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

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 [0001] 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 [0002] 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...

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Problems solved by technology

Therefore, using two motors to drive the left and right active arms separately not only makes the motor part of the robot occupy a large space, but also has a heavy mass and a complicated layout.

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