Encoder Unit and Robot

Abstract

An encoder unit includes a housing component, a shaft component, and an encoder. The housing component, through a cover component, defines an openable space and can be fixed to a second component. The shaft component is rotatably supported by the housing component about a designated axis. The encoder is disposed within the space. The shaft component passes through a through-hole provided in the housing component, with one end in the axial direction protruding outside the housing component. The encoder includes a scale and a sensor. The scale is annular, with its central axis aligned with the axis and fixed to the shaft component. The sensor is fixed to the housing component facing the scale and reads the scale. The housing component aligns the axis of the shaft component with a rotation axis and can be assembled to the second component. One end of the shaft component can be fixed to a first component.

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