JPS6478785A - Mechanical stopper mechanism of industrial robot - Google Patents

Abstract

PURPOSE: To facilitate the mechanical regulation of a joint part multi-rotated at 360 deg. or more by contacting to the end surface of an axial direction moving member moved in a straight-line following to the rotation of a rotary shaft in the joint part and arranging a stopper member for regulating the motion of this axial direction moving member and rotary shaft. CONSTITUTION: The motion around the S2 shaft of a wrist part 20 rotating at 360 deg. or more is converted to the straight-line movement of the male screw member 13 on the outer periphery of a rotary shaft 7. When the male screw member 13 is moved upto a prescribed axial direction position, the end surface of the male screw member 13 is contacted with stoppers 18, 19 in a casing 1. Thereby, at the same time when the movement of the male screw member 13 is regulated, the rotation of the rotary shaft 7 integral with this male screw member 13 is also regulated. As this result, the motion of the wrist part 20 which is a joint for multi-rotating at 360 deg. or more is regulated to the prescribed limit position. Meantime, as the stoppers members 18, 19 are arranged separating from the wrist part 20, they are hardly influenced by the work circumference of the adhesion of a spatter.