RU2719523C1 - Resilient coupling of adjustable rigidity - Google Patents

Abstract

FIELD: machine building.SUBSTANCE: invention relates to machine building, particularly, to resilient couplings. Elastic coupling of adjustable rigidity comprises two coaxially installed half-couplings with circumferentially located holes and elastic elements installed in them. Elastic elements are made stepped and moveable. Holes located in half-couplings correspond to the size of the mating stage of the resilient element.EFFECT: higher stiffness control range.9 cl, 14 dwg

Description

The invention relates to the construction of elastic couplings of adjustable stiffness and controlled couplings, and can be used in the development of robotic lines and complexes, manipulators, walking and anthropomorphic robots in which it is necessary to change the parameters of kinematic circuits during operation, or in variable stiffness drives. The invention can also be used in other fields of technology in which controlled adjustable stiffness couplings and variable stiffness drives are used.

Known elastic coupling controlled stiffness (CN 106182067 B), consisting of two coupling halves installed between them an intermediate disk, and elastic rods passing through these elements, which are located around the circumference. The intermediate disk is connected to the second coupling half and has a linear displacement drive. This allows, depending on the location of the intermediate disk, to have a different working length of the elastic rods and, accordingly, the stiffness of the coupling.

Known controlled variable-rigidity drive (CN 104029214 A), comprising an elastic controlled-tension coupling with a driven coupling half, on which plate elastic elements are mounted perpendicular to the axis of rotation, and a leading coupling coupling, on which grooves for introducing elastic plates are made on the driven base. When moving the base with grooves, the working length of the plate elastic element and, accordingly, the stiffness of the coupling changes.

A known module of the connection of variable stiffness (CN 104260106 A), containing the first coupling half, on which an elastic plate is mounted perpendicular to the axis of rotation, and the second coupling coupling, on which the slots for introducing the elastic plate are made on the driven base. When moving the base with grooves, the working length of the plate elastic element and, accordingly, the stiffness of the coupling changes.

A rotating joint of variable stiffness (CN 104608142 B) is known in which spring-loaded rollers are mounted on one coupling half and copiers for these rollers are mounted on the other coupling half. The shape of the copiers is made in such a way that when the coupling halves are turned in any direction, the springs are compressed and, accordingly, the resistance to rotation increases. The clutch contains a drive to change the compression ratio of the springs, which leads to variable stiffness of the clutch.

The disadvantage of these devices is the complexity and low range of regulation of rigidity.

By the totality of the features, the closest prototype of the invention is an elastic coupling with rod elastic elements, containing two coupling halves interconnected by circumferential elastic rod elements (V.S. Polyakov, I.D. Barabash, O.A. Ryakhovsky Coupling Manual. Leningrad, Mechanical Engineering (Leningrad Branch, 1974, p. 85-87).

This device is not intended to control rigidity during operation.

An object of the invention is:

- providing a wide range of smooth control of the stiffness of the coupling;

- the ability to switch clutches of adjustable stiffness to a rigid clutch;

- giving the clutch adjustable stiffness additional function of separation of the kinematic chain;

- the ability of the elastic coupling to change its own parameters at the command of the equipment control system where it is installed, or based on the current system parameters, and informing the equipment control system, where it is installed, of the current operating parameters.

The technical result is provided by an elastic coupling of adjustable stiffness, comprising two coaxially mounted coupling halves with holes located around the circumference and installed elastic elements in them, in which, according to the proposed solution, the elastic elements are made stepwise, while the holes located in the coupling halves correspond to the size of the mating step of the elastic element, the elastic elements are movable.

In addition, it is possible that:

- one coupling half mounted on another;

- all elastic elements are connected to a single linear displacement drive;

- each elastic element is connected to an individual linear displacement drive;

- contains a rotation angle sensor of the coupling halves relative to each other.

- contains a control controller and drivers for controlling drives of linear movement of elastic elements.

- contains at least one contact ring for supplying power and control commands through electrical contact.

- circumferential openings of a smaller section are made in a stepped form with dimensions at the entrance corresponding to the sizes of the steps of an elastic element of a larger section.

- the length of the elastic elements does not exceed the width of the flange of the coupling half with circumferential openings of large cross section.

The invention is illustrated by the following graphic material:

FIG. 1 elastic coupling of adjustable stiffness with an individual linear drive of each elastic element.

FIG. 2 elastic coupling of adjustable stiffness with a single drive linear movement of the elastic elements.

FIG. 3a, 3b, 3c in the form of elastic elements of an elastic coupling of adjustable stiffness.

FIG. 4 Block diagram of an elastic coupling adjustable stiffness

FIG. 5 installation of an elastic coupling of adjustable stiffness on the shafts.

FIG. 6 installation of an elastic coupling of adjustable stiffness on a single shaft.

FIG. 7 an elastic coupling of adjustable stiffness in which one coupling half is mounted on the other.

FIG. 8 an elastic coupling of adjustable stiffness, in which the holes located in the half-coupling located around the circumference are made stepwise.

FIG. 9 elastic coupling of adjustable stiffness, in which the length of the elastic element is made no more than the width of the flange of the coupling half.

Fig 10. The design diagram of the loading of the elastic element.

Fig 11 Design scheme for determining the stiffness of an elastic coupling adjustable stiffness.

The elastic coupling of adjustable stiffness of FIG. 1 and FIG. 2 contains coaxially mounted coupling halves 1 and 2 with hubs 3 and 4 and flanges 5 and 6. In hubs 3 and 4, central holes 7 and 8 are made with keyways 9 and 10. These holes can be without keyways. On the flanges 5 and 6, coaxial holes 11 and 12 are made around the circumference, into which the elastic elements 13 are installed. The holes 11 and the corresponding holes 12 can be located both on the same radius and on different ones, and accordingly the elastic elements 13 can be mounted on different radii. In FIG. 1 and 2, all openings 11 and 12 are located on the same radius.

The elastic elements 13 are made in a stepped form and have a step 14 of large cross section, which is installed in the holes 11 of the flange 5 of the coupling half 1 and a step 15 of small cross section, which is installed in the holes 12 of the flange 6 of the coupling half 2. The dimensions of the holes 11 correspond to the dimensions of the step 14 of the elastic element 13. the holes 12 correspond to the dimensions of the step 15 of the elastic element 13. Each step 14 and 15 of the elastic element 13 enters the corresponding holes 11 and 12 by landing without a gap. The elastic elements 13 are made movable, that is, they can move along their own axis.

In FIG. 3a, 3b and 3c depict design options for the elastic elements 13. The large step 14 can be round (Fig. 3a), square (Fig. 3b), rectangular (Fig. 3c), or multifaceted. The step 15 of a small section can be round (Fig. 3a, 3b), square, rectangular (for example, in the form of a plate of Fig. 3c), a polyhedron and the like sections. The transition zone can be made in the form of a fillet (radial transition) 16 to reduce the concentration of stress in this zone. The shape, size and orientation of the small section step 15 are selected from the conditions for obtaining the required bending force and the required flexibility. At the end of the stage 15, an entry chamfer 17 is made. In one coupling, elastic elements 13 with different shapes and sizes of the cross sections of steps 14 and 15 can be used. This allows a wide range of regulation of the coupling stiffness to be provided.

.In FIG. 3d shows the distribution of the zones of the stage 15 of the elastic element 13 during the operation of the coupling. The step 15 enters a predetermined depth into the hole 12 of the coupling half 2. The length of the step 15, free from the hole 12, is subjected to bending during the operation of the coupling and forms a working length

.

The minimum value of the entrance of the stage 15 into the hole 12 is due to the need to exclude the possibility of jamming during movement. This area is designated pos.15a. In this position, the elastic element 13 has a maximum working length Imax

сокращается, растет усилие, необходимое для смещения. Вместе с тем падает величина допустимого смещения. Поз. 156 обозначена зона ступени 15, которая может входить в отверстие 12 при регулировке жесткости. Поз 15в обозначена зона ступени 15, которая при рабочих режимах не входит в отверстие 12. Она ограничивает величину минимальной рабочей длины

.As you enter the elastic element 13 into the hole 12, the working length

shrinking, increasing the force required for displacement. At the same time, the value of the permissible displacement decreases. Pos. 156 indicates the area of the stage 15, which can enter the hole 12 when adjusting the stiffness. Pos 15c indicates the zone of the stage 15, which during operating conditions does not enter the hole 12. It limits the minimum working length

.

определяется от начала ступени 15. При наличии галтели 16 - от конца галтели 16.Working length

determined from the beginning of step 15. If there is a fillet 16, from the end of the fillet 16.

The elastic elements 13 are movable and connected to linear displacement drives.

In the elastic coupling of adjustable stiffness of FIG. 1, each elastic element 13 is connected to an individual linear displacement actuator made in the form of a linear actuator 18 mounted on the coupling half 1. The elastic element 13 is connected to the rod 19 of the actuator 18.

In the elastic coupling of adjustable stiffness of FIG. 2, all the elastic elements 13 are connected to a single linear displacement drive, which consists of pushers 20 with an annular plate 21, which in turn is connected through the rods 23 to the actuator 22, a variant (not shown in FIG. 2) of several synchronously operating actuators 22 is possible.

The elastic coupling of adjustable stiffness contains the following sensors.

The angle sensor 24 (Fig. 4) of one half coupling 1 relative to another half coupling 2, made in the form of an encoder or resolver (rotary transformer). In FIG. 1 and 2, the rotation angle sensor is represented as an encoder comprising an outer ring sensor 25 and an inner magnetic ring 26.

The position sensors 27 (Fig. 4) of the elastic element 13, which can be integrated into the actuators. In FIGS. 1 and 2, position sensors are not shown.

In FIG. 4 shows a block diagram of an elastic coupling of variable stiffness. The rotation sensors 24 of the coupling halves 1 and 2, and the sensors 27 of the position of the elastic elements are connected to the controller 28. At the output of the controller 28, the drivers 29 for controlling linear displacement drives 30 are installed. The number of drivers 29 is determined by the number of linear drives 30. The controller 28 and the drivers 29 are installed on one or several boards 31. In FIG. 4, controller 28 and drivers 29 are mounted on one board 31. Linear drives 30 are shown in FIG. 1 as actuator 18, and in FIG. 2 as an actuator 22.

For a clutch performing multi-turn rotational motion on the hub 3 of the coupling half 1, at least one contact ring 32 is installed for supplying power and control commands by means of an electrical contact. The number of slip rings 32 is determined by the type of physical interface of the system.

For flexible couplings that vibrate, an electrical cable can be connected to the flexible coupling.

In FIG. 5 is a drawing of an embodiment of an elastic coupling of adjustable stiffness mounted on a drive shaft 33 and a drive shaft 34. The coupling halves 1 and 2 are mounted on the dowels 35 and 36, respectively, which do not allow the coupling halves 1 and 2 to rotate on the shafts 33 and 34. Such a coupling installation requires strict alignment of the shafts 33 and 34. Misalignment of the shafts 33 and 34 can lead to incorrect operation of the coupling, because misalignment introduces additional loads on the elastic elements 13 and leads to changes in the transmitted torque.

In fig. 6 shows a drawing of an embodiment of an elastic coupling of adjustable stiffness, both coupling halves 1 and 2 of which are mounted on the drive shaft 33, the drive coupling half 1 mounted on the key 35, and the driven coupling 2 mounted on the shaft 33 without a key and can be rotated on the shaft 33 relative to the drive coupling halves 1. Such an installation of an elastic coupling simplifies the design of the assembly if a lever, gear wheel or pulley is connected to the driven coupling 2.

If it is necessary to connect the next shaft to the driven coupling half 2, it can be connected by the flange 37 of the driven coupling half 2 by means of a flange connection through a compensating coupling (not shown).

In FIG. 7 shows an embodiment of an elastic coupling of adjustable stiffness, in which one coupling half is mounted on another. The hub of the coupling half 1 is extended beyond the flange 5 and is made in the form of a hollow shaft 38. The coupling half 2 has a diameter of the central hole 8 equal to the diameter of the hollow shaft 38. The coupling half 2 is mounted on its hollow shaft 38, which is part of the coupling half 1. Thus, strict alignment is achieved holes 11 and 12, regardless of the inaccuracy of the installation of the driven shaft, which increases the accuracy of determining the transmitted moment. The driven coupling half 2 can be mounted on the driving coupling half 1 on rolling bearings (not shown), which also increases the accuracy of determining and transmitting the required torque. This embodiment of the elastic coupling simplifies the design of the assembly if a lever, gear or pulley is connected to the driven coupling 2. If it is necessary to connect the next shaft to the driven coupling half 2, it can be connected to the flange 37 of the driven coupling half 2 using a flange connection through a compensating coupling (not shown).

It should also be noted that for high-quality operation, the clutch is lubricated and sealed by friction from dust and dirt.

In FIG. 8 shows a drawing of an embodiment of an elastic coupling of adjustable stiffness, in which the holes 12 of a smaller section located on the half-coupling 2 are made in a stepped form with dimensions corresponding to the sizes of the steps 14 of the larger section of the elastic element 13. The holes 12 of a smaller cross-section circumferentially located on the half-coupling 2 are made in steps forms with dimensions at the entrance, corresponding to the dimensions of the steps 14 of a larger cross section of the elastic element 13 (or the size of the hole 11 on the coupling half 1). The actuator 18 allows you to move the elastic element 13 and introduce the steps 14 of a large cross section of the elastic element 13 into the hole 12 on the coupling half 2. With this position of the elastic elements 13, the steps 15 of the small size are taken out of operation, the coupling switches to the rigid coupling mode and can transmit a much larger torque than during the operation of the stage 15 of a small cross section of the elastic element 13. This mode of operation of the coupling can be useful in operating modes of the equipment, when a rigid transmission of torque is required.

In FIG. 9 shows a drawing of an embodiment of an elastic coupling of adjustable stiffness, in which the length A of the elastic elements 13 does not exceed the width B of the flange 5 of the coupling half 1 with openings 11 of a large cross section located around the circumference. With this size ratio, when the actuators 18 pull the elastic elements 13, they are completely removed from the circumference of the hole 12 of a smaller section of the coupling half 2. Thus, with this position of the elastic elements 13, the kinematic chain is disconnected, i.e. there is no transmission of the moment of rotation between the coupling halves 1 and 2, and they can freely rotate relative to each other. The reverse entry of the step 15 of a smaller cross section into the corresponding hole is possible with zero rotation of the coupling halves 1 and 2 relative to each other or at the end of the elastic element and in the mating hole there should be entry chamfers. This mode of operation of the clutch is suitable for disengaging the clutch, if required by the program of work of the equipment where it is installed.

An elastic coupling of adjustable stiffness containing the features indicated in FIG. 8 and FIG. 9 covers a wide range of elasticity, while simultaneously serving as a rigid and releasable coupling.

In FIG. 10 shows a design scheme for determining the deflection of the step 15 of a small section of the elastic element 13 and the forces resulting from this. Step 15 is considered as a beam pinched at both ends with the possibility of longitudinal movement of one end. The ends of the beam are subject to plane-parallel transfer.

The following notation is accepted.

- рабочая длина балки - длина от начала ступени 15 малого сечения упругого элемента 13 до точки входа малого сечения в отверстие 12 полумуфты 2. Данная величина зависит от местоположения упругого элемента 13 и подлежит изменению при необходимости изменения жесткости муфты;

- the working length of the beam is the length from the beginning of the stage 15 of a small section of the elastic element 13 to the point of entry of the small section into the opening 12 of the coupling half 2. This value depends on the location of the elastic element 13 and is subject to change if necessary, change the stiffness of the coupling;

ƒ - plane-parallel displacement of the ends of the beams relative to each other;

F is the force required to obtain the required displacement ƒ.

The force required to offset one end of the beam relative to the other for a given loading pattern is.

Where

E is the modulus of elasticity of the first kind of material of the elastic element 13;

J is the moment of inertia of the section of the step 15 of the smaller section of the elastic element 13.

(Pisarenko G.S., Yakovlev A.P., Matveev V.V. Reference book on the resistance of materials. Kiev, Naukova Dumka 1988, p. 368).

In FIG. 11 shows a design diagram for determining the moment developed by an elastic coupling.

и оказывать различное сопротивление F при одной и той же величине деформации ƒ Упругие элементы 13 могут быть установлены на разных радиусах R и соответственно иметь различную деформацию при одном и том же угле поворота одной полумуфты 1 относительно другой полумуфты 2. Соответственно, каждый упругий элемент 13 будет давать различный момент вращения.Given that the elastic elements 13 (Fig. 1, Fig. 2) can have individual linear actuators 30 (Fig. 4), they can be extended to different working lengths

and exert different resistance F at the same strain ƒ Elastic elements 13 can be installed at different radii R and, accordingly, have different deformation at the same angle of rotation of one coupling half relative to another coupling half 2. Accordingly, each elastic element 13 will give different torque.

Where

Mi is the moment created by a single elastic element 13;

Fi is the force created by a single elastic element 13;

Ri is the radius of the elastic elements 13.

The total moment will be respectively

Where

n is the number of elastic elements;

M is the total moment.

If all the elastic elements 13 are located on the same radius R, the moment expression is simplified.

Where

Ji is the moment of inertia of a smaller section of the i-th elastic element 13;

- рабочая длина i-того упругого элемента 13.

- the working length of the i-th elastic element 13.

The magnitude of the deformation of the elastic elements 13 is associated with the angle of rotation of one coupling half relative to another coupling half 2 expression

Where

α is the angle of rotation of one coupling half 1 relative to the other half coupling 2 in radians.

Given this, the clutch torque will be

Coupling stiffness

упругих элементов 13. Разные упругие элементы 13 могут иметь различные моменты инерции сечений и установлены так, что имеют различную рабочую длину

Также возможна работа, при которой часть упругих элементов 13 выведена из полумуфты 2. Это дает возможность для широкого и плавного регулирования жесткости муфты.As can be seen from expression (7), the moment developed by the elastic coupling depends on the rotation angle a of one coupling half relative to the other coupling half 2, the moment of inertia of the cross section of the step 15 of the elastic element 13, and the working length

elastic elements 13. Different elastic elements 13 can have different moments of inertia of the sections and are installed so that they have different working lengths

It is also possible to work in which part of the elastic elements 13 is withdrawn from the coupling half 2. This makes it possible for a wide and smooth control of the stiffness of the coupling.

The elastic coupling of adjustable stiffness operates as follows.

каждого упругого элемента 13 и подает команду на драйверы 29 управления приводами линейных перемещении 30 (ими являются актуатор 18 на фиг. 1 или актуатор 22 на фиг. 2). Приводы линейных перемещении 30 перемещают упругие элементы 13 и выставляют требуемые рабочие длины упругих элементов 13. При вращении муфты за счет передаваемого момента вращения одна полумуфта 1 поворачивается относительно другой полумуфты 2 изгибая ступени 15 меньшего сечения упругих элементов 13. Контроллер 28 контролирует угол поворота одной полумуфты 1 относительно другой полумуфты 2 по показаниям датчика угла поворота 24 и рассчитывает фактический момент, предаваемый муфтой. В процессе работы по команде системы управления устройства, где установлена муфта, контроллер 28 может изменять жесткость муфты на требуемую величину. В случае непредвиденного увеличения передаваемого момента контроллер 28 может дать команду на увеличение жесткости муфты, если это угрожает разрушением муфты. Контроллер 28 может также управлять жесткостью муфты по заложенной заранее программе в зависимости от выполняемых оборудованием операций, условий работы или передаваемого момента вращения.Depending on the required stiffness, the controller 28 calculates the required working lengths

each elastic element 13 and gives a command to the drivers 29 for controlling linear displacement drives 30 (they are actuator 18 in Fig. 1 or actuator 22 in Fig. 2). The linear displacement drives 30 move the elastic elements 13 and set the required working lengths of the elastic elements 13. When the coupling rotates due to the transmitted torque, one half-coupling 1 rotates relative to the other half-coupling 2 by bending steps 15 of a smaller section of the elastic elements 13. The controller 28 controls the rotation angle of one half-coupling 1 relative to the other coupling half 2 according to the readings of the angle sensor 24 and calculates the actual moment transmitted by the coupling. In the process of working at the command of the control system of the device where the clutch is installed, the controller 28 can change the stiffness of the clutch by the desired amount. In the event of an unexpected increase in the transmitted moment, the controller 28 may give a command to increase the stiffness of the coupling, if this threatens to destroy the coupling. The controller 28 can also control the stiffness of the coupling according to a predefined program depending on the operations performed by the equipment, operating conditions or transmitted torque.

наибольшая жесткость обеспечивается работой всех упругих элементов 13 на минимальной рабочей длине

. Промежуточные величины жесткости достигаются введением каждого последующего упругого элемента 13 от максимальной

до минимальной

рабочей длины. При этом каждый упругий элемент 13 добавляет свою долю жесткости. Для изменения жесткости муфты от минимальной до максимальной величины производится последовательный ввод каждого упругого элемента 13 на требуемую рабочую длину

In an embodiment of an elastic coupling of adjustable stiffness, in which each elastic element 13 is connected to an individual linear displacement drive - actuator 18 (Fig. 1), there is the possibility of wide regulation of stiffness. The smallest rigidity can be achieved by working one elastic element 13 at the maximum possible working length

the greatest rigidity is provided by the work of all elastic elements 13 at a minimum working length

. Intermediate stiffness values are achieved by introducing each subsequent elastic element 13 from the maximum

to the minimum

working length. Moreover, each elastic element 13 adds its share of rigidity. To change the stiffness of the coupling from the minimum to the maximum value, a sequential input of each elastic element 13 to the required working length is performed

In the clutch of FIG. 2, all the elastic elements 13 are connected to a single linear displacement drive. The total stroke of the actuator 22 is the length of the working section of the elastic element 13.

In the clutch of FIG. 1, each elastic element is connected to its individual actuator 18. To cover the entire range of stiffness, each actuator extends the elastic element to the length of the zone 156 of the step 15 of the small cross section of the elastic element 13. Thus, the total total stroke of the actuators 18 is greater than the stroke of the actuator 22 (Fig. 2) as many times as there are elastic elements. By driving each actuator 18, we are able to more smoothly control the stiffness of the coupling.

In an embodiment of an elastic coupling of adjustable stiffness, in which all the elastic elements 13 are connected to a single linear displacement drive (Fig. 2), the working lengths of all the elastic elements 13 are set by actuators 22, which push a single plate 21 with their rods 23, and it in turn through pushers 20 sets the location of the elastic elements 13. In this case, all the elastic elements 13 work under equal conditions and with the smallest load for a given moment. However, this version of the coupling has a limitation on the range of stiffness and smoothness of the regulation of stiffness.

An elastic coupling of adjustable stiffness, in which circumferential openings 12 of a smaller cross section are made in a stepped form with dimensions at the entrance corresponding to the sizes of steps 14 of a larger cross section of the elastic element 13 (Fig. 8) has the ability to introduce steps 14 of a large cross section of the elastic elements 13 into the coupling half 2. This allows you to switch the elastic coupling in the rigid.

An elastic coupling of adjustable stiffness, in which the length of the elastic elements 13 does not exceed the width of the flange 5 of the coupling half 2 with circumferential openings 11 of large section (Fig. 9), makes it possible to fully withdraw the elastic elements 13 from the coupling half 2. This allows you to set the number of simultaneously working elastic elements 13 from one to their total number or by fasting, disconnect the coupling halves 1 and 2, and achieve separation of the kinematic chain, i.e. exclude torque transmission. In this way, a wide range of clutch stiffness control is achieved.

A combination of resilient coupling variants of FIG. 8 and FIG. 9 allows to obtain the functions of a rigid coupling, an elastic coupling of adjustable stiffness and a disconnectable coupling in one product.

The presence of the controller 28 allows you to get a “smart” clutch with optimal control, protection against destruction and informing the control system of the equipment on which it is installed, about the transmitted moment and about the angle of rotation α of one coupling half relative to the other coupling half 2, etc. The controller 28 may also be embedded in the program control rigidity from the operating conditions and the transmitted torque.

In this way:

The execution of the elastic element of the elastic coupling stepwise and movable, as well as the connection of each elastic element with an individual drive made it possible to obtain a wide range of smooth control of stiffness.

The execution of the half-coupling holes located on the flange around the circumference of the holes of a smaller cross section of a stepped shape with dimensions at the entrance corresponding to the sizes of the steps of the elastic element of a larger cross section made it possible to switch the elastic coupling to a rigid one.

The implementation of the length of the elastic elements not exceeding the width of the flange of the coupling half with circumferential holes of large cross-section made it possible to disconnect the kinematic chain.

Using the rotation sensor of one coupling half relative to the other, the position sensors of the elastic elements and the controller allowed the elastic coupling to change its operating parameters at the command of the equipment control system on which it is installed, or based on the current system parameters, and inform the equipment control system on which it installed, about current operating parameters.

Claims (9)

1. An elastic coupling of adjustable stiffness, comprising two coaxially mounted half-couplings with holes located around the circumference and installed elastic elements in them, characterized in that the elastic elements are stepped, while the holes located in the half couplings correspond to the size of the mating step of the elastic element, the elastic elements are made movable . 2. The elastic coupling according to claim 1, characterized in that one coupling half is mounted on the other. 3. The elastic coupling according to claim 1, characterized in that all the elastic elements are connected to a single linear displacement drive. 4. The elastic coupling according to claim 1, characterized in that each elastic element is connected to an individual linear displacement drive. 5. The elastic coupling according to claim 1, characterized in that it comprises a rotation angle sensor of the coupling halves relative to each other. 6. The elastic coupling according to claim 1, characterized in that it comprises a control controller and drivers for controlling linear actuators of elastic elements. 7. The elastic coupling according to claim 1, characterized in that it comprises at least one contact ring for supplying power and control commands via electrical contact. 8. The elastic coupling according to claim 1, characterized in that the circumferential openings of a smaller section are made in a stepped form with dimensions at the entrance corresponding to the sizes of the steps of an elastic element of a larger section. 9. The elastic coupling according to claim 1, characterized in that the length of the elastic elements does not exceed the width of the flange of the coupling half with large openings located around the circumference.

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