 1100. Fig. 1 to Fig. 5The structure of the reduction unit 100 in the first to third embodiments is the same as the structure of the reduction unit 100.

[0436] The second speed-up unit (another speed-up unit) 1200 is connected to the brake unit 1030.

[0437] In the second speed-up unit (another speed-up unit) 1200, the second brake output gear 3012 of the rotation transmission unit 3000 is connected to the outer tube 211 that is on the output side as a reduction unit and on the input side as a speed-up unit. In addition, in the second speed-up unit 1200, the brake gear 502 of the brake unit 1030 is connected to the sun gear 500 that is on the input side as a reduction unit and on the output side as a speed-up unit.

[0438] In the second speed-up unit (another speed-up unit) 1200, when the rotation driving force is output from the second speed-up unit (another speed-up unit) 1200 to the brake gear 502, the rotation driving force is speeded up and output. The brake gear 502 is configured as a speed-up unit 1020.

[0439] The brake unit 1030 is connected to Fig. 1 to Fig. 5 The brake unit 1030 has the same configuration as the brake unit 30 in the first to third embodiments. The field weakening brake 31 of the brake unit 1030 is connected to the control unit 4000 that is a brake power source. The field weakening brake 31 is not limited to a specific structure as long as it is a publicly known field weakening brake.

[0440] The brake unit 1030 is supported by the base block (leg) 1011 as in the second speed-up unit (another speed-up unit) 1200. Alternatively, the brake unit 1030 can be supported by the second speed-up unit (another speed-up unit) 1200 and not supported by the base block (leg) 1011.

[0441] The field weakening brake 31 is configured to stop the supply of power to the field weakening brake 31 at the same time as the supply of power to the motor 1002 is stopped from the control unit 4000 as in the fifth embodiment. Alternatively, the field weakening brake 31 can be configured to have a sensor that detects when the control unit 4000 stops the supply of power to the motor 1002 and stop the supply of power to the field weakening brake 31 using the output of the sensor.

[0442] In the second speed-up unit (another speed-up unit) 1200, the driving rotation is speeded up and transmitted to the brake unit 1030 in the transmission path to the brake unit 1030 via the rotation transmission unit 3000 and the second speed-up unit (another speed-up unit) 1200. That is, the rotation transmission unit 3000 and the second speed-up unit 1200 function as a speed-up unit 1020 in the transmission path from the outer tube 211 of the reduction unit (reduction unit) 1100 to the brake unit 1030 of the brake mechanism 2000.

[0443] Further, in the rotation transmission part 3000 and the second speed increasing part 1200, the driving rotation is speeded up. Thus, in the transmission path from the outer tube 211 of the speed reducer (speed reducing part) 1100 to the brake part 1030, the rotation transmission part 3000 and the second speed increasing part 1200 constitute the speed increasing part 1020.

[0444] In the speed increasing part 1020, in the speed reducing driving transmission path at the speed reduction mechanism 1000, the rotation driving (input rotation) of the outer tube 211 of the speed reducer (speed reducing part) 1100 is speeded up and transmitted to the brake part 1030.

[0445] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the rotation block (inclined rotation part) 1013 is supported at both ends thereof by the bearing 1012a, the speed reducer 1100, and the motor 1002. Further, the input shaft 1102 is supported by the bearing 1103.

[0446] That is, the rotation block (inclined rotation part) 1013 is supported by the bearing 1103 and the bearing 1012a. That is, in the manufacturing device (speed reduction mechanism) 1000, the rotation block (inclined rotation part) 1013 as a positioner is supported by the bearing 1103 and the bearing 1012a together with the input shaft 1102, the speed reducer 1100, and the output part 1211 as a multi-stage rotation variable shaft. Thereby, the number of parts in the structure for supporting the rotation block (inclined rotation part) 1013 can be reduced.

[0447] In the manufacturing device (speed reduction mechanism) 1000 of the present embodiment, the motor 1002 as a driving source is driven by being supplied with power from the control part 4000. The rotation block (inclined rotation part) 1013 is rotated around the horizontal axis F1000 by the driving of the motor 1002 and by the speed reducing part 1100, and the inclination angle of the rotation block (inclined rotation part) 1013 around the horizontal axis F1000 is maintained in a predetermined state.

[0448] At this time, the driving rotation in the motor 1002 is controlled by a signal from the control part 4000, and the rotation block (inclined rotation part) 1013 is set in a manner such that the angle around the horizontal axis F1000 becomes a predetermined inclined rotation state.

[0449] Further, the motor 1002 is braked by control from the control part 4000, whereby the inclination rotation angle of the rotation block (inclined rotation part) 1013 can be maintained, and the rotation block (inclined rotation part) 1013 is stopped in a manner such that the inclination rotation angle of the rotation block (inclined rotation part) 1013 does not change.

[0450] Moreover, in the swivel block (tilt swivel section) 1013 maintained to the predetermined tilt angle, the turntable 1003 tilted around the horizontal axis F1000 is rotated around the table axis F1003 by the table driving motor 1004 controlled by the control section 4000 to set the rotational position of the turntable 1003 around the table axis F1003.

[0451] Thus, the workpiece mounted to the workpiece support surface 1003a of the turntable 1003 becomes a work position in a predetermined posture around the horizontal axis F1000 and around the table axis F1003.

[0452] The manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment functions as a positioner that performs position control around the horizontal axis F1000 and around the table axis F1003, and in this state, a predetermined work or processing is performed.

[0453] Here, in the case where the swivel block (tilt swivel section) 1013 is rotated and tilted by the motor 1002 as a driving source in a manner that the driving rotation is decelerated and transmitted by the deceleration section 1100, the outer cylinder 211 of the decelerator (deceleration section) 1100 rotates integrally with the swivel block (tilt swivel section) 1013 and the output section 1211.

[0454] The rotation of the outer cylinder 211 of the decelerator (deceleration section) 1100 is transmitted to the second speed-up section (another speed-up section) 1200 of the brake mechanism 2000 via the rotation transmission section 3000. That is, the rotation of the outer cylinder 211 of the decelerator (deceleration section) 1100 is speeded up by the rotation transmission section 3000 and the second speed-up section (another speed-up section) 1200 of the brake mechanism 2000 and transmitted to the brake section 1030 of the brake mechanism 2000.

[0455] The motor 1002 as a driving source is supplied with power from the control section 4000, and during the period in which the motor 1002 performs braking or driving of the swivel block (tilt swivel section) 1013, the brake section 1030 is also supplied with power.

[0456] Here, the brake section 1030 is of a non-excitation brake operation type. That is, the brake section 1030 is supplied with power in conjunction with the supply of power to the motor 1002 from the control section 4000 to switch the operation. Alternatively, the brake section 1030 senses the supply of power to the motor 1002 from the control section 4000 and switches the operation in correspondence with this state.

[0457] Therefore, during the supply of electric power from the control portion 4000 to the motor 1002, the brake portion 1030 does not act. Thus, the brake portion 1030 does not exert the braking force applied from the brake portion 1030 to the second speed-up portion (another speed-up portion) 1200. The tilt rotation state of the rotation block (tilt rotation portion) 1013 is set by the motor 1002.

[0458] Next, a state in which the braking of the rotation block (tilt rotation portion) 1013 by the motor 1002 is unexpectedly stopped is assumed. In this case, a stop of the supply of electric power from the control portion 4000 to the motor 1002 at the time of power failure or the like is assumed.

[0459] First, a case in which the supply of electric power from the control portion 4000 is stopped and the motor 1002 becomes a power failure state is assumed.

[0460] In this case, the rotation block (tilt rotation portion) 1013 is not subjected to the braking from the motor 1002. Here, in a case in which the rotation block (tilt rotation portion) 1013 and / or a support work of the same is a heavy object or the like, there is a possibility that the rotation block (tilt rotation portion) 1013 is randomly rotated around the horizontal axis F1000 due to the weight of the same.

[0461] At the instant at which the motor 1002 changes from the power-on state to the power failure state, the state in which the braking or driving of the rotation block (tilt rotation portion) 1013 by the motor 1002 is performed changes to a state in which the braking or driving disappears. At this instant, the brake portion 1030 as a field weakening brake switches from a state in which the brake portion 1030 does not exert the braking force applied from the brake portion 1030 to the second speed-up portion (another speed-up portion) 1200 to a state in which the braking is performed.

[0462] Then, the brake portion 1030 switches to a state in which the braking is performed by exerting the braking force applied to the second speed-up portion (another speed-up portion) 1200.

[0463] Thus, the rotation of the outer tube 211 of the speed reducer (speed reduction portion) 1100 by the second speed-up portion (another speed-up portion) 1200 and the rotation transmission portion 3000 is braked.

[0464] Thus, even if the motor 1002 becomes the power failure state, the rotation block (tilt rotation portion) 1013 which is integral with the outer tube 211 and the output portion 1211 can be stopped in a manner in which the tilt rotation angle of the rotation block (tilt rotation portion) 1013 does not change by the braking force of the brake portion 1030.

[0465] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the decelerator (deceleration section) 1100, the rotation transmission section 3000, and the brake mechanism 2000 are located at positions including the same plane that is substantially orthogonal to the horizontal axis F1000, and are connected by engaging with each other. Thus, the brake section 1030 is provided in a configuration in which the brake section 1030 and the decelerator (deceleration section) 1100 overlap with each other in the axial direction along the horizontal axis F1000.

[0466] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the decelerator (deceleration section) 1100, the rotation transmission section 3000, and the brake mechanism 2000 are located at positions including the same plane that is substantially orthogonal to the horizontal axis F1000, and are connected by engaging with each other. Thus, the brake section 1030 is provided in a configuration in which the brake section 1030 and the decelerator (deceleration section) 1100 overlap with each other in the axial direction along the horizontal axis F1000.

[0467] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the decelerator (deceleration section) 1100, the rotation transmission section 3000, and the brake mechanism 2000 are located at positions including the same plane that is substantially orthogonal to the horizontal axis F1000, and are connected by engaging with each other. Thus, the brake section 1030 is provided in a configuration in which the brake section 1030 and the decelerator (deceleration section) 1100 overlap with each other in the axial direction along the horizontal axis F1000.

[0468] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the decelerator (deceleration section) 1100, the rotation transmission section 3000, and the brake mechanism 2000 are located at positions including the same plane that is substantially orthogonal to the horizontal axis F1000, and are connected by engaging with each other. Thus, the brake section 1030 is provided in a configuration in which the brake section 1030 and the decelerator (deceleration section) 1100 overlap with each other in the axial direction along the horizontal axis F1000.

[0469] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the decelerator (deceleration section) 1100, the rotation transmission section 3000, and the brake mechanism 2000 are located at positions including the same plane that is substantially orthogonal to the horizontal axis F1000, and are connected by engaging with each other. Thus, the brake section 1030 is provided in a configuration in which the brake section 1030 and the decelerator (deceleration section) 1100 overlap with each other in the axial direction along the horizontal axis F1000.

[0470] Hereinafter, a tenth embodiment of the brake mechanism and the deceleration mechanism of the present application will be described with reference to the drawings.

[0471] Fig. 14 is a schematic view of the brake mechanism and the deceleration mechanism of the present embodiment along the axial direction. In the present embodiment, structures corresponding to the structures of the ninth embodiment described above are sometimes designated by the same reference numerals and explanations thereof are omitted.

[0472] As Fig. 14As shown, the rotation transmission unit 3000 of this embodiment can include: a first brake output pulley 3021, which is connected to the reducer (reduction unit) 1100; and a second brake output pulley 3022, which is connected to the first brake output pulley 3021 by means of a winding belt 3023 wound around the first brake output pulley 3021. The second brake output pulley 3022 is connected to the second speed-increasing unit (another speed-increasing unit) 1200 of the braking mechanism 2000. The second brake output pulley 3022 has a rotation axis parallel to the horizontal axis (reduction center axis) F1000. The rotation axis of the second brake output pulley 3022 can be aligned with the brake axis F2000. The axis of the second brake output sprocket 3022 can be positioned lower than the axis of the first brake output sprocket 3021.

[0473] Furthermore, the rotation transmission unit 3000 can also be configured to have a first brake output sprocket 3021, a second brake output sprocket 3022, and a winding chain 3023 instead of the first brake output pulley 3021, the second brake output pulley 3022, and the winding belt 3023.

[0474] like Fig. 14 As shown, the braking mechanism 2000 can be configured to be supported on a base block (leg) 1011 that is vertically lower than the reducer (reduction section) 1100. However, the configuration of the braking mechanism 2000 is not limited to this; it can be supported on the base block (leg) 1011 in any position, as long as it is circumferentially positioned relative to the reducer (reduction section) 1100 along the horizontal axis (reduction center axis) F1000.

[0475] The first brake output pulley 3021 can be coaxially connected to the outer cylinder 211 of the reducer (reduction section) 1100.

[0476] The first brake output pulley 3021 and the second brake output pulley 3022 can set the separation distance of their respective axes to a predetermined value.

[0477] The braking mechanism 2000 applies braking force to the reducer (reduction section) 1100 by means of the rotation transmission section 3000 and the outer cylinder 211, thereby braking the reducer (reduction section) 1100.

[0478] Therefore, without affecting the structure of the output section 1211, the braking mechanism 2000 can be connected to the reducer (reduction section) 1100 so that the braking force of the braking mechanism 2000 can be applied to the reducer (reduction section) 1100.

[0479] The rotation transmission portion 3000 is not limited to whether or not the rotation is increased in speed, and the shape, the arrangement position, the gear ratio, and the like can be appropriately set, as long as the rotation transmission, that is, the transmission of the torque is possible between the decelerator (deceleration portion) 1100 and the brake mechanism 2000. Further, it is preferable that the rotation transmission portion 3000 be set in the shape, the arrangement position, the gear ratio, and the like in such a manner that the driving rotation is increased in speed between the decelerator (deceleration portion) 1100 and the brake mechanism 2000.

[0480] Further, in the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, as the detection apparatus that detects the case where the deceleration portion 1100 maintains the braking or the driving of the rotation block (tilt rotation portion) 1013 normally, for example, a combination of the sensor 4003 that detects the rotation angle of the 2nd brake output pulley 3022 or the 2nd brake output sprocket 3022 and a sensor that detects the driving state of the motor 1002 can be exemplified. In this case, the sensor that detects the driving state of the motor 1002 can be included in the control portion 4000.

[0481] Alternatively, the sensor 4003 can also be configured to detect the winding position of the winding belt 3023 or the winding chain 3023.

[0482] In the case where it is thus determined by the detection apparatus 4003 and the like and the control portion 4000 that at least either of the energization of the motor 1002 and the tilt rotation angle of the rotation block (tilt rotation portion) 1013 is not maintained, the supply of the electric power to the brake portion 1030 by the control portion 4000 is stopped. That is, the brake portion 1030 is switched to the de-excitation state and operates.

[0483] In the manufacturing apparatus (deceleration mechanism) 1000 of the present embodiment, the 1st brake output pulley 3021 and the 2nd brake output pulley 3022 that are provided to the outer periphery of the outer cylinder 211 of the decelerator (deceleration portion) 1100 synchronize the rotations thereof with each other by the winding belt 2023. Thereby, the brake portion 1030 is configured to be arranged so as to overlap with the decelerator (deceleration portion) 1100 in the axial direction along the horizontal axis F1000.

[0484] Thereby, it is possible to stop the rotation block (tilt rotation portion) 1013 by the braking force of the brake portion 1030 in such a manner that the tilt rotation angle of the rotation block (tilt rotation portion) 1013 is not changed.

[0485] Further, the brake mechanism 2000 is not limited to the arrangement distance and the like of the 1st brake output pulley 3021 and the 2nd brake output pulley 3022 as long as the 1st brake output pulley 3021 and the 2nd brake output pulley 3022 are located at the positions that are synchronized with each other by the winding belt 2023.

[0486] In the present embodiment, effects equivalent to those of the above-described 5th embodiment and 6th embodiment can be obtained. Furthermore, the brake axis F2000 of the brake mechanism 2000 and the horizontal axis (deceleration center axis) F1000 can be separated from each other, and thus the degree of freedom of arrangement of the brake mechanism 2000 can be improved.

Claims

1. A speed reduction mechanism, comprising: The deceleration unit reduces the input rotational speed; An acceleration section that increases the rotational speed output from the deceleration section; and The braking unit provides braking force to the acceleration unit. The deceleration unit includes: The central gear has its rotation center on the axis of the deceleration center, which serves as the rotation center of the deceleration unit. A spur gear having a rotation axis parallel to the rotation axis of the central gear and connected to the central gear; The crankshaft is integral with the spur gear; Cams, which are mounted to the crankshaft; An external gear, which oscillates and rotates by the cam about the reduction center axis; and The outer cylinder has an internal gear that meshes with the external gear, and rotates about the reduction center axis as the center of rotation. The braking unit has: A brake gear having a rotation axis parallel to the rotation axis of the central gear, connected to the central gear and braking the central gear; and A demagnetizing brake, which is connected to the brake gear, The axis of rotation of the brake gear is located radially outward of the central gear, and, The rotation axis of the brake gear is positioned such that the radial distance to the deceleration center axis is less than the radial distance from the deceleration center axis to the internal gear. Along the axial direction of the deceleration center axis, the speed-increasing part and the braking part are configured to overlap each other.

2. The deceleration mechanism according to claim 1, wherein, The brake gear meshes with the spur gear, and the brake gear is positioned such that the radial distance from the deceleration center axis to the rotation axis of the brake gear is equal to or less than the radial distance from the deceleration center axis to the rotation axis of the spur gear. The spur gear and the brake gear are located in approximately the same plane.

3. The deceleration mechanism according to claim 1, wherein, The braking unit includes a freewheeling gear, which has a rotation axis parallel to the rotation axis of the central gear and rotates in mesh with the central gear. The brake gear meshes with the idler gear, and, The idler gear and the brake gear are located in approximately the same plane.

4. The deceleration mechanism according to claim 1, wherein, The central gear meshes with the brake gear, and, The center gear and the brake gear are located in approximately the same plane.

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