Self-locking device and drive device

Abstract

To provide a rotation prevention mechanism that requires infrequent maintenance and can be miniaturized. [Solution] The self-locking device 1 comprises an annular wall portion 2b that is eccentric by a predetermined amount from the axis of the rotating shaft 2, a disc member 3 disposed inside the annular wall portion 2b so as to be rotatable relative to it, a support member 4 that supports the disc member 3 so as to be rotatable in an eccentric state by a predetermined amount, a fixing member 5, a connecting shaft 6 that connects the disc member 3 and the fixing member 5, and a clutch mechanism 7 that switches between a fixed state in which the support member 4 and the rotating shaft 2 are fixed so as not to be able to rotate relative to each other, and an unfixed state in which relative rotation is permitted.

Description

Technical Field

[0001] [[ID=*5*]]The present disclosure relates to a self-locking device and a driving device that block rotation caused by an externally input rotational force as needed.

Background Art

[0002] For example, as disclosed in Patent Documents 1 and 2, a gear reduction device in which a reduction mechanism is provided between an input shaft and an output shaft to which the rotational force of a motor is input is known. Such a gear reduction device is used in various fields as various drive sources.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, usually, the power generated by the drive source is transmitted to the driven body to rotate the driven body, but in some cases, it may be desired to stop the rotation of the driven body during abnormal times. Conversely, there are cases where the rotation of the driven body is stopped normally, and it is desired to rotate the driven body during abnormal times.

[0005] If the rotational force input from the driven body side is large when it is desired to stop the driven body, the driven body will rotate and the stopped state of the driven body cannot be maintained.

[0006] Therefore, one might consider installing a separate braking system in addition to the drive source, and activating the braking system when it is desired to stop the driven object. However, since typical braking systems are friction brakes that use friction materials, maintenance such as periodic replacement of the friction materials is necessary, and it is difficult to maintain stable operation over a long period of time.

[0007] Furthermore, a rotating body against which the friction material is pressed is also required, and the braking system becomes larger, especially when it is necessary to maintain a stopped state even with high rotational torque.

[0008] This disclosure is made in view of the above, and its purpose is to provide a rotation prevention mechanism that requires infrequent maintenance and can be miniaturized. [Means for solving the problem]

[0009] To achieve the above objective, one aspect of this disclosure may be based on a self-locking device that includes a rotating shaft to which a rotational force is input, and which can be switched from a state that allows rotation of the rotating shaft to a state that prevents rotation. The self-locking device includes an annular wall portion provided integrally with the rotating shaft and offset by a predetermined amount from the axis of the rotating shaft; a disc member disposed to be rotatable relative to the annular wall portion; a support member inserted through a central hole in the disc member and supporting the disc member so as to be rotatable in a state offset by the predetermined amount from the axis of the rotating shaft; a fixing member disposed to face the disc member in a state fixed to a fixed body; a connecting shaft that connects the disc member and the fixing member, with a first shaft portion that is rotatably inserted into a first insertion hole formed in the disc member and a second shaft portion that is inserted into a second insertion hole formed in the fixing member being integrated; and a switching unit that switches between a fixed state in which the support member and the rotating shaft are fixed so as not to be rotatable relative to each other and an unfixed state in which relative rotation is permitted.

[0010] In this configuration, with the support member and the rotating shaft fixed in a state where relative rotation is impossible by the switching unit, when rotational force is transmitted to the rotating shaft from the outside, the support member rotates synchronously due to the rotational force input to the rotating shaft. Since the disc member is supported by the support member, the rotation of the support member causes the disc member to rotate eccentrically by a predetermined amount from the axis of the rotating shaft. Because the amount of eccentricity of this disc member is the same as the amount of eccentricity of the annular wall portion, and because the rotating shaft having the annular wall portion and the support member supporting the disc member rotate synchronously, the annular wall portion and the disc member rotate synchronously. Therefore, the rotating shaft rotates due to the rotational force input from the outside. In this state, the first shaft portion of the connecting shaft rotates relative to the disc member while inserted into the first insertion hole formed in the disc member, so the connecting shaft does not obstruct the rotation of the rotating shaft.

[0011] On the other hand, when the switching mechanism switches the support member and the rotating shaft to an unfixed state, the support member is no longer driven by rotational force from the outside and comes to a stop. Therefore, the disc member stops moving eccentrically. Since the disc member is connected to the fixed member by the connecting shaft and its rotation is prevented, when the disc member stops moving eccentrically, the rotation of the annular wall is prevented by the disc member. In this way, when the support member and the rotating shaft are set to an unfixed state, the rotation is automatically locked without the use of a brake device, and can therefore be called a self-locking device. In other words, by simply operating the switching mechanism, it is possible to switch from a state in which the rotation of the rotating shaft is allowed to a state in which it is prevented, making conventional brake devices using friction materials unnecessary.

[0012] The rotating shaft may have a through-shaft portion that is inserted through the central hole of the disc member and the central hole of the fixing member. In this case, the support member can be formed in a cylindrical shape through which the through-shaft portion is inserted.

[0013] The switching unit may be fixed to the insertion shaft portion. In this case, the support member may have an opposing plate portion that faces the switching unit in the axial direction. The switching unit may be configured as a clutch mechanism that is intermittently connected to the opposing plate portion of the support member.

[0014] The connecting shaft can also be made of an eccentric pin in which the axis of the first shaft portion and the axis of the second shaft portion are eccentric by a predetermined amount.

[0015] In another aspect of this disclosure, the drive unit may also comprise a self-locking device, a motor for rotating the rotating shaft, and a housing for housing the motor and the self-locking device. In this case, the fixing member can be prevented from rotating by fixing it to the housing. [Effects of the Invention]

[0016] As explained above, the self-locking device, which can switch between a state that allows rotation of the rotating shaft and a state that prevents rotation, can be made more frequently maintained and also miniaturized. [Brief explanation of the drawing]

[0017] [Figure 1] Figure 1 is a cross-sectional view of a self-locking device according to an embodiment of the present invention. [Figure 2] Figure 2 shows a connecting structure using a connecting shaft according to a modified example 1 of the embodiment. [Figure 3] Figure 3 shows a connecting structure using a connecting shaft according to a modified example 2 of the embodiment. [Figure 4] Figure 4 shows a connecting structure using a connecting shaft according to a modified example 3 of the embodiment. [Figure 5] Figure 5 shows a connecting structure using a connecting shaft according to a modified example 4 of the embodiment. [Figure 6] Figure 6 is a cross-sectional view of a drive unit equipped with a self-locking device. [Figure 7]FIG. 7 is a cross-sectional view of a self-locking device according to Modification 5 of the embodiment. [Figure 8] FIG. 8 is a cross-sectional view of a self-locking device according to Modification 6 of the embodiment. [Figure 9] FIG. 9 is a cross-sectional view of a self-locking device according to Modification 7 of the embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

[0018] Hereinafter, embodiments of the present invention will be described in detail based on the drawings. Note that the following description of the preferred embodiments is merely illustrative in nature and is not intended to limit the present invention, its applications, or its uses.

[0019] FIG. 1 is a cross-sectional view of a self-locking device 1 according to an embodiment of the present invention. The self-locking device 1 has a self-locking mechanism that prevents rotation only with an internal mechanism without providing a brake device or the like outside. The self-locking device 1 can be used, for example, instead of a conventional electromagnetic brake device or instead of a reverse rotation prevention device using a worm gear. Further, the self-locking device 1 can be incorporated into a drive device of a robot arm, used as a brake device of an automobile, used in combination with a gear device, or the like. Further, by incorporating the self-locking device 1 into a transport device that transports articles or the like in the vertical direction, the articles can be stopped during upward or downward movement. Further, by incorporating the self-locking device 1 into an equipment device, a moving device, a play device, or the like, safety can be ensured by the self-locking device 1 at the time of an emergency stop during the operation of each device.

[0020] The self-locking device 1 includes a rotating shaft 2 to which a rotational force is input, and the rotating shaft 2 is made of a high-strength metal material, a resin material, or the like. The self-locking device 1 is a device that can be switched from a state that allows rotation from the outside of the rotating shaft 2 to a state that blocks it, and from a state that blocks rotation from the outside of the rotating shaft 2 to a state that allows it, without using an external brake device.

[0021] The self-locking device 1 comprises a rotating shaft 2, a disc member 3, a support member 4, a fixing member 5, a connecting shaft 6, a clutch mechanism (switching part) 7, and a housing 8. The disc member 3, support member 4, fixing member 5, and connecting shaft 6 are made of high-strength metal or resin material. The housing 8 is made of a high-strength material such as metal or resin and is cylindrical. Through holes 8a are formed in the walls of both ends of the housing 8. The housing 8 is fixed to the member to which the self-locking device 1 is attached. Therefore, the housing 8 is an example of a fixed body. When the self-locking device 1 is incorporated into various devices, the housing 8 may be omitted, and the disc member 3, etc., may be housed in the housing or casing of the various devices. In this case, the housing or casing of the various devices becomes the fixed body.

[0022] The rotating shaft 2 extends in the axial direction of the housing 8. In Figure 1, the axis of the rotating shaft 2 is indicated by the symbol A. The axis A of the rotating shaft 2 coincides with the axis of the housing 8. Both sides of the rotating shaft 2 are rotatably supported by the housing 8, for example, via bearing members 8b provided in the housing 8. One end and the other end of the rotating shaft 2 protrude from both end faces of the housing 8 in the axial direction. Only one end of the rotating shaft 2 may protrude from the housing 8.

[0023] A circular plate portion 2a is provided at the midpoint of the rotating shaft 2 in the direction of its axis A, extending both radially and circumferentially. The circular plate portion 2a is provided integrally with the midpoint of the rotating shaft 2 for rotation. The outer shape of the circular plate portion 2a is circular, centered on the axis A of the rotating shaft 2.

[0024] An annular wall portion 2b is provided on the periphery of the circular plate portion 2a. The annular wall portion 2b is fixed to the circular plate portion 2a and rotates integrally with it. Therefore, the annular wall portion 2b is rotated integrally with the intermediate portion of the rotation axis 2.

[0025] The annular wall portion 2b is eccentric by a predetermined amount (dimension C) from the axis A of the rotation axis 2. That is, the inner surface of the annular wall portion 2b is circular when viewed from the direction of axis A, and the radial center of the inner surface of the annular wall portion 2b is located on a virtual axis (eccentric axis) B that is eccentric by a dimension C from axis A. In other words, the inner surface of the annular wall portion 2b extends in a circular shape around the virtual axis B and is a continuous surface around the virtual axis B.

[0026] On the other hand, the outer surface of the annular wall portion 2b extends in a circular shape around the axis A of the rotation shaft 2. A bearing member 8c is provided between the outer surface of the annular wall portion 2b and the inner surface of the housing 8. This allows the annular wall portion 2b to be supported by the inner surface of the housing 8 so as to be rotatable around the axis A. Note that the bearing member 8c may be omitted.

[0027] The end of the rotating shaft 2 that is not connected to the circular plate portion 2a has a smaller diameter than the end that is connected to the circular plate portion 2a. This smaller diameter portion is the insertion shaft portion 2c that is inserted into the central hole 3a of the disc member 3 and the central hole 5a of the fixing member 5, as will be described later.

[0028] The disc member 3 is disposed inside the annular wall portion 2b. The outer shape of the disc member 3 is circular. The center of the disc member 3 is located on the virtual axis B. The disc member 3 is configured to be rotatable relative to the annular wall portion 2b inside the annular wall portion 2b. When the disc member 3 and the annular wall portion 2b are rotated relative to each other, the outer surface of the disc member 3 slides against the inner surface of the annular wall portion 2b. Processing to increase the frictional resistance of the contact surface between the disc member 3 and the annular wall portion 2b may be applied to at least one of the outer surface of the disc member 3 and the inner surface of the annular wall portion 2b. Alternatively, the frictional resistance of the contact surface between the disc member 3 and the annular wall portion 2b may be reduced to make them slide more easily.

[0029] A central hole 3a is formed in the center of the disc member 3, penetrating in the direction of the virtual axis B. The central hole 3a is circular, and its center is located on the virtual axis B. In addition, a first insertion hole 3b is formed in the portion of the disc member 3 radially away from the center, penetrating in the direction of the virtual axis B. Multiple first insertion holes 3b are formed in the circumferential direction of the virtual axis B, spaced apart from each other. The spacing of the first insertion holes 3b may be equal or unequal. Furthermore, there may be only one first insertion hole 3b.

[0030] The support member 4 is inserted through the central hole 3a of the disc member 3 and supports the disc member 3 so that it can rotate while being offset by a predetermined amount from the axis A of the rotation shaft 2. The support member 4 is cylindrical in shape through which the insertion shaft portion 2c of the rotation shaft 2 is inserted. The center of the support member 4 is located on the axis A of the rotation shaft 2. A projection 4a is formed at one end of the support member 4 in the direction of axis A. The projection 4a is annular in shape with respect to axis A and is inserted into a groove 2d formed on the other end surface of the circular plate portion 2a of the rotation shaft 2. The groove 2d extends in an annular shape with respect to axis A. Therefore, one end of the support member 4 is supported so that it can rotate around axis A relative to the circular plate portion 2a of the rotation shaft 2.

[0031] An eccentric portion 4b is provided on the other end of the support member 4, beyond the protruding portion 4a. The eccentricity of the eccentric portion 4b is dimension C, which is the same as the radial eccentricity of the inner circumferential surface of the annular wall portion 2b. The eccentric portion 4b is inserted into the central hole 3a of the disc member 3. Therefore, since the disc member 3 is supported by the eccentric portion 4b, the center of the disc member 3 is eccentric from the axis A by dimension C. As a result, the entire outer circumferential surface of the disc member 3 is held in contact with the inner circumferential surface of the annular wall portion 2b.

[0032] The end of the support member 4 beyond the eccentric portion 4b is inserted into the fixing member 5. That is, the fixing member 5 is in the shape of a circular plate, and its outer circumference is fixed to the inner surface of the housing 8. In this fixed state, the fixing member 5 is arranged to face the other end surface of the disc member 3. A central hole 5a is formed in the center of the fixing member 5, penetrating in the direction of the axis A. The central hole 5a of the fixing member 5 is circular, and its center is located on the axis A. In addition, a second insertion hole 5b is formed in the fixing member 5 in a portion radially away from the center, penetrating in the direction of the axis A. Multiple second insertion holes 5b of the fixing member 5 are formed at intervals from each other in the circumferential direction of the axis A. The number and spacing of the second insertion holes 5b of the fixing member 5 correspond to the first insertion holes 3b of the disc member 3. The spacing of the second insertion holes 5b of the fixing member 5 may be equal or unequal. Also, the number of second insertion holes 5b of the fixing member 5 may be one.

[0033] The support member 4 and the fixing member 5 are rotatable relative to each other. The other end of the support member 4 has an opposing plate portion 4c that faces the clutch mechanism 7 in the axial direction.

[0034] The connecting shaft 6 has a first shaft portion 6a that is inserted into a first insertion hole 3b formed in the disc member 3 so as to be rotatable relative to it, and a second shaft portion 6b that is inserted into a second insertion hole 5b formed in the fixing member 5. The first shaft portion 6a and the second shaft portion 6b are integrated, thereby enabling the disc member 3 and the fixing member 5 to be connected by the connecting shaft 6. Furthermore, the axis of the first shaft portion 6a and the axis of the second shaft portion 6b are eccentric by a predetermined amount (dimension C). Therefore, the connecting shaft 6 is an eccentric pin.

[0035] The clutch mechanism 7 is composed of, for example, an electromagnetic clutch and is fixed to the insertion shaft portion 2c of the rotating shaft 2. The clutch mechanism 7 is fixed to the insertion shaft portion 2c with its connecting surface facing one end, and therefore, the connecting surface of the clutch mechanism 7 and the opposing plate portion 4c of the support member 4 face each other in the direction of the axis A when the clutch is disconnected. By disengaging the clutch mechanism 7, the support member 4 and the rotating shaft 2 are in an unfixed state that allows relative rotation. On the other hand, by engaging the clutch mechanism 7, the connecting surface of the clutch mechanism 7 and the opposing plate portion 4c of the support member 4 come into contact, and the support member 4 and the rotating shaft 2 are fixed in a state that prevents relative rotation. In this way, the clutch mechanism 7 can be switched between a fixed state and an unfixed state between the support member 4 and the rotating shaft 2 by operation, for example, via a signal line from the outside. The clutch mechanism 7 may be a manual clutch in addition to an electromagnetic clutch. For example, levers or buttons for operating the clutch mechanism can be provided on the outside of the housing 8, and by operating these from outside the housing 8, the clutch mechanism 7 can be switched from a connected state to a disconnected state, or from a disconnected state to a connected state.

[0036] The fixed position of the clutch mechanism 7 is not limited to the position shown in the figure. For example, the clutch mechanism 7 may be formed to cover the other end of the support member 4.

[0037] When the clutch mechanism 7 is engaged, the clutch mechanism 7 fixes the support member 4 and the rotating shaft 2 so that they cannot rotate relative to each other. With the support member 4 and the rotating shaft 2 fixed, when rotational force is transmitted to the rotating shaft 2 from an external source, the support member 4 rotates synchronously due to the rotational force input to the rotating shaft 2. The rotational force may be input to either one end or the other end of the rotating shaft 2. For example, if rotational force is input to one end of the rotating shaft 2, it will be output from the other end of the rotating shaft 2.

[0038] Since the disc member 3 is supported by the support member 4, the rotation of the support member 4 causes the disc member 3 to move eccentrically, offset by a dimension C from the axis A of the rotation shaft 2. Because the amount of eccentricity of the disc member 3 is the same as the amount of eccentricity of the inner surface of the annular wall portion 2b, and because the rotation shaft 2 having the annular wall portion 2b and the support member 4 supporting the disc member 3 rotate synchronously, the annular wall portion 2b and the disc member 3 move eccentrically in synchronous motion. Therefore, the rotation shaft 2 can rotate due to the rotational force input from the outside and output the rotational force to the outside. In this state, the first shaft portion 6a of the connecting shaft 6 is inserted into the first insertion hole 3b formed in the disc member 3 and rotates relative to it, so the connecting shaft 6 does not obstruct the rotation of the rotation shaft 2.

[0039] On the other hand, when the clutch mechanism 7 switches the support member 4 and the rotating shaft 2 to an unfixed state, the support member 4 is no longer driven by rotational force from the outside and comes to a stopped state. Therefore, the disc member 3 stops eccentrically moving. Since the disc member 3 is connected to the fixed member 5 by the connecting shaft 6 and its rotation is prevented, when the disc member 3 stops eccentrically moving, the rotation of the annular wall portion 2b is prevented by the disc member 3. In this way, when the support member 4 and the rotating shaft 2 are set to an unfixed state, the rotation of the rotating shaft 2 is automatically locked without the use of an external brake device, etc., so in this embodiment it can be called a self-locking device 1. In other words, by simply switching the clutch mechanism 7, it is possible to switch from a state in which the rotation of the rotating shaft 2 is allowed to a state in which it is prevented, so a conventional brake device using friction material is unnecessary. Therefore, the frequency of maintenance of the self-locking device 1 can be reduced and it can be made smaller.

[0040] Alternatively, lubricating oil may be injected into the housing 8 so that at least a portion of the annular wall portion 2b, the disc member 3, and the connecting shaft 6 are immersed in the lubricating oil. In other words, it can be an oil-bath type self-locking device 1.

[0041] Figure 2 shows a connecting structure using a connecting shaft 6 according to Modification 1. As in Modification 1, a bearing member 6c such as a bearing or needle may be provided between the first shaft portion 6a of the connecting shaft 6 and the first insertion hole 3b of the disc member 3. A bearing member 6c may also be provided between the second shaft portion 6b of the connecting shaft 6 and the second insertion hole 5b of the fixing member 5.

[0042] Figure 3 shows a connecting structure using a connecting shaft 6 according to Modification 2. As in this Modification 2, the second shaft portion 6b of the connecting shaft 6 may be fixed to the inner surface of the second insertion hole 5b of the fixing member 5 by a key 6d.

[0043] Figure 4 shows a connecting structure using a connecting shaft 6 according to Modification 3. As in Modification 3, the connecting shaft 6 does not need to be an eccentric pin; it may have the same outer diameter from one end to the other.

[0044] Figure 5 shows a connecting structure using a connecting shaft 6 according to Modification 4. As in Modification 4, the connecting shaft 6 does not have to be an eccentric pin, but has the same outer diameter from one end to the other, and a bearing member 6c may be provided between the first shaft portion 6a of the connecting shaft 6 and the first insertion hole 3b of the disc member 3. As shown in these modifications, the shape and structure of the connecting shaft 6 can be arbitrarily set.

[0045] Figure 6 is a cross-sectional view of a drive unit 100 equipped with a self-locking device 1. Specifically, the drive unit 100 comprises a self-locking device 1, a motor M for rotating the rotating shaft 2 of the self-locking device 1, and a housing 8. The motor M is provided on the other end of the rotating shaft 2 and applies rotational force to the rotating shaft 2 using power supplied from an external source. The housing 8 is configured to accommodate the motor M and the self-locking device 1. The housing 8 may be divided into a part that accommodates the motor M and a part that accommodates the self-locking device 1. The fixing member 5 is fixed to the housing 8 that can accommodate the motor M and the self-locking device 1.

[0046] Figure 7 is a cross-sectional view of the self-locking device 1 according to Modification 5. In this Modification 5, the rotating shaft 2 is divided into a tip portion 2A and a base portion 2B. A recess 20 is formed in the tip portion 2A, which accommodates the base portion 2B. The base portion 2B is rotatable around the axis A relative to the tip portion 2A while housed in the recess 20. A spring 21 is provided inside the recess 20. One end of the spring 21 is fixed to the inner surface of the recess 20, while the other end of the spring 21 is fixed to the tip surface of the base portion 2B. Therefore, the tip portion 2A and the base portion 2B are connected via the spring 21.

[0047] The stiffness of the spring 21 is set to allow the transmission of rotational force between the tip portion 2A and the base portion 2B. Therefore, during normal rotational operation, input and output are possible via the rotating shaft 2. When the self-locking mechanism causes an abrupt stop, the spring 21 absorbs the shock of the abrupt stop, thereby reducing the load on each part. The spring 21 may be a coil spring or a leaf spring. In addition, as another mechanism, the clutch mechanism 7 may be a powder clutch.

[0048] As shown in the modified example 6 in Figure 8, both end faces of the rotating shaft 2 can be formed to be flush with the side surface of the housing 8, and a connecting portion 2e for connecting an extraction shaft (not shown) for extracting rotational force can be provided at one end or the other end of the rotating shaft 2. By connecting the extraction shaft to one of the connecting portions 2e, the rotational force of the rotating shaft 2 can be transmitted to the connecting shaft, and the connecting shaft can be rotated by the rotational force of the rotating shaft 2.

[0049] As shown in the modified example 7 in Figure 9, the axial dimension of the annular wall portion 2b may be shortened to reduce the contact area between the disc member 3 and the annular wall portion 2b. That is, shortening the axial dimension of the annular wall portion 2b shortens the axial dimension of the inner circumferential surface of the annular wall portion 2b, thus reducing the contact area between the inner circumferential surface of the annular wall portion 2b and the outer circumferential surface of the disc member 3. This reduces friction between the disc member 3 and the annular wall portion 2b, thereby stabilizing the operation.

[0050] Furthermore, when the disc member 3 is rotated with a predetermined amount of eccentricity from the axis A of the rotation shaft 2, a stabilizing guide can be provided inside the housing 8 to stabilize the eccentric movement of the disc member 3.

[0051] The embodiments described above are merely illustrative in all respects and should not be interpreted restrictively. Furthermore, any modifications or changes that fall within the equivalent scope of the claims are all within the scope of the present invention. [Industrial applicability]

[0052] As explained above, the self-locking device relating to this disclosure can be used in various conveying devices, manufacturing devices, amusement devices, etc. [Explanation of symbols]

[0053] 1. Self-locking device 2 rotation axes 2b Annular wall section 3 Disc Members 4. Support members 5 Fixing members 6 Connecting shaft 6a First shaft section 6b 2nd shaft part 7. Clutch mechanism (switching section)

Claims

1. A self-locking device comprising a rotating shaft to which rotational force is input, and which can switch from a state that allows rotation of the rotating shaft to a state that prevents rotation, An annular wall portion is provided integrally with the rotating shaft and is eccentric by a predetermined amount from the axis of the rotating shaft, A disc member is disposed inside the annular wall portion so as to be rotatable relative to it, A support member is inserted into the central hole of the disc member and supports the disc member so that it can rotate while being eccentric by a predetermined amount from the axis of the rotation shaft, A fixing member is arranged to face the disc member while being fixed to the fixing body, A connecting shaft is formed by integrating a first shaft portion, which is rotatably inserted into a first insertion hole formed in the disc member, and a second shaft portion, which is inserted into a second insertion hole formed in the fixing member, and connecting the disc member and the fixing member. A self-locking device comprising a switching unit that switches between a fixed state in which the support member and the rotating shaft are fixed so that they cannot rotate relative to each other, and an unfixed state in which relative rotation is permitted.

2. In the self-locking device according to claim 1, The rotating shaft has an insertion shaft portion that is inserted into the central hole of the disc member and the central hole of the fixing member, The support member is a self-locking device having a cylindrical shape through which the insertion shaft portion is inserted.

3. In the self-locking device according to claim 2, The switching unit is fixed to the insertion shaft portion. The support member has an opposing plate portion that faces the switching portion in the axial direction, The switching section is a self-locking device comprising a clutch mechanism that is intermittently connected to the opposing plate portion of the support member.

4. In the self-locking device according to claim 1, The connecting shaft is a self-locking device in which the axis of the first shaft portion and the axis of the second shaft portion are offset by a predetermined amount by an eccentric pin.

5. The self-locking device according to claim 1, A motor that rotates the aforementioned rotating shaft, The system comprises a housing that accommodates the motor and the self-locking device, The aforementioned fixing member is a drive device fixed to the housing.

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