JPH054189A - Robot - Google Patents

Abstract

PURPOSE: To reduce costs and to operate a robot for a long period by connecting a first holding device so that a tool support member rotates in a first direction, and connecting a second holding device so that the tool support member rotates in a second direction opposite to the first direction. CONSTITUTION: A robot 10 has a motor 12. The motor 12 is a relatively inexpensive constant speed type motor. The output of the motor 12 is communicated to a gear box 14 having first and second shafts 16, 18 for outputs. A brake disc 20 is attached to the first shaft 16. The brake disc 20 is a normal automotive brake disc generally employed in disc brakes. A second brake disc 52 is attached to the second shaft 18. The second brake disc 52 is controllably held by a second caliper 54. An improved industrial robot that can be operated over a long period without maintenance can be obtained.

Description

Detailed Description of the Invention

[0001]

[Field of Industrial Application] In recent years, robots have become very common in the field of manufacturing industry. These robots increase productivity and reduce labor costs. In general, each machine requires a motor for each axis of travel of the machine, making the robot very expensive, especially in electric robots. Also, the required motors tend to be very expensive due to the large starting torque and quick response required.

[0002]

In the early stages of the industrial revolution, it was common to have a central shaft running through the factory. In this case, the central shaft was driven by a turbine or steam. In such a situation, a large number of pulleys are arranged along the shaft, and a belt running around these pulleys drives each machine. The belt was engaged and disengaged to drive the machine.

[0003]

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide an improved industrial robot which can be manufactured at a significantly lower cost than conventional devices and which can be operated for long periods without maintenance.

[0004]

A simple constant speed motor drives a gearbox. The gearbox has two output shafts that rotate in opposite directions. Each output shaft has a conventional vehicle brake disc disposed thereon. A caliper or a gripping member is rotatably attached around the shaft. In fact, this gripping member can rotate independently of the shaft itself and the brake disc.

[0005]

Operation: The caliper is connected to the sprocket. The sprockets drive a connecting member such as a chain attached to the tool support member. Since a caliper or sprocket mechanism is provided for each shaft, by selectively driving the caliper, the rotating brake disc is gripped by the caliper mechanism and rotated to support the movement of the tool through the chain. Can be transmitted to members. By driving one or the other or both of the brake calipers, the precise position and speed of the tool support member can be controlled.

The above-mentioned objects and advantages of the present invention, and other objects and advantages will be more apparent from the following embodiments described with reference to the accompanying drawings. In the drawings, the same or similar members are designated by the same reference numerals.

[0007]

Embodiments of the present invention will be described below with reference to the accompanying drawings. A robot of the invention is shown in FIG. 1 and is designated by the reference numeral 10. The robot 10 has a motor 12. The motor 12 is a relatively inexpensive constant speed type motor. The output of the motor 12 is the first and second
Gearbox 1 having shafts 16 and 18 for output of
Connected to 4.

A brake disc 20 is attached to the first shaft 16. The brake disc 20 is a conventional automobile brake disc commonly used for disc brakes. As shown in the figure,
A key 22 is attached to the brake disc.
The position of the key 22 is held by a set screw 24. Of course, other attachment methods can be used if desired. The drawings are for convenience only.

The caliper 26 is also a general automobile brake type, and is attached to a mounting bracket 28 by a bolt 30. The bracket 28 is attached to the shaft 16 but is separated therefrom by a bearing member 32. Beering member 32
Allows the bracket 28 to rotate independently of the shaft 16 and the brake disc 20. A sprocket 34 is attached to the bracket 28 with a bolt 36. Therefore, the sprocket 34 rotates together with the bracket 28 and the caliper 26. End cap 3
The position of 8 is held by bolts 40. The end cap 38 helps hold the bearing member 32 and bracket 28 to the end of the shaft 16.

A chain or belt 42 runs around sprockets 34 and engages sprockets 44 on shaft 46. A tool support member 48 having a tool 50 thereon is attached to the shaft 46. The shaft 46 rotates in the bearing 47.

Similarly, a second brake disc 52 is attached to the second shaft 18. The second brake disc 52 is controllably gripped by a second caliper 54. The second caliper 54 is attached to the sprocket 56. Both the caliper 54 and the sprocket 56 rotate about the shaft 18 independently of the brake disc 52. Chain or belt 5
8 runs around sprockets 56 and 60. The sprocket 60 is fixed to the shaft 46 together with the sprocket 44.

The servo valve 62 is controlled by a conventional robot intelligent controller 64. The flexible lines 66 and 68 are the caliper 2 respectively.
6,54. The lines 66 and 68 allow the servo valve 62 to variously drive the brake pad 26a of the caliper 26.

Of course, it should be apparent that the scheme and mechanism shown in FIG. 1 can also be used to operate multiple axes and multiple robots. First and second shaft 1
Each of 6 and 18 is equipped with a plurality of brake discs and caliper assemblies, and each set controls a specific axis according to the desire of the system designer, whether in the same robot or different robots Can be used for Although the term tool support member is used herein, in practice the member to be moved may be another arm of the robot having an axis at its end that controls the tool itself.

The robot according to the present invention can be variously modified and modified without departing from the spirit and scope of the invention.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot according to the present invention.

FIG. 2 is a sectional view taken along line 2-2 of FIG.

[Explanation of symbols]

10 robots 12 motors 14 gearbox 16, 18 shaft 20,52 Brake disc 26,54 caliper 34,56 sprockets 42,58 belt 48 Tool support member 62 Servo valve 64 Robot intelligent controller

Claims (10)

[Claims] 1. A robot for controlling a rotatable tool support member, comprising generally parallel first and second shafts rotating in opposite directions and controllably gripping the first shaft. And a second gripping device for controllably gripping the second shaft, the first gripping device moving the tool support member in a first direction. Rotatably connected to the second
A gripping device connected to rotate the tool support member in a second direction opposite to the first direction. 2. The robot according to claim 1, further comprising a control device for controlling the first and second gripping devices. 3. The robot according to claim 2, wherein the control device has a servo valve that cooperates with each of the gripping devices. 4. The robot according to claim 1, wherein each of the gripping devices has a brake mechanism. 5. The robot according to claim 1, wherein the first and second shafts are constantly driven by a constant speed motor. 6. The tool support member includes the first and second tool support members.
The robot according to claim 1, wherein the robot rotates about an axis parallel to the shaft of the robot. 7. A motor and a gearbox having an input device are provided, the motor driving the input device of the gearbox, and the first and second shafts being driven by the gearbox. The robot according to the first section. 8. The gripping device comprises a brake disc mounted on each shaft, and a caliper mounted so as to be rotatable around each of the shafts coaxially and independently therewith. The robot according to the item. 9. The robot according to claim 8, further comprising a chain connecting the caliper and the tool support member. 10. The first and second gripping devices have a set of shafts, the plurality of shaft sets are disposed on the first and second shafts, and each set of shafts rotates. A robot according to claim 1 for controlling possible tool support members.