To provide a braking device for restricting four-degree-of-freedom, and to provide a parallel link type robot with the less number of braking devices by using the same braking device.
A member 1 to be restricted is passed through a center hole of a spherical intermediate member 2. The intermediate member 2 is divided into a plurality of pieces (three pieces). Braking operation parts 3a, 3b are arranged on an outer circumference of the intermediate member 2. When a current flows through magnetic cores 4a, 4b, the braking operation parts 3a, 3b are separated from the intermediate member 2 (refer to the Fig. 4(a)). The member 1 can also rotate and move to an axial direction. When the current is shut off, the braking operation parts 3a, 3b press-contact with the intermediate member 2 by a spring 7, the intermediate member 2 press-contacts with the member 1. The member 1 is restricted from swinging in an optional direction, moving to the axial direction, and rotating around a shaft center line in four-degree-of-freedom (refer to the Fig. 4(b)). When the braking device is used for the parallel link type robot, the number of the braking devices is reduced.
OTAKA SHUNICHI
KARIYA ISAO
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro