Actuator and robot arm apparatus

Abstract

To make it possible to highly accurately detect a rotation angle and to drive more safely. Provided is an actuator (300) that is provided with: a reduction gear (320), which reduces, at a predetermined reduction ratio, a rotation speed of an input shaft connected to a rotation shaft of a motor (360), and which transmits the rotation speed to an output shaft (350); a first absolute angle encoder (330) that detects a rotation angle of the input shaft; and a second absolute angle encoder (340) that detects a rotation angle of the output shaft.

Description

technical field [0001] The present disclosure relates to a transmission device and a robot arm device. Background technique [0002] A rotary encoder (hereinafter also simply referred to as an encoder) is widely used as a sensor device for detecting the rotation angle of a rotary driven member, such as an automotive power steering device or a joint unit of a robot device. In rotation angle detection using an encoder, various techniques have been proposed to further improve detection accuracy. [0003] For example, Patent Document 1 discloses a technology that converts the rotation of the main rotation shaft into the rotation of two detection shafts through reduction gears having different reduction ratios, detects the rotation angle of each detection shaft with a corresponding encoder, and The absolute angle of the main rotation shaft is calculated based on the difference between the detected rotation angles, thereby accurately detecting the rotation angle of the main rotat...

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