| 摘要 |
PURPOSE:To prevent the damage of each member, by absorbing an excessive pushing force by a compression coil spring, and cutting off an excessive tensile force or the like by releasing the meshing of a meshing connected portion against a magnetic attraction force. CONSTITUTION:When an excessive external force is applied in a direction pushing a flange 5, an inclined surface 12a of an internal flange is moved away from an inclined surface of a magnetic plate 7, and an impact energy of the external force is absorbed by a compression coil spring 16. Further, when an excessive torsional moment, a tensile force or the like is applied to a flange 5 on a hand 4 side, the meshing between teeth 11b of a coupling 8 and teeth 5a of the flange 5 is released against a magnetic attraction force of a permanent magnet 15. Accordingly, the energy is cut off to protect each mechanism of a robot from damage. |
