JOINT BRAKING DEVICE OF ROBOT

Japanese Patent JP3864370

B2

PROBLEM TO BE SOLVED: To provide a joint braking device of a robot applying a controllable brake function to a joint part and capable of locking the joint by the brake function when taking a prescribed attitude and standing still.
SOLUTION: This joint braking device of the robot having the joint part relatively rotatably connecting, at least, a first link to a second link comprises a frictional plate 35 as a frictional engagement means capable of bridging between two members producing the relative movement according to the relative rotation movement of the two links, a motor 26 as a mechanical force producing means producing substantially same mechanical force to the engagement force of the frictional engagement means, and a wave generator 28 as a mechanical force transmission means interposed between the frictional engagement means and the mechanical force producing means and transmitting the output of the mechanical force producing means to the frictional engagement means. This device is characterized in that the mechanical force producing means is installed in a part showing less acceleration/deceleration of the joint part during operation of the robot.

JPS5943109

[Title of the device] A load handling robot's arm device

Masao Nishikawa

JP2001195004A

December 27, 2006

June 27, 2001

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Tokai University

B25J17/00; B25J5/00; B25J19/00; F16D55/02; (IPC1-7): B25J19/00; B25J5/00; F16D55/02

JP3033089U
JP3184781A
JP61211177A

Takehiko Suzue
Sadao Muramatsu
Ryo Hashimoto
Satoshi Kono
Makoto Nakamura

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