Coupling, coupling arrangement and robot

Abstract

Coupling (306) for connecting a first shaft (302) and a second shaft (304), wherein the first shaft (302) is a hollow shaft, the second shaft (304) is arranged within the first shaft (302), the first shaft (302) has a radially outer first shaft end and the second shaft (304) has a radially inner second shaft end, wherein the coupling (306) has a first connecting section (312) assigned to the first shaft end, a second connecting section (318) assigned to the second shaft end and a transmission section (314) acting as overload protection between the first connecting section (312) and the second connecting section (318), a coupling arrangement (300) with such a coupling (306) and a robot with such a coupling arrangement (300).

Description

The invention relates to a clutch for connecting a first shaft to a radially outer first shaft end and a second shaft to a radially inner second shaft end. The invention also relates to a clutch arrangement having a first shaft with a radially outer first shaft end and a second shaft with a radially inner second shaft end. The invention also relates to a robot having at least one robot joint.The document DE 10 2011 082 968 A1 relates to a rotary joint for robots with a gear mechanism with a ring gear with inwardly directed internal toothing, with a tooth element with outwardly directed external toothing, wherein the external toothing engages in the internal toothing of the ring gear, with a drive element via which the tooth element can be driven and with an output element which is connected to the tooth element or the ring gear. In order to enable adaptation to various working tasks and, in addition, to protect against overloading, for example in the event of a shock load, it is proposed in document DE 102011 082 968 A1 to connect the ring gear or the toothed element to a stationary base part by means of a first switchable clutch acting as an overload clutch, wherein the output element is connected to the toothed element or the ring gear via an elastic element and thus transmits the torque to the output element. The elastic element can thus serve as overload protection for the transmission in that, in the event of a collision of the robot, the forces which are thereby produced are absorbed or sprung by the elastic element.The document DE 10 2016 123 613 A1 relates to a transmission comprising a cylindrical gear wheel with an internal toothing formed at its free end and at least one gear wheel meshing therewith. In order to integrate a technically simple overload clutch, it is proposed in document DE 10 2016 123 613 A1 to enable a radial yielding of the internal toothing and thus disengagement of the internal toothing from the gearwheel with the aid of the gearwheel if the torque transmitted by the transmission exceeds a threshold value. For this purpose, the gear wheel has at least two continuous slots which are distributed uniformly on the circumference and extend substantially in the axial direction and start from the free end of the gear wheel, with the result that the internal toothing forms a corresponding number of internal toothing sections, the axial extent of the slots, the material and the wall thickness of the gear wheel being selected to enable the internal toothing sections to escape radially and therefore the internal toothing sections to become disengaged from the gear wheel if the torque transmitted by the transmission exceeds a threshold value.From document DE 10 2009 035 197 A1, a drive unit is known for driving a ring gear with a motor, a transmission and an output shaft, on which a pinion for driving the ring gear is arranged, wherein the drive unit has a mechanical overload protection and the overload protection is arranged between the transmission and the pinion.From document DE 11 2008 001 555 T5, a power transmission is known in which a driven body and a drive body for driving the driven body are rotated in the same direction and coupled via a coupling portion, wherein a torque of the drive body is transmitted to a driven body, and the transmission of the torque of the drive body is interrupted when a drive load of the driven body exceeds a predetermined level, and the coupling portion is assembled by combining mutually different components of a positive torque transmission component for transmitting a torque in a forward rotation direction and interrupting a torque transmission from the drive body by its own breakage when the drive load of the driven body exceeds a predetermined level and a negative torque transmission component capable of transmitting a torque in a reverse rotation direction, wherein bias generating means is provided for simultaneously generating bias voltages in mutually opposite directions, which are a bias voltage in the positive torque transmitting member in a pulling direction and a bias voltage in the negative torque transmitting member in a pressing direction, after the positive torque transmitting member and the negative torque transmitting member are combined.A tolerance ring is known from document WO 2014 / 001818 A1, comprising:a generally cylindrical body having a first part cylindrical side wall and a second part cylindrical side wall opposite the first part cylindrical side wall, each part cylindrical side wall defining a first end and a second end; a first gap that, after installation, around a post, between the first end of the first part cylindrical side wall; andforming a first end of the second part-cylindrical side wall, wherein the first gap extends over the entire length of the tolerance ring such that a gap is formed in the tolerance ring; and forming a second gap between the second end of the first part-cylindrical side wall and the second end of the second part-cylindrical side wall, wherein the second gap extends over the entire length of the tolerance ring such that a gap is formed in the tolerance ring, and wherein the tolerance ring provides an installed concentricity C≤50 μm.The object of the invention is to improve a clutch mentioned at the beginning structurally and / or functionally. In addition, the object of the invention is to improve a clutch arrangement mentioned at the beginning in a structural and / or functional manner. In addition, the object of the invention is to improve a robot mentioned at the beginning in a structural and / or functional manner.The object is achieved with a coupling having the features of claim 1. In addition, the object is achieved with a coupling arrangement having the features of claim 11.The clutch is designed and / or arrangeable for connecting the first shaft and the second shaft to one another. The clutch may be configured and / or arrangeable to transmit a mechanical power between the first shaft and the second shaft. The coupling has a first connecting portion, a second connecting portion and a transmission portion. The coupling can have a coupling axis or axis of rotation. Unless stated otherwise or unless otherwise evident from the context, the terms "axial", "radial" and "in the circumferential direction" refer to a direction of extent of the coupling axis or axis of rotation. "Axial" then corresponds to a direction of extent of the coupling axis or axis of rotation. "Radial" is then a direction perpendicular to the direction of extent of the coupling axis or axis of rotation and intersecting with the coupling axis or axis of rotation. "In the circumferential direction" then corresponds to a circular arc direction about the coupling axis or axis of rotation. The clutch may be configured and / or arrangeable to transmit a mechanical power in the circumferential direction, in a first rotational direction and / or in a second rotational direction opposite the first rotational direction. The coupling can be designed and / or arrangeable for transmitting a mechanical power from the first connecting section via the transmission section to the second connecting section and / or from the second connecting section via the transmission section to the first connecting section. The coupling may have isotropic or anisotropic transfer behavior.The clutch assembly includes a first shaft, a second shaft, and such a clutch. The first connecting section of the coupling is connected, in particular screwed, to the first shaft end. The second connecting section is connected, in particular screwed, to the second shaft end. The coupling arrangement can have an axis of rotation. The axis of rotation of the clutch arrangement and the axis of rotation of the clutch may correspond to one another.The first shaft may be a hollow shaft. The second shaft may be a solid shaft. The second shaft may be disposed within the first shaft. The second shaft may be arranged radially and / or axially within the first shaft. The first shaft and the second shaft may be arranged coaxially with each other. The first shaft may have a first shaft end. The first shaft may have a radially outer first shaft end. The first shaft end may be disposed radially outward of the second shaft. The first shaft end may have a first connection surface. The first connecting surface can be designed and / or arranged for connection to the clutch, in particular to the first connecting section of the clutch. The first connecting surface can be arranged on the end face at the first shaft end. The first connection surface may be an axial surface. The first shaft end can have receptacles for connecting means. The first shaft end can have holes, in particular threaded holes for screws.The second shaft may have a second shaft end. The second shaft may have a radially inner second shaft end. The second shaft end may be disposed radially inward of the first shaft. The second shaft end may have a second connection surface. The second connecting surface can be designed and / or arranged for connection to the clutch, in particular to the second connecting section of the clutch. The second connecting surface can be arranged on the end face at the second shaft end. The second connecting surface may be an axial surface. The second shaft end can have receptacles for connecting means. The second shaft end can have holes, in particular threaded holes for screws.The first shaft end and the second shaft end may be aligned axially the same. The first shaft end and the second shaft end may be axially opposed to each other. The first shaft end and the second shaft end may be axially opposite to each other. The first shaft end and the second shaft end may be spaced apart from each other in the radial direction.The first connecting surface and the second connecting surface can be aligned axially in the same direction. The first connection surface and the second connection surface may be axially opposed to each other. The first connection surface and the second connection surface may be axially opposed to each other. The first connection surface and the second connection surface may be spaced apart from each other in the radial direction. The first connecting surface and the second connecting surface can lie at least approximately in a common connecting plane. The first connection surface and the second connection surface may be axially spaced apart from each other. The first connecting surface and the second connecting surface may be at a distance from one another which at least approximately corresponds to an axial thickness of the coupling. The receptacles for connecting means of the first shaft end and the receptacles for connecting means of the second shaft end can be aligned identically. The receptacles for connecting means of the first shaft end and the receptacles for connecting means of the second shaft end can be axially opposed to one another. The receptacles for connecting means of the first shaft end and the receptacles for connecting means of the second shaft end can be situated axially opposite one another. The first connecting surface and the second connecting surface and / or the receptacles for connecting means of the first shaft end and the receptacles for connecting means of the second shaft end can be axially accessible from the same direction. The connecting means and / or the receptacles for connecting means of the first shaft end can be accessible from a first axial direction. The connecting means and / or the receptacles for connecting means of the second shaft end can be accessible from a second axial direction opposite the first axial direction.The first connecting section is associated with the first shaft end. The first connecting portion can be designed and / or arranged for connection to the first shaft end and / or to the first connecting surface. The first connecting section can have receptacles for connecting means. The first connecting section can have holes, in particular through-holes for screws. The second connecting section is associated with the second shaft end. The second connecting portion can be designed and / or arranged for connection to the second shaft end and / or to the first connecting surface. The second connecting section can have receptacles for connecting means. The second connecting section can have holes, in particular through-holes for screws.The transmission portion acts between the first connection portion and the second connection portion as overload protection. The transmission portion may be disposed between the first connection portion and the second connection portion. The transmission portion may be configured and / or arranged to transmit a mechanical power between the first connection portion and the second connection portion. The transmission section can be designed and / or arranged to limit a transmission of a mechanical power between the first connecting section and the second connecting section to a predefined maximum torque. In this respect, the clutch can also act as an overload clutch or torque limiter and / or can be referred to as an overload clutch or torque limiter. The clutch may be configured and / or arrangeable to act as a single element alone and / or as an overload clutch or torque limiter without further torque limiting elements.The transfer section may include at least one concentration section. The at least one concentration section can be designed and / or arranged to concentrate mechanical stresses. The mechanical stresses may be stresses resulting from a transmission of mechanical power between the first shaft and the second shaft. Mechanical stresses can be concentrated in the at least one concentration section. The transfer section may include at least a first concentration section. The at least one first concentration section can be designed and / or arranged to concentrate tensile stresses. The transfer section may include at least a second concentration section. The at least one second concentration section can be designed and / or arranged to concentrate compressive stresses.The transmission section can have at least one recess. The at least one recess can be designed and / or arranged to guide a force flow to the at least one concentration section. With the aid of the at least one recess, a force flow can be conducted to the at least one concentration section. The force flow may be a force flow resulting from a transmission of a mechanical power between the first shaft and the second shaft. The at least one recess can be designed and / or arranged to supply tensile stresses predominantly to the at least one first concentration section. The at least one recess can be designed and / or arranged to supply compressive stresses predominantly to the at least one second concentration section. The at least one recess can be continuous in the axial direction. The at least one recess can have a round, at least approximately circular, elliptical or oval cross section. The at least one recess can have an angular, polygoidal, arrow-shaped and / or triangular cross section. The at least one recess can have a symmetrical cross section. The at least one recess can have a cross section symmetrical to a radial axis. The at least one recess can have boundary sections which meet at an angle. Mutually adjoining delimiting sections can be connected to one another by means of transition radii. The at least one recess can have a recess tip. The recess tip may be directed radially outwards. The recess tip may be directed radially inward.The transmission portion may have different types of recesses. The transmission section can have a first recess type and at least one further recess type. The transmission portion may include a first recess type, a second recess type, and a third recess type. The first recess type can have an arrow-shaped and / or triangular cross section symmetrical to a radial axis with a recess tip directed radially inward. The second recess type can have an arrow-shaped and / or triangular cross section symmetrical to a radial axis with a recess tip directed radially outwards. The third recess type may have a circular and / or round cross section.The at least one concentration section can be formed between at least two recesses, in particular between a recess of the first recess type and a recess of the second recess type. At least two recesses, in particular a recess of the first recess type and a recess of the second recess type, can delimit the at least one concentration section. At least one recess, in particular a recess of the third recess type, can be arranged on or in the at least one concentration section. The at least one concentration section can be designed in the form of a web. The at least one concentration section can be designed as a web or can have at least one web. The at least one concentration section can have a web axis and extend along the web axis. The at least one concentration section and / or the web axis can / can extend obliquely to a radial axis. The at least one concentration section can have a width which initially decreases along the web axis and then increases again. The at least one concentration section can have a width which initially decreases continuously, continuously or continuously along the web axis and then again increases continuously, continuously or continuously. The at least one concentration section can have a taper. The width change or tapering can take place or be present in a plane at right angles to the axis of rotation. The width change or tapering can be effected or present in the radial direction and / or in the circumferential direction.The at least one concentration section can have a reduced cross section. The cross section of the at least one concentration section can be reduced in a plane parallel to the coupling axis or axis of rotation. The cross section of the at least one concentration section can be reduced with the aid of at least one recess, in particular with the aid of a recess of the third recess type. The at least one first concentration section and / or the reduced cross section of the at least one first concentration section can / can be designed and / or arranged to tear and / or break at a predefined maximum tensile load. The reduced cross section of the at least one first concentration section can form a predetermined breaking point.The at least one concentration section can be profiled, in particular curved, and / or have a profiled, in particular curved, cross section. The at least one concentration section and / or the cross section of the at least one concentration section can / can be profiled, in particular curved, out of a plane at right angles to the axis of rotation and / or around a web longitudinal axis. The at least one concentration section can have a shell-section-like shape. The at least one second concentration section and / or the profiled, in particular curved, cross section of the at least one second concentration section can / can be designed and / or arranged to support bending under compressive stress.The first connecting portion may be profiled. The first connecting section can be profiled, in particular corrugated, in the circumferential direction and / or out of a plane at right angles to the axis of rotation. The first connecting portion may be profiled to assist in mechanical power transmission from / to the first shaft end.The second connecting portion may be profiled. The second connecting portion can be profiled, in particular corrugated, in the circumferential direction and / or in a plane at right angles to a radial axis. The second connecting portion may be profiled to assist in mechanical power transmission from / to the second shaft end.The coupling can have an annular, disk-like and / or ring-disk-like shape. The coupling can have an at least approximately planar or flat shape. The coupling may extend in a plane perpendicular to the axis of rotation. The coupling may be adapted for placement in the common connection plane. The clutch may have a first side and a second side in the axial direction. The first side and the second side may be opposite to each other. The coupling may be configured for placement with its first side on the first connection surface and on the second shaft connection surface. The clutch may be configured for placement with its first side on the first connection surface and with its second side on the second shaft connection surface. The coupling can be resilient and / or have a predetermined elasticity. The clutch may be resilient and / or have a predetermined elasticity in order to compensate for an axial offset and / or an angular offset between the first shaft and the second shaft. The coupling can be produced from a metal sheet, from a plate, from a metal, in particular from a steel, in particular from a spring steel, and / or in a separating and / or forming process. The coupling can have at least one sheet metal or at least one plate. The coupling may include a plurality of stacked and / or interconnected sheets or plates. The coupling can be one-piece and / or produced in one piece.The coupling can have wave and / or bead sections. The corrugation and / or bead sections can have corrugation and / or bead longitudinal axes extending in the radial direction. The wave and / or bead sections can be arranged distributed in the circumferential direction. The wave and / or bead sections can be arranged uniformly distributed in the circumferential direction. The wave and / or bead sections can be arranged radially on the outside of the coupling. The corrugation and / or bead sections can have an increasing corrugation and / or bead height radially outwards. The corrugation and / or bead sections can have a decreasing corrugation and / or bead height radially inward. The corrugation and / or bead sections can have a maximum corrugation and / or bead height radially on the outside and a minimum corrugation and / or bead height radially on the inside. A corrugation and / or bead height can be assigned to the axial direction. The corrugation and / or bead sections can have an increasing corrugation and / or bead width towards the radially outward side. The corrugation and / or bead sections can have a decreasing corrugation and / or bead width radially inward. The corrugation and / or bead sections can have a maximum corrugation and / or bead width radially on the outside and a minimum corrugation and / or bead width radially on the inside. A corrugation and / or bead width can be assigned to the circumferential direction. The clutch can be flat radially on the inside. The coupling may be planar at the second connection portion. The wave and / or bead portions may be arranged at the first connecting portion and / or at the transmission portion of the coupling. The first connecting surface of the first shaft can be profiled in a manner corresponding to the shaft and / or bead sections of the coupling. The at least one concentration section is supported on the first connecting surface.The coupling can have a wave plate-like shape. The clutch may have a shaft profile. The wave profile can have longitudinal axes of the wave. The shaft longitudinal axes can be arranged in a star shape with respect to the axis of rotation. The wave profile can have wave peaks and wave valleys periodically following one another in a cross section running in the circumferential direction. The wave profile can have wave crests and wave trough regions running in the radial direction. The wave profile can have wave heights and / or wave widths increasing radially outwards. The wave profile can have wave heights and / or wave widths decreasing radially inward. The shaft profile can extend over the first connecting portion, the transmission portion and / or the second connecting portion of the coupling. The first connecting surface of the first shaft and / or the second connecting surface of the second shaft can / can be profiled in a manner corresponding to the shaft profile of the clutch.With the aid of the corrugation and / or bead sections and / or with the aid of the corrugation profile, a profiled cross section of the at least one concentration section, a profiled cross section of at least one first concentration section, a profiled cross section of at least one second concentration section, a profiled first connection section and / or a profiled second connection section can / can be formed.The robot has at least one robot joint. The at least one robot joint has such a coupling arrangement. The robot can have at least one drive. The at least one drive can be designed and / or arranged to move the at least one robot joint. A drive power emanating from the at least one drive can be conducted via the clutch and / or the clutch arrangement. The clutch and / or the clutch arrangement can / can be arranged in a drive power path emanating from the at least one drive. The robot can be a stationary robot, a mobile robot, an autonomous robot, an industrial robot, a moving robot and / or a humanoid robot.Summarizing and in other words illustrated, the invention thus results inter alia in an overload clutch. Two concentric shafts may be used, both shafts being equipped with an equally oriented end face. The overload clutch may comprise one or more plates or plates which may be connected to the first shaft at a radially outer portion and to the second shaft at the radially inner portion. The sheets can be divided by recesses or punchings into sections with increased material tensions. The sections may also be referred to as concentration sections. The overload clutch can have recesses or stamped-out portions which subdivide the metal sheets into sections with predominantly acting tensile / compressive forces. The tensile force sections can be weakened by tapering or recesses or punchings in such a way that they tear under a predetermined tensile force. The sheet metal can have a star-shaped corrugation in the region of the drawing / pressure sections, which corrugation assists buckling of the pressure sections when the torque is applied. Bulges of the first wave and / or of the second wave as negative of the corrugation of the sheet metal can support the drawing sections and counteract twisting of the sheet metal. The two shafts may be connected by the sheet metal. The connection can be effected by screws. Recesses or openings made in the metal sheet can concentrate the stresses applied between the shafts on the sections or concentration sections when the torque is applied. Additional recesses or openings can predominantly provide tensile or compressive stresses in the sections or concentration sections. The sheet metal can be flexurally rigid. The sheet may be corrugated and have matching bulges. The sections or second concentration sections subjected to pressure can buckle. This can prevent a transmission of pressure. The entire torque can then be transmitted in the tractive force ranges or first concentration sections. Thus, a maximum torque to be transmitted can be used to easily infer a tensile force load on the tensile force ranges or first concentration sections.Safety is increased and / or damage is prevented with the invention. Torque transmission is limited to a predetermined maximum value. After an overload event, a further / renewed torque transmission is prevented. The coupling is easily replaceable. The coupling requires only a small axial installation space. An axial offset and / or an angular offset between the first shaft and the second shaft can be compensated.Exemplary embodiments of the invention are described in more detail below with reference to figures, in which: FIG. 1 shows a clutch arrangement with a first shaft, a second shaft and a clutch with a transmission section acting as overload protection in a sectional view, FIG. 2 shows a coupling with a first connecting section, a second connecting section and a transmission section acting as overload protection in a front view, FIG. 3 shows a clutch arrangement with a first shaft, a second shaft and a clutch with a transmission section acting as overload protection in a sectional view, FIG. 4 shows a coupling with a first connecting section, a second connecting section and a transmission section acting as overload protection in a front view, FIG. 5 shows a clutch arrangement with a first shaft, a second shaft and a clutch with a transmission section acting as overload protection in a perspective view, FIG. 6 shows a clutch arrangement with a first shaft, a second shaft and a clutch with a transmission section acting as overload protection in a perspective sectional view, FIG. 7 shows a coupling arrangement with a coupling with a transmission section acting as overload protection and two shafts tilted with respect to one another in sectional view, FIG. 8 shows a coupling with a tension-loaded concentration section and a compression-loaded concentration section, and FIG. 9 shows a sectional view of a clutch arrangement having a first shaft and a second shaft, the shaft ends of which are directed opposite one another, and a clutch having a transmission section which acts as overload protection.FIG. 1 shows a sectional view of a clutch arrangement 100 having a first shaft 102 designed as a hollow shaft, a second shaft 104 arranged radially inside the first shaft 102 and coaxially with the first shaft 102, a clutch 106 and a rotational axis 108 about which the clutch arrangement 100 is rotatable. FIG. 2 shows the coupling 106 in a front view.The first shaft 102 has a radially outer shaft end with an axial connecting surface. The second shaft 104 has a radially inner shaft end with an axial connecting surface. The connecting surfaces of the shafts 102, 104 are aligned in the same direction and lie in a common connecting plane 110.The coupling 106 is made of a metal sheet and has a first connecting section 112 assigned to the shaft end of the first shaft 102, a second connecting section 114 assigned to the shaft end of the second shaft 104, and a transmission section 116 between the first connecting section 112 and the second connecting section 114. The first connecting section 112 has recesses, such as 118, which are arranged uniformly distributed in the circumferential direction and are embodied as through-bores. The second connecting section 114 has recesses such as 120 which are arranged uniformly distributed in the circumferential direction and are designed as through-bores.The transmission section 116 has elliptical or oval recesses, such as 122, which are arranged uniformly distributed in the circumferential direction, and web-shaped concentration sections, such as 124, formed between the recesses 122. The recesses 122 delimit the concentration sections 124 and each reduce a cross section of the concentration sections 124 with their radii directed in the circumferential direction or in a direction perpendicular to a radial axis.The clutch 106 abuts with its first connecting portion 112 on the axial connecting surface of the first shaft 102 and with its second connecting portion 114 on the axial connecting surface of the second shaft 104 and is connected with the aid of screws such as 126, 128 on the one hand to the first shaft 102 and on the other hand to the second shaft 104 in a torque-transmitting manner.During a torque transmission between the first shaft 102 and the second shaft 104, a force flow is conducted via the concentration sections 124, wherein mechanical stresses concentrate at the reduced cross sections between the recesses 122. The concentration sections 124 are designed and arranged with their reduced cross sections in such a way that they tear or break under a tensile load exceeding a predefined maximum value.The transmission section 116 thus acts as overload protection and, with the aid of the clutch 106, a maximum transmittable torque is limited, so that subsequent components in a drive train are protected.FIG. 3 shows a clutch arrangement 200 with a first shaft 202, a second shaft 204, a clutch 206 and a rotational axis 208 in sectional view. FIG. 4 shows the coupling 206 in a front view.The transmission section 210 of the coupling 206 has recesses, such as 212, of a first recess type and recesses, such as 214, of a second recess type, which are arranged uniformly in the circumferential direction. The recesses 212 of the first recess type each have an arrow-shaped or triangular cross section symmetrical to a radial axis with a recess tip directed radially inward. The recesses 214 of the second recess type each have an arrow-shaped or triangular cross section symmetrical to a radial axis with a recess tip directed radially outwards. The recesses 212 of the first recess type and the recesses 214 of the second recess type delimit web-shaped concentration sections, such as 216, which run obliquely to a radial axis.The transmission section 210 of the coupling 206 has recesses, such as 218, of a third recess type, which are arranged uniformly distributed in the circumferential direction. The recesses 218 of the third recess type each have a circular cross section and are disposed at the concentration portions 216, thereby reducing a cross section of the concentration portions 216In the case of a torque transmission between the first shaft 202 and the second shaft 204, a force flow is conducted via the concentration sections 216, wherein mechanical stresses concentrate at the reduced cross sections between the recesses 212 of the first recess type and the recesses 218 of the third recess type and between the recesses 218 of the third recess type and the recesses 214 of the second recess type. The concentration sections 216 are designed and arranged with their reduced cross sections in such a way that they tear or break when a tensile load exceeds a predetermined maximum value and / or buckle when a compressive load exceeds a predetermined maximum value.The transmission section 210 thus acts as overload protection and, with the aid of the clutch 206, a maximum transmittable torque is limited, so that subsequent components in a drive train are protected.For the rest, for the clutch arrangement 200 according to FIG. 3 and for the clutch 206 according to FIG. 4, reference is made in addition to the representations of the clutch arrangement 100 in FIG. 1 and the clutch 106 in FIG. 2 and to the associated description.FIG. 5 shows a clutch arrangement 300 having a first shaft 302, a second shaft 304, a clutch 306 and a rotational axis 308 in a perspective view.The coupling 306 has corrugation portions such as 310. The corrugation or bead sections 310 have corrugation and / or bead longitudinal axes extending in the radial direction and extend over the first connecting section 312 and the transmission section 314 of the coupling 306. The corrugation or bead sections 310 have a maximum corrugation and / or bead height radially on the outside and a maximum corrugation and / or bead width and, in particular in the transmission section 314, a decreasing corrugation and / or bead height radially on the inside and a decreasing corrugation and / or bead width. With the wave and / or bead sections 310, the concentration sections 316 are also curved out of a plane at right angles to the axis of rotation 308 and about a web longitudinal axis. The second connecting portion 318 of the coupling 306 is planar.The axial connecting surface of the first shaft 302 is profiled in a manner corresponding to the first connecting section 312 with the shaft and / or bead sections 310. The first shaft 302 and the first connecting section 312 are thus also supported on one another in a form-fitting manner in both circumferential directions. In addition, the concentration sections 316, which are tension-loaded or compression-loaded depending on the direction of rotation during a torque transmission between the first shaft 302 and the second shaft 304, are supported on the axial connecting surface of the first shaft 302. The profiled and cross-sectionally reduced concentration sections 316 are designed and arranged in such a way that they tear or break when a tensile load exceeds a predetermined maximum value or buckle when a compressive load exceeds a predetermined maximum value. In this case, bending of the concentration sections 316 under compressive stress is assisted by their curved shape.The screws, such as 320, by which the coupling 306 is connected to the first shaft 302 in a torque-transmitting manner, are each arranged in the circumferential direction centrally on the shaft or bead portions 310 and between the shaft or bead portions 310.For the rest, for the clutch arrangement 300 according to FIG. 5, reference is made in addition to the representations of the clutch arrangement 100 in FIG. 1, the clutch 106 in FIG. 2, the clutch arrangement 200 in FIG. 3 and the clutch 206 in FIG. 4 and to the associated description.FIG. 6 shows a clutch arrangement 400 having a first shaft 402, a second shaft 404, a clutch 406 and a rotational axis 408 in perspective sectional view.The coupling 406 is designed in the form of a corrugated disk with a corrugated profile 410. The coupling 406 or the wave profile 410 has wave longitudinal axes which extend in the radial direction and are arranged in a star shape with respect to the axis of rotation 408 and wave peaks such as 412 and wave valleys such as 414 which are periodically consecutive in the circumferential direction. The wave profile 410 extends over the first connecting portion 416, the transmission portion 418, and the second connecting portion 420 of the clutch 406. The wave profile 410 has a maximum wave height and wave width radially on the outside and a decreasing wave height and wave width radially on the inside. With the wave and / or bead sections 310, the concentration sections 422 are also curved out of a plane at right angles to the axis of rotation 408 and about a web longitudinal axis.The axial connecting surface of the first shaft 402 is profiled in a manner corresponding to the shaft profile 410 of the first connecting section 416. The first shaft 402 and the first connecting section 416 are thus also supported on one another in a form-fitting manner in both circumferential directions. The axial connecting surface of the second shaft 404 is profiled in a manner corresponding to the shaft profile 410 of the second connecting section 420. Thus, the second connecting portion 420 and the second shaft 404 are also supported on one another in a form-fitting manner in both circumferential directions. In addition, the concentration portions 422 which are tension-loaded or compression-loaded depending on the rotational direction in the case of torque transmission between the first shaft 402 and the second shaft 404 are supported on the axial connecting surface of the first shaft 402. The profiled and cross-section-reduced concentration sections 422 are designed and arranged in such a way that they tear or break when a tensile load exceeds a predetermined maximum value or buckle when a compressive load exceeds a predetermined maximum value. In this case, buckling of the concentration sections 422 under compressive stress is assisted by their curved shape.The bolts, such as 424, to which the clutch 406 is torque-transmittingly connected to the first shaft 402 and the bolts, such as 426, to which the clutch 406 is torque-transmittingly connected to the second shaft 404 are each circumferentially centrally located in the shaft valleys 414.For the rest, for the clutch arrangement 400 according to FIG. 6, reference is made in addition to the representations of the clutch arrangement 100 in FIG. 1, the clutch 106 in FIG. 2, the clutch arrangement 200 in FIG. 3, the clutch 206 in FIG. 4 and the clutch arrangement 300 in FIG. 5 and to the associated description.FIG. 7 shows a coupling arrangement 500 with a first shaft 502 and a first axis of rotation 504, a second shaft 506 and a second axis of rotation 508 and a coupling 510 in sectional view. The first shaft 502 with the first axis of rotation 504 and the second shaft 504 with the second axis of rotation 508 are tilted with respect to one another. The clutch 510 is resilient and compensates for the angular offset between the first shaft 502 and the second shaft 506.For the remainder of the clutch arrangement 500 according to FIG. 7, reference is made in addition to the representations of the clutch arrangement 100 in FIG. 1, the clutch 106 in FIG. 2, the clutch arrangement 200 in FIG. 3, the clutch 206 in FIG. 4, the clutch arrangement 300 in FIG. 5 and the clutch arrangement 400 in FIG. 6 and to the associated description.FIG. 8 shows a clutch 600, such as clutch 306 according to FIG. 5 and clutch 406 according to FIG. 6, in the case of torque transmission between the first shaft 602 and the second shaft 604, having a tension-loaded concentration section 606 and a compression-loaded concentration section 608.The clutch 600 is connected with its first connecting section in a torque-transmitting manner to the first shaft 602 and with its second connecting section 610 in a torque-transmitting manner to the second shaft 604. Under the action of the torque transmitted between the first shaft 602 and the second shaft 604, symbolized by arrows 612, 614, the curved tension-loaded concentration section 606 nestles against the correspondingly profiled axial connecting surface of the first shaft 602, while the curved compression-loaded concentration section 608 bends out and rises from the correspondingly profiled axial connecting surface of the first shaft 602.For the rest, for the clutch arrangement 600 according to FIG. 8, reference is made in addition to the representations of the clutch arrangement 300 in FIG. 5 and the clutch arrangement 400 in FIG. 6 and to the associated description.FIG. 9 shows a clutch arrangement 700 having a first shaft 702, a second shaft 704, a clutch 706 and a rotational axis 708 in sectional view. The first shaft end with the first connecting surface 710 and the second shaft end with the second connecting surface 712 are directed axially opposite to each other. The clutch 706 is arranged axially between the first shaft end and the second shaft end with its first side 714 on the first connecting surface 710 and with its second side 716 on the second connecting surface 712.The screws, such as 718, for connecting the coupling 706 to the first shaft 702 and the screws, such as 720, for connecting the coupling 706 to the second shaft 704 are each accessible from opposite axial directions.For the remainder of the clutch arrangement 700 according to FIG. 9, reference is made in addition to the representations of the clutch arrangement 100 in FIG. 1, the clutch 106 in FIG. 2, the clutch arrangement 200 in FIG. 3, the clutch 206 in FIG. 4, the clutch arrangement 300 in FIG. 5, the clutch arrangement 400 in FIG. 6, the clutch arrangement 500 in FIG. 7 and the clutch 600 in FIG. 8, and also to the associated description.Optional features of the invention are designated in particular by "can". Accordingly, there are also developments and / or exemplary embodiments of the invention which additionally or alternatively have the respective feature or the respective features.Features can also be extracted from the combinations of features disclosed with the description, if necessary, and used alone or in combination with other features to delimit the subject matter of the claim, resolving a structural and / or functional relationship optionally existing between the features.Reference numerals denote reference numerals100 Coupling arrangement 102 First shaft 104 Second shaft 106 Coupling 108 Axis of rotation 110 Connecting plane 112 First connecting section 114 Second connecting section 116 Transmission section 118 Recess 120 Recess 122 Recess 124 Concentration section 126 Screw 128 Screw 200 Coupling arrangement 202 First shaft 204 Second shaft 206 Coupling 208 Axis of rotation 210 Transmission section 212 Recess of a first recess type 214 Recess of a second recess type 216 Concentration section 218 Recess of a third recess type 300 Coupling arrangement 302 First shaft 304 Second shaft 306 Coupling 308 Axis of rotation 310 Shaft or bead section 312 First connecting section 314 Transmission section 316 Concentration section 318 Second connecting section 320 Screw 400 Coupling arrangement 402 First shaft 404 Second shaft 406 Coupling 408 Axis of rotation 410 Shaft profile 412 Wave peak 414 Shaft valley 416 First connecting section 418 Transmission section 420 Second connecting section 422 concentration portion 424 screw 426 screw 500 coupling assembly 502 first shaft 504 first axis of rotation 506 second shaft 508 second axis of rotation 510 coupling 600 coupling 602 first shaft 604 second shaft 606 tension-loaded concentration portion 608 compression-loaded concentration portion 610 second connection portion 612 arrow 614 arrow 616 axial connection surface 700 coupling assembly 702 first shaft 704 second shaft 706 coupling 708 axis 710 first connection surface 712 second connection surface 714 first side 716 second side 718 screw 720 screwReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 10 2011 082 968 A1

[0002] DE 10 2016 123 613 A1

[0003] DE 10 2009 035 197 A1

[0004] DE 11 2008 001 555 T5

[0005] WO 2014 / 001818 A1

[0006]

Claims

Clutch (106, 206, 306, 406, 510, 600, 706) for connecting a first shaft (102, 202, 302, 402, 502, 602, 702) to a radially outer first shaft end and a second shaft (104, 204, 304, 404, 506, 604, 704) to a radially inner second shaft end, characterized in that the clutch (106, 206, 306, 406, 510, 600, 706) has a first connecting section (112, 312, 416) assigned to the first shaft end, a second connecting section (114, 318, 420, 610) assigned to the second shaft end, and a transmission section (116, 210, 314, 418) effective as overload protection between the first connecting section (112, 312, 416) and the second connecting section (114, 318, 420, 610).Clutch (106, 206, 306, 406, 510, 600, 706) according to claim 1, characterized in that the transmission section (116, 210, 314, 418) comprises at least one concentration section (124, 216, 316, 422, 606, 608) for concentrating mechanical stresses.Clutch (106, 206, 306, 406, 510, 600, 706) according to Claim 2, characterized in that the transmission section (116, 210, 314, 418) has at least one recess (122, 212, 214) which is designed and / or arranged to guide a force flow to the at least one concentration section (124, 216, 316, 422, 606, 608).Clutch (106, 206, 306, 406, 510, 600, 706) according to at least one of the preceding claims, characterized in that the transmission section (116, 210, 314, 418) has at least one first concentration section (124, 216, 316, 422, 606) for concentrating tensile stresses and / or at least one second concentration section (124, 216, 316, 422, 608) for concentrating compressive stresses.Clutch (106, 206, 306, 406, 510, 600, 706) according to Claim 4, characterized in that the transmission section (116, 210, 314, 418) has at least one recess (122, 212, 214) which is designed and / or arranged to feed predominantly tensile stresses to the at least one first concentration section (124, 216, 316, 422, 606) and / or predominantly compressive stresses to the at least one second concentration section (124, 216, 316, 422, 608).The coupling (106, 206, 306, 406, 510, 600, 706) according to at least one of claims 4 to 5, characterized in that the at least one first concentration section (124, 216, 316, 422, 606) has a reduced cross section which is designed and / or arranged to tear and / or break at a predetermined maximum tensile load.The coupling (106, 206, 306, 406, 510, 600, 706) of at least one of claims 4 to 6, characterized in that the at least one second concentration portion (124, 216, 316, 422, 608) has a profiled cross-section that is configured and / or arranged to assist buckling under compressive stress.A coupling (306, 406, 600) according to at least one of the preceding claims, characterized in that the first connection portion (312, 416) is profiled to support a mechanical power transmission from / to the first shaft end and / or the second connection portion (318, 420, 610) is profiled to support a mechanical power transmission from / to the second shaft end.Coupling (306, 406, 600) according to at least one of the preceding claims, characterized in that the coupling (306, 406, 600) has an annular disc-like shape with wave and / or bead sections (310) and / or with a wave profile (410).Coupling (306, 406, 600) according to claim 9da characterized in that with the aid of the corrugation and / or corrugation portions (310) and / or with the aid of the corrugation profile (410) a profiled cross section of at least one concentration portion (316, 422, 606, 608), a profiled cross section of at least one first concentration portion (316, 422, 606), a profiled cross section of at least one second concentration portion (316, 422, 608), a profiled first connection portion (312, 416) and / or a profiled second connection portion (420) are / is formed.Clutch arrangement (100, 200, 300, 400, 500, 700) comprising a first shaft (102, 202, 302, 402, 502, 602, 702) having a radially outer first shaft end and a second shaft (104, 204, 304, 404, 506, 604, 704) having a radially inner second shaft end, characterized in that the clutch arrangement (100, 200, 300, 400, 500, 700) comprises a clutch (106, 206, 306, 406, 510, 600, 706) according to at least one of the preceding claims, wherein the first connection portion 12, 312, 416) is connected to the first shaft end and the second connection portion (114, 318, 420, 610) is connected to the second shaft end.Robot having at least one robot joint, characterized in that the at least one robot joint has a coupling arrangement (100, 200, 300, 400, 500, 700) according to Claim 11.

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