Drive device

Abstract

The invention provides a driving device. A drive device (1) is provided with a motor (5), a first speed reducer (30), and a first brake (10). The motor (5) has a motor shaft (6) that rotates about a rotation axis (XM) along an axial direction (DX). The first speed reducer (30) has: a first input shaft (35) that is connected to the motor shaft (6) and rotates; and a first output unit (60) that decelerates and outputs the rotation of the first input shaft (35). The first brake (10) is disposed between the motor (5) and the first speed reducer (30), and applies a braking force to the first input shaft (35).

Description

Technical Field

[0001] The present invention relates to a drive device. Background Art

[0002] Conventionally, there is known a drive device including a motor and a speed reducer that reduces the speed of rotation of the motor and outputs the speed, as disclosed in Patent Document 1. The drive device can be used to move a heavy object such as an elevator car.

[0003] Such a driving device may also include a brake for stopping the rotation of the reducer in order to keep the position of the above-mentioned heavy object at a predetermined position or to maintain the posture of the moving device including the driving device. Patent document 1 discloses a driving device including a motor, a reducer and a brake. The motor, the reducer and the brake are arranged in sequence along the axial direction of the motor.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Utility Model Application Laid-Open No. 1-118244 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] However, miniaturization of the drive device is desired, and reduction in the dimension of the drive device in the axial direction is particularly desired.

[0009] The present invention has been made in consideration of such a situation, and aims to reduce the axial dimension of the driving device.

[0010] Solutions for solving problems

[0011] The present invention relates to the following <1> to <8>.

[0012] <1> A driving device comprising:

[0013] A motor having a motor shaft that rotates about a rotation axis along an axial direction;

[0014] a first speed reducer having: a first input shaft connected to the motor shaft and rotating; and a first output portion that reduces the speed of rotation of the first input shaft and outputs the rotation; and

[0015] The first brake is disposed between the motor and the first speed reducer and applies a braking force to the first input shaft.

[0016] <2> The driving device according to <1>, wherein:

[0017] At least a portion of the first brake is located in an axial direction and at least a portion of the motor shaft is located in an axial direction overlapping with each other.

[0018] <3> The driving device according to <1> or <2>, wherein:

[0019] The motor includes a second brake that applies a braking force to the motor shaft.

[0020] <4> The driving device according to any one of <1> to <3>, wherein

[0021] The first brake comprises:

[0022] Solenoids, which generate magnetic force by passing electricity;

[0023] a rotating plate that is relatively rotatable relative to the solenoid and is not relatively rotatable relative to the first input shaft;

[0024] a fixed plate that is non-rotatable relative to the solenoid; and

[0025] The armature is an armature that can move in the axial direction. It is urged by a force in a first direction along the axial direction and can move in a second direction opposite to the first direction due to the magnetic force of the solenoid. The rotating plate is pressed against the fixed plate by the force or the magnetic force to apply a braking force to the first input shaft.

[0026] <5> The driving device according to <4>, wherein:

[0027] At least a portion of the solenoid's axial position overlaps with at least a portion of the motor shaft's axial position.

[0028] <6> The driving device according to <4> or <5>, wherein:

[0029] The first brake includes a hub connecting the rotating plate and the first input shaft.

[0030] At least a portion of the axial position of the hub overlaps with at least a portion of the axial position of the motor shaft.

[0031] <7> The driving device according to any one of <1> to <6>, wherein

[0032] The drive device further includes a second speed reducer connected to the first output portion and having a second output portion that reduces the speed of rotation of the first output portion and outputs the reduced speed rotation.

[0033] <8> The driving device according to <7>, wherein:

[0034] The first reducer comprises:

[0035] A first housing having internal teeth arranged in a circumferential direction formed on an inner peripheral surface thereof;

[0036] a first external gear having external teeth meshing with the internal teeth of the first housing;

[0037] a first shaft member connected to the first input shaft and causing the first external gear to eccentrically swing; and

[0038] The first gear carrier as the first output portion supports the first shaft member and rotates relatively with respect to the first housing.

[0039] The second reducer comprises:

[0040] a second input shaft connected to the first gear carrier;

[0041] a second housing having internal teeth arranged in a circumferential direction formed on an inner peripheral surface thereof;

[0042] a second external gear having external teeth meshing with the internal teeth of the second housing;

[0043] a second shaft member connected to the second input shaft and causing the second external gear to eccentrically swing; and

[0044] The second gear carrier as the second output portion supports the second shaft member and rotates relatively with respect to the second housing.

[0045] Effects of the Invention

[0046] According to the present invention, the axial dimension of the driving device can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a diagram for explaining one embodiment and is a longitudinal sectional view showing a driving device.

[0048] Figure 2 It is schematically indicated Figure 1 A partial cross-sectional view of a portion of the reducer is shown.

[0049] Figure 3 It is schematically indicated Figure 1 A partial cross-sectional view of other parts of the reducer is shown.

[0050] Figure 4 yes Figure 1 A partial cross-sectional view of the brake is shown.

[0051] Figure 5 It is a diagram schematically showing a conventional driving device.

[0052] Description of Reference Numerals

[0053] 1. Driving device; 5. Motor; 6. Motor shaft; 10. First brake; 11. First hub; 12. First rotating plate; 13. First solenoid; 18. Fixed plate; 19. Armature; 30. First reducer; 110. Second brake; 130. Second reducer. DETAILED DESCRIPTION

[0054] Hereinafter, one embodiment of the present invention will be described with reference to the drawings. Figure 1 to Figure 4 The figures are used to explain one embodiment of the present invention. The structure shown in some figures may be omitted in other figures. The scale and the aspect ratio may be different between the figures.

[0055] In this embodiment, the drive device 1 includes a motor 5, a brake 10, a first speed reducer 30, and a second speed reducer 130. The motor 5, the brake 10, the first speed reducer 30, and the second speed reducer 130 are sequentially arranged along a rotation axis XM of the motor 5 (hereinafter also referred to as "motor rotation axis").

[0056] The motor 5 includes a motor shaft 6, a rotor and a stator (not shown), and a motor housing 7 that houses a portion of the motor shaft 6, the rotor, and the stator. The motor shaft 6 is connected to the first speed reducer 30. In the example shown in the figure, a second brake 110 is installed on the motor 5. The second brake 110 is housed in the motor housing 7.

[0057] The first reducer 30 decelerates the rotation input from the motor shaft 6 and outputs it to the second reducer 130. The second reducer 130 decelerates the rotation input from the first reducer 30 and outputs it. The drive device 1 having such a structure can be used for moving heavy objects such as elevator cars, large metal doors, and covers. The brake 10 applies a braking force to the first reducer 30 and the second reducer 130. Thereby, the posture of the moving device including the drive device 1 can be maintained, and the above-mentioned heavy object can be kept at a predetermined position (for example, a predetermined height position).

[0058] In the present embodiment, the first reducer 30 and the second reducer 130 are eccentric swing type reducers, respectively. Generally speaking, the backlash of the eccentric swing type reducer is small, which can reduce the malfunction of the drive device 1 as a whole. Of course, the reducers 30 and 130 are not limited to eccentric swing type reducers, and other types of reducers can also be used. For example, the reducers 30 and 130 can be planetary gear reducers, or they can be composed of a reduction structure composed of a planetary gear type and an eccentric swing type, or they can be composed of a reduction structure composed of an eccentric swing type and a worm type. In addition, the reducers 30 and 130 can also be composed of a reduction structure of any other type.

[0059] In the present embodiment, the first brake 10 and the second brake 110 are electromagnetic brakes, but the present invention is not limited thereto. The brakes 10 and 110 may be brakes of other types such as mechanical brakes. The brakes 10 and 110 may be brakes of different types.

[0060] Hereinafter, the speed reducers 30 and 130 and the brakes 10 and 110 will be described.

[0061] <Reducer 30, 130>

[0062] The first speed reducer 30 includes: a first input shaft 35; a first external gear 40; a first shaft member 50 that causes the first external gear 40 to eccentrically swing; a first gear frame 60 that supports the first shaft member 50 so that it can rotate; and a first housing 70 that is substantially cylindrical. The first housing 70 at least partially accommodates the first gear frame 60. It is preferred that bearings are arranged between the first external gear 40 and the first shaft member 50, between the first gear frame 60 and the first shaft member 50, and between the first housing 70 and the first gear frame 60. The first housing 70 and the first gear frame 60 can rotate relative to each other around the first main rotation axis XR1. In the example shown in the figure, a part of the first speed reducer 30 is accommodated in the first housing 80. In the example shown in the figure, the first main rotation axis XR1 coincides with the motor rotation axis XM.

[0063] The second reducer 130 is constructed in the same manner as the first reducer 30. The second reducer 130 includes: a second input shaft 135; a second external gear 140; a second shaft member 150 that causes the second external gear 140 to eccentrically swing; a second gear frame 160 that supports the second shaft member 150 so as to be rotatable; and a second housing 170 that is substantially cylindrical. The second housing 170 at least partially accommodates the second gear frame 160. It is preferred that bearings are arranged between the second external gear 140 and the second shaft member 150, between the second gear frame 160 and the second shaft member 150, and between the second housing 170 and the second gear frame 160. The second housing 170 and the second gear frame 160 can rotate relative to each other about the second main rotation axis XR2. In the example shown in the figure, part of the second reducer 130 is accommodated in the second housing 180. In the example shown in the figure, the second main rotation axis XR2 coincides with the first main rotation axis XR1 and the motor rotation axis XM. Hereinafter, the direction parallel to the rotation axes XM, XR1, XR2 and the central axis XB1 discussed later is referred to as the axial direction DX. In addition, the direction perpendicular to the axial direction DX is referred to as the radial direction DY.

[0064] The first input shaft 35 of the first reducer 30 is connected to the motor shaft 6, and rotation is input from the motor shaft 6. The first reducer 30 decelerates the input rotation and outputs it. The first reducer 30 decelerates the input rotation and outputs it as a relative rotation between the first housing 70 and the first gear rack 60. In the example shown in the figure, the first housing 70 is fixed to the motor housing 7 by means of the first case 80 and the connecting member 90. Therefore, the first gear rack 60 constitutes the output portion of the first reducer 30 (hereinafter also referred to as the "first output portion"). The first gear rack 60 holds the first shaft member 50 rotatably.

[0065] In the example shown in the figure, the second input shaft 135 of the second reducer 130 inputs rotation from the first gear frame 60 of the first reducer 30. The second reducer 130 reduces the input rotation and outputs it as a relative rotation between the second housing 170 and the second gear frame 160. In the example shown in the figure, the second housing 170 is fixed to the motor housing 7 by means of the second case 180, the first housing 70, the first case 80 and the connecting member 90. Therefore, the second gear frame 160 constitutes the output portion of the second reducer 130 (hereinafter also referred to as the "second output portion"). The second gear frame 160 holds the second shaft member 150 rotatably.

[0066] The input shafts 35 and 135 input rotation to the shaft members 50 and 150, respectively. The shaft members 50 and 150 include eccentric bodies 55 and 155, respectively. The eccentric bodies 55 and 155 are eccentric with respect to the rotation center of the shaft members 50 and 150. The external gears 40 and 140 are respectively penetrated by the shaft members 50 and 150. The external gears 40 and 140 are located on the eccentric bodies 55 and 155. As the shaft members 50 and 150 rotate, the external gears 40 and 140 eccentrically swing. The external gears 40 and 140 have external teeth 45 and 145. Internal teeth 75 and 175 are provided on the inner surface of the housing 70 and 170. The external teeth 45 and 145 and the internal teeth 75 and 175 are arranged in the circumferential direction of a circle centered on the main rotation axis XR1 and XR2. The external teeth 45 and 145 mesh with the internal teeth 75 and 175. The number of external teeth 45, 145 is different from the number of internal teeth 75, 175. When the input shaft member 50, 150 is rotated, the internal teeth 75, 175 mesh with the external teeth 45, 145, and the external gear 40, 140 oscillates eccentrically. Due to the difference between the number of internal teeth 75, 175 and the number of external teeth 45, 145, the gear carrier 60, 160 supporting the external gear 40, 140 and the shaft member 50, 150 rotates relative to the housing 70, 170.

[0067] Hereinafter, the specific structures of the carrier 60 , 160 , the shaft member 50 , 150 , and the external gear 40 , 140 shown in the drawings will be described in detail one by one.

[0068] As in Figure 3As better shown in the figure, the gear frame 60, 160 is retained in the housing 70, 170 by means of a pair of main bearings 32, 132. The gear frame 60, 160 can rotate relative to the housing 70, 170 around the main rotation axis XR1, XR2. The illustrated gear frame 60, 160 has a gear frame base 61, 161 and a gear frame plate 62, 162 fixed to each other. The gear frame base 61, 161 and the gear frame plate 62, 162 can be fixed to each other using fasteners such as bolts. The gear frame base 61, 161 includes a circular plate-shaped base plate portion 61a, 161a and a plurality of column portions 61b, 161b protruding from the base plate portion 61a, 161a in the axial direction DX. The base plate portion 61a, 161a and the plurality of column portions 61b, 161b can also be formed integrally. A plurality of column portions 61b, 161b may also be arranged at equal intervals in the circumferential direction of a circle centered on the main rotation axis XR1, XR2. In the specific example shown in the figure, two or three column portions 61b, 161b are provided in each reducer 30, 130. In the example shown in the figure, the first gear frame 60 of the first reducer 30 includes two column portions 61b, and the second gear frame 160 of the second reducer 130 includes three column portions 161b.

[0069] The gear carrier 60, 160 shown in the figure is provided with a central hole 64, 164. The central hole 64, 164 passes through the gear carrier base 61, 161 and the gear carrier plate 62, 162. The central hole 64, 164 is located on the main rotation axis XR1, XR2. The input shaft 35, 135 extends into the central hole 64, 164.

[0070] like Figure 2 As shown, the gear frame 60, 160 is also provided with a plurality of through holes 65, 165 corresponding to the plurality of shaft members 50, 150. Each through hole 65, 165 penetrates the gear frame base 61, 161 and the gear frame plate 62, 162. The plurality of through holes 65, 165 are positioned at equal intervals in the circumferential direction of a circle centered on the main rotation axis XR1, XR2. Each shaft member 50, 150 extends in the corresponding through hole 65, 165.

[0071] like Figure 2As shown, the shaft member 50, 150 is rotatably held on the gear frame 60, 160. The shaft member 50, 150 can rotate relative to the gear frame 60, 160 around the rotation axis XA1, XA2. The rotation axis XA1, XA2 is parallel to the axial direction DX. The illustrated reducer 30, 130 includes a plurality of shaft members 50, 150. The plurality of shaft members 50, 150 are respectively inserted into the corresponding through holes 65, 165 of the gear frame 60, 160. The plurality of shaft members 50, 150 are positioned at equal intervals in the circumferential direction of a circle centered on the main rotation axis XR1, XR2. In the illustrated example, two or three shaft members 50, 150 are provided in each reducer 30, 130. Correspondingly, two or three through holes 65, 165 are provided in each gear frame 60, 160. In the example shown in the figure, the first speed reducer 30 includes two shaft members 50 , and the second speed reducer 130 includes three shaft members 150 .

[0072] The illustrated shaft member 50, 150 includes a shaft main body 51, 151 and a pair of eccentric bodies 55, 155 located on the shaft main body 51, 151. The eccentric bodies 55, 155 are cylindrical parts. The eccentric bodies 55, 155 are enlarged in diameter relative to the shaft main body 51, 151. The eccentric bodies 55, 155 are eccentric relative to the rotation axis XA1, XA2 which is the rotation center of the shaft member 50, 150. The pair of eccentric bodies 55, 155 includes eccentric bodies 55A, 155A and eccentric bodies 55B, 155B. The eccentric bodies 55A, 155A and the eccentric bodies 55B, 155B are eccentric relative to the rotation axis XA1, XA2 to the opposite sides by the same eccentricity. In other words, in the cross section orthogonal to the axial direction DX, the center of the eccentric body 55A, 155A and the center of the eccentric body 55B, 155B are located at positions that are point-symmetrical about a point on the rotation axis XA1, XA2.

[0073] The shaft body 51, 151 has a first bearing support portion 52a, 152a that serves as an insertion portion inserted into the gear frame base 61, 161, and a second bearing support portion 52b, 152b that serves as an insertion portion inserted into the gear frame plate 62, 162. The bearing support portion 52a, 152a supports the base plate portion 61a, 161a via a bearing. The bearing support portion 52b, 152b supports the gear frame plate 62, 162 via a bearing. A pair of eccentric bodies 55A, 55B, 155A, 155B are located between the pair of bearing support portions 52a, 52b, 152a, 152b in the axial direction DX.

[0074] The shaft member 50, 150 shown in the figure further includes an input gear 59, 159 fixed to the shaft body portion 51, 151. The rotation of the input shaft 35, 135 is input to the input gear 59, 159. More specifically, the input gear 59, 159 meshes with a gear provided on the outer peripheral portion of the input shaft 35, 135, and rotates with the rotation of the input shaft 35, 135. In the example shown in the figure, the input gear 59, 159, the first bearing support portion 52a, 152a, the eccentric body 55A, 155A, the eccentric body 55B, 155B, and the second bearing support portion 52b, 152b are positioned in sequence along the axial direction DX.

[0075] The illustrated speed reducer 30, 130 has an external gear 40A, 140A and an external gear 40B, 140B as the external gear 40, 140. The external gear 40A, 140A is located on the eccentric bodies 55A, 155A of the plurality of shaft members 50, 150. The external gear 40B, 140B is located on the eccentric bodies 55B, 155B of the plurality of shaft members 50, 150. The external gear 40A, 140A and the external gear 40B, 140B are located between the base plate portion 61a, 161a of the gear carrier base 61, 161 and the gear carrier plate 62, 162 in the axial direction DX.

[0076] The illustrated external gear 40, 140 includes a disk-shaped central plate portion 41, 141 and external teeth 45, 145 arranged on the peripheral portion of the central plate portion 41, 141. A central hole 42a, 142a and a column through hole 42b, 142b are provided in the central plate portion 41, 141. The central hole 42a, 142a is located on the main rotation axis XR1, XR2. The central hole 42a, 142a faces the central hole 64, 164 in the axial direction DX. In the illustrated example, a plurality of column through holes 42b, 142b are positioned at equal intervals in the circumferential direction of a circle centered on the central hole 42a, 142a. The column 61b, 161b of the gear frame 60, 160 passes through the column through hole 42b, 142b. In the specific example shown in the figure, two or three column passage holes 42 b and 142 b are provided in the central plate portion 41 and 141 in accordance with the number of the column portions 61 b ​​and 161 b.

[0077] like Figure 2As shown, holes 43, 143 are also provided in the central plate portion 41, 141. In the example shown in the figure, two or three holes 43, 143 are positioned at equal intervals in the circumferential direction of a circle centered on the central hole 42a, 142a, corresponding to the number of shaft members 50, 150. An eccentric body 55, 155 is arranged in the hole 43, 143. A bearing is provided between the eccentric body 55, 155 and the external gear 40, 140. The external gear 40A, 140A is supported on the eccentric body 55A, 155A of the shaft member 50, 150 by means of a bearing. The external gear 40B, 140B is supported on the eccentric body 55B, 155B of the shaft member 50, 150 by means of a bearing.

[0078] Each external gear 40, 140 is supported by two or three eccentric bodies 55, 155. The eccentric bodies 55, 155 included in the two or three shaft members 50, 150 are aligned in phase. Therefore, due to the rotation of the two or three shaft members 50, 150, the external gear 40, 140 eccentrically swings. In other words, due to the rotation of the two or three shaft members 50, 150, the external gear 40, 140 moves in parallel in the circumferential direction of the circle centered on the main rotation axis XR1, XR2. The external gear 40A, 140A and the external gear 40B, 140B move with a half phase shift.

[0079] When the input shaft 35, 135 of the speed reducer 30, 130 having the above structure is rotated, the shaft member 50, 150 rotates together with the input gear 59, 159 and the external gear 40, 140 eccentrically oscillates. At this time, the external teeth 45, 145 of the external gear 40, 140 mesh with the internal teeth 75, 175 of the housing 70, 170. Due to the difference in the number of teeth between the external teeth 45, 145 and the internal teeth 75, 175, the gear frame 60, 160 and the housing 70, 170 supporting the external gear 40, 140 by the shaft member 50, 150 rotate relative to each other around the main rotation axis XR1, XR2. When the housing 70, 170 is fixed, the rotation of the gear frame 60, 160 is output. When the gear frame 60, 160 is fixed, the rotation of the housing 70, 170 is output. In the example shown in the figure, the housing 70 , 170 is fixed, and therefore the rotation of the carrier 60 , 160 is output.

[0080] Next, the brakes 10 and 110 will be described. In the example shown in the figure, the first brake 10 applies a braking force to the first input shaft 35 of the first speed reducer 30 . The second brake 110 applies a braking force to the motor shaft 6 .

[0081] exist Figure 4In the example shown, the brakes 10 and 110 are electromagnetic brakes of the non-excitation type. The electromagnetic brakes 10 and 110 of the non-excitation type are in an operative state when not energized, and in a non-operative state when energized. The brakes 10 and 110 apply a braking force to the first input shaft 35 or the motor shaft 6 in an operative state. The brakes 10 and 110 release the first input shaft 35 or the motor shaft 6 in a non-operative state. Therefore, when the first brake 10 is in a non-operative state, the first input shaft 35 is not subjected to a braking force and can rotate. In addition, when the second brake 110 is in a non-operative state, the motor shaft 6 is not subjected to a braking force and can rotate.

[0082] The power supply to the first brake 10 and the second brake 110 is performed synchronously with the power supply to the motor 5. If the motor 5 is powered on, the brakes 10 and 110 are also powered on. If the motor 5 is not powered on, the brakes 10 and 110 are also not powered on. Therefore, when the motor 5 is powered on, the brakes 10 and 110 are in a non-operating state, and the first input shaft 35 and the motor shaft 6 are not subjected to the braking force of the brakes 10 and 110 and can rotate. On the other hand, when the motor 5 is not powered on, the brakes 10 and 110 are in an operating state, and a braking force is applied to the first input shaft 35 and the motor shaft 6. Since the drive device 1 is provided with two brakes 10 and 110, even if one brake fails, the other brake can be operated. Therefore, even if one brake fails, the above-mentioned heavy object can be kept at a predetermined position.

[0083] like Figure 4 As shown, the brake 10, 110 includes a hub 11, 111, a rotating plate 12, 112, a solenoid 13, 113, a yoke 14, 114, a fixed plate 18, 118, and an armature 19, 119. These elements constituting the brake 10, 110 are arranged around the central axis XB1, XB2.

[0084] The hub 11 of the first brake 10 is connected to the first input shaft 35. The hub 11 cannot rotate relative to the first input shaft 35, and rotates together with the first input shaft 35. The hub 111 of the second brake 110 is connected to the motor shaft 6. The hub 111 cannot rotate relative to the motor shaft 6, and rotates together with the motor shaft 6. More specifically, the hubs 11, 111 have a cylindrical shape. The hubs 11, 111 have central holes 11a, 111a. The central holes 11a, 111a are located on the central axes XB1, XB2. The hubs 11, 111 are connected to the first input shaft 35 or the motor shaft 6 by passing the central holes 11a, 111a.

[0085] The rotating plates 12 and 112 are connected to the hubs 11 and 111. In other words, the rotating plate 12 of the first brake 10 is connected to the first input shaft 35 via the hub 11. In addition, the rotating plate 112 of the second brake 110 is connected to the motor shaft 6 via the hub 111. The rotating plates 12 and 112 are disc-shaped. The rotating plates 12 and 112 are connected to the outer peripheral surface of the hubs 11 and 111 at their inner peripheral portions. The rotating plates 12 and 112 cannot rotate relative to the hubs 11 and 111, and rotate together with the hubs 11 and 111 (therefore, together with the first input shaft 35 or the motor shaft 6). The rotating plates 12 and 112 may also be formed integrally with the hubs 11 and 111.

[0086] The solenoid 13, 113 is a coil that is excited by electricity. In the example shown in the figure, the brake 10, 110 includes a plurality of solenoids 13, 113. The plurality of solenoids 13, 113 are arranged to surround the central axis XB1, XB2. The solenoid 13, 113 may also be powered from a power supply device shared with the motor 5.

[0087] The yoke 14, 114 accommodates the solenoid 13, 113. The yoke 14, 114 has a cylindrical outer wall portion 15, 115, a cylindrical inner wall portion 16, 116, and a disc-shaped bottom wall portion 17, 117. The inner wall portion 16, 116 is located inside the outer wall portion 15, 115. The solenoid 13, 113 is accommodated between the outer wall portion 15, 115 and the inner wall portion 16, 116. The bottom wall portion 17, 117 connects one end of the outer wall portion 15, 115 and one end of the inner wall portion 16, 116. The yoke 14, 114 has a central hole 14a, 114a. The central hole 14a, 114a is located on the central axis XB1, XB2. The first input shaft 35 or the motor shaft 6 passes through the central hole 14a, 114a. The yokes 14 and 114 are not rotatable relative to the motor case 7. The yoke 14 of the first brake 10 is fixed to the motor case 7 and the first case 80 of the first reduction gear 30 via the connection member 90.

[0088] The fixed plate 18, 118 is separated from the yoke 14, 114 in the axial direction DX. The rotating plate 12, 112 and the armature 19, 119 are arranged between the fixed plate 18, 118 and the yoke 14, 114. The fixed plate 18, 118, the rotating plate 12, 112, the armature 19, 119 and the yoke 14, 114 are arranged in sequence in the axial direction DX.

[0089] The fixing plate 18, 118 is fixed to the yoke 14, 114 via the spacer 20, 120. The fixing plate 18, 118 is disc-shaped and has a central hole 18a, 118a. The hub 11, 111 penetrates the central hole 18a, 118a. The hub 11, 111 is rotatable relative to the fixing plate 18, 118.

[0090] The armature 19, 119 is arranged between the rotating plate 12, 112 and the solenoid 13, 113. The armature 19, 119 is disc-shaped and has a central hole 19a, 119a. The central hole 19a, 119a is located on the central axis XB1, XB2. The armature 19, 119 is supported by the spacer 20, 120. More specifically, the armature 19, 119 is formed with a through hole 19b, 119b. The spacer 20, 120 penetrates the through hole 19b, 119b. The armature 19, 119 is movable in the axial direction DX.

[0091] The armature 19, 119 is urged toward the first direction D1 by an urging member not shown. The first direction D1 is a direction along the axial direction DX, and is a direction toward the rotating plate 12, 112. That is, the armature 19, 119 is urged toward the rotating plate 12, 112. Therefore, the armature 19, 119 presses the rotating plate 12, 112 against the fixed plate 18, 118 when the solenoid 13, 113 is not energized. Thus, a braking force is applied to the rotating plate 12, 112 from the fixed plate 18, 118 and the armature 19, 119. On the other hand, when the solenoid 13, 113 is energized, the magnetic attraction force of the solenoid 13, 113 acts on the armature 19, 119 in the second direction D2. The second direction D2 is a direction along the axial direction DX, and is a direction toward the solenoid 13, 113. That is, the armature 19, 119 approaches the solenoid 13, 113.

[0092] In addition, a force member 21, 121 is provided between the rotating plate 12, 112 and the fixed plate 18, 118. A force member 22, 122 is provided between the rotating plate 12, 112 and the armature 19, 119. The force member 21, 121 applies force to the rotating plate 12, 112 in the second direction D2. In other words, the force member 21, 121 applies force in a direction that causes the rotating plate 12, 112 to move away from the fixed plate 18, 118. The force member 22, 122 applies force to the rotating plate 12, 112 in the first direction D1. In other words, the force member 22, 122 applies force in a direction that causes the rotating plate 12, 112 to move away from the armature 19, 119. Therefore, when the solenoid 13, 113 is energized and the armature 19, 119 approaches the solenoid 13, 113, the rotating plate 12, 112 moves away from the fixed plate 18, 118 and the armature 19, 119. As a result, when the solenoid 13, 113 is energized, no braking force is applied to the rotating plate 12, 112 from the fixed plate 18, 118 and the armature 19, 119.

[0093] The brake 10, 110 having the above structure makes the armature 19, 119 approach the solenoid 13, 113 when the solenoid 13, 113 is energized, so that the rotating plate 12, 112 and the hub 11, 111 can rotate without receiving the braking force from the fixed plate 18, 118 and the armature 19, 119. As a result, the first input shaft 35 or the motor shaft 6 can rotate without receiving the braking force from the brake 10, 110.

[0094] On the other hand, when the solenoid 13, 113 is not energized, the magnetic attraction force of the solenoid 13, 113 is not generated, and therefore, the armature 19, 119 presses the rotating plate 12, 112 against the fixed plate 18, 118 as described above. As a result, a braking force is applied to the rotating plate 12, 112 and the hub 11, 111 from the fixed plate 18, 118 and the armature 19, 119, thereby preventing the first input shaft 35 or the motor shaft 6 from rotating unexpectedly.

[0095] Next, the connection between the first speed reducer 30 and the first brake 10 is described. Figure 1 As shown, the first brake 10 is arranged between the motor 5 and the first reducer 30. The first input shaft 35 of the first reducer 30 extends in the central holes 11a, 19a, 14a of the first brake 10 and is connected to the motor shaft 6. An insertion hole 35a for inserting the motor shaft 6 is formed in the first input shaft 35. The insertion hole 35a is open at the end of the first input shaft 35 on the side facing the motor housing 7. The motor shaft 6 can be inserted from the end side of the first input shaft 35. The first reducer 30 and the motor 5 are connected by a connecting member 90.

[0096] By arranging the first brake 10 between the motor 5 and the first reducer 30, the position of the first housing 80 and / or the connecting member 90 of the first reducer 30 in the axial direction DX can be overlapped with the position of the first brake 10 in the axial direction DX. In other words, viewed in the radial direction DY, the first housing 80 and / or the connecting member 90 of the first reducer 30 and the first brake 10 can be arranged in an overlapping manner. Thus, the dimension of the axial direction DX of the area occupied by the first reducer 30 and / or the connecting member 90 and the brake 10 can be reduced in the drive device 1. Therefore, the dimension of the drive device 1 in the axial direction DX can be reduced. Figure 1 In the illustrated example, a portion of the first brake 10 is housed in the first case 80 , and the other portion is housed in the connecting member 90 .

[0097] Furthermore, in the drive device 1 of the present embodiment, at least a portion of the motor shaft 6 extends in the first brake 10. In other words, the position of at least a portion of the motor shaft 6 in the axial direction DX overlaps with the position of at least a portion of the first brake 10 in the axial direction DX. In other words, when viewed in the radial direction DY, at least a portion of the motor shaft 6 overlaps with at least a portion of the first brake 10.

[0098] Among them, in the past, Figure 5 As shown, in the drive device including the speed reducer, the motor and the brake, the axial positions of the speed reducer, the motor and the brake do not overlap. In contrast, in the present embodiment, at least a portion of the motor shaft 6 overlaps with at least a portion of the first brake 10 in the axial direction DX. As a result, the size of the area occupied by the motor 5 and the brake 10 in the axial direction DX can be reduced in the drive device 1. Therefore, the size of the drive device 1 in the axial direction DX can be reduced.

[0099] Moreover, in the example shown in the figure, at least a portion of the motor shaft 6 extends inside the solenoid 13 of the first brake 10. In other words, the position of at least a portion of the motor shaft 6 in the axial direction DX overlaps with the position of at least a portion of the solenoid 13 in the axial direction DX. In other words, when viewed in the radial direction DY, at least a portion of the motor shaft 6 overlaps with at least a portion of the solenoid 13. As a result, the size of the drive device 1 in the axial direction DX of the area occupied by the motor 5 and the brake 10 can be effectively reduced. Therefore, the size of the drive device 1 in the axial direction DX can be effectively reduced.

[0100] Although one embodiment has been described with reference to one specific example, the above example is not intended to limit one embodiment. The above embodiment can be implemented with various other specific examples, and various omissions, substitutions, changes, and additions can be made without departing from the gist of the invention.

[0101] For example, the motor shaft 6 may extend into the hub 11 or the rotating plate 12 of the first brake 10. In other words, at least a portion of the motor shaft 6 may overlap with at least a portion of the hub 11 or the rotating plate 12 in the axial direction DX. In other words, as viewed in the radial direction DY, at least a portion of the motor shaft 6 may overlap with at least a portion of the hub 11 or the rotating plate 12 of the first brake 10. In this case, the size of the area occupied by the motor 5 and the first brake 10 in the axial direction DX can be further effectively reduced in the drive device 1. Therefore, the size of the drive device 1 in the axial direction DX can be further effectively reduced.

[0102] In addition, in the above-mentioned embodiment, the gear frame 60, 160 constitutes the output part of the reducer 30, 130, but is not limited to this. The housing 70, 170 can also constitute the output part of the reducer 30, 130. In the case where the first housing 70 constitutes the output part of the first reducer 30, it is preferable that the first gear frame 60 is fixed relative to the motor housing 7. In this case, it is preferable that the second input shaft 135 is connected to the first housing 70. In addition, in the case where the second housing 170 constitutes the output part of the second reducer 130, it is preferable that the second gear frame 160 is fixed relative to the motor housing 7.

[0103] In addition, the drive device 1 may not include the plurality of speed reducers 30 and 130. The drive device 1 may not include the second speed reducer 130. In this case, it is preferable that the output portion 60 or 70 of the first speed reducer 30 constitutes the output portion of the drive device 1.

[0104] According to the above-described embodiment and its modified example, the drive device 1 includes a motor 5, a first reducer 30, and a first brake 10. The motor 5 includes a motor shaft 6 that rotates around a rotation axis XM along an axial direction DX. The first reducer 30 includes: a first input shaft 35 that is connected to the motor shaft 6 and rotates; and a first output portion 60 that decelerates the rotation of the first input shaft 35 and outputs it. The first brake 10 is arranged between the motor 5 and the first reducer 30, and applies a braking force to the first input shaft 35. According to such a drive device 1, the dimension of the drive device 1 in the axial direction DX can be reduced.

[0105] In the above-described embodiment and its modified example, at least a portion of the first brake 10 in the axial direction overlaps at least a portion of the motor shaft 6 in the axial direction. In this case, the dimension of the drive device 1 in the axial direction DX can be effectively reduced.

[0106] In the above-described embodiment and its modified example, at least part of the axial position of the solenoid 13 of the first brake 10 overlaps at least part of the axial position of the motor shaft 6. In this case, the dimension of the drive device 1 in the axial direction DX can be effectively reduced.

[0107] In the above-described modification, at least a portion of the axial position of the hub 11 of the first brake 10 overlaps at least a portion of the axial position of the motor shaft 6. In this case, the dimension of the drive device 1 in the axial direction DX can be effectively reduced.

[0108] In the above-described embodiment and its modified example, the motor 5 includes the second brake 110 for applying braking force to the motor shaft 6. In this case, even if one of the brakes 10 and 110 fails, the other brake 10 and 110 can apply braking force to the first input shaft 35.

[0109] In the above-described embodiment and its modified example, the first brake 10 includes a solenoid 13, a rotating plate 12, a fixed plate 18, and an armature 19. The solenoid 13 generates a magnetic force by energizing. The rotating plate 12 can rotate relative to the solenoid 13 and cannot rotate relative to the first input shaft 35. The fixed plate 18 cannot rotate relative to the solenoid 13. The armature 19 can move in the axial direction DX. The armature 19 is urged by a force in the first direction D1 along the axial direction DX. The armature 19 can also move in the second direction D2 opposite to the first direction D1 due to the magnetic force of the solenoid 13. The armature 19 presses the rotating plate 12 against the fixed plate 18 by the above-mentioned force or the above-mentioned magnetic force, and applies a braking force to the first input shaft 35. In this case, the braking force can be applied to the first input shaft 35 corresponding to the presence or absence of power supply to the solenoid 13.

[0110] In the above-described embodiment and its modified example, the drive device 1 further includes a second reducer 130. The second reducer 130 is connected to the first output portion 60 of the first reducer 30. The second reducer 130 has a second output portion 160 that reduces the rotation of the first output portion 60 and outputs it. In this case, the drive device 1 can be used to move heavy objects such as elevator cars, large metal doors, and lids.

[0111] In the above-described embodiment and its modified example, the first reducer 30 includes a first housing 70, a first external gear 40, a first shaft member 50, and a first gear frame 60 as a first output portion. The inner circumferential surface of the first housing 70 is formed with internal teeth 75 arranged along the circumferential direction. The first external gear 40 has external teeth 45 meshing with the internal teeth 75 of the first housing 70. The first shaft member 50 is connected to the first input shaft 35 so that the first external gear 40 eccentrically swings. The first gear frame 60 supports the first shaft member 50 and rotates relative to the first housing 70. The second reducer 130 includes a second input shaft 135, a second housing 170, a second external gear 140, a second shaft member 150, and a second gear frame 160 as a second output portion. The second input shaft 135 is connected to the first gear frame 60. The inner circumferential surface of the second housing 170 is formed with internal teeth 175 arranged along the circumferential direction. The second external gear 140 has external teeth 145 meshing with the internal teeth 175 of the second housing 170. The second shaft member 150 is connected to the second input shaft 135 to eccentrically swing the second external gear 140. The second gear frame 160 supports the second shaft member 150 and rotates relative to the outer cylinder of the second housing 170. In this case, the malfunction of the entire drive device 1 can be reduced.

[0112] In addition, several modified examples of the above-mentioned embodiment have been described above, and it is of course possible to appropriately combine a plurality of modified examples and apply them.

Claims

1. A driving device, wherein: The drive device has: A motor having a motor shaft that rotates about a rotation axis along an axial direction; a first speed reducer having: a first input shaft connected to the motor shaft and rotating; and a first output portion that reduces the speed of rotation of the first input shaft and outputs the rotation; and The first brake is disposed between the motor and the first speed reducer and applies a braking force to the first input shaft.

2. The driving device according to claim 1, wherein: At least a portion of the first brake is located in an axial direction and at least a portion of the motor shaft is located in an axial direction overlapping with each other.

3. The driving device according to claim 1, wherein: The motor includes a second brake that applies a braking force to the motor shaft.

4. The driving device according to claim 1, wherein: The first brake comprises: Solenoids, which generate magnetic force by passing electricity; a rotating plate that is relatively rotatable relative to the solenoid and is not relatively rotatable relative to the first input shaft; a fixed plate that is non-rotatable relative to the solenoid; and The armature is an armature that can move in the axial direction. It is urged by a force in a first direction along the axial direction and can move in a second direction opposite to the first direction due to the magnetic force of the solenoid. The rotating plate is pressed against the fixed plate by the force or the magnetic force to apply a braking force to the first input shaft.

5. The driving device according to claim 4, wherein: At least a portion of the solenoid's axial position overlaps with at least a portion of the motor shaft's axial position.

6. The driving device according to claim 4, wherein: The first brake includes a hub connecting the rotating plate and the first input shaft. At least a portion of the axial position of the hub overlaps with at least a portion of the axial position of the motor shaft.

7. The driving device according to claim 1, wherein: The drive device further includes a second speed reducer connected to the first output portion and having a second output portion that reduces the speed of rotation of the first output portion and outputs the reduced speed rotation.

8. The driving device according to claim 7, wherein: The first reducer comprises: A first housing having internal teeth arranged in a circumferential direction formed on an inner peripheral surface thereof; a first external gear having external teeth meshing with the internal teeth of the first housing; a first shaft member connected to the first input shaft and causing the first external gear to eccentrically swing; and The first gear carrier as the first output portion supports the first shaft member and rotates relatively with respect to the first housing. The second reducer comprises: a second input shaft connected to the first gear carrier; a second housing having internal teeth arranged in a circumferential direction formed on an inner peripheral surface thereof; a second external gear having external teeth meshing with the internal teeth of the second housing; a second shaft member connected to the second input shaft and causing the second external gear to eccentrically swing; and The second gear carrier as the second output portion supports the second shaft member and rotates relatively with respect to the second housing.

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