JPH0213786Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to a coupling device for actuators for parallel operation having non-excitation operated brakes.

[Prior art]

FIG. 1 is a block diagram showing the drive system of this type of device, where 1 is a left actuator that drives load _L1 , 2 is a right actuator that drives load _L2 ,
M ₁ and M ₂ are driving electric motors, B ₁ and B ₂ are non-excitation type brakes (hereinafter simply referred to as brakes) that operate the brakes when the driving electric motors M ₁ and M ₂ are not energized;
G ₁ and G ₂ are reduction gears, F ₁ and F ₂ are flexible shaft connection mechanisms,
S ₁ and S ₂ are connecting splines at the ends of the flexible shaft coupling mechanisms F ₁ and F ₂ , and 3 is the connecting spline.
This is a flexible shaft that connects S ₁ and S ₂ .

Next, the operation will be explained. During normal operation, the left
Voltages are applied to the right actuators 1 and 2 at the same time, and the drive motors M ₁ and M ₂ start, and at the same time, the brakes B ₁ and B ₂ are released, and the loads L ₁ and L ₂ are transferred via the reduction gears G ₁ and G ₂ . are driven respectively. At this time,
The left and right ends of the flexible shaft 3 are driven by flexible shaft coupling mechanisms F ₁ and F ₂ to synchronize the rotations of the loads L ₁ and L ₂ .

Furthermore, if the motor on one side, for example, the drive motor M ₂ , fails for some reason and the brake B ₂ is normally released, the output of the normal motor, in this case the drive motor M ₁ , is transferred to the reduction gear G. ₁ , flexible shaft connection mechanism F ₁ , coupling spline S ₁ , flexible shaft 3,
The load L ₂ can be actuated via the coupling spline S ₂ and the flexible shaft coupling mechanism F ₂ .

Since the conventional coupling device for actuators for parallel operation is configured as described above, it is necessary to combine at least one pair of gears as the flexible shaft coupling mechanism F ₁ and F ₂ , which complicates the gear box etc. There were drawbacks such as:

[Summary of the idea]

This invention was made to eliminate the drawbacks of the conventional brakes as described above, and by locating the center of the coupling spline on the central axis of the brake coil of the non-excitation type brake,
The object of the present invention is to provide a coupling device for actuators for parallel operation that can simplify the speed reduction device and is small, lightweight, and inexpensive.

[Example of idea]

An embodiment of this invention will be described below with reference to the drawings.

FIG. 2 is a block diagram showing a driving system of an embodiment of this invention, and the same reference numerals as in FIG. 1 indicate the same or corresponding parts.

In the embodiment shown in FIG. 2, the flexible shaft connection mechanism shown in FIG. 1, which is connected via the flexible shaft 3, is omitted.

That is, coupling _{splines S 1 ,}
Both brakes B ₁ and B ₂ are connected by a flexible shaft 3 such that the center of S ₂ is located respectively.

Figure 3 is an enlarged view of the main parts of Figure 2, where 4 is a brake coil of a non-excitation type brake, 5 is a coupling spline corresponding to the coupling splines S ₁ and S ₂ in Figure 2, and 6 is a ball. bearing; 7 is a housing that holds the brake coil 4 and ball bearing 6; 8 is a fixed friction plate; 9 is a movable friction plate; 10 is a brake that releases the friction plates 8 and 9 when the brake coil 4 is energized. The plate 11 is a spring that presses the brake plate 10.

Next, the operation will be explained. In Figure 3,
When the brake coil 4 is excited by electricity, it overcomes the spring 11 and attracts the brake plate 10. Due to the movement of the brake plate 10, the fixed side friction plate 8
and the movable side friction plate 9 become free from each other, and the coupling spline 5 is driven by the motor (see Fig. 2).
rotates.

Therefore, in FIG. 2, for example, if the drive motor M ₂ has failed and the brake B ₂ is normally released, the output of the drive motor M ₁ on the normal side is connected to the coupling spline S ₁ , which is possible. The load L ₂ can be actuated via the flexible shaft 3, the coupling spline S ₂ and also the reduction gear G ₂ .

In addition, in the above embodiment, the connecting splines S ₁ ,
Although S ₂ and drive electric motors M ₁ and M ₂ are shown on the same axis, they do not need to be on the same axis.
For example, connecting splines S ₁ and S ₂ and drive motor
Parts of the reduction gears G ₁ and G ₂ may be provided between M ₁ and M ₂ .

[Effect of idea]

As explained above, this invention is configured so that the center of the coupling spline is located on the central axis of the brake coil of the non-excitation type brake, so the device can be simplified and the actuator can be small, lightweight, and inexpensive. There is an effect that can be obtained.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the drive system of a conventional coupling device for actuators for parallel operation, Fig. 2 is a block diagram showing an embodiment of this invention, and Fig. 3 is an enlarged sectional view of the main part of Fig. 2. It is. In the figure, 1 is a left actuator, 2 is a right actuator, 3 is a flexible shaft, 5 is a spline for connection,
B ₁ and B ₂ are non-excitation operated brakes, G ₁ and G ₂ are reduction gears, and S ₁ and S ₂ are coupling splines. In addition,
The same reference numerals in the figures indicate the same or corresponding parts.

Claims (1)

[Scope of utility model registration request] In a device in which actuators having non-excitation operated brakes are coupled via a connecting shaft and a plurality of actuators are synchronized and operated in parallel, a coupling for the coupling shaft is provided on a central axis of a brake coil of the non-excitation operated brake. A coupling device for actuators for parallel operation, characterized by the arrangement of splines.