JP2799416B2 - Multi-actuator brake device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a brake device for operating a common actuator in a device having a plurality of actuators such as a wrist operation of an industrial robot.

2. Description of the Related Art In an articulated driving device of an industrial robot, for example, two actuators are housed side by side or parallel to each other in order to tilt and rotate a wrist, respectively. Different operations are performed via coupling mechanisms such as gears, and these actuators are provided with an emergency brake device that locks the operation in the event of a power failure.

FIG. 4 shows an example of such an arm, wherein 1 is a part of the arm, 2 is an arm end plate, 3 is a wrist, 4 is a finger provided on the wrist, 5 is a wrist tilting actuator, The pulley 53 is rotated via bevel gears 51 and 52 and transmitted to the gear 55 by the timing belt 54. The gear 56 meshed with the gear 55 causes the wrist 3 to move up and down with respect to the paper surface. To tilt. Reference numeral 6 denotes a wrist rotation actuator, which is provided in the arm 1 side by side with the tilting actuator 5, rotates a pulley 63 via bevel gears 61 and 62, rotates a bevel gear 65 with a timing belt 64, and rotates a bevel gear 66 via a bevel gear 66. To rotate the finger 4 of the wrist.

Reference numeral 8 denotes a brake device for the tilting actuator 5, which is provided with a brake plate 82 at the end of a rotary shaft 81 of the actuator, and an actuation plate comprising a magnetic pair opposed to the brake plate 82 by an axial gap.
83 is supported by a support pin 84 so as to move only in the axial direction, and includes an electromagnet 86 that separates the operation plate 83 from the brake plate 82 against a spring 85. Reference numeral 9 denotes a brake device for the rotation actuator 6, which is configured similarly to the brake device 8.

[Problems to be Solved by the Invention] However, the lighter the rotating part such as an arm in a robot or a manipulator, the more controllability such as responsiveness can be improved. The incorporation of this method has the disadvantage that the weight of the operating mechanism is increased and the weight of the movable part is limited.

According to the present invention, in order to solve such a disadvantage, a plurality of actuators are provided with a common brake device, and individual actuators are not provided with a brake device.

[Means for Solving the Problems] For this purpose, a plurality of actuators are juxtaposed so that their operation axes are parallel to each other, and one brake device is provided between the actuators. The brake plates of the brake device are brought into contact with and separated from different positions, so that a plurality of actuators can be braked simultaneously.

[Operation] Therefore, a plurality of actuators can be operated by one brake device, and the brake devices provided with individual actuators can be omitted, the overall weight can be reduced, and the installation space can be reduced.

Embodiment In the embodiment shown in FIGS. 1 and 2, 1 is an arm, 2 is an arm end plate, 3 is a wrist, 4 is a finger, and 5 is a tilting actuator for moving the wrist 3 in the arm 1. The pulley 53 is rotated through bevel gears 51 and 52, and the rotation is transmitted to the gear 55 by the timing belt 54. The gear 56 meshed with the gear 55 causes the wrist 3 to be tilted up and down with respect to the paper surface. 57 is a rotary shaft of the actuator, and 58 is a brake plate attached to the rotary end shaft. Reference numeral 6 denotes a wrist rotation actuator, which is provided in the arm 1 side by side with the tilting actuator 5, rotates a pulley 63 via bevel gears 61 and 62, and
The bevel gear 65 is rotated at 64, and the finger 4 of the wrist is rotated via the bevel gear 66. Reference numeral 67 denotes a rotary shaft of the actuator, and 68 denotes a brake plate attached to an end of the rotary shaft 67.

Reference numeral 7 denotes a brake device disposed between the tilting actuator 5 and the rotating actuator 6, and the operation shaft 71 is operated by a key.
It slides in the axial direction at 72, and the casing 73
A brake plate 74 is attached to the outer end of the operation shaft 71 protruding from the brake plate 74 so as to be opposed to a part of the brake plates 58 and 68 of the actuators 5 and 6, respectively. Brake spring plunger 76
Aspirate against 77.

Power is supplied from a power supply (not shown), and the tilting actuator 5
And the rotation actuator 6 are operated as necessary. During this time, the electromagnet 75 of the brake device 7 is urged from the power source for braking, the plunger 76 is attracted, and the operating shaft 71 compresses the brake spring 77 to apply the brake. The plate 74 is separated from the brake plates 58, 68.

When the wrist 3 and the finger 4 are fixed in a power failure or other state, when the power supply to the electromagnet 75 is cut off, the attraction force of the plunger 76 is released, and the operation shaft 71 is rapidly moved by the brake spring 77 to the brake plate 58 of each actuator. , 68, and the striking plates 58, 68 contact different positions of the brake plate 74 to simultaneously brake the movement of the actuator.

In the embodiment shown in FIG. 3, the outer peripheries of the brake plates 58 and 68 of the tilting actuator 5 and the turning actuator 6 are formed as conical surfaces, and the outer peripheral surface of the brake plate 74 of the brake device is formed as the conical surfaces of the brake plates. Opposing cones are formed so that the brake plate and the brake plate of the actuator are brought into contact with and separated from each other on the outer peripheral surface. The same parts as those in FIG. 1 are denoted by the same reference numerals, and are similar to those in FIG. However, in this embodiment, a tapered plunger 76 is provided on the operation shaft 71 of the brake device so as to be attracted by the electromagnet 75.

Although two actuators are provided in the illustrated embodiment, the number of actuators may be increased. If the brake plate of the actuator provided at the target position is rotated in the opposite direction, the brake plate 74 is provided. The key 72 can be eliminated by canceling the couple acting on the operation shaft 71 and reducing the rotational force applied to the operation shaft 71 or setting it to zero.

[Effects of the present invention] As described above, the present invention includes one brake device between a plurality of actuators, and the brake plates attached to the operation shaft of each actuator are located at different positions on the brake plate of the brake device. Since the brakes come in contact with each other and perform common braking, there is no need to provide a braking device for each actuator, and the overall weight and space can be reduced, and the timing of braking can be adjusted. There is an effect that it can be used for an arm such as to reduce the arm weight and perform a reliable operation.

[Brief description of the drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention, and FIG.
FIG. 3 is a sectional view of a main part showing another embodiment, and FIG. 4 is a side sectional view showing a conventional example. 1 is an arm, 2 is an arm end plate, 3 is a wrist, 4 is a finger, 5 is an actuator for tilting, 6 is an actuator for rotation, 57 and 67 are rotation axes of the actuator, 58 and 68 are brake plates, and 7 is a brake device. , 71 is an operation shaft, 72 is a key, 73 is a casing, 74 is a brake plate, 75 is an electromagnet, 76 is a plunger, 77 is a brake spring, and 8.9 are brake devices.

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Claims (2)

(57) [Claims] 1. An arm of a robot, comprising: a plurality of actuators each having an operation axis parallel to an axial direction of the arm; and one brake device provided between the actuators; A brake plate is disposed on and attached to the end of the operation shaft protruding from the outer frame, and the brake device is provided with brake plates of the plurality of actuators at ends of an operation shaft that slides only in the axial direction. A brake plate for pressing and pressing the brake plate against the brake plate substantially in the middle of the operating shaft, and sliding the brake plate in the axial direction against the brake spring. A plunger that separates the brake plate from the brake plate, wherein the brake plate is opposed to a part of the plurality of brake plates, and a difference between the brake plates during braking of the brake device is provided. That position, the brake device of a plurality actuators, characterized in that each contact by the brake plates. 2. The brake device according to claim 1, wherein the outer peripheral surfaces of the brake plate and the brake plate are formed in a conical shape, and the conical surfaces contact each other during braking.