| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a joint mechanism of a robot capable of precisely and securely detecting a rotation angle of a second link with respect to a first link.SOLUTION: A joint mechanism 10 of a robot includes: an inner tube 84 provided at a first link, extending into a second link, for rotating around an own central axis; a frame 9A provided at the second link, for storing the inner tube 84 inside; a torque limiter 101 provided between the inner tube 84 and the frame 9A, thus connecting the inner tube 84 to the frame 9A, for rotating the frame 9A with the rotation of the inner tube 84; and a shaft body 102 extending into the first link through the inside of the inner tube 84, for rotating integrally with the frame 9A. The joint mechanism 10 further includes a potentiometer 105 provided at the first link, for detecting a rotation angle between the inner tube 84 and the shaft body 102.</p> |
