Patent ID: 11919158
Assignee: TOKYO ROBOTICS INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  F  G | IPC B  G

Claim 0:
1. A joint unit, comprising:
an input-side support member that supports a rotationally driven input shaft;
a decelerator that decelerates the input shaft to provide a deceleration output shaft;
an output rotating body that is coupled to the deceleration output shaft, and comprises a strain generating portion that generates strain due to rotation transmitted by the deceleration output shaft, an input-side portion that is a portion positioned between a portion coupled to the deceleration output shaft and the strain generating portion, and an output-side portion that is a portion positioned opposite from the input-side portion across the strain generating portion; and
an associated rotating body that is coupled to the output-side portion of the output rotating body to rotate together with the output rotating body, and is disposed in a space between the input-side support member and the input-side portion of the output rotating body,
wherein a first angle detection mechanism for detecting an angle formed between the associated rotating body and the input-side support member is provided for the associated rotating body and the input-side support member, and
a second angle detection mechanism for detecting an angle formed between the associated rotating body and the input-side portion of the output rotating body is provided for the associated rotating body and the input-side portion.