JPS6060331A - Flexible coupling - Google Patents

Abstract

PURPOSE:To reduce backlash by providing a cross plate springs capable of rotation about the x and y axes, either on one side or on both sides of the xy parallel shift mechanism consisting of two pairs of parallel plate springs. CONSTITUTION:A flexible coupling 6 connecting a motor shaft 1 and a pulley shaft 4, consists of an xy parallel shift mechanism, which in turn is made up of two pairs of two opposed parallel plate springs 7, 8 and 9, 10 displacing in x and y directions whose axes, x and y, are making a right angle to each other. The coupling also has cross plate springs 11 and 12 which enable the coupling to rotate about both x and y axes, on one side or both sides of the xy parallel shift mechanism. In this manner, the flexible coupling 6 has the cross plate springs 11, 12, the pulley shaft 4 and the motor shaft 1 fixed. The plate springs absorb respective parallel shift or inclination of the shafts 1, 4, so as to execute stable transmission of power between the two shafts.

Description

Detailed Description of the Invention (a) Technical Field of the Invention The present invention relates to a coupling used to connect a rotary drive machine and a load, and in particular, to absorb parallel misalignment and inclination of the shafts on the drive side and the load side. The present invention also relates to a flexible coupling with reduced paraclarity and increased rigidity.

(b) Prior Art and Problems Couplings are generally used to connect a rotary drive machine such as a motor to a load. For example, when attempting to connect the motor shaft 1 of the motor M and the pulley shaft 4 that rotates the pulley 2, etc., as shown in FIG. It is very difficult to align the shaft 4 in a straight line. Therefore, a flexible coupling 5 as shown in FIG. 2, for example, has been considered, which has a structure that can absorb some misalignment between the motor shaft 1 and the pulley shaft 4. The flexible coupling 5 shown in the figure is made of metal in a shirt-like shape and has flexibility.In this method, the motor shaft 1 and the pulley shaft 4
Although the parallel deviation and inclination of the motor M can be absorbed, if a very large torque is applied to the motor M, the motor M will be twisted and the relationship between the rotational position of the motor M and the rotational position of the pulley 2 cannot be determined.

Various other plexiple coupling structures have been considered, but they absorb the misalignment of the shafts on the drive side and the load side and the tilt of the shafts, which are required for flexible couplings.
Furthermore, the current situation is that a highly rigid one without paralysis has not been realized.

(c) Purpose of the invention The purpose of the present invention was made in view of the above-mentioned drawbacks.
The object of the present invention is to provide a high-rigidity flexible coupling with no backlash by absorbing axis deviation and inclination with a separate structure.

(d) Structure of the invention and this object according to the invention, X, Y orthogonal to each other
XY consisting of two sets of parallel plate springs for displacement in two directions
A 1000-column row movement mechanism and a cross plate spring for enabling rotation around the XY two directions are provided on one side or both sides of the XYY row movement mechanism, and the parallel plate spring and cross plate spring are provided on at least one side or more. This can be achieved by pasting a viscoelastic substance such as rubber, filling the gap between parallel springs or cross plate springs, or providing a 7-lexiple coupling made of resin with a small elastic modulus. Ru.

(e) Examples of the invention Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 3 is a perspective view showing one embodiment of the flexible coupling of the present invention.

In the figure, the flexible coupling 6 connecting the motor shaft 1 and the pulley shaft 4 consists of two sets of two opposing parallel leaf springs 7.8 and 9, respectively, which are displaced in mutually orthogonal XY2Y directions.
．． 10, and cross plate springs 11 and 12 for enabling rotation in the two directions.
The cross plate spring 11°3-12, the pulley shaft 4, and the motor shaft 1 are fixed by being provided on one side or both sides of the YY row moving mechanism.

Note that 13 is a cavity, 14 is a hole, and 15 is a hole.

2 represents a pulley, and M represents a motor.

Figures wc4 (a) and (b) are front views showing how the parallel deviation a between the shafts 1.4 on the drive side and the load side is absorbed, and the parallel springs 9.10
The parallel deviation a of axis 1.4 as shown in figure (a) is absorbed,
The parallel spring 7.8 absorbs the parallel deviation a of the shaft 1.4 as shown in figure (b).

5(a) and 5(b) are front views showing the absorption state of the inclination b of the shafts 1 and 4 on the drive side and the load side, in which the cross plate spring 11 is moved to one side (the parallel spring part of the XY thousand-digit row movement mechanism) In this case, the inclination b of the shaft 1.4 as shown in Figure (A) is absorbed by providing it on the load side. Furthermore, if the cross plate springs 11 and 12 are provided on both sides of the parallel spring portion, a large inclination between the axes 1 and 4 as shown in Figure (b) can be absorbed.

In addition, the XY thousand column movement mechanism of the flexible coupling 6 has two sets of parallel plate springs (7, 8) (9, 10) orthogonal to each other.
Although it is structurally easy to displace in the XY2Y directions, it has strong rigidity and is resistant to twisting when torque is transmitted.

Therefore, high rigidity without paraclarity can be obtained. The structure of the coupling is also simple, such as a rectangular prism having a cavity 13 inside, with holes 14 and 15 formed on the sides.

Note that the above structure can be manufactured from a metal material by machining, wire cutting, sheet metal bending, or the like. However, parallel plate spring 7
, 8.9.10, The cross plate spring 11.12 needs to be made soft to make it easier to correct the parallel deviation of the anti-axis and the tilt of the axis, so the spring constant needs to be low, so the wall thickness of J is made thin. However, processing metal materials to be thin is difficult and expensive. Therefore, by using a resin (for example, phenol, epoxy, etc.) whose elastic modulus is several tens to several hundred times lower than that of metal, a material with a low spring constant can be obtained even if the wall thickness is increased. If the flexible coupling 6 is integrally molded from a resin material, the assembly effort can be saved and the coupling can be manufactured at a very low cost.

When the 7-lexiple coupling 6 shown in Figure 3 is rotated at high speed, the parallel springs 7, 8, 9, 10 and cross plate springs 11, 12 may mechanically resonate. When resonance occurs, not only is abnormal force applied to both the drive side and the load side, but also the flexible coupling 6 itself may be destroyed.

Therefore, as shown in FIGS. 6(a) and 6(b), a structure is adopted in which a viscoelastic substance such as rubber is added to the parallel plate springs 7, 8, 9, and 10 and the cross plate springs 11, 12 of the flexible turnip spring 6. , suppresses resonance. Figure 6 (a) shows a basic embodiment. In this example, in order to suppress the resonance phenomenon,
Parallel leaf springs 7, 8.9.10 and cross leaf springs 11.12
Rubber 23.23' is pasted on the front and back sides of the rubber 23.23' so that the resonance of the parallel leaf springs 7, 8, 9, 10 and cross leaf spring 11.12 is absorbed by the force of the rubber 23.23'.

FIG. 6(b) shows another embodiment, in which the spaces between the parallel plate springs 7, 8, 9, and 10 and the cross plate springs 11, 12 are filled with rubber 24 and 25, and the same procedure as described above is performed. Parallel leaf spring? , 8.9.10 and the resonance of the cross plate springs 11 and 12 are suppressed to a small level.

The above description has been about a flexible coupling in which a cross spring part is provided on both sides of a parallel spring part, but the cross leaf spring 11
．． The XY 1000 column movement mechanism shown in FIG. 7 (a) consisting of a parallel plate spring 7, 8.9° 10 without the 12 absorbs and facilitates alignment.

FIG. 8 is a perspective view showing an arm-type p-bot, and in the figure, 16 is a hand, 17 is a wrist, 18 is a first arm, and 19 is a
20 represents the second arm, 20 represents the joint, and 21 represents the base.

When a workpiece is attracted to the hand 16 of the robot and transported to a predetermined position at high speed, vibrations caused by the wrist 17 are generated due to the inertial masses of the workpiece and the hand 16 during acceleration and deceleration.

Therefore, while the vibration is present, even if the robot itself is accurately positioned, the practical operation will not be completed, and until the vibration stops or falls within the allowable amplitude, there will be wasted time. It is necessary to shorten the decay time.

Therefore, as shown in Fig. 7 (b), the parallel plate spring 7°8
, 9.10, vibration damping can be quickly damped by lining or pasting the vibration isolating rubber 22 on the parts.

Figure 9 is a schematic diagram showing the vibration damping effect when vibration isolating rubber is added to the parallel leaf spring of the XYY row movement mechanism, and the solid line C envelops the amplitude of the vibration damping of the XY thousand column movement mechanism with rubber. The dotted line d is an envelope of the amplitude of vibration damping of the XYY row movement mechanism without rubber, and shows a logarithmic damping rate of 0.020.

(f) Effects of the Invention As explained in detail above, the flexible coupling of the present invention includes an XYY row movement mechanism from two sets of parallel leaf springs for displacement in two mutually perpendicular X and Y directions, and
A simple structure in which a cross plate spring is provided on one side or both sides of the X and Y parallel movement mechanisms to enable rotation in the Y2 direction allows the coupling between the drive side and the load side, which could not be achieved with conventional couplings. It absorbs parallel misalignment of the shaft and tilt of the shaft, and has high rigidity with no backlash.

[Brief explanation of drawings]

8- Figure 3 shows one of the flexible couplings of the present invention.
4(a) and 4(b) are perspective views showing the embodiment, and FIGS.
Figures (A) and (B) are diagrams showing how the inclination of the axes on the drive side and the load side are absorbed in the present invention, and Figures (A) and (B) show the parallel plate spring and cross plate spring of the present invention with rubber etc. 7(a) and 7(b) are respective perspective views showing another embodiment of the present invention, and FIG. 8 is a perspective view of a robot to which the present invention is applied. 9 are schematic diagrams showing the vibration damping effect of the XY parallel movement mechanism with anti-vibration rubber according to the present invention. In the figure, 1 is a motor shaft, 2 is a pulley, 4 is a pulley shaft, and 6 is a flexible coupling. 7, 8, 9, and 10 are parallel leaf springs, and 11.12 are cross leaf springs. 13 is a cavity, 14.15 is a hole, 17 is a wrist, 18 is a first arm, 19 is a second arm, and 20 is a joint. 21 is the stand, 22 is the anti-vibration rubber, 23.2a', 24.25
Figure 1 Figure 3 Figure 34, %"U (o) Figure 7/□' Figure 7 □ Time

Claims (4)

[Claims] (1) An XY linear movement mechanism consisting of two sets of parallel plate springs for displacement in XY2Y directions orthogonal to each other, and the XYZ
The cross plate spring to enable rotation around Y is connected to the XY
A flexible coupling installed on one or both sides of the Y-row movement mechanism. (2) The flexible coupling according to claim 1, wherein the parallel plate spring or the cross plate spring has a viscoelastic substance affixed to at least one side thereof. (3) The flexible coupling according to claim 1, wherein a viscoelastic substance is filled between the parallel leaf springs and the gap between the cross leaf springs. (4) The flexible coupling according to claim 1, wherein the XY linear movement mechanism and the cross plate spring are made of a resin having a large vibration damping coefficient and a small elastic modulus.