| 摘要 |
<p>PURPOSE: To remove a reversible linear motion actuator from a joint driving unit without requiring any special tool or operation procedure by performing a retraction action of the reversible linear motion actuator and pulling out a spherical head from a spherical space. CONSTITUTION: In removal of a reversible linear motion actuator 6 from a device, an insertion joint 34 is released by rotating the reversible linear motion actuator 6. Then, the actuator 6 is moved along the axial line and reaches a limit position. In this case, a flange 18 is brought into contact with the end part of a tubular guide member 13 and a socket element 15 is inserted completely into the inside of a hole, while a socket element 27 is pulled out completely from the hole 14. A flexible petal type piece 19 in the element 15 is locked in the radial direction by means of the tubular guide member 13. Therefore, a spherical head 26 is locked inside a spherical internal space 20, while a flexible petal type piece 28 in the element 27 can be freely warped outward. When the actuator 6 performs retracting motion further, the spherical head 30 is pulled out from the spherical space 29, so that the actuator 6 is removed from a joint driving unit 5 without requiring any special tool or operation procedure.</p> |
