Title:
エンコーダ装置、ロボット
Document Type and Number:
Japanese Patent JP6812718
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an encoder device and a robot which can be miniaturized when an encoder is provided in each of both of an input shaft and an output shaft.SOLUTION: An encoder device 9 includes: an input shaft encoder 11 (first encoder) which detects a rotation angle of a motor 10 stored in a shoulder 3 (first arm); and an output shaft encoder 14 (second encoder) which detects a rotation angle of a lower arm 4 (second arm) with respect to the shoulder 3. At the time, the lower arm 4 (second arm) is formed into a shape to cover the motor 10 and a reduction gear 12 (transmission mechanism) from both sides of a rotary shaft 10a. The output shaft encoder 14 is provided to be located on the motor 10 side of a connection position of the motor 10 and the reduction gear 12.SELECTED DRAWING: Figure 2
Inventors:
Hiroaki Shiratori
Daisuke Kawase
Takashi Fukuoka
Yuchi Kawachi
Daisuke Kawase
Takashi Fukuoka
Yuchi Kawachi
Application Number:
JP2016189606A
Publication Date:
January 13, 2021
Filing Date:
September 28, 2016
Export Citation:
Assignee:
Denso Wave Co., Ltd.
International Classes:
B25J13/00; G01B21/22; G01D5/347
Domestic Patent References:
| JP4201093A | ||||
| JP2013211958A | ||||
| JP7124884A | ||||
| JP62015488U |
Foreign References:
| WO2012050130A1 |
Attorney, Agent or Firm:
Patent Business Corporation Sato International Patent Office