| 摘要 |
PURPOSE:To provide possibility of stopping the motion of a robot arm body on the basis of a signal given, by furnishing a fit connection part with a sensor to sense generation of displacement, and transmitting a displacement generation signal from the sensor when overload is applied. CONSTITUTION:Because fitted at the foremost of a robot arm 1, a grasping part 2 receives various forces due to motions of robot. At this joint of arm 1 with grasping part 2, the latter shifts sideways when its body runs against any obstacle to cause overload applied in the direction to the left and right, and an upper follower part 6b provided between a notch 6a and shaft 6 slides up along that guide part 5b of guide plate 5 having either perpendicular or slant surface. This motion is sensed by a limit switch 8 mounted at the notch 6a consolidated with the overside of the follower part 6b, and motion of the robot body arm 1 is stopped on the basis of the sensing signal. |
