Nikon Corporation

Daihen Corporation

Kenji Omata

Takashi Nagase

Hiroshi Nakagiri

Nan Jiang

Kota Hoshijima

Kou Ohno

Koichi Sakata

Toru Morita

Yoshiji Takahashi

Hiroyuki Kishida

Shintaro Hikichi

Masami Kikyo

Hirofumi Takeuchi

Provided is an encoder, which is provided in a driving apparatus comprising a motor section configured to drive a first displacement section, which is connected to a fixed section via an elastic body, and a transmission section configured to convert a displacement of the first displacement section and transmit the displacement to the second displacement section, comprising: a first detector configured to detect first displacement information of the first displacement section; a second detector configured to detect second displacement information of the second displacement section; a third detector configured to detect third displacement information of the motor section relative to the fixed section; and a computing section configured to obtain information related to a driving amount of the motor section using the first displacement information and the second displacement information, and obtain information of a load on the motor section using the third displacement information.

Encoder, driving apparatus, robot apparatus, control system, and its control method

A driving apparatus has a problem in that foreign matter, such as grease, in a reduction gear moves from the reduction gear to a coupling side. Therefore, a driving apparatus includes an input shaft with a hollow space, a motor that rotates the input shaft, a reduction gear that receives the power of the motor from the input shaft, an output shaft inserted through the hollow space of the input shaft and adapted to rotate about the rotation axis of the motor, and a coupling connected to a tip end of the output shaft. A first limiting member for limiting the movement of foreign matter in the reduction gear toward the coupling side is arranged between the reduction gear and the coupling.

Driving apparatus

A driving apparatus has a problem in that a tip end of an output shaft, which is inserted through a hollow space, is difficult to be fitted into the apparatus body during the maintenance. Therefore, a driving apparatus includes an input shaft with a hollow space formed therein that penetrates therethrough in the axial direction, a motor that rotates the input shaft, a reduction gear that receives the power of the motor from the input shaft, an output shaft inserted through the hollow space of the input shaft and adapted to rotate about the rotation axis with power output from the reduction gear, and a coupling connected to a tip end of the output shaft. A first bearing for supporting the output shaft is arranged, and a second bearing for supporting the output shaft is arranged in the hollow space between the input shaft and the output shaft.

A driving apparatus has a problem in that during the maintenance operation, foreign matter moves from the tip end side of an input shaft into a hollow space. Therefore, a driving apparatus includes an input shaft with a hollow space formed therein, the hollow space penetrating therethrough in the axial direction, a motor that rotates the input shaft, a reduction gear that receives the power of the motorfrom the input shaft, an output shaft inserted through the hollow space of the input shaft and adapted to rotate about the rotation axis with power output from the reduction gear, and a detector that detects information on the rotation of the input shaft and the output shaft. A limiting member, which limits the movement of foreign matter into the hollow space of the input shaft from one side to the other side of the motor, is arranged in the hollow space between the input shaft and the output shaft.

An encoder includes: a first scale which has a first index portion; a second scale which has a second index portion; a first detection unit which outputs a first signal based on the first index portion, regarding first relative rotation between a fixing member and a first rotating member; a second detection unit which outputs a second signal based on the second index portion, regarding second relative rotation between the fixing member and a second rotating member; and a signal-processing unit which calculates information regarding the first relative rotation on the basis of the first signal and which calculates information regarding the second relative rotation on the basis of the second signal.

Encoder, driving device, and robot apparatus

A drive apparatus includes a motor having a drive part that rotates a first shaft member; a transmission part that transmits rotation of the first shaft member to a second shaft member which is different from the first shaft member; a first detection device provided at the first shaft member to detect information regarding rotation of the drive part; a second detection device provided at the second shaft member to detect information regarding rotation of the transmission part; and a prevention part that prevents movement of foreign substance toward a detection part which includes at least one of the first detection device and the second detection device.

Drive apparatus and robot device

An encoder system includes: a first single-rotation absolute encoder that outputs a first signal corresponding to an angular position of a first rotatable shaft; a power transmission device that transmits the power of the first shaft to a second rotatable shaft with a predetermined transmission ratio; a second single-rotation absolute encoder that outputs a second signal corresponding to an angular position of the second shaft; and a signal processing section that generates data related to the rotation count of the first shaft based on at least the first signal and the second signal.

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Utsunomiya, Japan

Kenji Omata