| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a device for regulating rotation of robot installed in a narrow space, and regulating a rotational operation range of a rotary link to an angle exceeding 360 degrees. <P>SOLUTION: An annular housing space 30 is formed in a lid member closing a tip opening of a frame of a wrist arm, a linear flexible wire 29 whose both ends are coupled to a small-diameter-side inner surface wall 30a and a large-diameter-size inner surface wall 30b is housed in the housing space 30, and a latch pin 41 which rotates integrally with a flange (the rotary link) is inserted into it. When the flange intends to rotate beyond an allowable angle range, the flexible wire 29 which is latched on the latch pin 41 and is wound around the small-diameter-side inner surface wall 30a is stretched to its full length to forcibly stop rotation of the flange. <P>COPYRIGHT: (C)2012,JPO&INPIT |
