ROBOT

A robot including at least one joint shaft that includes: a first link member and a second link member that are coupled about a rotation axis; a reducer that has an input shaft part fixed to the firstlink member and an output shaft part fixed to the second link member; a motor that generates a driving force to be input to the reducer; and an input-side encoder that detects a rotation angle of a rotation shaft of the motor; and an output-side encoder that detects a rotation angle between the first link member and the second link member. The output-side encoder includes a scale member that hasa pattern and a sensor that detects the pattern on the scale member. The scale member is fixed to an attachment surface, and the sensor is attached to a fixing member fixed to the first link member. 本发明提供一种机器人，其具备至少一个关节轴，至少一个关节轴具备：第一连杆构件和第二连杆构件，其以能够围绕旋转轴线旋转的方式连接；减速器，其具有固定于第一连杆构件的输入轴部和固定于第二连杆构件的输出轴部；马达；输入侧编码器；输出侧编码器，其检测第一连杆构件和第二连杆构件之间的相对旋转角度，输出侧编码器具备平板状的刻度构件和传感器，刻度构件使板厚方向的一个表面与安装面紧贴且能够装卸地固定于安装面，安装面设置在第二连杆构件的与固定有输出轴部的面为相反侧的侧