METHOD FOR INCORPORATING OPTICAL ENCODER INTO DIRECT DRIVE MOTOR AND ROBOT DRIVEN BY DIRECT DRIVE MOTOR

摘要

A method for incorporating an optical encoder into a direct drive motor and an industrial robot driven by a direct drive motor wherein said method is employed. An optical encoder (E) of standardized type having a through hole (H 2) and a direct drive motor (M) of various dimensions having a through hole (H 1) are coupled by means of a transmission member (3) having dimensions compatible with the dimension of the direct drive motor and comprising a rigid material in such a way that the effective space of said through hole (H 1) is not obstructed and both through holes (H 1, H 2) communicate with each other so that the encoder is subjected to neither backlash nor slippage and, when this method applies to a robot, various kinds of cables (20) for the control of the robot can be inserted into each of the central through holes (H 1, H 2) of the encoder and the motor. This invention is effective for use in an industrial robot requiring particularly a high accuracy of work.