To provide a machine type stopper device which attains a desired stopper function with a simple structure, and to provide a multiple joint robot including the machine type stopper device.
A mechanical stopper 18 is composed of: an elastic deformation body 20 provided at a second arm 16; and a contact member 22 which is provided at a first arm 12 so that the elastic deformation body 20 hits or contacts therewith when the second arm 16 makes a predetermined rotation angle. A spring pin 20 has a slit 26 extending in a longitudinal direction thereof. A direction that the slit 26 extends when the spring pin 20 is press-fitted into a hole 24 is set to a direction perpendicular to a direction that the spring pin 20 contacts with the contact member 22.
| JP2002264069A | 2002-09-18 | |||
| JP2008249073A | 2008-10-16 | |||
| JPH1047337A | 1998-02-17 | |||
| JPH0349435U | 1991-05-14 |
Tetsuro Shimada
Shinji Mitsuhashi
Hirose Shigeki
Kazuo Maejima
Masahiro Tahara
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