| 摘要 |
PURPOSE:To simplify the structure of the interference preventing device whole body of manipulator and to miniaturize the interference preventing device of the manipulator by providing a detection means detecting an obstruction approached to the manipulator arm according to the light receiving amt. received by a light receiving part. CONSTITUTION:The obstruction approached between the light emitting part 16 and light receiving part 18 of a manipulator arm 11 is detected by reducing the light receiving amt. onto the light receiving part 18 by cutting off the light emitted from the light emitting part 16. As a result, the collision of the arm 11 and obstruction is evaded. The obstruction directly approached to the light emitting part 16 and light receiving part 18 presses these light emitting part 16 and light receiving part 18 against the energizing force of an energizing means, reducing the light receiving amt. of the light receiving part 18 similarly by energizing by moving in the direction orthogonal to the manipulator arm 11 surface, so the approach is detected. Consequently, the collision to the manipulator arm 11 is prevented. |
