Title:
ENCODER, DRIVE DEVICE, ROBOT DEVICE, CONTROL SYSTEM, AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2020/066431
Kind Code:
A1
Abstract:
This encoder is installed in a drive device that is provided with: a motor part which is coupled to a fixing part via an elastic body so as to drive a first displacement part; and a transmission part for converting a displacement of the first displacement part and transmitting the converted displacement to a second displacement part. The encoder is provided with: a first detector for detecting first displacement information of the first displacement part; a second detector for detecting second displacement information of the second displacement part; a third detector for detecting third displacement information about a displacement of the motor part with respect to the fixing part; and a calculation unit which, using the first and second displacement information, obtains information about a drive quantity of the motor part and which, using the third displacement information, obtains information about a load exerted on the motor part. The present invention enables detection of the load of a motor with high accuracy and a simple configuration.
Inventors:
OMATA KENJI (JP)
SAKATA KOICHI (JP)
SAKATA KOICHI (JP)
Application Number:
PCT/JP2019/033592
Publication Date:
April 02, 2020
Filing Date:
August 27, 2019
Export Citation:
Assignee:
NIKON CORP (JP)
International Classes:
G01L3/12; B25J9/10; B25J13/08; B25J19/02; G01D5/12; G01D5/26; G01L3/14; H02P29/02
Foreign References:
| JPS5214578B2 | 1977-04-22 | |||
| JP6291421B2 | 2018-03-14 |
Attorney, Agent or Firm:
OMORI Satoshi (JP)
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