Motor with brake

1. A motor with a brake, comprising:

a motor driven to rotate about a motor shaft;

a reduction gear rotating an output shaft with reduced speed about an input shaft drive-transmitted from the motor shaft through a gear mechanism;

a brake mechanism including a motor meshing part integrally provided at the motor shaft on an opposite side of the reduction gear in an axial direction and a movable meshing part arranged opposite to the motor meshing part so as to be in contact with or separated from the motor meshing part; and

a controller controlling a rotation operation of the motor and a braking operation of the brake mechanism;

wherein the controller controls switching between a braked state in which the movable meshing part comes close to and meshes with the motor meshing part and a brake released state in which the movable meshing part is separated from the motor meshing part.

2. The motor with the brake according to claim 1 , wherein the controller starts the motor through a motor controller in the brake released state in which the movable meshing part is separated from the motor meshing part, and executes the braking operation in which the movable meshing part of the brake mechanism is pressed onto the motor meshing part through a brake controller after transmitting an instruction for stopping motor rotation in a state in which the motor reaches a specified torque.

3. The motor with the brake according to claim 1 , wherein the brake mechanism is an electromagnetic brake mechanism provided with a movable yoke with which the movable meshing part is integrally formed, a pair of fixed yokes in which both-side leg parts each having a U-shaped cross section are arranged so as to face the movable yoke through a gap, permanent magnets respectively arranged to parts of the respective fixed yokes so that same magnetic poles face each other, and a pair of coils wound in the same direction and arranged opposite to each other between the both-side leg parts of the respective fixed yokes so that air-core parts face the movable yoke, and

the magnitude of attractive forces of the both-end leg parts of the pair of fixed yokes is changed by energizing at least any of the pair of coils to move the movable yoke with the movable meshing part in the axial direction and to perform switching between the state in which the movable meshing part meshes with the motor meshing part and the state in which the movable meshing part is separated from the motor meshing part.

4. The motor with the brake according to claim 3 ,

wherein the meshing between the movable meshing part and the motor meshing part is released or the movable meshing part is allowed to mesh with the motor meshing part by energizing the first coil and the second coil at the same time or selectively.

5. The motor with the brake according to claim 1 ,

wherein a plurality of recessed parts and projecting parts are provided on facing surfaces of the movable meshing part and the motor meshing part at a fitting angle θ in a circumferential direction, and

the controller checks the fitting between the recessed parts and the projecting parts by detecting a rotation of a prescribed angle Δ smaller than the fitting angle θ by the motor controller after the controller instructs the braking operation to the brake mechanism through the brake controller.