Automated machine Patent #: 4531884
ApplicationNo. 06/706417 filed on 02/27/1985
US Classes:188/74, Transversely movable188/364, Dual opposed piston motor414/4, Electric or fluid motor drive for manipulator901/15, Jointed arm901/22, Fluid motor92/90Wall portion formed of flexible material
ExaminersPrimary: Halvosa, George E. A.
Assistant: Graham, Matthew C.
Attorney, Agent or Firm
International ClassesB25J 9/14 (20060101)
B25J 9/10 (20060101)
B25J 19/00 (20060101)
F15B 15/26 (20060101)
F15B 15/10 (20060101)
F16D 49/00 (20060101)
F16D 55/24 (20060101)
F16D 55/32 (20060101)
F15B 15/00 (20060101)
F16D 65/02 (20060101)
Foreign Application Priority Data1984-04-25 JP
AbstractA brake device for use in an arm of a robot or manipulator cmprises a brake drum, a lever pivotally supported at its intermediate portion, a brake shoe provided on the lever between its pivotally supported point and its one end, a pneumatic actuator axially contractible upon applying internal pressure thereinto and having a movable end connected to the one end or the other end of the lever, and a spring connected to one end of the lever not connected to the actuator so as to operate to elongate the actuator. This brake device is remarkably small-sized and of light-weight and consumes only small amount of fluid pressure to contribute economy of energy in comparison with prior art brake devices. The brake device according to the invention is applicable to a robot arm comprising a rotating member connected to the brake drum so as to rotate together, and two elastic actuators whose one ends are connected to a stationary member and the other are connected to each other through the rotating member in a manner to rotate the rotating member by contraction of the one actuator and simultaneous extension of the other actuator. At least one of the actuators is a pneumatic actuator axially contractible upon applying internal pressure thereinto.