阅读说明：本技术 驱动传递装置、驱动装置及机器人 (Drive transmission device, drive device, and robot ) 是由 保坂健人 泉川友宏 镰田泰孝 镰田照己 见上康臣 于 2020-03-12 设计创作，主要内容包括：本发明涉及驱动传递装置、驱动装置及机器人,能够通过驱动传递装置实现具有柔顺性的状态,与追加专用的装置的情况相比,还能够减轻成本的提高。将驱动源侧的一对齿轮(2A、B)和一对齿轮一起啮合的共同的输出侧(3)的齿轮,设为一对齿轮从输出侧的齿轮受到轴向力推力的齿轮的啮合,将一对齿轮在轴线方向上支承为自由移动,并在一对齿轮的互为不同的轴方向侧中的限制轴线方向上的移动的构件(21A、B)和一对齿轮之间设置弹性体(5A、B)。(The invention relates to a drive transmission device, a drive device, and a robot, which can realize a flexible state by the drive transmission device and can reduce the cost improvement compared with the case of adding a special device. A common output-side gear in which a pair of gears (2A, B) on the drive source side and a pair of gears are meshed together is formed by meshing the pair of gears with a gear which receives an axial force thrust from the output-side gear, the pair of gears are supported so as to be movable in the axial direction, and an elastic body (5A, B) is provided between a member (21A, B) which restricts movement in the axial direction of the pair of gears and the pair of gears, the member being on the different axial direction sides from each other.)

1. A drive transmission device characterized by:

the pair of gears on the drive source side and the pair of gears are engaged with each other to form a common output-side gear in which the pair of gears receive an axial thrust force from the output-side gear, the pair of gears are supported so as to be movable in the axial direction, and an elastic body is provided between the pair of gears and a member that restricts movement in the axial direction out of the pair of gears in different axial direction sides.

2. The drive transmission device according to claim 1, characterized in that:

the pair of gears and the output-side gear are helical gears.

3. A drive device characterized by comprising:

the drive transmission device according to claim 1 or 2, and a drive source that supplies drive to the pair of gears, respectively.

4. The drive device according to claim 3, characterized in that:

and a control unit having the drive source that performs backlash control to cancel backlash between the output-side gear and the pair of gears, the control unit being capable of switching a mode of 2 backlash controls in which directions of the axial force thrust are controlled to be different from each other.

5. The drive device according to claim 3, characterized in that:

a control section having the drive source that performs backlash control to cancel backlash between the output-side gear and the pair of gears, the control section performing backlash control such that the axial force thrust is directed toward a side where the elastic body is provided.

6. The drive device according to claim 4 or 5,

in the backlash control in which the direction of the axial force thrust is the side where the elastic body is provided, a pattern in which the axial force thrust is different from each other by 2 or more is provided.

7. The drive device according to claim 4 or 5, characterized in that:

a detector is provided for detecting a rotational position or a rotational speed of the gear on the output side.

8. The drive device according to claim 7, characterized in that:

the gear torque estimating device includes an estimating unit that estimates torque of the pair of gears based on a detection result of the detector.

9. A robot, characterized by comprising:

the drive device according to any one of claims 3 to 8, and a drive object driven by the drive device.

Technical Field

The invention relates to a drive transmission device, a drive device, and a robot.

Background

Conventionally, it is known to switch a robot hand at the tip of a robot arm between a state with compliance (compliance) and a state with rigidity by using a centering device, which is also called a compliance module or an error absorbing device. For example, patent document 1 discloses such a centering device.

In order to switch the robot hand between a state in which the robot hand is made compliant and a state in which the robot hand is made rigid, if a conventional dedicated device is added, there is a problem that the cost increases.

[ patent document 1 ] Japanese laid-open patent application No. 2000-94377

Disclosure of Invention

In order to solve the above problem, a drive transmission device according to the present invention includes: the pair of gears on the drive source side and the pair of gears are engaged with each other to form a common output-side gear in which the pair of gears receive an axial thrust force from the output-side gear, the pair of gears are supported so as to be movable in the axial direction, and an elastic body is provided between the pair of gears and a member that restricts movement in the axial direction out of the pair of gears in different axial direction sides.

According to the drive transmission device of the present invention, a flexible state can be achieved by the drive transmission device, and cost increase can be reduced as compared with a case where a dedicated device is added.

Drawings

Fig. 1 (a) and (b) are explanatory views of a schematic configuration of a drive transmission device according to a first embodiment.

Fig. 2 (a) and (b) are explanatory views when an axial thrust is applied to the bearing side.

Fig. 3 (a) and (b) are explanatory views when an axial force pushing force acts on the spring side.

Fig. 4 is a graph showing the magnitude of the offset torque in backlash control as a function of compliance.

Shown in FIG. 5 is

A block diagram of a control unit according to a second embodiment.

Fig. 6 (a) and (b) are explanatory views of one mode of backlash control.

Fig. 7 is an explanatory diagram of control corresponding to fig. 6.

Fig. 8 (a) and (b) are explanatory views of other modes of backlash control.

Fig. 9 is an explanatory diagram of control corresponding to fig. 8.

Fig. 10 is a block diagram of a control unit according to a fourth embodiment.

Fig. 11 is a schematic configuration diagram of a robot according to a fifth embodiment.

Fig. 12 (a) and (b) are external views of a drive device according to a specific example.

Fig. 13 is a sectional view of a portion constituting the first joint.