INDUSTRIAL ROBOT'S ARTICULATE DEVICE

摘要

An industrial robot's articulate device has a first arm with a second arm rotatably connected to it. An electric motor rotates the second. A transmission shaft rotatably supported by the first arm transmits the output of the electric motor to the second arm. A detecting mechanism detects the position of the second arm with respect to the first arm. The detecting mechanism includes a dog secured to the transmission shaft, a swing lever (21) swingably coupled to the first arm to pose in alternative postures according to the direction of rotation of the dog and a detector for detecting the alternative postures of the swing lever. The detector has a pair of limit switches (22,23) which are provided on both sides of the swing lever to detect the alternative postures of it.