| 摘要 |
A joint device according to the present invention is attached to each of a plurality of arm units which constitute an arm of an industrial robot, and is used to connect a first arm unit and a second arm unit adjacent thereto, and to rock the arm units. The joint device comprises a coupling mechanism which connects the first and second arm units for rotation around specified axes. A first gear train, which includes a plurality of gears, is provided in the first arm unit, and has a rotatory-force transmission path through which the gears thereof successively transmit a rotatory force. A first rotatory-force source is used to transmit the rotatory force to the first gear train. The second arm unit is constructed in the same manner as the first arm unit. A clutch mechanism serves to permit and interrupt the transmission of the rotatory force through the rotatory-force transmission path of the first gear train. If the joint device fails for any reason, the transmission of the rotatory force through the transmission path of the first gear train is interrupted. As a result, the first and second arm units are released from their reciprocal restraint. Thus, even in case of any failure of the joint device, the robot can be removed easily from a job site. |
