CN103465259A - Coaxial reverse transmission mechanism and rotary robot with same - Google Patents
Coaxial reverse transmission mechanism and rotary robot with same Download PDFInfo
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- CN103465259A CN103465259A CN2013104242679A CN201310424267A CN103465259A CN 103465259 A CN103465259 A CN 103465259A CN 2013104242679 A CN2013104242679 A CN 2013104242679A CN 201310424267 A CN201310424267 A CN 201310424267A CN 103465259 A CN103465259 A CN 103465259A
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Abstract
The invention relates to a coaxial reverse transmission mechanism and a rotary robot with the same. The coaxial reverse transmission mechanism comprises an upper bearing sleeve, a middle bearing sleeve, a supporting sleeve, an upper bearing, two middle bearings, a lower bearing, an upper cam and a lower cam, the upper bearing sleeve is arranged in the upper port of a housing, the middle bearing sleeve is arranged in the housing, the supporting sleeve is arranged between the upper bearing sleeve and the middle bearing sleeve, the upper bearing is fixed in the middle of the upper bearing sleeve, the two middle bearings are arranged in the middle bearing sleeve, the lower bearing is arranged on the bottom of the housing, the upper cam is arranged in the housing, an upper driving shaft vertically runs through the upper cam, the lower cam is arranged in the middle of the housing, a lower driving shaft vertically runs through the middle of the lower cam, the upper end of the upper driving shaft is connected with a driven part on the upper end of the housing, the lower end of the upper driving shaft is connected with one of the middle bearings, the upper end of the lower driving shaft is connected with the other middle bearing, the lower end of the lower driving shaft is connected with a driven part on the lower end of the housing, and is connected with the output shaft of a driving motor through a coupling, and a slide bar which is used for controlling the upper cam and the lower cam to synchronously rotate is arranged between the upper cam and the lower cam. The coaxial reverse transmission mechanism and the rotary robot can be used for driving two master arms with only one motor.
Description
Technical field
The present invention relates to a kind of rotary machine people.Particularly relate to a kind of coaxial reverse drive mechanism and the rotary machine people of this mechanism is set.
Background technology
At present, parallel robot has all obtained general research and application in industries such as aircraft movements simulator, spacecraft docking, parallel machine, micromotion mechanism, medicine equipment, power sensor, light industry.Professor Huang Tian of University Of Tianjin has proposed " can realize the rotating high speed grasping/releasing of complete cycle parallel robot ".Two of this rotary machine people's left and right master arm is to be driven respectively by two motors, but, in real work, two of left and right master arm will keep certain geometrical constraint, just can make the moving platform of being controlled by two master arms complete rising, descending motion.Therefore drive respectively two master arms in left and right with two motors, not only make the shared space of motor part of robot large, quality weight, and layout complexity.
Summary of the invention
Technical problem to be solved by this invention is, provides a kind of and can control the coaxial reverse drive mechanism that two master arms are moved and the rotary machine people that this mechanism is set by a motor simultaneously.
The technical solution adopted in the present invention is: a kind of coaxial reverse drive mechanism, include: upper and lower two ends are formed with the shell of opening, be arranged on the upper bearing (metal) sleeve of shell upper port inboard, be arranged on the middle part bearing sleeve of shell middle inside, be arranged between upper bearing (metal) sleeve and middle part bearing sleeve for locating the stop sleeve of middle part bearing sleeve, be fixed on the upper bearing (metal) at upper bearing (metal) sleeve middle part, be fixedly installed on the first middle part bearing and the second middle part bearing of bearing sleeve inboard, middle part from top to bottom, be fixedly installed on the lower bearing in the outer casing bottom port, and overhead cam and lower cam, described overhead cam middle part is run through up and down is fixed with driving shaft, driving shaft under being fixed with that described lower cam middle part is run through up and down, described overhead cam is arranged between described upper bearing (metal) and described the first middle part bearing, wherein, upper bearing (metal) and upper bearing (metal) sleeve connection bit are run through successively in the driven parts of shell upper end in the upper end of described upper driving shaft, the lower end of described upper driving shaft is connected with described the first middle part bearing, described lower cam is arranged between described the second middle part bearing and lower bearing, wherein, the upper end of described lower driving shaft is connected with described the second middle part bearing, the lower end of described lower driving shaft is run through successively lower bearing and is positioned at the driven parts of shell lower end, and connect the output shaft of drive motors by shaft coupling, between described overhead cam and lower cam, be provided with for controlling the slide bar of overhead cam and lower cam synchronous rotary, what described slide bar ran through up and down is arranged in the through hole on the bearing sleeve of middle part, and move up and down under the restriction of this through hole.
The upper port of described shell also is provided with end cap, and the upper end of described upper driving shaft is also run through described end cap and connected the driven parts that are positioned at the shell upper end.
The upper port inboard of described shell is formed with shoulder on a circle, and the periphery of described upper bearing (metal) sleeve is fixedly supported on described upper shoulder.
Described shell middle inside is formed with a circle lower shoulder, and the periphery of described middle part bearing sleeve is fixedly supported on described lower shoulder.
To being formed with keyway, on described slide bar, be formed with feather key at the through hole inner shafts of described middle part bearing sleeve, described feather key is embedded in keyway, and moves up and down along this keyway.
Be formed with the first chute on the outer peripheral face of described overhead cam, be formed with the second chute with the first chute opposite direction on the outer peripheral face of described lower cam, the connector that is connected to the slide bar upper end is embedded in described the first chute, and the lower connector that is connected to the slide bar lower end is embedded in described the second chute.
A kind of rotary machine people who is provided with coaxial reverse drive mechanism, include the first master arm and an end and be connected to the first slave arm on the first master arm, the second master arm and an end are connected to the second slave arm on the second master arm, and be connected to the moving platform on the first slave arm and the second slave arm other end, it is characterized in that, also be provided with motor and coaxial reverse drive mechanism, wherein, described the first master arm is fixedly sleeved on the upper driving shaft of coaxial reverse drive mechanism, described the second master arm is fixedly sleeved on the lower driving shaft of coaxial reverse drive mechanism, the lower driving shaft of described coaxial reverse drive mechanism connects the output shaft of described motor by shaft coupling.
Described coaxial reverse drive mechanism includes: upper and lower two ends are formed with the shell of opening, be arranged on the upper bearing (metal) sleeve of shell upper port inboard, be arranged on the middle part bearing sleeve of shell middle inside, be arranged between upper bearing (metal) sleeve and middle part bearing sleeve for locating the stop sleeve of middle part bearing sleeve, be fixed on the upper bearing (metal) at upper bearing (metal) sleeve middle part, be fixedly installed on the first middle part bearing and the second middle part bearing of bearing sleeve inboard, middle part from top to bottom, be fixedly installed on the lower bearing in the outer casing bottom port, be arranged on the end cap of shell upper port, and overhead cam and lower cam, described overhead cam middle part is run through up and down is fixed with driving shaft, driving shaft under being fixed with that described lower cam middle part is run through up and down, described overhead cam is arranged between described upper bearing (metal) and described the first middle part bearing, wherein, the upper end of described upper driving shaft is run through upper bearing (metal) successively, the upper bearing (metal) sleeve is connected the first master arm that is positioned at the shell upper end with end cap, the lower end of described upper driving shaft is connected with described the first middle part bearing, described lower cam is arranged between described the second middle part bearing and lower bearing, wherein, the upper end of described lower driving shaft is connected with described the second middle part bearing, the lower end of described lower driving shaft is run through successively lower bearing and is positioned at the second master arm of shell lower end, and connect the output shaft of drive motors by shaft coupling, described the second master arm is that keyway is connected with described lower driving shaft, between described overhead cam and lower cam, be provided with for controlling the slide bar of overhead cam and lower cam synchronous rotary, what described slide bar ran through up and down is arranged in the through hole on the bearing sleeve of middle part, and move up and down under the restriction of this through hole.
The upper port inboard of described shell is formed with shoulder on a circle, the periphery of described upper bearing (metal) sleeve is fixedly supported on described upper shoulder, described shell middle inside is formed with a circle lower shoulder, and the periphery of described middle part bearing sleeve is fixedly supported on described lower shoulder.
At the through hole inner shafts of described middle part bearing sleeve to being formed with keyway, be formed with feather key on described slide bar, described feather key is embedded in keyway, and move up and down along this keyway, be formed with the first chute on the outer peripheral face of described overhead cam, be formed with the second chute with the first chute opposite direction on the outer peripheral face of described lower cam, the connector that is connected to the slide bar upper end is embedded in described the first chute, and the lower connector that is connected to the slide bar lower end is embedded in described the second chute.
A kind of coaxial reverse drive mechanism of the present invention and rotary machine people of this mechanism is set, only need a motor can drive two master arms, reduced by a motor, thereby greatly reduced volume and the quality of robot, and saved cost.This mechanism adopts cam to realize coaxial reverse drive with sliding bar mechanism, and its compact conformation makes radially littlely with axial dimension, has reduced volume and quality, meets the structural requirement of rotary machine people, and has improved rigidity.Motor can join to bottom with this mechanism shaft, meets the layout requirement.
The accompanying drawing explanation
Fig. 1 is rotary machine people's of the present invention structural representation;
Fig. 2 is the structural representation of the coaxial reverse drive of the present invention mechanism.
In figure:
Within 1: the first, master arm 2: coaxial reverse drive mechanism
4: the second slave arms of 3: the second master arms
5: motor 6: moving platform
Within 7: the first, slave arm 8: shell
9: overhead cam 10: the middle part bearing sleeve
11: lower cam 12: lower driving shaft
13: locking nut 14: shaft coupling
15: key 16: key
17: lower bearing 18: feather key
19: slide bar 20: stop sleeve
21: upper bearing (metal) sleeve 22: end cap
23: upper driving shaft 24: upper shoulder
25: 26: the first middle part bearings of lower shoulder
27: the second middle part bearings 28: upper bearing (metal)
30: the second chutes of 29: the first chutes
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, a kind of coaxial reverse drive mechanism of the present invention and rotary machine people that this mechanism is set are described in detail.
As shown in Figure 2, a kind of coaxial reverse drive of the present invention mechanism, be comprised of slide bar and two cams.Utilize cam and sliding bar mechanism, cam only rotates and does not slide, and slide bar only slides and do not rotate, and by a motor, is driven, and coaxial two master arms are rotated along contrary direction simultaneously, thereby realizes the spatial movement of moving platform.Specifically include: upper and lower two ends are formed with the shell 8 of opening, be arranged on the upper bearing (metal) sleeve 21 of shell 8 upper port inboards, 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 of middle part bearing sleeve 10, be fixed on the upper bearing (metal) 28 at upper bearing (metal) sleeve 21 middle parts, be fixedly installed on the first middle part bearing 26 and the second middle part bearing 27 of bearing sleeve 10 inboards, middle part from top to bottom, be fixedly installed on the lower bearing 17 in shell 8 bottom ports, and overhead cam 9 and lower cam 11, the upper port of described shell 8 also is provided with end cap 22.The upper port inboard of described shell 8 is formed with shoulder 24 on a circle, and the periphery of described upper bearing (metal) sleeve 21 is fixedly supported on described upper shoulder 24.Described shell 8 middle inside are 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.
Described overhead cam 9 middle parts are run through up and down is fixed with driving shaft 23, driving shaft 12 under being fixed with that described lower cam 11 middle parts are run through up and down, described overhead cam 9 is arranged between described upper bearing (metal) 28 and described the first middle part bearing 26, wherein, the upper end of described upper driving shaft 23 is run through upper bearing (metal) 28 successively, upper bearing (metal) sleeve 21 is connected the driven parts (the first master arm 1) that are positioned at shell 8 upper ends with end cap 22, the lower end of described upper driving shaft 23 is connected with described the first middle part bearing 26, described lower cam 11 is arranged between described the second middle part bearing 27 and lower bearing 17, wherein, the upper end of described lower driving shaft 12 is connected with described the second middle part bearing 27, the lower end of described lower driving shaft 12 is run through successively lower bearing 17 and is positioned at the driven parts (the second master arm 3) of shell 8 lower ends, and by the output shaft of shaft coupling 14 connection drive motors 5.
Between described overhead cam 9 and lower cam 11, be provided with for controlling the slide bar 19 of overhead cam 9 and lower cam 11 synchronous rotaries, what described slide bar 19 ran through up and down is arranged in the through hole on the bearing sleeve 10 of middle part, and moves up and down under the restriction of this through hole.To being formed with keyway, on described slide bar 19, be formed with feather key 18 at the through hole inner shafts of described middle part bearing sleeve 10, described feather key 18 is embedded in keyway, and moves up and down along this keyway.Described overhead cam 9 and 11 rotations of lower cam are not slided, and described slide bar only slides up and down and do not rotate.Be formed with the first chute 29 on the outer peripheral face of described overhead cam 9, be formed with the second chute 30 with the first chute 29 opposite directions on the outer peripheral face of described lower cam 11, the connector that is connected to slide bar 19 upper ends is embedded in described the first chute 29, and the lower connector that is connected to slide bar 19 lower ends is embedded in described the second chute 30.Make described upper driving shaft 23 and lower driving shaft 12 do coaxial reverse rotation campaign.
As shown in Figure 1, a kind of rotary machine people who is provided with coaxial reverse drive mechanism of the present invention, include the first master arm 1 and an end and be connected to the first slave arm 7 on the first master arm 1, the second master arm 3 and an end are connected to the second slave arm 4 on the second master arm 3, and be connected to the moving platform 6 on the first slave arm 7 and second slave arm 4 other ends, 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 lower driving shaft 13 of described coaxial reverse drive mechanism 2 connects the output shaft of described motor 5 by shaft coupling 14.
As shown in Figure 2, described coaxial reverse drive mechanism 2 includes: upper and lower two ends are formed with the shell 8 of opening, be arranged on the upper bearing (metal) sleeve 21 of shell 8 upper port inboards, 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 of middle part bearing sleeve 10, be fixed on the upper bearing (metal) 28 at upper bearing (metal) sleeve 21 middle parts, be fixedly installed on the first middle part bearing 26 and the second middle part bearing 27 of bearing sleeve 10 inboards, middle part from top to bottom, be fixedly installed on the lower bearing 17 in shell 8 bottom ports, be arranged on the end cap 22 of shell 8 upper port, and overhead cam 9 and lower cam 11, the upper port inboard of described shell 8 is formed with shoulder 24 on a circle, the periphery of described upper bearing (metal) sleeve 21 is fixedly supported on described upper shoulder 24, described shell 8 middle inside are formed with a circle lower shoulder 25, the periphery of described middle part bearing sleeve 10 is fixedly supported on described lower shoulder 25.Described overhead cam 9 middle parts are run through up and down is fixed with driving shaft 23, driving shaft 12 under being fixed with that described lower cam 11 middle parts are run through up and down, described overhead cam 9 is arranged between described upper bearing (metal) 28 and described the first middle part bearing 26, wherein, the upper end of described upper driving shaft 23 is run through upper bearing (metal) 28 successively, upper bearing (metal) sleeve 21 is connected the first master arm 1 that is positioned at shell 8 upper ends with end cap 22, the lower end of described upper driving shaft 23 is connected with described the first middle part bearing 26, described lower cam 11 is arranged between described the second middle part bearing 27 and lower bearing 17, wherein, the upper end of described lower driving shaft 12 is connected with described the second middle part bearing 27, the lower end of described lower driving shaft 12 is run through successively lower bearing 17 and is positioned at the second master arm 3 of shell 8 lower ends, and by the output shaft of shaft coupling 14 connection drive motors 5, described the second master arm 3 is connected for keyway with described lower driving shaft 12, between described overhead cam 9 and lower cam 11, be provided with for controlling the slide bar 19 of overhead cam 9 and lower cam 11 synchronous rotaries, what described slide bar 19 ran through up and down is arranged in the through hole on the bearing sleeve 10 of middle part, and move up and down under the restriction of this through hole.
At the through hole inner shafts of described middle part bearing sleeve 10 to being formed with keyway, be formed with feather key 18 on described slide bar 19, described feather key 18 is embedded in keyway, and move up and down along this keyway, be formed with the first chute 29 on the outer peripheral face of described overhead cam 9, be formed with the second chute 30 with the first chute 29 opposite directions on the outer peripheral face of described lower cam 11, the connector that is connected to slide bar 19 upper ends is embedded in described the first chute 29, and the lower connector that is connected to slide bar 19 lower ends is embedded in described the second chute 30.Make described upper driving shaft 23 and lower driving shaft 12 do coaxial reverse rotation campaign.
A kind of coaxial reverse drive mechanism of the present invention and the operation principle that the rotary machine people of this mechanism is set are:
When motor 5 is rotated in a clockwise direction, driving lower driving shaft 12 is rotated in a clockwise direction, lower driving shaft 12 drives the second master arm 3 and lower cam 11 is rotated in a clockwise direction, lower cam 11 band moving slide-bar 19 down slidings, slide bar 19 drives overhead cam 9 and rotates in the counterclockwise direction, overhead cam 9 drives upper driving shaft 23 and rotates in the counterclockwise direction, and upper driving shaft 23 drives the first master arm 1 and rotates in the counterclockwise direction.The first master arm 1, the second master arm 3 drive respectively the first slave arm 7, the second slave arm 4 outwards moves moving platform 6.The rotating speed of the first master arm 1 and the second master arm 3 is identical with the rotating speed of motor 5.The first master arm 1 is coaxial counter motion with the second master arm 3.Overhead cam 9 and lower cam 11 just rotate, and do not slide; Slide bar 19 just slides, and does not rotate.
When motor 5 rotates in the counterclockwise direction, driving lower driving shaft 12 rotates in the counterclockwise direction, lower driving shaft 12 drives the second master arm 3 and lower cam 11 rotates in the counterclockwise direction, lower cam 11 band moving slide-bar 19 upward slidings, slide bar 19 drives overhead cam 9 and is rotated in a clockwise direction, overhead cam 9 drives upper driving shaft 23 and is rotated in a clockwise direction, and upper driving shaft 23 drives the first master arm 1 and is rotated in a clockwise direction.The first master arm 1, the second master arm 3 drive respectively the first slave arm 7, the second slave arm 4 inwardly moves moving platform 6.The rotating speed of the first master arm 1 and the second master arm 3 is identical with the rotating speed of motor 5.The first master arm 1 is coaxial counter motion with the second master arm 3.Overhead cam 9 and lower cam 11 just rotate, and do not slide; Slide bar 19 just slides, and does not rotate.
Claims (10)
1. a coaxial reverse drive mechanism, it is characterized in that, include: upper and lower two ends are formed with the shell (8) of opening, be arranged on the upper bearing (metal) sleeve (21) of shell (8) upper port inboard, 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) of middle part bearing sleeve (10), be fixed on the upper bearing (metal) (28) at upper bearing (metal) sleeve (21) middle part, be fixedly installed on middle part bearing sleeve (10) inboard the first middle part bearing (26) and the second middle part bearing (27) from top to bottom, be fixedly installed on the lower bearing (17) in shell (8) bottom port, and overhead cam (9) and lower cam (11), described overhead cam (9) middle part is 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) is arranged between described upper bearing (metal) (28) and described the first middle part bearing (26), wherein, the upper end of described upper driving shaft (23) is run through successively upper bearing (metal) (28) and is connected with upper bearing (metal) sleeve (21) the driven parts that are positioned at shell (8) upper end, the lower end of described upper driving shaft (23) is connected with described the first middle part bearing (26), described lower cam (11) is arranged between described the second middle part bearing (27) and lower bearing (17), wherein, the upper end of described lower driving shaft (12) is connected with described the second middle part bearing (27), the lower end of described lower driving shaft (12) is run through successively lower bearing (17) and is positioned at the driven parts of shell (8) lower end, and by the output shaft of shaft coupling (14) connection drive motors (5), between described overhead cam (9) and lower cam (11), be provided with for controlling the slide bar (19) of overhead cam (9) and lower cam (11) synchronous rotary, what described slide bar (19) ran through up and down is arranged in the through hole on middle part bearing sleeve (10), and move up and down under the restriction of this through hole.
2. a kind of coaxial reverse drive according to claim 1 mechanism, it is characterized in that, the upper port of described shell (8) also is 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 parts that are positioned at shell (8) upper end.
3. a kind of coaxial reverse drive according to claim 1 mechanism, it is characterized in that, the upper port inboard of described shell (8) is formed with shoulder on a circle (24), and the periphery of described upper bearing (metal) sleeve (21) is fixedly supported on described upper shoulder (24).
4. a kind of coaxial reverse drive according to claim 1 mechanism, 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. a kind of coaxial reverse drive according to claim 1 mechanism, it is characterized in that, at the through hole inner shafts of described middle part bearing sleeve (10) to being formed with keyway, be formed with feather key (18) on described slide bar (19), described feather key (18) is embedded in keyway, and moves up and down along this keyway.
6. a kind of coaxial reverse drive according to claim 1 mechanism, it is characterized in that, be formed with the first chute (29) on the outer peripheral face of described overhead cam (9), be formed with the second chute (30) with the first chute (29) opposite direction on the outer peripheral face of described lower cam (11), the connector that is connected to slide bar (19) upper end is embedded in described the first chute (29), and the lower connector that is connected to slide bar (19) lower end is embedded in described the second chute (30).
7. a rotary machine people who is provided with the described coaxial reverse drive of claim 1 to 6 any one mechanism, it is characterized in that, include the first master arm (1) and an end and be connected to the first slave arm (7) on the first master arm (1), the second master arm (3) and an end are connected to the second slave arm (4) on the second master arm (3), and be connected to the moving platform (6) 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 lower driving shaft (13) of described coaxial reverse drive mechanism (2) connects the output shaft of described motor (5) by shaft coupling (14).
8. a kind of rotary machine people according to claim 7, it is characterized in that, described coaxial reverse drive mechanism (2) includes: upper and lower two ends are formed with the shell (8) of opening, be arranged on the upper bearing (metal) sleeve (21) of shell (8) upper port inboard, 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) of middle part bearing sleeve (10), be fixed on the upper bearing (metal) (28) at upper bearing (metal) sleeve (21) middle part, be fixedly installed on middle part bearing sleeve (10) inboard the first middle part bearing (26) and the second middle part bearing (27) from top to bottom, be fixedly installed on the lower bearing (17) in shell (8) bottom port, be arranged on the end cap (22) of shell (8) upper port, and overhead cam (9) and lower cam (11), described overhead cam (9) middle part is 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) is arranged between described upper bearing (metal) (28) and described the first middle part bearing (26), wherein, the upper end of described upper driving shaft (23) is run through upper bearing (metal) (28) successively, upper bearing (metal) sleeve (21) is connected the first master arm (1) that is positioned at shell (8) upper end with end cap (22), the lower end of described upper driving shaft (23) is connected with described the first middle part bearing (26), described lower cam (11) is arranged between described the second middle part bearing (27) and lower bearing (17), wherein, the upper end of described lower driving shaft (12) is connected with described the second middle part bearing (27), the lower end of described lower driving shaft (12) is run through successively lower bearing (17) and is positioned at second master arm (3) of shell (8) lower end, and by the output shaft of shaft coupling (14) connection drive motors (5), described the second master arm (3) is connected for keyway with described lower driving shaft (12), between described overhead cam (9) and lower cam (11), be provided with for controlling the slide bar (19) of overhead cam (9) and lower cam (11) synchronous rotary, what described slide bar (19) ran through up and down is arranged in the through hole on middle part bearing sleeve (10), and move up and down under the restriction of this through hole.
9. a kind of rotary machine people according to claim 7, it is characterized in that, the upper port inboard of described shell (8) is formed with shoulder on a circle (24), the periphery of described upper bearing (metal) sleeve (21) is fixedly supported on described upper shoulder (24), 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).
10. a kind of rotary machine people according to claim 7, it is characterized in that, at the through hole inner shafts of described middle part bearing sleeve (10) to being formed with keyway, be formed with feather key (18) on described slide bar (19), described feather key (18) is embedded in keyway, and move up and down along this keyway, be formed with the first chute (29) on the outer peripheral face of described overhead cam (9), be formed with the second chute (30) with the first chute (29) opposite direction on the outer peripheral face of described lower cam (11), the connector that is connected to slide bar (19) upper end is embedded in described the first chute (29), the lower connector that is connected to slide bar (19) lower end is embedded in described the second chute (30).
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| CN201310424267.9A CN103465259B (en) | 2013-09-16 | 2013-09-16 | A kind of coaxial reverse drive mechanism and the rotary machine people of this mechanism is set |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018068741A1 (en) * | 2016-10-13 | 2018-04-19 | 北京京东尚科信息技术有限公司 | Robot control method, system, and warehouse carrier robot |
| CN110091149A (en) * | 2018-01-27 | 2019-08-06 | 鸿富锦精密电子（成都）有限公司 | Pull out rubber plug device |
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| CN101260927A (en) * | 2008-04-18 | 2008-09-10 | 上海师范大学 | Reverse converter |
| CN101973030B (en) * | 2010-09-25 | 2012-05-16 | 天津大学 | High-speed catch-release type parallel robot mechanism capable of realizing complete-turn rotation |
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| WO2018068741A1 (en) * | 2016-10-13 | 2018-04-19 | 北京京东尚科信息技术有限公司 | Robot control method, system, and warehouse carrier robot |
| US11345025B2 (en) | 2016-10-13 | 2022-05-31 | Beijing Jingdong Qianshi Technology Co., Ltd. | Robot controlling method, system and warehouse-transport robot |
| CN110091149A (en) * | 2018-01-27 | 2019-08-06 | 鸿富锦精密电子（成都）有限公司 | Pull out rubber plug device |
| CN110091149B (en) * | 2018-01-27 | 2021-02-26 | 鸿富锦精密电子（成都）有限公司 | Rubber plug pulling device |
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