| 摘要 |
PROBLEM TO BE SOLVED: To provide a mechanical encoder and an actuator that are capable of reducing force required to rotate a main driving gear and driven gears, and of increasing a degree of freedom in design, by making the main driving gear and the driven gears compact.SOLUTION: The mechanical encoder comprises: cases 45, 47; a main driving gear 93 rotatably installed in the cases 45, 47; a plurality of driven gears 123, 163 rotatably installed in the cases 45, 47 and engaged with the main driving gear 93; permanent magnets 115, 149, 189 respectively fixed to the main driving gear 93 and the driven gears 123, 163; a board 201 fixed to the cases 45, 47; sensors 203, 205, 207 arranged on the board 201 and for detecting changes in magnetic fields according to respective rotations of the main driving gear 93 and the driven gears 123, 163; and magnetic bodies 117, 151, 191 for magnetic interference prevention installed in the cases 45, 47 and shielding the respective permanent magnets 115, 149, 189 respectively fixed to the main driving gear 93 and the driven gears 123, 163.SELECTED DRAWING: Figure 6 |
