| 摘要 |
A mechanical stopper device having a desirable stopper function while having a simple structure, and a multi-joint robot having the mechanical stopper device. A mechanical stopper is constituted by an elastically deformable body arranged on a second arm, and a contacting member arranged on a first arm so that the deformable body comes into contact with the contacting member when the second arm is rotated by a predetermined angle. The spring pin has a slit extending in the longitudinal direction thereof, and the extending direction of the slit when the pin is inserted into a hole intersects with a contact direction of the spring pin against the contacting member. |
