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

Claim 8:
9. The joint unit according to claim 1, wherein
each of the first angle detection mechanism and the second angle detection mechanism is an angle detection mechanism, comprising: a light emitting element; a code wheel on which a predetermined optical pattern is formed; and a light receiving element that receives a light emitted from the light emitting element and obtained via the code wheel, and reads the optical pattern,
in the first angle detection mechanism, the code wheel is fixed to the input-side support member,
in the second angle detection mechanism, the code wheel is fixed to the input-side portion,
the associated rotating body includes:
a flat plate portion disposed in a space between the input-side support member and the input-side portion of the strain generating portion of the output rotating body;
a first holding piece portion extending from the flat plate portion, and disposed on a back side of the code wheel to sandwich the code wheel attached to the input-side support member; and
a second holding piece portion extending from the flat plate portion, and disposed on the back side of the code wheel to sandwich the code wheel attached to the input-side portion,
in the first angle detection mechanism, the light emitting element is fixed to the flat plate portion, and the light receiving element is fixed to the first holding piece portion, whereby the light from the light emitting element passes through the code wheel fixed to the input-side support member, and is received by the light receiving element, and
in the second angle detection mechanism, the light emitting element is fixed to the flat plate portion, and the light receiving element is fixed to the second holding piece portion, whereby the light from the light emitting element passes through the code wheel fixed to the input-side portion, and is received by the light receiving element.