CN103465259B - A kind of coaxial reverse drive mechanism and the rotary machine people of this mechanism is set - Google Patents

Abstract

A coaxial reverse transmission mechanism and a rotary robot provided with the mechanism, the coaxial reverse transmission mechanism comprises: an upper bearing sleeve arranged at the upper port of the casing, a middle bearing sleeve arranged inside the casing, and an upper bearing sleeve arranged on the upper The supporting sleeve between the bearing sleeve and the middle bearing sleeve, the upper bearing fixed in the middle of the upper bearing sleeve, the two middle bearings arranged inside the middle bearing sleeve, and the lower bearing arranged at the bottom of the housing are arranged in the housing And the upper cam of the upper drive shaft runs through up and down, and the lower cam of the lower drive shaft is arranged in the middle and runs through up and down. The upper end of the upper drive shaft is connected to the driven part at the upper end of the housing, and the lower end is connected with a middle bearing. The upper end of the lower drive shaft It is connected with another middle bearing, the lower end is connected with the driven part at the lower end of the shell, and is connected with the output shaft of the drive motor through a coupling, and a slide bar for controlling the synchronous rotation of the upper cam and the lower cam is arranged between the upper cam and the lower cam . The invention only needs one motor to drive two active arms.

Description

A coaxial reverse transmission mechanism and a rotary robot equipped with the mechanism

technical field

The invention relates to a rotary robot. In particular, it relates to a coaxial reverse transmission mechanism and a rotary robot provided with the mechanism.

Background technique

At present, parallel robots have been widely researched and applied in industries such as aircraft motion simulators, space vehicle docking, parallel machine tools, micro-motion mechanisms, medical equipment, force sensors, and light industry. Professor Huang Tian of Tianjin University proposed "a high-speed pick-and-place parallel robot that can realize full-circle rotation". The left and right active arms of the rotary robot are driven by two motors respectively. However, in actual work, the left and right active arms must maintain certain geometric constraints so that the moving platform controlled by the two active arms can complete the upward and downward movements. . Therefore, drive the left and right active arms respectively with two motors, which not only makes the motor part of the robot occupy a large space, but also has a heavy mass and complicated layout.

Contents of the invention

The technical problem to be solved by the present invention is to provide a coaxial reverse transmission mechanism capable of simultaneously controlling two active arms to move through one motor and a rotary robot equipped with the mechanism.

The technical solution adopted in the present invention is: a coaxial reverse transmission mechanism, including: a casing with openings formed at the upper and lower ends, an upper bearing sleeve arranged inside the upper port of the casing, and a middle bearing arranged in the middle of the inner side of the casing The sleeve is set between the upper bearing sleeve and the middle bearing sleeve as a support sleeve for positioning the middle bearing sleeve, and the upper bearing fixed in the middle of the upper bearing sleeve is fixedly arranged on the middle bearing sleeve from top to bottom The first middle bearing and the second middle bearing on the inner side are the lower bearing fixedly arranged in the port at the bottom of the shell, and the upper cam and the lower cam. The middle part of the upper cam is fixed with an upper drive shaft up and down, and the middle part of the lower cam A lower drive shaft is fixed up and down, and the upper cam is arranged between the upper bearing and the first middle bearing, wherein the upper end of the upper drive shaft passes through the upper bearing and the upper bearing sleeve in turn and is connected to the The driven part at the upper end of the casing, the lower end of the upper drive shaft is connected to the first middle bearing, and the lower cam is arranged between the second middle bearing and the lower bearing, wherein the lower drive shaft The upper end of the lower drive shaft is connected to the second middle bearing, the lower end of the lower drive shaft passes through the lower bearing and the driven part located at the lower end of the casing in turn, and is connected to the output shaft of the drive motor through a coupling. The upper cam and the A slide bar for controlling the synchronous rotation of the upper cam and the lower cam is arranged between the lower cams. The slide bar penetrates up and down and is arranged in the through hole on the middle bearing sleeve, and moves up and down under the restriction of the through hole.

The upper port of the housing is also provided with an end cover, and the upper end of the upper drive shaft also passes through the end cover to connect to the driven component located at the upper end of the housing.

An upper shoulder is formed on the inner side of the upper port of the housing, and the periphery of the upper bearing sleeve is fixedly supported on the upper shoulder.

A circle of lower shoulders is formed in the middle part of the inner side of the housing, and the periphery of the middle bearing sleeve is fixedly supported on the lower shoulders.

A keyway is axially formed inside the through hole of the middle bearing sleeve, and a feather key is formed on the slide rod, and the feather key is embedded in the keyway and moves up and down along the keyway.

A first chute is formed on the outer peripheral surface of the upper cam, a second chute opposite to the first chute is formed on the outer peripheral surface of the lower cam, and the connecting piece connected to the upper end of the slide bar is embedded in the In the first chute, the lower connecting piece connected to the lower end of the slide bar is embedded in the second chute.

A rotary robot provided with a coaxial reverse transmission mechanism, comprising a first active arm and a first driven arm with one end connected to the first active arm, a second active arm and one end connected to the second active arm The second driven arm, and the moving platform respectively connected to the other end of the first driven arm and the second driven arm, are characterized in that a motor and a coaxial reverse transmission mechanism are also provided, wherein the The first active arm is fixedly sleeved on the upper drive shaft of the coaxial reverse transmission mechanism, the second active arm is fixedly sleeved on the lower drive shaft of the coaxial reverse transmission mechanism, and the coaxial reverse transmission The lower drive shaft of the mechanism is connected to the output shaft of the motor through a coupling.

The coaxial reverse transmission mechanism includes: a casing with openings formed at the upper and lower ends, an upper bearing sleeve arranged inside the upper port of the casing, a middle bearing sleeve arranged in the middle of the inner side of the casing, and an upper bearing sleeve arranged The support sleeve used to position the middle bearing sleeve between the bearing sleeve and the middle bearing sleeve, the upper bearing fixed in the middle of the upper bearing sleeve, the first middle bearing and the second bearing arranged inside the middle bearing sleeve from top to bottom. The middle bearing, the lower bearing fixedly arranged in the port at the bottom of the housing, the end cover arranged at the upper port of the housing, and the upper cam and the lower cam, the middle part of the upper cam is fixed with the upper drive shaft up and down, and the middle part of the lower cam A lower drive shaft is fixed up and down, and the upper cam is arranged between the upper bearing and the first middle bearing, wherein the upper end of the upper drive shaft passes through the upper bearing, the upper bearing sleeve and the end in turn. The cover is connected to the first active arm located at the upper end of the casing, the lower end of the upper drive shaft is connected to the first middle bearing, and the lower cam is arranged between the second middle bearing and the lower bearing, wherein the The upper end of the lower drive shaft is connected to the second middle bearing, the lower end of the lower drive shaft passes through the lower bearing and the second active arm located at the lower end of the housing in turn, and is connected to the output shaft of the drive motor through a coupling, so The second active arm and the lower drive shaft are connected by a keyway, and a slide bar for controlling the synchronous rotation of the upper cam and the lower cam is arranged between the upper cam and the lower cam, and the slide bar penetrates up and down. In the through hole on the middle bearing sleeve, and move up and down under the restriction of the through hole.

A ring of upper shoulders is formed on the inner side of the upper port of the housing. The periphery of the upper bearing sleeve is fixedly supported on the upper shoulders. A ring of lower shoulders is formed in the middle of the inner side of the housing. The middle bearing The periphery of the sleeve is fixedly supported on said lower shoulder.

A keyway is axially formed on the inside of the through hole of the middle bearing sleeve, and a sliding key is formed on the sliding rod. The sliding key is embedded in the keyway and moves up and down along the keyway. The upper A first chute is formed on the outer peripheral surface of the cam, a second chute opposite to the first chute is formed on the outer peripheral surface of the lower cam, and the connecting piece connected to the upper end of the slide bar is embedded in the first chute. In the first chute, the lower connecting piece connected to the lower end of the slide bar is embedded in the second chute.

A coaxial reverse transmission mechanism of the present invention and a rotary robot equipped with the mechanism only need one motor to drive two active arms, reducing one motor, thereby greatly reducing the volume and quality of the robot, and saving energy. costs. The mechanism adopts the cam and sliding rod mechanism to realize the coaxial reverse transmission, and its compact structure makes the radial and axial dimensions smaller, reduces the volume and quality, meets the structural requirements of the rotary robot, and improves the rigidity . The motor can be connected with the axial bottom end of the mechanism, which meets the layout requirements.

Description of drawings

Fig. 1 is the structural representation of rotary robot of the present invention;

Fig. 2 is a schematic structural view of the coaxial reverse transmission mechanism of the present invention.

In the picture:

1: The first active arm 2: Coaxial reverse transmission mechanism

3: Second active arm 4: Second slave arm

5: Motor 6: Moving platform

7: First follower arm 8: Housing

9: Upper cam 10: Middle bearing sleeve

11: Lower cam 12: Lower drive shaft

13: Lock nut 14: Coupling

15: key 16: key

17: Lower bearing 18: Feather key

19: Slider 20: Support sleeve

21: Upper bearing sleeve 22: End cover

23: Upper drive shaft 24: Upper shoulder

25: Lower shoulder 26: First middle bearing

27: Second middle bearing 28: Upper bearing

29: The first chute 30: The second chute

Detailed ways

A coaxial reverse transmission mechanism of the present invention and a rotary robot equipped with the mechanism will be described in detail below in conjunction with the embodiments and the accompanying drawings.

As shown in Figure 2, a coaxial reverse transmission mechanism of the present invention consists of a slide bar and two cams. Using the cam and slider mechanism, the cam only rotates but does not slide, and the slider only slides and does not rotate. Driven by a motor, the two active arms on the coaxial axis rotate in opposite directions at the same time, thereby realizing the space of the moving platform. sports. It specifically includes: a casing 8 with openings formed at the upper and lower ends, an upper bearing sleeve 21 arranged inside the upper port of the casing 8, a middle bearing sleeve 10 arranged in the middle part of the inner side of the casing 8, and an upper bearing sleeve 21 and a middle part arranged on the inner side of the casing 8. The supporting sleeve 20 used for positioning the middle bearing sleeve 10 between the bearing sleeves 10 is fixed on the upper bearing 28 in the middle of the upper bearing sleeve 21, and is fixedly arranged on the first middle part inside the middle bearing sleeve 10 from top to bottom. The bearing 26 and the second middle bearing 27, the lower bearing 17 fixedly arranged in the bottom port of the casing 8, and the upper cam 9 and the lower cam 11, the upper port of the casing 8 is also provided with an end cover 22. An upper shoulder 24 is formed on the inner side of the upper port of the housing 8 , and the periphery of the upper bearing sleeve 21 is fixedly supported on the upper shoulder 24 . A circle of lower shoulder 25 is formed in the inner middle part of the housing 8 , and the periphery of the middle bearing sleeve 10 is fixedly supported on the lower shoulder 25 .

The upper drive shaft 23 is fixed up and down in the middle of the upper cam 9, and the lower drive shaft 12 is fixed in the middle of the lower cam 11. The upper cam 9 is arranged on the upper bearing 28 and the second Between a middle bearing 26, wherein, the upper end of the upper drive shaft 23 passes through the upper bearing 28, the upper bearing sleeve 21 and the end cover 22 in sequence to connect the driven part (the first active arm 1) located at the upper end of the housing 8, so The lower end of the upper drive shaft 23 is connected to the first middle bearing 26, and the lower cam 11 is arranged between the second middle bearing 27 and the lower bearing 17, wherein the upper end of the lower drive shaft 12 Connected with the second middle bearing 27, the lower end of the lower drive shaft 12 passes through the lower bearing 17 and the driven part (second active arm 3) located at the lower end of the housing 8 in turn, and is connected to the drive motor through a coupling 14 5 output shafts.

A slide bar 19 for controlling the synchronous rotation of the upper cam 9 and the lower cam 11 is arranged between the upper cam 9 and the lower cam 11, and the slide bar 19 penetrates up and down and is arranged in a through hole on the middle bearing sleeve 10 , and move up and down under the restriction of the through hole. A keyway is axially formed inside the through hole of the middle bearing sleeve 10 , and a sliding key 18 is formed on the sliding rod 19 , and the sliding key 18 is embedded in the keyway and moves up and down along the keyway. The upper cam 9 and the lower cam 11 only rotate and do not slide, and the slide bar only slides up and down and does not rotate. A first chute 29 is formed on the outer peripheral surface of the upper cam 9, and a second chute 30 opposite to the first chute 29 is formed on the outer peripheral surface of the lower cam 11, which is connected to the sliding rod 19. The connecting piece at the upper end is embedded in the first sliding groove 29 , and the lower connecting piece connected to the lower end of the sliding rod 19 is embedded in the second sliding groove 30 . The upper drive shaft 23 and the lower drive shaft 12 are made to rotate coaxially and in opposite directions.

As shown in Figure 1, a rotary robot provided with a coaxial reverse transmission mechanism of the present invention includes a first active arm 1 and a first driven arm 7 with one end connected to the first active arm 1. Two main arms 3 and one end are connected to the second slave arm 4 on the second master arm 3, and the movable platform 6 is respectively connected to the first slave arm 7 and the second slave arm 4 on the other end, it is characterized in that , is also provided with a motor 5 and a coaxial reverse transmission mechanism 2, wherein the first active arm 1 is fixedly sleeved on the upper drive shaft 23 of the coaxial reverse transmission mechanism 2, and the second active arm 3 is fixedly sleeved on the lower drive shaft 13 of the coaxial reverse transmission mechanism 2, and the lower drive shaft 13 of the coaxial reverse transmission mechanism 2 is connected to the output shaft of the motor 5 through a coupling 14.

As shown in Figure 2, the coaxial reverse transmission mechanism 2 includes: a casing 8 with openings formed at the upper and lower ends, an upper bearing sleeve 21 arranged inside the upper port of the casing 8, and an upper bearing sleeve 21 arranged in the middle of the inner side of the casing 8. The middle bearing sleeve 10 is arranged between the upper bearing sleeve 21 and the middle bearing sleeve 10 for positioning the support sleeve 20 of the middle bearing sleeve 10, and the upper bearing 28 fixed on the middle part of the upper bearing sleeve 21 is formed by the upper To the bottom, the first middle bearing 26 and the second middle bearing 27 fixedly arranged inside the middle bearing sleeve 10, the lower bearing 17 fixedly arranged in the bottom port of the casing 8, the end cover 22 arranged at the upper port of the casing 8, and the upper Cam 9 and lower cam 11, the inner side of the upper port of the housing 8 is formed with a circle of upper shoulder 24, the periphery of the upper bearing sleeve 21 is fixedly supported on the upper shoulder 24, the inner side of the housing 8 A circle of lower shoulders 25 is formed in the middle, and the periphery of the bearing sleeve 10 in the middle is fixedly supported on the lower shoulders 25 . The upper drive shaft 23 is fixed up and down in the middle of the upper cam 9, and the lower drive shaft 12 is fixed in the middle of the lower cam 11. The upper cam 9 is arranged on the upper bearing 28 and the second Between a middle bearing 26, wherein, the upper end of the upper drive shaft 23 passes through the upper bearing 28, the upper bearing sleeve 21 and the end cover 22 in sequence to connect the first active arm 1 located at the upper end of the housing 8, the upper drive shaft 23 The lower end of the lower drive shaft 12 is connected to the first middle bearing 26, and the lower cam 11 is arranged between the second middle bearing 27 and the lower bearing 17, wherein, the upper end of the lower driving shaft 12 is connected to the first middle bearing 26. The two middle bearings 27 are connected, and the lower end of the lower drive shaft 12 passes through the lower bearing 17 and the second active arm 3 located at the lower end of the housing 8 in turn, and is connected to the output shaft of the drive motor 5 through a coupling 14, and the second The active arm 3 is connected with the lower drive shaft 12 by a keyway, and a slide bar 19 for controlling the synchronous rotation of the upper cam 9 and the lower cam 11 is arranged between the upper cam 9 and the lower cam 11. The slide bar 19 The vertically penetrating one is arranged in the through hole on the middle bearing sleeve 10, and moves up and down under the restriction of the through hole.

A keyway is axially formed inside the through hole of the middle bearing sleeve 10, and a sliding key 18 is formed on the sliding rod 19. The sliding key 18 is embedded in the keyway and moves up and down along the keyway. A first chute 29 is formed on the outer peripheral surface of the upper cam 9, and a second chute 30 opposite to the first chute 29 is formed on the outer peripheral surface of the lower cam 11, which is connected to the sliding rod 19. The connecting piece at the upper end is embedded in the first sliding groove 29 , and the lower connecting piece connected to the lower end of the sliding rod 19 is embedded in the second sliding groove 30 . The upper drive shaft 23 and the lower drive shaft 12 are made to rotate coaxially and in opposite directions.

A kind of coaxial reverse transmission mechanism of the present invention and the working principle of the rotary robot that this mechanism is set are:

When the motor 5 rotates clockwise, it drives the lower drive shaft 12 to rotate clockwise, the lower drive shaft 12 drives the second active arm 3 and the lower cam 11 to rotate clockwise, and the lower cam 11 drives the slide bar 19 downward Sliding, the slide bar 19 drives the upper cam 9 to rotate counterclockwise, the upper cam 9 drives the upper drive shaft 23 to rotate counterclockwise, and the upper drive shaft 23 drives the first active arm 1 to rotate counterclockwise. The first active arm 1 and the second active arm 3 respectively drive the first driven arm 7 and the second driven arm 4 to move the moving platform 6 outward. The rotation speed of the first active arm 1 and the second active arm 3 is the same as that of the motor 5 . The first active arm 1 and the second active arm 3 move coaxially and oppositely. The upper cam 9 and the lower cam 11 just rotate and do not slide; the slide bar 19 just slides and does not rotate.

When the motor 5 rotates in the counterclockwise direction, it drives the lower drive shaft 12 to rotate in the counterclockwise direction, the lower drive shaft 12 drives the second active arm 3 and the lower cam 11 to rotate in the counterclockwise direction, and the lower cam 11 drives the slide bar 19 to slide upward , the sliding rod 19 drives the upper cam 9 to rotate clockwise, the upper cam 9 drives the upper drive shaft 23 to rotate clockwise, and the upper drive shaft 23 drives the first active arm 1 to rotate clockwise. The first active arm 1 and the second active arm 3 respectively drive the first driven arm 7 and the second driven arm 4 to move the moving platform 6 inward. The rotation speed of the first active arm 1 and the second active arm 3 is the same as that of the motor 5 . The first active arm 1 and the second active arm 3 move coaxially and oppositely. The upper cam 9 and the lower cam 11 just rotate and do not slide; the slide bar 19 just slides and does not rotate.

Claims (7)

1. a coaxial reverse drive mechanism, it is characterized in that, include: two ends are formed with the shell (8) of opening up and down, be arranged on the upper bearing (metal) sleeve (21) inside shell (8) upper port, be arranged on the middle part bearing sleeve (10) of shell (8) middle inside, be arranged between upper bearing (metal) sleeve (21) and middle part bearing sleeve (10) for locating the stop sleeve (20) at middle part bearing sleeve (10), be fixed on the upper bearing (metal) (28) at upper bearing (metal) sleeve (21) middle part, bearing (27) in the middle part of bearing (26) and second in the middle part of in the of in the middle part of being from top to bottom fixedly installed on inside bearing sleeve (10) first, be fixedly installed on the lower bearing (17) in shell (8) bottom port, and overhead cam (9) and lower cam (11), what described overhead cam (9) middle part was run through up and down is fixed with driving shaft (23), driving shaft (12) under being fixed with that described lower cam (11) middle part is run through up and down, described overhead cam (9) to be arranged in the middle part of described upper bearing (metal) (28) and described first between bearing (26), wherein, the upper end of described upper driving shaft (23) is run through upper bearing (metal) (28) successively and is connected with upper bearing (metal) sleeve (21) driven member being positioned at shell (8) upper end, the lower end of described upper driving shaft (23) is connected with bearing (26) in the middle part of in the of described first, described lower cam (11) be arranged at described second in the middle part of between bearing (27) and lower bearing (17), wherein, the upper end of described lower driving shaft (12) is connected with bearing (27) in the middle part of in the of described second, the lower end of described lower driving shaft (12) is run through lower bearing (17) successively and is positioned at the driven member of shell (8) lower end, and the output shaft of drive motors (5) is connected by shaft coupling (14), the slide bar (19) for controlling overhead cam (9) and lower cam (11) synchronous rotary is provided with between described overhead cam (9) and lower cam (11), in through hole on what described slide bar (19) ran through up and down be arranged on middle part bearing sleeve (10), and move up and down under the restriction of this through hole.

2. the coaxial reverse drive mechanism of one according to claim 1, it is characterized in that, the upper port of described shell (8) is also provided with end cap (22), and the upper end of described upper driving shaft (23) is also run through described end cap (22) and connected the driven member being positioned at shell (8) upper end.

3. the coaxial reverse drive mechanism of one according to claim 1, it is characterized in that, be formed with shoulder (24) on a circle inside the upper port of described shell (8), the periphery of described upper bearing (metal) sleeve (21) is fixedly supported on described upper shoulder (24).

4. the coaxial reverse drive mechanism of one according to claim 1, it is characterized in that, described shell (8) middle inside is formed with a circle lower shoulder (25), and the periphery of described middle part bearing sleeve (10) is fixedly supported on described lower shoulder (25).

5. the coaxial reverse drive mechanism of one according to claim 1, it is characterized in that, at the through hole inner shafts of described middle part bearing sleeve (10) to being formed with keyway, described slide bar (19) is formed with feather key (18), described feather key (18) is embedded in keyway, and moves up and down along this keyway.

6. the coaxial reverse drive mechanism of one according to claim 1, it is characterized in that, the outer peripheral face of described overhead cam (9) is formed with the first chute (29), the outer peripheral face of described lower cam (11) is formed with second chute (30) contrary with the first chute (29) direction, the connector being connected to slide bar (19) upper end is embedded in described the first chute (29), and the lower connector being connected to slide bar (19) lower end is embedded in described the second chute (30).

7. one kind is provided with the rotary machine people of the coaxial reverse drive mechanism described in any one of claim 1 to 6, it is characterized in that, include the first master arm (1) and one end and be connected to the first slave arm (7) on the first master arm (1), second master arm (3) and one end are connected to the second slave arm (4) on the second master arm (3), and the moving platform (6) be connected on the first slave arm (7) and the second slave arm (4) other end, it is characterized in that, also be provided with motor (5) and coaxial reverse drive mechanism (2), wherein, described the first master arm (1) is fixedly sleeved on the upper driving shaft (23) of coaxial reverse drive mechanism (2), described the second master arm (3) is fixedly sleeved on the lower driving shaft (13) of coaxial reverse drive mechanism (2), the output shaft of the motor (5) described in the lower driving shaft (13) of described coaxial reverse drive mechanism (2) is connected by shaft coupling (14).