| 摘要 |
The present invention relates to an industrial robot (1) with a robot arm (2). The robot ram includes a plurality of members (12) connected with joints (11). At least two among the members (12) are connected to the joints (11) respectively. The rotatable joints are adjusted by using a drive. The maximum rotation angle of the joint is controlled by a mechanical stopper (13). The stopper includes a stop protrusion unit (16) connected with one (12.1) of adjoining members (12.1, 12.2); an actuator connected with the rest (12.2) of the adjoining members (12.1, 12.2); and a trailing stop (18) capable of being controlled by the actuator. The trailing stop includes a trailing stop body (18.1); and a ring-shaped body connected to the trailing stop body. The ring-shaped body is inserted to be rotated inside a ring-shaped groove (19) inside inner walls of housings (9, 10) of one (12.1) of the adjoining members (12.1, 12.2). |
