STOPPER MECHANISM, JOINT MECHANISM, AND ROBOT

摘要

This stopper mechanism is equipped with: a driving body; a driven body that faces the driving body and rotates about a predetermined rotational axis with respect to the driving body; and a first engagement section that is provided inside an annular area, said annular area being formed around the axis, on either one surface among the surface of the driving body that faces the driven body or the surface of the driven body that faces the driving body. The stopper mechanism is also equipped with a second engagement section that is provided on the other surface among the surface of the driving body that faces the driven body and the surface of the driven body that faces the driving body. The second engagement section comprises a moving element that engages with the first engagement section and moves in the radial direction with respect to the axis and stopper bodies for regulating the moving range of the moving element.