JPH0666326A - Shaft joint mechanism - Google Patents
Shaft joint mechanismInfo
- Publication number
- JPH0666326A JPH0666326A JP4223054A JP22305492A JPH0666326A JP H0666326 A JPH0666326 A JP H0666326A JP 4223054 A JP4223054 A JP 4223054A JP 22305492 A JP22305492 A JP 22305492A JP H0666326 A JPH0666326 A JP H0666326A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- driven
- coupling portion
- drive
- side coupling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、駆動軸と被駆動軸とを
結合するための軸継手機構に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shaft coupling mechanism for connecting a drive shaft and a driven shaft.
【０００２】[0002]
【従来の技術】従来の軸継手機構としては、例えば、特
開昭６３−８８３０８号公報に記載されているものがあ
る。この軸継手機構は、キー付軸のキー部の先端に軸方
向に対して傾斜するキー側テーパ面が設けられている一
方で、キー溝付軸のキー溝を含むところにキー側テーパ
と接触するキー溝側テーパ面が設けられている。このキ
ー溝側テーパ面は、結合の際、キー側テーパ面と接触し
て、キー付軸芯をキー溝軸芯へ案内するためのガイドの
役割を果たしている。キー付軸とキー溝軸の中心が合う
と、キー付軸を一方向に回転してキー付軸のキー部がキ
ー溝へ落し込まれて両軸が連結し、動力の伝達が可能と
なる。2. Description of the Related Art As a conventional shaft coupling mechanism, for example, there is one described in Japanese Patent Laid-Open No. 63-88308. This shaft coupling mechanism has a key side taper surface that is inclined with respect to the axial direction at the tip of the key part of the keyed shaft, while contacting the key side taper where the key groove of the keyed shaft is included. The keyway side taper surface is provided. The keyway-side tapered surface contacts the key-side tapered surface at the time of coupling and plays a role of a guide for guiding the keyed shaft core to the keyway shaft core. When the center of the keyed shaft and the keyway shaft are aligned, the keyed shaft is rotated in one direction, the key part of the keyed shaft is dropped into the keyway, and both shafts are connected, enabling power transmission. .
【０００３】[0003]
【発明が解決しようとする課題】例えば、駆動軸（キー
付軸）と被駆動軸（キー溝付軸）とを結合すると共に、
駆動軸が設けられている駆動側本体と被駆動軸が設けら
れている被駆動側本体とを連結する必要がある場合、従
来技術では、駆動軸側または被駆動軸側のいずれか一方
に逃げがないので、駆動軸と被駆動軸とが完全に結合し
た状態でなければ、駆動側本体と被駆動側本体とを結合
することができない。ところで、駆動側本体と被駆動側
本体との結合は、本来、駆動軸と被駆動軸とを結合する
前に行うことが好ましい。これは、駆動側本体と被駆動
側本体とが結合する前に、駆動軸と被駆動軸とが結合し
てしまうと、両本体に何らかの荷重がかかると、その荷
重が直ちに両軸にかかり、軸が変形等してしまうからで
ある。したがって、駆動側本体と被駆動側本体とが結合
する前に駆動軸と被駆動軸とが結合してしまわぬよう、
駆動側本体と被駆動側本体との結合と、駆動軸と被駆動
軸との結合とが同時に完了するようにすると、これらの
結合制御が非常に難しくなるという問題点がある。For example, a drive shaft (a shaft with a key) and a driven shaft (a shaft with a key groove) are coupled to each other, and
When it is necessary to connect the drive-side main body provided with the drive shaft and the driven-side main body provided with the driven shaft, according to the conventional technique, it is necessary to escape to either the drive shaft side or the driven shaft side. Therefore, the drive-side main body and the driven-side main body cannot be connected unless the drive shaft and the driven shaft are completely connected. By the way, it is originally preferable that the drive-side main body and the driven-side main body are coupled to each other before the drive shaft and the driven shaft are coupled. This is because if the drive shaft and the driven shaft are connected before the drive-side main body and the driven-side main body are connected, if some load is applied to both main bodies, the load is immediately applied to both shafts. This is because the shaft will be deformed. Therefore, before the drive-side main body and the driven-side main body are connected, the drive shaft and the driven shaft are prevented from being combined with each other.
If the driving side main body and the driven side main body and the driving shaft and the driven shaft are connected at the same time, it is very difficult to control the connection between them.
【０００４】本発明は、このような従来の問題点につい
て着目してなされたもので、結合制御を容易に行うこと
ができる軸継手機構および装置連結機構を提供すること
を目的とする。The present invention has been made in view of such conventional problems, and an object thereof is to provide a shaft coupling mechanism and a device coupling mechanism which can easily perform coupling control.
【０００５】[0005]
【課題を解決するための手段】前記目的を達成するため
の軸継手機構は、駆動軸の先端に取付ける駆動側結合部
と被駆動軸の先端に取付ける被駆動側結合部とのうち、
少なくとも一方が取付けられる軸に対してその軸方向に
平行な方向に往復移動可能に設けられ、前記駆動側結合
部と前記被駆動側結合部とには、他方の結合部を取付け
られている軸の軸心方向に誘導するためのテーパ面が形
成されていることを特徴とするものである。A shaft coupling mechanism for achieving the above object includes a drive-side coupling portion mounted at the tip of a drive shaft and a driven-side coupling portion mounted at the tip of a driven shaft.
A shaft provided so as to be capable of reciprocating in a direction parallel to the axial direction of at least one of the shafts, and the other coupling part is mounted on the driving side coupling part and the driven side coupling part. It is characterized in that a taper surface for guiding in the axial direction of is formed.
【０００６】また、前記目的を達成するための他の軸継
手機構は、駆動軸の先端に取付ける駆動側結合部と被駆
動軸の先端に取付ける被駆動側結合部とのうち、少なく
とも一方が取付けられる軸に対してその軸方向に平行な
方向に往復移動可能に設けられ、前記駆動側結合部と前
記被駆動側結合部とのうち、一方は凸状に形成され、他
方は一方の凸状部分が嵌合可能に凹状に形成され、前記
一方の凸状部分の外周には軸方向に平行なキーが設けら
れ、前記他方の凹状部分の内周には該キーが嵌挿可能な
キー溝が設けられ、前記一方の凸状部分の先端部分のう
ち、少なくとも前記キーの先端部分に軸心方向に傾斜す
るテーパー面が形成され、前記他方の凹状部分の内周側
先端部分に該テーパー面と対向するテーパー面が形成さ
れていることを特徴とするものである。Further, in another shaft coupling mechanism for achieving the above object, at least one of a driving side coupling portion mounted at a tip of a driving shaft and a driven side coupling portion mounted at a tip of a driven shaft is mounted. Is provided so as to be capable of reciprocating in a direction parallel to the axial direction of the driven shaft, and one of the driving-side coupling portion and the driven-side coupling portion is formed in a convex shape and the other is formed in a convex shape. A part is formed in a concave shape so that it can be fitted, a key parallel to the axial direction is provided on the outer circumference of the one convex part, and a key groove into which the key can be inserted on the inner circumference of the other concave part. A tapered surface that is inclined in the axial direction is formed on at least the tip portion of the key among the tip portions of the one convex portion, and the tapered surface is formed on the inner circumferential side tip portion of the other concave portion. The taper surface facing the It is an.
【０００７】ここで、以上の軸継手機構には、前記駆動
側結合部と前記被駆動側結合部とのうち、往復移動可能
に設けられている少なくとも一方をその先端方向に付勢
する弾性材を備えていることが好ましい。また、この軸
継手機構には、前記駆動側結合部と前記被駆動側結合部
との結合を検知する検知手段を備えてもよい。Here, in the shaft coupling mechanism described above, an elastic member that urges at least one of the driving-side coupling portion and the driven-side coupling portion that is reciprocally movable in the distal direction thereof. Is preferably provided. In addition, the shaft coupling mechanism may include a detection unit that detects the coupling between the driving-side coupling portion and the driven-side coupling portion.
【０００８】[0008]
【作用】駆動軸を相対的に被駆動軸の方向に移動させ
る。駆動側結合部と被駆動側結合部とが接触すると、両
者に設けられているテーパ面により、駆動軸は、その軸
心と被駆動軸の軸心とが一致するよう、相対的に移動す
る。Function: The drive shaft is relatively moved in the direction of the driven shaft. When the drive-side coupling portion and the driven-side coupling portion come into contact with each other, the tapered surfaces provided on the driving-side coupling portion and the driving-side coupling portion cause the driving shaft to relatively move so that the shaft center and the driven shaft are aligned. .
【０００９】駆動側本体と被駆動側本体とを連結する必
要がある場合には、以上のように駆動軸の軸心と被駆動
軸の軸心とが一致した時点で、駆動側本体と被駆動側本
体とを連結する。そして、その後、結合部の一方を他方
の結合部の方向に移動させ、両結合部を結合させる。な
お、結合部にキーまたはキー溝がある場合には、結合部
を移動させる前にキーとキー溝とが一致するように、両
軸のうち一方を回転させてから結合部を移動させる。When it is necessary to connect the drive side main body and the driven side main body, the drive side main body and the driven side main body are connected to each other when the axis of the drive shaft and the axis of the driven shaft coincide with each other as described above. Connect to the drive side body. Then, after that, one of the joining portions is moved in the direction of the other joining portion to join both joining portions. When the coupling portion has a key or a key groove, one of the two shafts is rotated before the coupling portion is moved so that the key and the key groove are aligned before moving the coupling portion.
【００１０】[0010]
【実施例】以下、本発明に係る各種実施例について図面
を用いて説明する。本発明に係る第１の実施例につい
て、図１〜図８を用いて説明する。図１に示すように、
駆動軸１００の先端には、最も細径の首部１０１ｂが形
成され、さらにその先端部に首部１０１ｂよりも太径の
スライダ部１０１ａが形成されている。スライダ部１０
１ａの外周には、図２に示すように、軸方向に平行な突
起１０１ｃが形成されている。このスライダ部１０１ａ
は、これを相対的に軸方向に往復移動可能に収納する駆
動側結合部１０２が設けられている。駆動側結合部１０
２の内壁には、スライダ部１０１ａの突起１０１ｃと係
合するスプライン１０２ｃが形成されている。駆動側結
合部１０２には、駆動側結合部１０２がスライダ部に対
して相対的に先端方向（図１中、Ａ方向）へ移動するの
を規制するためのストッパ１０６が設けられている。ま
た、駆動側結合部１０２の外周には、図３に示すよう
に、軸方向に平行な４個のキー１０３，１０３，…が形
成され、その先端部は、テーパ面１０５を形成してい
る。駆動側結合部１０２内には、駆動側結合部１０２を
スライダ部１０１ａに対して相対的に先端方向（Ａ方
向）へ付勢するバネ１０４が設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Various embodiments according to the present invention will be described below with reference to the drawings. A first embodiment according to the present invention will be described with reference to FIGS. As shown in Figure 1,
A neck portion 101b having the smallest diameter is formed at the tip of the drive shaft 100, and a slider portion 101a having a diameter larger than that of the neck portion 101b is formed at the tip portion. Slider part 10
As shown in FIG. 2, a protrusion 101c parallel to the axial direction is formed on the outer periphery of 1a. This slider portion 101a
Is provided with a drive-side coupling portion 102 that accommodates this so as to be relatively reciprocally movable in the axial direction. Drive side coupling section 10
A spline 102c that engages with the protrusion 101c of the slider portion 101a is formed on the inner wall of the second member 2. The drive-side coupling portion 102 is provided with a stopper 106 for restricting the movement of the drive-side coupling portion 102 in the distal end direction (direction A in FIG. 1) relative to the slider portion. Further, as shown in FIG. 3, four keys 103, 103, ... Which are parallel to the axial direction are formed on the outer periphery of the driving side coupling portion 102, and the tip end portion thereof forms a tapered surface 105. . A spring 104 is provided inside the drive-side coupling portion 102 to bias the drive-side coupling portion 102 in the distal direction (A direction) relative to the slider portion 101a.
【００１１】図１に示すように、被駆動軸２００の先端
には、駆動側結合部１０２が嵌合する凹状の被駆動側結
合部２０１が設けられている。被駆動側結合部２０１
は、その先端側内周部にテーパ面１０５と対応する形状
に形成されたテーパ面２０２と、キー１０３が軸方向に
摺動自在に嵌挿可能な４個のキー溝２０４と（図４に示
す。）、駆動側結合部１０２の本体部分が軸方向に摺動
自在に嵌挿可能な有底の穴部２０３と、が形成されてい
る。この穴部２０３の底部には、駆動側結合部１０２の
先端部が穴部２０３の底部に接したか否かを検出するリ
ミットスイッチ２０５が設けられている。As shown in FIG. 1, at the tip of the driven shaft 200, there is provided a concave driven side coupling portion 201 into which the driving side coupling portion 102 is fitted. Driven side coupling section 201
Is a taper surface 202 formed in a shape corresponding to the taper surface 105 on the inner peripheral portion on the tip end side, and four key grooves 204 into which the key 103 can be slidably inserted in the axial direction (see FIG. 4). ), And a bottomed hole portion 203 into which the main body portion of the drive side coupling portion 102 can be slidably inserted in the axial direction is formed. A limit switch 205 is provided at the bottom of the hole 203 to detect whether the tip of the drive-side coupling portion 102 is in contact with the bottom of the hole 203.
【００１２】次に、芯合せおよび結合動作について、図
５〜図８を用いて説明する。図５に示すように、仮り
に、両軸１００，２００の結合前、被駆動軸２００の軸
方向に対して駆動軸１００の軸方向が相対的に傾斜して
いるとする。Next, centering and joining operations will be described with reference to FIGS. As shown in FIG. 5, it is assumed that the axial direction of the drive shaft 100 is inclined relative to the axial direction of the driven shaft 200 before the shafts 100 and 200 are coupled.
【００１３】まず、駆動軸１００を被駆動軸２００の軸
方向に移動させる。この移動により、図６に示すよう
に、駆動側結合部１０２の先端角部が被駆動側結合部２
０１のテーパ面２０２に接触する。駆動軸１００を前記
軸方向にさらに移動させると、駆動軸１００は引き続き
前記軸方向に移動するのに対して、駆動側結合部１０２
は被駆動側のテーパ面２０２に接し、前記軸方向に移動
できないので、バネ１０４の長さが縮小し、スライダ部
１０１ａはストッパ１０６から離れていく。駆動側結合
部１０２は、駆動軸１００の前記軸方向移動により、被
駆動側のテーパ面２０２に沿って軸心方向に次第に移動
していき、図７に示すように、駆動側のテーパ面１０５
と被駆動側のテーパ面２０２とが完全に接し、駆動側結
合部１０２の先端部が被駆動側結合部２０１の穴部２０
３が嵌挿し、両軸１００，２００の芯合せが完了する。First, the drive shaft 100 is moved in the axial direction of the driven shaft 200. As a result of this movement, as shown in FIG. 6, the tip corner portion of the driving side coupling portion 102 is moved to the driven side coupling portion 2.
No. 01 taper surface 202 is contacted. When the drive shaft 100 is further moved in the axial direction, the drive shaft 100 is continuously moved in the axial direction, while the drive side coupling portion 102 is used.
Is in contact with the driven-side tapered surface 202 and cannot move in the axial direction, the length of the spring 104 is reduced, and the slider portion 101a moves away from the stopper 106. The drive-side coupling portion 102 gradually moves in the axial direction along the driven-side tapered surface 202 due to the axial movement of the drive shaft 100, and as shown in FIG. 7, the driving-side tapered surface 105.
And the tapered surface 202 on the driven side are completely in contact with each other, and the tip end of the driving side coupling portion 102 is the hole 20 of the driven side coupling portion 201.
3 is fitted and the alignment of both shafts 100, 200 is completed.
【００１４】次に、駆動軸１００を一方向に回転させ
て、駆動側結合部１０２のキー１０３と被駆動側結合部
２０１のキー溝２０４との位置が合致すると、縮んでい
たバネ１０４が復帰しようとして、駆動側結合部１０２
は被駆動側結合部２０１の穴部２０３に嵌挿すると共
に、キー１０３がキー溝２０４に嵌挿する。駆動側結合
部１０２が被駆動側結合部２０１の穴部２０３に嵌挿
し、駆動側結合部１０２の先端部が被駆動側結合部２０
１の穴部２０３の底部に接すると、リミットスイッチ２
０５がこれを検知して、両軸１００，２００の結合が完
了したことを知らせる。Next, when the drive shaft 100 is rotated in one direction and the key 103 of the drive side coupling portion 102 and the key groove 204 of the driven side coupling portion 201 are aligned with each other, the contracted spring 104 is restored. Trying to drive the coupling 102
Is inserted into the hole 203 of the driven side coupling portion 201, and the key 103 is inserted into the key groove 204. The driving-side coupling portion 102 is fitted into the hole portion 203 of the driven-side coupling portion 201, and the tip portion of the driving-side coupling portion 102 is driven-side coupling portion 20.
When contacting the bottom of the hole 203 of No. 1, the limit switch 2
05 detects this and notifies that the coupling of both shafts 100 and 200 is completed.
【００１５】ところで、両軸１００，２００の結合過程
で、駆動側本体と被駆動側本体とを結合させようとした
場合、駆動軸１００に対して駆動側結合部１０２は軸方
向に移動可能に設けられているので、本実施例では、駆
動軸１００と被駆動軸２００とが完全に結合した状態
（図８の状態）の前に、駆動側本体と被駆動側本体とを
両者が結合可能な位置に移動させることができる。すな
わち、バネ１０４が縮んでいる図７に示す状態で、駆動
側本体と被駆動側本体とを結合させることができる。し
たがって、駆動側本体と被駆動側本体との結合と、駆動
軸と被駆動軸との結合とを同時に完了させるような複雑
な制御は不要になる。By the way, when the drive side main body and the driven side main body are to be connected in the connecting process of both shafts 100 and 200, the drive side connecting portion 102 is movable in the axial direction with respect to the drive shaft 100. Since it is provided, in the present embodiment, both the drive-side main body and the driven-side main body can be connected before the drive shaft 100 and the driven shaft 200 are completely connected (the state of FIG. 8). It can be moved to any position. That is, in the state shown in FIG. 7 in which the spring 104 is contracted, the driving side main body and the driven side main body can be coupled. Therefore, complicated control for simultaneously completing the coupling of the driving side body and the driven side body and the coupling of the driving shaft and the driven shaft is unnecessary.
【００１６】また、本実施例では、両軸１００，２００
の芯合わせが完了し、キー１０３とキー溝２０４との位
置が一致した時点で、バネ１０４の力のみで駆動側結合
部１０２を被駆動側結合部２０１の穴部２０３に入れる
ようにしているので、両軸１００，２００の軸芯が完全
に一致していないときには、駆動側結合部１０２が被駆
動側結合部２０１の穴部２０３に入ることはない。した
がって、駆動側結合部１０２を被駆動側結合部２０１の
穴部２０３に強制的に入れることにより、駆動軸１００
の芯と被駆動軸２００の芯とが完全に一致していない状
態で、両軸１００，２００が結合してしまうようなこと
は起こらない。また、本実施例では、リミットスイッチ
２０５を設けたので、遠隔地にて両軸１００，２００の
結合完了を検知することができる。Further, in this embodiment, both shafts 100, 200
When the center alignment is completed and the positions of the key 103 and the key groove 204 coincide with each other, the driving side coupling portion 102 is inserted into the hole portion 203 of the driven side coupling portion 201 only by the force of the spring 104. Therefore, when the axes of the two shafts 100 and 200 are not completely aligned, the drive-side coupling portion 102 does not enter the hole 203 of the driven-side coupling portion 201. Therefore, by forcibly inserting the driving side coupling portion 102 into the hole portion 203 of the driven side coupling portion 201, the driving shaft 100
It is unlikely that the shafts 100 and 200 will be combined with each other in a state where the core of the shaft 100 and the core of the driven shaft 200 are not completely aligned. Further, in this embodiment, since the limit switch 205 is provided, it is possible to detect the completion of the coupling of the both shafts 100 and 200 at a remote place.
【００１７】次に、本発明に係る第２の実施例につい
て、図９〜図１１を用いて説明する。なお、本実施例
は、第１の実施例の駆動側の構成を変えたもので、被駆
動側の構成は第１の実施例と同様である。Next, a second embodiment according to the present invention will be described with reference to FIGS. In this embodiment, the structure of the driving side of the first embodiment is changed, and the structure of the driven side is the same as that of the first embodiment.
【００１８】図９に示すように、駆動軸３００の先端に
は、最も細径の首部３０１ｂが形成され、さらにその先
端部に首部３０１ｂよりも太径のスライダ部３０１ａが
形成されている。スライダ部３０１ａの外周には、図１
１に示すように、軸方向に平行な突起３０１ｃが形成さ
れている。このスライダ部３０１ａは、これを相対的に
軸方向に往復移動可能に収納する駆動側結合部３０２が
設けられている。駆動側結合部３０２の内壁には、スラ
イダ部３０１ａの突起３０１ｃと係合するスプライン３
０２ｃが形成されている。駆動側結合部３０２には、駆
動側結合部３０２がスライダ部３０１ａに対して相対的
に先端方向（図１０中、Ａ方向）へ移動するのを規制す
るためのストッパ３０６が設けられている。また、駆動
側結合部３０２の外周には、図１２に示すように、軸方
向に平行な４個のキー３０３，３０３，…が形成され、
その先端部は、テーパ面３０４を形成している。As shown in FIG. 9, a neck portion 301b having the smallest diameter is formed at the tip of the drive shaft 300, and a slider portion 301a having a diameter larger than the neck portion 301b is formed at the tip portion. As shown in FIG.
As shown in FIG. 1, a protrusion 301c parallel to the axial direction is formed. The slider portion 301a is provided with a driving side coupling portion 302 that accommodates the slider portion 301a so as to be capable of reciprocating in the axial direction. On the inner wall of the driving side coupling portion 302, the spline 3 that engages with the protrusion 301c of the slider portion 301a.
02c is formed. The drive-side coupling portion 302 is provided with a stopper 306 for restricting movement of the drive-side coupling portion 302 in the tip end direction (direction A in FIG. 10) relative to the slider portion 301a. Further, as shown in FIG. 12, four keys 303, 303, ... Which are parallel to the axial direction are formed on the outer periphery of the driving side coupling portion 302,
The tip portion thereof forms a tapered surface 304.
【００１９】駆動軸３００内には、駆動側結合部３０２
を回転させるためのアクチュエータ３１０が収容されて
おり、このアクチュエータ３１０の出力軸は、軸方向に
平行に配されているスクリュー３１２と接続されてい
る。このスクリュー３１２は、首部３０１ｂ及びスライ
ダ部３０１ａ、さらに、駆動側結合部３０２の先端部を
貫通している。駆動側結合部３０２の先端部には、スク
リュー３１２の先端部と螺合するボールナット３１３が
設けられている。アクチュエータ３１０は、動力線３１
４及びスリップリング３１５を介して外部に設けた図示
していない動力源と接続されている。Inside the drive shaft 300, a drive side coupling portion 302
An actuator 310 for rotating the actuator is housed, and an output shaft of the actuator 310 is connected to a screw 312 arranged in parallel with the axial direction. The screw 312 penetrates the neck portion 301b, the slider portion 301a, and the leading end portion of the drive-side coupling portion 302. A ball nut 313 that is screwed into the tip of the screw 312 is provided at the tip of the drive-side coupling portion 302. The actuator 310 uses the power line 31.
4 and a slip ring 315, and is connected to a power source (not shown) provided outside.
【００２０】次に、本実施例の芯合せおよび結合動作に
ついて説明する。まず、駆動側結合部３０２のストッパ
３０６とスライダ部３０１ａとが最も離れている状態
で、駆動側結合部３０２と被駆動側結合部２０１（図９
には図示せず、図１参照のこと）とを近接させてから、
アクチュエータ３１０を駆動させる。駆動側結合部３０
２は、この内周側にスプライン３０２ｃが設けられてい
るため、スライダ部３０１ａに対して回転できず、軸方
向の移動のみが可能なよう設けられている。したがっ
て、アクチュエータ３１０が駆動してスクリュー３１２
が回転すると、駆動側結合部３０２はＡ方向に移動し
て、駆動側結合部３０２と被駆動側結合部２０１とが接
する。このとき、駆動軸３００の軸心と被駆動軸２００
の軸心とが一致しないときには、図６を用いて前述した
ように、駆動側結合部３０２の先端角部が被駆動側結合
部２０１のテーパ面２０２に接触する。引続き、駆動側
軸３００がＡ方向に移動しようとすると、駆動側結合部
３０２の先端部はＡ方向に移動しつつ、被駆動側結合部
２０１のテーパ面２０２に沿って軸心方向へ移動し、被
駆動側結合部２０１の穴部２０３に嵌挿して、芯合せが
完了する。Next, the centering and joining operations of this embodiment will be described. First, with the stopper 306 of the driving side coupling portion 302 and the slider portion 301a being most distant from each other, the driving side coupling portion 302 and the driven side coupling portion 201 (see FIG. 9).
(Not shown in FIG. 1, see FIG. 1), and
The actuator 310 is driven. Drive side coupling section 30
In No. 2, since the spline 302c is provided on the inner peripheral side, it is provided so that it cannot rotate with respect to the slider portion 301a and can move only in the axial direction. Therefore, the actuator 310 is driven to drive the screw 312.
When is rotated, the driving side coupling portion 302 moves in the direction A, and the driving side coupling portion 302 and the driven side coupling portion 201 are in contact with each other. At this time, the shaft center of the drive shaft 300 and the driven shaft 200
6 does not coincide with the axis of the drive side coupling portion 302, the tip corner portion of the driving side coupling portion 302 contacts the tapered surface 202 of the driven side coupling portion 201 as described above with reference to FIG. When the drive-side shaft 300 continues to move in the A direction, the tip end of the drive-side coupling portion 302 moves in the A-direction and moves in the axial direction along the tapered surface 202 of the driven-side coupling portion 201. , Is fitted into the hole portion 203 of the driven side coupling portion 201, and the centering is completed.
【００２１】ここで、駆動側結合部３０２のキー３０３
と被駆動側結合部２０１のキー溝２０４の位置が合致し
ない場合、引続き、アクチュエータ３１０を駆動させて
も、駆動側結合部３０２はＡ方向に移動できないので、
アクチュエータ３１０には予め設定された負荷以上の負
荷が加わる。このため、アクチュエータ３１０は一端停
止する。アクチュエータ３１０が停止すると、駆動軸３
００を回転させる。Here, the key 303 of the drive side coupling portion 302
When the position of the key groove 204 of the driven side coupling portion 201 does not match with that of the driven side coupling portion 201, the driving side coupling portion 302 cannot move in the A direction even if the actuator 310 is continuously driven.
A load larger than a preset load is applied to the actuator 310. Therefore, the actuator 310 stops once. When the actuator 310 stops, the drive shaft 3
Rotate 00.
【００２２】駆動軸３００の回転により、キー３０３が
キー溝２０４の位置に合致して、アクチュエータ３１０
に対する負荷が軽減すると、再びアクチュエータ３１０
が駆動し始め、駆動側結合部３０２がＡ方向に移動し、
被駆動側結合部２０１の穴部２０３に完全に納まり、両
軸２００，３００の結合が完了する。本実施例において
も、駆動側結合部３０２が駆動軸３００に対して、Ａ方
向に移動できるので、第１の実施例と同様の効果を得る
ことができる。The rotation of the drive shaft 300 causes the key 303 to match the position of the key groove 204, and the actuator 310
Once the load on the
Starts to drive, the drive side coupling portion 302 moves in the A direction,
The driven side coupling portion 201 is completely fitted in the hole portion 203, and the coupling of the both shafts 200 and 300 is completed. Also in this embodiment, since the drive side coupling portion 302 can move in the direction A with respect to the drive shaft 300, the same effect as that of the first embodiment can be obtained.
【００２３】次に、本発明に係る第３の実施例につい
て、図１２及び図１３を用いて説明する。本実施例は、
駆動側の回転機構が何等かの原因で故障した場合に対応
できるようにしたものである。なお、本実施例は、被駆
動側の構成を変えたもので、駆動側の構成は第１の実施
例または第２の実施例と同様である。被駆動軸４００の
先端部には、第１の実施例と同様に、被駆動側結合部４
０１が設けられている。この内部構造は、第１の実施例
のものと同様に、その先端内周にテーパ面４０２が形成
されていると共に、このテーパ面４０２に連らなる穴部
４０３とキー溝４０４とが形成されている。被駆動側結
合部４０１の外周は、一般的なボルトやナットの標準サ
イズの六角形状に形成された６角部４０５をなしてい
る。Next, a third embodiment according to the present invention will be described with reference to FIGS. In this example,
This is designed to be able to deal with the case where the drive-side rotating mechanism fails for some reason. In this embodiment, the structure of the driven side is changed, and the structure of the driving side is the same as that of the first embodiment or the second embodiment. At the tip of the driven shaft 400, as in the first embodiment, the driven side coupling portion 4 is provided.
01 is provided. This internal structure is similar to that of the first embodiment in that a tapered surface 402 is formed on the inner circumference of the tip, and a hole portion 403 and a key groove 404 which are continuous with the tapered surface 402 are formed. ing. The outer periphery of the driven side coupling portion 401 forms a hexagonal portion 405 formed in a standard size hexagonal shape of a general bolt or nut.
【００２４】このように、被駆動側結合部４０１の外周
に６角部４０５が形成されているため、駆動軸の回転機
構が故障しても、６角部４０５にスパナーやモンキーレ
ンチなどの工具を嵌めこみ、被駆動側結合部４０１の回
転させることにより、駆動軸と被駆動側軸とを結合させ
ることができる。なお、本実施例の場合、６角部４０５
を被駆動側結合部４０１に設けたが、駆動側結合部を被
駆動側結合部に対して相対的に回転させればよいので、
駆動側結合部に６角部を形成してもよい。但し、この場
合、両軸が結合した際、被駆動側結合部の穴部に入り込
まない所に６角部を形成する必要がある。As described above, since the hexagonal portion 405 is formed on the outer periphery of the driven side coupling portion 401, even if the rotating mechanism of the drive shaft fails, the hexagonal portion 405 has a tool such as a spanner or a monkey wrench. The drive shaft and the driven-side shaft can be connected by inserting the drive shaft and rotating the driven-side connecting portion 401. In the case of this embodiment, the hexagonal portion 405
Although the driven side coupling portion 401 is provided with, the driving side coupling portion may be rotated relative to the driven side coupling portion.
Hexagonal portions may be formed on the driving side coupling portion. However, in this case, it is necessary to form a hexagonal portion at a portion that does not enter the hole portion of the driven side coupling portion when the both shafts are coupled.
【００２５】次に、本発明に係る第４の実施例につい
て、図１４を用いて説明する。本実施例は、駆動側本体
として、宇宙用マニビュレータ５００を用いたものであ
る。Next, a fourth embodiment according to the present invention will be described with reference to FIG. In the present embodiment, the space manipulator 500 is used as the drive side main body.
【００２６】宇宙用マニピュレータ５００は、その先端
部にトルクセンサ５０１を介してツール５１０が取付け
られており、このツール５１０の先端に３本の指５１
１，５１１，５１１が放射状に設置されている。この指
５１１は、その先端側が軸方向に平行な面内で揺動可能
にその基端部がツール５１０に設けられている。すなわ
ち、３本の指５１１，５１１，５１１は、これらが軸心
近傍に集まる閉じた状態と、これらの先端部が放射方向
に向く開いた状態とに可変できるよう、ツール５１０に
設けられている。ツール５１０の先端中央には、駆動軸
１００が設けられ、その先端には、第１の実施例と同様
に、駆動側結合部１０２が設けられている。A tool 510 is attached to the tip of the space manipulator 500 via a torque sensor 501, and the three fingers 51 are attached to the tip of the tool 510.
1, 511 and 511 are installed radially. A proximal end portion of the finger 511 is provided on the tool 510 such that the tip end side of the finger 511 can swing in a plane parallel to the axial direction. That is, the three fingers 511, 511, 511 are provided on the tool 510 so that the three fingers 511, 511, 511 can be changed between a closed state in which they are gathered in the vicinity of the axial center and an open state in which their tips are directed in the radial direction. . A drive shaft 100 is provided at the center of the tip of the tool 510, and a drive-side coupling portion 102 is provided at the tip thereof, as in the first embodiment.
【００２７】一方、被駆動側本体６００は、マニピュレ
ータ５００によりハンドリングされる対象物であって、
専用被把持部６１０が設置されている。専用被把持部６
１０には、前述した３本の指５１１，５１１，５１１が
係合する溝６１１，６１１，６１１が形成されている。
専用被把持部６１０の中央には、第１の実施例と同様
に、被駆動側結合部２０１が設けられている。On the other hand, the driven body 600 is an object to be handled by the manipulator 500,
A dedicated gripped portion 610 is installed. Dedicated gripped part 6
Grooves 611, 611 and 611, into which the above-mentioned three fingers 511, 511 and 511 are engaged, are formed in 10.
At the center of the dedicated gripped portion 610, a driven side coupling portion 201 is provided as in the first embodiment.
【００２８】次に、駆動軸１００と被駆動軸２００との
結合、およびマニピュレータ５００と被駆動側本体６０
０との結合について説明する。まず、指５１１を閉じた
状態で宇宙用マニピュレータ５００を駆動し、第１の実
施例で説明した図７の状態にする。すなわち、駆動軸１
００の軸心と被駆動軸２００の軸心とが一致した状態に
する。図７の状態になると、指５１１，５１１，５１１
が揺動して開いた状態になり、各指５１１，５１１，５
１１は専用被把持部６１０の溝６１１，６１１，６１１
に係合し、マニピュレータ５００と被駆動側本体６００
とが連結する。その後、駆動軸１００が回転して、駆動
側結合部１０２のキー１０３と被駆動側結合部２０１の
キー溝２０４とが一致すると、図８に示したように、駆
動側結合部１０２が被駆動側結合部２０１に嵌まり込
み、駆動軸１００と被駆動軸２００との結合が完了す
る。Next, the drive shaft 100 and the driven shaft 200 are connected, and the manipulator 500 and the driven side main body 60.
The combination with 0 will be described. First, the space manipulator 500 is driven with the finger 511 closed to bring the manipulator 500 into the state shown in FIG. 7 described in the first embodiment. That is, drive shaft 1
The axis of 00 and the axis of the driven shaft 200 are aligned. In the state of FIG. 7, the fingers 511, 511, 511
Swings to the open state, and each finger 511, 511, 5
Reference numeral 11 denotes grooves 611, 611, 611 of the dedicated gripped portion 610
The manipulator 500 and the driven-side main body 600.
And are connected. After that, when the drive shaft 100 rotates and the key 103 of the drive-side coupling portion 102 and the key groove 204 of the driven-side coupling portion 201 coincide with each other, the drive-side coupling portion 102 is driven as shown in FIG. The side shaft 201 is fitted into the side coupling portion 201, and the coupling between the driving shaft 100 and the driven shaft 200 is completed.
【００２９】本実施例では、第１の実施例で説明したよ
うに、両軸１００，２００の結合前に、駆動側本体であ
る宇宙用マニピュレータ５００と被駆動側本体６００と
を結合することができる。また、両軸１００，２００の
結合動作と、宇宙用マニピュレータ５００と被駆動側本
体６００との結合動作とを同じに行う必要がないため、
動作制御が簡単になるとともに、両動作のための動力源
の容量を小さくすることができる。このように、動力源
の容量を小さくでき、軽量化を図れることは、宇宙用の
装置としては非常に有効なことである。In this embodiment, as described in the first embodiment, the space manipulator 500, which is the drive side main body, and the driven side main body 600 can be connected before the two shafts 100, 200 are connected. it can. Further, since it is not necessary to perform the connecting operation of both shafts 100 and 200 and the connecting operation of the space manipulator 500 and the driven side body 600 at the same time,
The operation control becomes simple and the capacity of the power source for both operations can be reduced. As described above, the capacity of the power source can be reduced and the weight can be reduced, which is very effective as a space device.
【００３０】なお、以上の実施例では、駆動軸側に凸状
の駆動側結合部を設け、被駆動軸側に凹状の被駆動側結
合部を設けたが、本発明はこれに限定されるものではな
く、駆動側結合部を凹状にして被駆動側結合部を凸状に
してもよい。また、以上の実施例では、駆動側結合部を
駆動軸に対して往復移動可能に設けたが、被駆動側結合
部を被駆動軸に対して往復移動できるようにしても、両
結合部を往復移動できるようにしてもよい。In the above embodiment, the convex drive side coupling portion is provided on the drive shaft side and the concave driven side coupling portion is provided on the driven shaft side, but the present invention is not limited to this. Alternatively, the driving-side coupling portion may be concave and the driven-side coupling portion may be convex. Further, in the above embodiments, the drive-side coupling portion is provided so as to be reciprocally movable with respect to the drive shaft, but even if the driven-side coupling portion is reciprocally movable with respect to the driven shaft, both coupling portions are connected. You may make it reciprocate.
【００３１】[0031]
【発明の効果】本発明によれば、駆動側結合部と被駆動
側結合部とのうち、少なくとも一方を取付けられる軸に
対してその軸方向に平行な方向に往復移動可能に設けた
ので、駆動側本体と被駆動側本体とを連結する前に、駆
動側結合部と被駆動側結合部とを結合させることができ
るので、駆動側本体と被駆動側本体との結合と、駆動軸
と被駆動軸との結合とを同時に行う必要がなく、これら
の結合制御を簡易にすることができる。また、駆動側本
体と被駆動側本体との結合と、駆動軸と被駆動軸との結
合とを同時に行う必要がなくなったことにより、これら
の結合動作を行うための動力源の容量を小さくすること
ができる。According to the present invention, at least one of the driving side coupling portion and the driven side coupling portion is provided so as to be reciprocally movable in a direction parallel to the axial direction with respect to the shaft to which it is attached. Since the driving side coupling portion and the driven side coupling portion can be coupled before coupling the driving side body and the driven side body, coupling between the driving side body and the driven side body and the driving shaft Since it is not necessary to perform the coupling with the driven shaft at the same time, the coupling control of these can be simplified. Further, since it is not necessary to simultaneously connect the drive-side main body and the driven-side main body and the drive shaft and the driven shaft, it is possible to reduce the capacity of the power source for performing these connecting operations. be able to.
【図１】本発明に係る第１の実施例の軸継手機構の要部
断面図である。FIG. 1 is a sectional view of an essential part of a shaft coupling mechanism according to a first embodiment of the present invention.
【図２】図１におけるII−II線断面図である。FIG. 2 is a sectional view taken along line II-II in FIG.
【図３】図１におけるIII−III線断面図である。3 is a sectional view taken along line III-III in FIG.
【図４】図１におけるIV矢視図である。FIG. 4 is a view on arrow IV in FIG.
【図５】本発明に係る第１の実施例の駆動軸と被駆動軸
とが結合する前の軸継手機構の状態を示す説明図であ
る。FIG. 5 is an explanatory view showing a state of the shaft coupling mechanism before the drive shaft and the driven shaft of the first embodiment according to the present invention are coupled.
【図６】本発明に係る第１の実施例の駆動側結合部と被
駆動側結合部とが接した際の軸継手機構の状態を示す説
明図である。FIG. 6 is an explanatory view showing a state of the shaft coupling mechanism when the driving side coupling portion and the driven side coupling portion of the first embodiment according to the present invention are in contact with each other.
【図７】本発明に係る第１の実施例の駆動軸の軸心と被
駆動軸の軸心とが一致した際の軸継手機構の状態を示す
説明図である。FIG. 7 is an explanatory diagram showing a state of the shaft coupling mechanism when the shaft center of the drive shaft and the shaft center of the driven shaft according to the first embodiment of the present invention coincide with each other.
【図８】本発明に係る第１の実施例の駆動軸と被駆動軸
とが結合した際の軸継手機構の状態を示す説明図であ
る。FIG. 8 is an explanatory diagram showing a state of the shaft coupling mechanism when the drive shaft and the driven shaft according to the first embodiment of the present invention are coupled to each other.
【図９】本発明に係る第２の実施例の駆動側結合部の断
面図である。FIG. 9 is a sectional view of a driving side coupling portion according to a second embodiment of the present invention.
【図１０】図９におけるＸ−Ｘ線断面図である。10 is a sectional view taken along line XX in FIG.
【図１１】図９におけるXI−XI線断面図である。11 is a sectional view taken along line XI-XI in FIG.
【図１２】本発明に係る第３の実施例の被駆動側結合部
の側面図である。FIG. 12 is a side view of a driven side coupling portion according to a third embodiment of the present invention.
【図１３】図１２におけるXIII矢視図である。13 is a view on arrow XIII in FIG.
【図１４】本発明に係る第４の実施例の装置連結機構の
要部斜視図である。FIG. 14 is a perspective view of essential parts of a device connecting mechanism according to a fourth embodiment of the present invention.
１００，３００…駆動軸、１０１ａ，３０１ａ…スライ
ダ部、１０１ｂ，３０１ｂ…首部、１０２，３０２…駆
動側結合部、１０３，３０３…キー、１０４…バネ、１
０５，２０２，３０４，４０２…テーパー面、１０６，
３０６…ストッパ、２００，４００…被駆動軸、２０
１，４０１…被駆動側結合部、２０３，４０３…穴部、
２０４，４０４…キー溝、２０５…リミットスイッチ、
３１０…アクチュエータ、３１２…スクリュー、３１３
…ボールナット、５００…宇宙用マニピュレータ、５１
０…ツール、５１１…指、６００…被駆動側本体、６１
０…専用被把持部、６１１…溝。100, 300 ... Drive shaft, 101a, 301a ... Slider part, 101b, 301b ... Neck part, 102, 302 ... Drive side coupling part, 103, 303 ... Key, 104 ... Spring, 1
05, 202, 304, 402 ... Tapered surface, 106,
306 ... stopper, 200, 400 ... driven shaft, 20
1, 401 ... Driven side coupling portion, 203, 403 ... Hole portion,
204, 404 ... Key groove, 205 ... Limit switch,
310 ... Actuator, 312 ... Screw, 313
… Ball nuts, 500… Space manipulators, 51
0 ... Tool, 511 ... Finger, 600 ... Driven side main body, 61
0 ... Dedicated gripped portion, 611 ... Groove.
フロントページの続き (72)発明者 倉岡 今朝年 東京都港区浜松町二丁目４番１号 宇宙開 発事業団内Continuation of the front page (72) Inventor Kuraoka This morning 2-4-1, Hamamatsucho, Minato-ku, Tokyo Space Development Group
Claims (6)
において、 前記駆動軸の先端に取付ける駆動側結合部と前記被駆動
軸の先端に取付ける被駆動側結合部とのうち、少なくと
も一方が取付けられる軸に対してその軸方向に平行な方
向に往復移動可能に設けられ、 前記駆動側結合部と前記被駆動側結合部とには、他方の
結合部を取付けられている軸の軸心方向に誘導するため
のテーパ面が形成されていることを特徴とする軸継手機
構。1. A shaft coupling mechanism for connecting a drive shaft and a driven shaft, wherein at least one of a drive-side connecting portion attached to a tip of the drive shaft and a driven-side connecting portion attached to a tip of the driven shaft. One of the shafts is provided so as to be capable of reciprocating in a direction parallel to the axial direction to which the shaft is attached, and the other coupling part is attached to the driving side coupling part and the driven side coupling part. A shaft coupling mechanism having a tapered surface for guiding in the axial direction.
において、 前記駆動軸の先端に取付ける駆動側結合部と前記被駆動
軸の先端に取付ける被駆動側結合部とのうち、少なくと
も一方が取付けられる軸に対してその軸方向に平行な方
向に往復移動可能に設けられ、 前記駆動側結合部と前記被駆動側結合部とのうち、一方
は凸状に形成され、他方は一方の凸状部分が嵌合可能に
凹状に形成され、 前記一方の凸状部分の外周には軸方向に平行なキーが設
けられ、前記他方の凹状部分の内周には該キーが嵌挿可
能なキー溝が設けられ、 前記一方の凸状部分の先端部分のうち、少なくとも前記
キーの先端部分に軸心方向に傾斜するテーパー面が形成
され、前記他方の凹状部分の内周側先端部分に該テーパ
ー面と対向するテーパー面が形成されていることを特徴
とする軸継手機構。2. A shaft coupling mechanism for connecting a drive shaft and a driven shaft, wherein at least one of a drive side connecting part attached to a tip of the drive shaft and a driven side connecting part attached to a tip of the driven shaft. One of the driving-side coupling portion and the driven-side coupling portion is formed in a convex shape, and the other one is configured to be reciprocally movable in a direction parallel to the axial direction on which one is attached. Is formed in a concave shape so that it can be fitted, a key parallel to the axial direction is provided on the outer periphery of the one convex portion, and the key can be inserted and inserted on the inner periphery of the other concave portion. A key groove is provided, a taper surface inclined in the axial direction is formed on at least the tip portion of the key among the tip portions of the one convex portion, and the inner peripheral tip portion of the other concave portion is formed. A taper surface facing the taper surface is formed. A shaft coupling mechanism characterized in that
ことを特徴とする請求項２記載の軸継手機構。3. The shaft coupling mechanism according to claim 2, wherein the other outer periphery has a regular hexagonal shape.
のうち、往復移動可能に設けられている少なくとも一方
をその先端方向に付勢する弾性材が設けられていること
を特徴とする請求項１、２又は３記載の軸継手機構。4. An elastic member is provided for urging at least one of the driving-side coupling portion and the driven-side coupling portion, which is reciprocally movable, in a distal direction thereof. The shaft coupling mechanism according to claim 1, 2 or 3.
の結合を検知する検知手段を備えていることを特徴とす
る請求項１、２、３又は４記載の軸継手機構。5. The shaft coupling mechanism according to claim 1, further comprising detection means for detecting the coupling between the driving side coupling portion and the driven side coupling portion.
する被駆動側本体とを連結する装置連結機構において、 前記駆動軸の先端に取付ける駆動側結合部と前記被駆動
軸の先端に取付ける被駆動側結合部とのうち、少なくと
も一方が取付けられる軸に対してその軸方向に平行な方
向に往復移動可能に設けられ、 前記駆動側結合部と前記被駆動側結合部とのうち、一方
は凸状に形成され、他方は一方の凸状部分が嵌合可能に
凹状に形成され、 前記一方の凸状部分の外周には軸方向に平行なキーが設
けられ、前記他方の凹状部分の内周には該キーが嵌挿可
能なキー溝が設けられ、 前記一方の凸状部分の先端部分のうち、少なくとも前記
キーの先端部分に軸心方向に傾斜するテーパー面が形成
され、前記他方の凹状部分の内周側先端部分に該テーパ
ー面と対向するテーパー面が形成され、 前記駆動側本体と前記被駆動側本体とのうち、一方に両
本体を連結するための連結具が設けられ、他方に該連結
具が係合する被連結具が設けられていることを特徴とす
る装置連結機構。6. A device coupling mechanism for coupling a drive shaft main body having a drive shaft and a driven side main body having a driven shaft, wherein a drive side coupling portion attached to the front end of the drive shaft and a front end of the driven shaft. Of the driven side coupling portion to be mounted, at least one of the driving side coupling portion and the driven side coupling portion is provided so as to be capable of reciprocating in a direction parallel to an axis to which at least one is mounted. One is formed in a convex shape, the other is formed in a concave shape so that one convex portion can be fitted, and a key parallel to the axial direction is provided on the outer periphery of the one convex portion, and the other concave portion A key groove into which the key can be inserted is provided on the inner periphery of the key, and a taper surface inclined in the axial direction is formed at least at the tip of the one of the convex portions, The taper is attached to the tip of the inner peripheral side of the other concave portion. A tapered surface is formed to face the par surface, and one of the drive-side main body and the driven-side main body is provided with a connector for connecting the two main bodies, and the other is provided with a connector for engaging the connector. A device connecting mechanism, which is provided with a connecting tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22305492A JP3306108B2 (en) | 1992-08-21 | 1992-08-21 | Shaft coupling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22305492A JP3306108B2 (en) | 1992-08-21 | 1992-08-21 | Shaft coupling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0666326A true JPH0666326A (en) | 1994-03-08 |
| JP3306108B2 JP3306108B2 (en) | 2002-07-24 |
Family
ID=16792117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22305492A Expired - Fee Related JP3306108B2 (en) | 1992-08-21 | 1992-08-21 | Shaft coupling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3306108B2 (en) |
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1992
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| Publication number | Publication date |
|---|---|
| JP3306108B2 (en) | 2002-07-24 |
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