Driving apparatus and inspection system
A driving apparatus connectable to a driving target to be driven based on a plurality of powers, comprising a shaft body extending in a first direction, and a plurality of power generation units configured to generate the plurality of powers, respectively, and detachably attached to a periphery of the shaft body, wherein each power generation unit includes a power unit configured to generate power, a sensor unit configured to detect a state of the power generation unit, and a control unit configured to perform driving control of the power unit and externally output a signal of the sensor unit.
1 . A driving apparatus connectable to a driving target to be driven based on a plurality of powers, comprising:
a shaft body extending in a first direction; and
a plurality of power generation units configured to generate the plurality of powers, respectively, and detachably attached to a periphery of the shaft body,
wherein each power generation unit includes
a power unit configured to generate power,
a sensor unit configured to detect a state of the power generation unit, and
a control unit configured to perform driving control of the power unit and externally output a signal of the sensor unit.
2 . The apparatus according to claim 1 , wherein
each power generation unit further includes a power output unit configured to output the power generated by the power unit, and
the sensor unit includes an external force detection sensor configured to detect an external force applied to the power output unit.
3 . The apparatus according to claim 2 , wherein
the power output unit is movable with respect to the power unit, and
the sensor unit includes a position sensor configured to detect a position of the power output unit with respect to the power unit.
4 . The apparatus according to claim 1 , further comprising a connection mechanism configured to connect the plurality of power generation units to the driving target,
wherein the connection mechanism includes an internal gear with the first direction as a central axis, a sun gear with the first direction as a central axis including an opening in a central portion, and a plurality of planetary gears arranged between the internal gear and the sun gear and configured to mesh with the internal gear and the sun gear, and
the driving target is inserted into the opening of the sun gear to be connected to the plurality of power generation units, and the connection is fixed by pivoting the sun gear about the first direction as the central axis.
5 . The apparatus according to claim 4 , wherein a gear ratio among the internal gear, the sun gear, and the plurality of planetary gears is set so that a pivot amount of the sun gear is larger than a moving amount of each of the plurality of planetary gears.
6 . The apparatus according to claim 4 , further comprising a connection detection sensor configured to detect the connection by the connection mechanism,
wherein the connection mechanism further includes a plate-shaped member configured to pivot by pivoting the sun gear about the first direction as the central axis, and
the connection detection sensor detects the connection based on passing of the plate-shaped member.
7 . The apparatus according to claim 1 , further comprising:
a support member configured to support the shaft body on one end portion side; and
a plurality of extending portions extending outward from the support member to respectively correspond to the plurality of power generation units, and each configured to hold a signal line connected to the control unit.
8 . The apparatus according to claim 1 , wherein each power generation unit is fixed to the shaft body by at least one fixing portion, and is individually detachable from the shaft body.
9 . An inspection system comprising:
a driving apparatus defined in claim 1 ; and
a stage configured to hold the driving apparatus to be reciprocally movable in a first direction.
10 . The system according to claim 9 , wherein
in a case where Nis a natural number not less than 2,
a driving target includes N movable portions,
each movable portion is movable based on three kinds of control signals, and
the number of power generation units is 3×N.
11 . The system according to claim 10 , wherein
the stage includes a main control unit configured to exchange a signal with each of control units of the plurality of power generation units,
the plurality of power generation units are divided into N groups, and each group includes three power generation units, and
the main control unit controls the three power generation units for each group.
12 . The system according to claim 11 , wherein
in a case where the three power generation units are represented as a first power generation unit, a second power generation unit, and a third power generation unit,
the main control unit outputs, to the control unit of the first power generation unit, an instruction signal for the first power generation unit, the second power generation unit, and the third power generation unit,
the control unit of the first power generation unit outputs, to the control unit of the second power generation unit, the instruction signal received from the main control unit, and
the control unit of the second power generation unit outputs, to the control unit of the third power generation unit, the instruction signal received from the control unit of the first power generation unit.
13 . The system according to claim 12 , wherein
the control unit of the third power generation unit outputs, to the control unit of the second power generation unit, a signal of a sensor unit of the third power generation unit,
the control unit of the second power generation unit outputs, to the control unit of the first power generation unit, the signal of the sensor unit of the third power generation unit received from the control unit of the third power generation unit and a signal of a sensor unit of the second power generation unit, and
the control unit of the first power generation unit outputs, to the main control unit, the signals of the sensor units of the second power generation unit and the third power generation unit received from the control unit of the second power generation unit and a signal of a sensor unit of the first power generation unit.
14 . The system according to claim 13 , wherein the inspection system is a robot system that sets, as the driving target, a wire driving manipulator whose posture can be changed based on a plurality of powers.