| 摘要 |
A multi-axis manipulator (10 fig. 1) in the form of a robotic arm includes a safety disc 41 and safety collar 42 at one or more of the pivoting joints 17, 19. The disc 41 and collar 42 define a small running clearance (46, 47 fig. 9) in normal use, but make contact in the event of excessive wear or failure of the rotary bearing at the respective joint 17, 19, preventing separation of the arm 16. The contact may result in increased friction within the joint 17, 19, which in turn would require increased driving torque and allow an over torque sensor of a motor to snese the contact and bring the manipulator to a safe halt. An inspection window (48 fig. 9) permits the running clearance to be checked, and the collar 42 may comprise a caliper brake. The safety disc 41 may comprise arcuate segments. The manipulator (10 fig. 1) may be used as an amusement or entertainment device. |
