Power transmission device

摘要

A control device 11 of a power transmission device 1 sets an allowable range of a temporal change rate of an inter-element driving force transmitted between a driving element 4 (elastic member) and a driven element 5 such that the allowable range changes in accordance with an observed value of the amount of elastic deformation of the elastic member (driving element 4), and controls the inter-element driving force, via an actuator 2, in such a way as to restrict the temporal change rate of the inter-element driving force to be within the allowable range thus set.

主权项

1. A power transmission device performing power transmission between an actuator which outputs a rotational driving force and a load member which is to be driven, the power transmission device comprising:
a driving element and a driven element disposed on a path for the power transmission as elements responsible for the power transmission on the path, the driving and driven elements respectively having teeth and tooth grooves meshed with each other, the driving and driven elements being configured such that the power transmission at meshing portions is performed via an elastic force which is generated by elastic deformation of an elastic member; and a control device that controls an amount of elastic deformation of the elastic member by controlling the actuator to thereby control an inter-element driving force which is a driving force transmitted from the driving element to the driven element, wherein the control device includes an allowable range setting section that sets an inter-element driving force change rate allowable range as an allowable range of a change rate of the inter-element driving force such that the allowable range changes in accordance with an observed value of the elastic deformation amount of the elastic member, and the control device is configured to control the inter-element driving force in such a way as to restrict the change rate of the inter-element driving force to be within the inter-element driving force change rate allowable range set by the allowable range setting section.