| 摘要 |
PURPOSE:To detect the position of a robot arm with a simple constitution by generating a detecting signal just in one time only when the specific teeth have an agreement between two gears at the inside of a motor and also within a working range of the robot arm. CONSTITUTION:A shaft 5 revolves as a motor 1 revolves, and therefore a gear 7 revolves. Then a gear 8 also revolves. The difference of one tooth exists between gears 7 and 8, and the teeth of gears 8 and 9 which engage with each other at first gear again into each other after N revolutions. While the working range of an arm 3 of a robot is set at >=1 revolution, and therefore the shaft 5 has >=N revolutions. Therefore the revolution of the gear 7 is set at >=N revolutions, and the light of a photocoupler 10 transmits just once through holes 9a and 9'a with matching obtained between these holes. Then the number of pulses generated from an encoder is counted with a time point when the light transmits defined as a detecting signal. In such a way, the position of the arm 3 can be detected. |
