Robot
US11376729B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 18, 2019 |
| Grant date | Jul 5, 2022 |
| Priority date | — |
| Expiry date | Feb 22, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39417
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot including at least one joint shaft that includes: a first link member and a second link member that are coupled about a rotation axis; a reducer that has an input shaft part fixed to the first link member and an output shaft part fixed to the second link member; a motor that generates a driving force to be input to the reducer; and an input-side encoder that detects a rotation angle of a rotation shaft of the motor; and an output-side encoder that detects a rotation angle between the first link member and the second link member. The output-side encoder includes a scale member that has a pattern and a sensor that detects the pattern on the scale member. The scale member is fixed to an attachment surface, and the sensor is attached to a fixing member fixed to the first link member.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.