Driving / locking integrated rotating mechanism

Abstract

The invention provides a driving / locking integrated rotating mechanism. The driving / locking integrated rotating mechanism comprises a fixed arm, an output rotating arm, an input shaft, a movable screw rod and a rolling ball, the output rotating arm is installed at the position of a middle notch of the fixed arm, and the output rotating arm and the fixed arm are coaxial and can relatively rotate by 180 degrees. The movable screw rod, the fixed arm and the output rotating arm are in rolling contact; the outer surface of the movable screw rod is provided with two raceways; the input shaft is embedded into an inner cavity of the movable screw rod, is limited at the two ends of the fixed arm and can only rotate; when the input shaft performs fixed-axis rotation, the movable screw rod can perform reciprocating motion and reverse self-locking through thread contact, the movable screw rod rotates simultaneously through rolling contact under the constraint of the fixed arm, and the reciprocating motion of the movable screw rod enables the rotating motion of the output rotating arm to be superposed through rolling contact under the constraint of the output rotating arm. The whole mechanism achieves the effects that rotation is changed into linear motion, linear motion is changed into rotation motion, the reduction ratio parameter is greatly reduced, the rotation diameter is small, and the output torque is large.

Description

Technical Field

[0001] The invention relates to a rotating mechanism, in particular to a driving / locking integrated rotating mechanism, and belongs to the mechanical field. Background Art

[0002] Large-angle folding, large torque output, arbitrary position driving and locking in a flat space have always been difficult points in mechanism design. Usually, the technical approaches that are easier to think of are rockers, connecting rods, gear racks, reducers, etc.

[0003] The driving torque of the rocker and connecting rod is relatively large, but when the rotation angle increases, the swing space requirement of the rod will increase significantly, and when it is greater than 90°, the efficiency of the mechanism will easily decrease, and even dead point problems will occur. Gear racks, reducers, etc. can rotate a full circle, but when the torque increases, they are limited by the module of the gear transmission and the number of teeth engaged at the same time, and the radial installation size of the mechanism will inevitably increase. In order for rockers, connecting rods, gear racks, and reducers to achieve the self-locking function at any angle, additional locking devices must be configured, and integration, integration, and miniaturization cannot be taken into account at the same time. In response to the above needs, the present invention proposes a technical route for a drive / locking integrated rotation mechanism. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in order to achieve large torque, large angle and high-efficiency output in a smaller diameter space of a rotary hinge and solve the problem of integrating driving and locking functions, the present invention proposes a drive / locking integrated rotary mechanism, which realizes a slender structural layout, transforms from rotary input to linear movement, and then to rotary output again, and obtains the effect of increasing or reducing the reduction ratio through the combination of lead parameters, while taking into account the high torque density output effect, achieving a profit level that traditional mechanisms cannot achieve.

[0005] The technical solution adopted by the present invention is: a driving / locking integrated rotating mechanism, comprising: a fixed arm, an output rotating arm, an input shaft, a moving screw and a first rolling ball;

[0006] The output rotating arm is installed at the middle notch position of the fixed arm, the output rotating arm and the fixed arm are coaxial and can rotate 180° relative to each other; the movable screw is installed inside the sleeve of the fixed arm, and a first rolling ball is provided between the movable screw, the fixed arm and the output rotating arm for rolling contact; the outer surface of the movable screw includes two raceways with different rotation directions and cross-arranged; the input shaft is installed in the inner cavity of the movable screw, the two ends of the input shaft are restricted to the two ends of the fixed arm and can only rotate, and a threaded contact is provided between the input shaft and the movable screw; when the input shaft rotates around a fixed axis, the movable screw is caused to reciprocate through the threaded contact and is self-locked in the reverse direction. Under the constraint of the fixed arm, the movable screw is caused to rotate at the same time through rolling contact. Under the constraint of the output rotating arm, the reciprocating motion of the movable screw is superimposed on the rotational motion of the output rotating arm through rolling contact.

[0007] Furthermore, the outer surface of the movable screw includes a left-handed roller and a right-handed roller; the number of the left-handed rollers and the right-handed rollers are both even and equal, the left-handed rollers are arranged at equal intervals in the circumferential direction of the outer surface of the movable screw, and the right-handed rollers are arranged at equal intervals in the circumferential direction of the outer surface of the movable screw, so that the left-handed rollers and the right-handed rollers are arranged crosswise.

[0008] Furthermore, the normal cross-sectional groove types of the spiral lines of the two raceways on the outer surface of the movable screw are both semicircular arcs, and the normal cross-sectional groove types of the spiral lines of the raceways on the inner surface of the fixed arm and the inner surface of the output rotating arm are both semicircular arcs, and the diameter of the semicircular arc is equal to the diameter of the first rolling ball; the intersection area of ​​the two raceways on the outer surface of the movable screw serves as a support and transition for the first rolling ball, ensuring that the first rolling ball does not separate from the raceway.

[0009] Furthermore, the lead parameter of the input shaft is P1, and the nominal diameter of the external thread transmission of the input shaft and the lead satisfy the self-locking condition; when the output arm is used as a rotational input, the movable screw can move back and forth and cannot cause the input shaft to rotate for output; when the input shaft is used as a rotational input and the output arm is used as a rotational output, the total reduction ratio of the integrated rotating mechanism is i=P2P3 / (P1P2+P1P3), wherein the lead parameter of the left-handed raceway is P2, and the lead parameter of the right-handed raceway is P3.

[0010] Furthermore, the fixed arm includes a sleeve structure and a fixed end, and the sleeve is symmetrically and coaxially arranged on both sides of one side of the fixed end, so that the fixed arm forms a notch in the middle, and the fixed end is a square flange; the inner surface of the sleeve on both sides of the notch is provided with spiral raceways of equal number and the same rotation direction with an axial length of l1, and the spiral lines of the spiral raceways on both sides are continuous, and the lead parameter is equal to P2 or P3.

[0011] Further, the output swing arm includes a cylindrical structure and a square flange. The cylindrical structure is located at the center of one side of the square flange. The inner surface of the cylindrical structure is provided with spiral raceways that are equal in number and opposite in helix direction to those of the fixed arm. If the lead parameter of the fixed arm is P2, then the lead parameter of the output swing arm is P3. If the lead parameter of the fixed arm is P3, then the lead parameter of the output swing arm is P2.

[0012] Further, the drive / lock integrated rotating mechanism further includes a left-handed cage and a right-handed cage. The left-handed cage is a cylindrical shell structure, and several equally spaced spiral lines are distributed on the side wall. Along each spiral line, several circular holes for restricting the first rolling balls are evenly distributed. The helix direction of the arrangement track of the circular holes is the same as that of the raceway on the inner surface of the fixed arm.

[0013] The right-handed cage is a cylindrical shell structure, and several equally spaced spiral lines are distributed on the side wall. Along each spiral line, several circular holes for restricting the first rolling balls are evenly distributed. The helix direction of the arrangement track of the circular holes is the same as that of the raceway of the output swing arm.

[0014] The right-handed cage is installed inside the cylindrical structure of the output swing arm and filled with first rolling balls. Thrust bearings are respectively installed on both side surfaces of the cylindrical structure of the output swing arm. The inner bearing seats of the two thrust bearings jointly restrict the first rolling balls, so that the first rolling balls make self-rotation movements in the corresponding holes of the right-handed cage.

[0015] Left-handed cages are respectively installed at the ports of the two sleeves of the fixed arm where the spiral raceways are provided and filled with first rolling balls. The inner bearing covers of the two pairs of thrust bearings respectively fit against the ends of the two sleeves of the fixed arm. The inner bearing covers and the left-handed cages jointly restrict the first rolling balls, so that the first rolling balls make self-rotation movements in the corresponding holes of the left-handed cage.

[0016] Further, the drive / lock integrated rotating mechanism further includes an end bearing seat, an end bearing cover, a spring washer, a locking nut and second rolling balls. One end of the input shaft is provided with a boss, and a semi-circular raceway is provided on the side surface of the boss. The inner side surface of the end face of the end bearing seat is provided with a semi-circular raceway. The side surface of the end bearing cover is provided with a semi-circular raceway. The diameters of the semi-circular raceways are all the same as the diameter of the second rolling balls. The end bearing seats are respectively installed at both ends of the fixed arm. Both ends of the input shaft extend out from both ends of the fixed arm. The boss at one end of the input shaft is installed in the bearing seat, and the other end extends out from the central hole of the end bearing seat and is successively installed with the end bearing cover, the spring washer and the locking nut. The input shaft, the second rolling balls and the end bearing seat jointly form a pair of thrust bearings. The end bearing cover, the second rolling balls and the end bearing seat jointly form another pair of thrust bearings.

[0017] Further, when the moving screw moves from the middle symmetric position to the end bearing seat at one end of the fixed arm, it abuts against the end face of the end bearing seat and rotates relative to it by +90°; when the moving screw moves from the middle symmetric position to the end bearing seat at the other end of the fixed arm, it abuts against the end face of the end bearing seat and rotates relative to it by -90°; the stroke of the moving screw from one end of the fixed arm to the other end causes the fixed arm to rotate relative to the output rotating arm by 180°.

[0018] An installation method for a drive / lock integrated rotating mechanism, comprising:

[0019] Install the inner bearing seat, inner bearing cover, and third rolling ball to form an internal thrust bearing assembly;

[0020] Fill the right-handed cage with the first rolling balls and install it inside the output rotating arm to form an output assembly;

[0021] Fill the left-handed cage with the first rolling balls and install it in the side raceway of the notch of the fixed arm to form a fixed assembly;

[0022] Insert the output assembly into the notch of the fixed assembly, and push the moving screw from the side of the cylinder of the fixed arm and rotate it, adjust it to the centered state and contact with the first rolling balls;

[0023] Combine the input shaft, second rolling ball, and end bearing seat to form an end thrust bearing assembly;

[0024] Push the input shaft of the end thrust bearing assembly and rotate it. The input shaft passes through the inner cavity of the moving screw, and the input shaft and the moving screw form a threaded connection relationship. The end of the output shaft extends from the cylinder port of the fixed arm;

[0025] Install the end bearing seat, second rolling ball, and end bearing cover at one end of the output shaft extending from the fixed arm to form another end thrust bearing assembly;

[0026] Install the spring washer and lock nut at the end of the input shaft to press the end bearing cover.

[0027] The advantages of the present invention compared with the prior art are as follows:

[0028] (1) The present invention adopts a rotary input, changes it into a linear movement, and changes the linear movement into a rotary output. By using the matching effect of three lead parameters, different reduction ratios can be obtained, which can meet the requirements of different scenarios.

[0029] (2) For the drive / lock integrated rotating mechanism proposed by the present invention, the spiral raceway, thrust bearing raceway, etc. are all configured with a relatively large number of rolling elements. Through cyclic rolling, the overall efficiency of the mechanism is significantly improved, and the multi-threaded spiral groove design can obtain a large torque output capacity.

[0030] (3) The integrated drive / locking rotary mechanism proposed by the present invention, with the combination of left-handed raceway and right-handed raceway, enables the internal lead screw to move and rotate simultaneously, forming an output angle superposition effect. The stroke of the internal lead screw is reduced by half, ensuring a shorter axial dimension and a more compact structure.

[0031] (4) The integrated drive / locking rotary mechanism proposed by the present invention adopts a screw drive inside, and its lead and nominal diameter form a self-locking ability, enabling the overall rotary mechanism to achieve a reverse drive self-locking effect at any angle.

[0032] (5) The integrated drive / locking rotary mechanism proposed by the present invention has a small radial installation dimension space under the condition of large torque requirements, and is particularly suitable for the rotary output occasion under a flat structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is the internal composition sectional view of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention;

[0034] Figure 2 is the schematic diagram of the layout of rolling elements and cages of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention;

[0035] Figure 3 is the structure diagram of the helical raceway of the fixed arm notch of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention;

[0036] Figure 4 is the external feature diagram of the moving screw of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention;

[0037] Figure 5 is the external feature diagram of the left-handed cage and right-handed cage of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention.

[0038] Figure 6 is the state diagram of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention rotated to the +90° state;

[0039] Figure 7 is the state diagram of the integrated drive / locking rotary mechanism provided by the embodiment of the present invention rotated to the -90° state. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] The present invention will be described in conjunction with the accompanying drawings.

[0041] As Figure 1As shown in the figure, an integrated driving / locking rotary mechanism includes: a fixed arm 1, an output rotating arm 2, an input shaft 3, a moving screw 4, an end bearing seat 5, an end bearing cover 6, a spring washer 7, a locking nut 8, an inner bearing seat 9, an inner bearing cover 10, a left-handed cage 11, a right-handed cage 12, rolling balls 13, rolling balls 14, and rolling balls 15.

[0042] The output rotating arm 2 is installed at the middle notch position of the fixed arm 1, and the two are coaxial and can rotate relative to each other by 180°; the moving screw 4 is embedded inside the slender circular sleeves of the fixed arm 1 and the output rotating arm 2, and rolling balls 13 are provided on the inner and outer surfaces among the three for rolling contact; the outer surface of the moving screw 4 has two kinds of raceways with different lead parameters, different helix directions, and circumferentially crossed arrangements; the input shaft 3 is embedded inside the inner cavity of the moving screw 4, is restricted at both ends of the fixed arm 1 and can only rotate, and the inner and outer surfaces of the two have threaded contact; when the input shaft 3 performs fixed-axis rotation, the moving screw 4 can be made to perform reciprocating motion through threaded contact and is self-locking in the reverse direction. Under the constraint of the fixed arm 1, the moving screw 4 makes a rotational motion simultaneously through rolling contact. The reciprocating motion of the moving screw 4, under the constraint of the output rotating arm 2, makes the rotational motion of the output rotating arm 2 superimposed through rolling contact. The overall mechanism realizes the conversion from rotary motion to linear motion, from linear motion to rotary motion, with a significant reduction in the reduction ratio parameter, a small rotation diameter, and a large output torque.

[0043] As Figures 2 to 4 shown, the outer surface of the moving screw 4 includes a left-handed raceway and a right-handed raceway; the number of both the left-handed raceway and the right-handed raceway is even and equal. The left-handed raceways are equidistantly arranged in the circumferential direction on the outer surface of the moving screw 4, and the right-handed raceways are equidistantly arranged in the circumferential direction on the outer surface of the moving screw 4, so that the left-handed raceways and the right-handed raceways are crossed. The two kinds of raceways on the outer surface of the moving screw 4 have a semi-circular arc-shaped groove profile in the normal section of the helix. The raceways on the inner surfaces of the fixed arm 1 and the output rotating arm 2 have a semi-circular arc-shaped groove profile in the normal section of the helix. The diameter dimension of the semi-circular arc is equal to the diameter dimension of the rolling ball 13; in the crossed area of the two kinds of raceways on the outer surface of the moving screw 4, the rolling ball 13 always plays a role in supporting and transitioning, so as not to cause it to be in a disengaged contact state;

[0044] The lead parameter of the input shaft 3 is set to P1, and the self-locking condition is satisfied between the nominal diameter of its screw drive and the lead; when the output rotating arm 2 is used as the rotational input, the moving screw 4 can make reciprocating movement, but cannot make the input shaft 3 rotate and output;

[0045] The fixed arm 1 is a slender circular structure, including a sleeve structure and a fixed end, with a notch in the middle. The fixed end is in the shape of a square flange; the inner surfaces on both sides of the notch are provided with spiral raceways with equal number, the same helix direction, and continuous spiral lines on both sides and with an axial length. The lead parameter is equal to P2 or P3;

[0046] The output swing arm 2 has a circular cylindrical structure, and the output end is in the shape of a square flange; the inner surface of the cylindrical structure is provided with spiral raceways having the same number as and opposite helix directions to those of the spiral raceways of the fixed arm 1; if the lead parameter of the fixed arm 1 is P2, then the lead parameter of the output swing arm 2 is P3; if the lead parameter of the fixed arm 1 is P3, then the lead parameter of the output swing arm 2 is P2;

[0047] As Figure 5 shown, the left-handed cage 11 has a thin-walled structure, and a number of equally spaced holes are provided on the circumference for restraining the rolling balls 13; the helix direction of the arrangement of the holes is the same as that of the raceway of the fixed arm 1 and is a continuous spiral line, and the number is 2 pieces;

[0048] The right-handed cage 12 has a thin-walled structure, and a number of equally spaced holes are provided on the circumference for restraining the rolling balls 13; the helix direction of the arrangement of the holes is the same as that of the raceway of the output swing arm 2 and is a continuous spiral line, and the number is 1 piece;

[0049] Two pairs of thrust bearings are installed on both sides of the output swing arm 2, including an inner bearing seat 9, an inner bearing cover 10, and rolling balls 15; semi-circular raceways are provided on the sides of the bearing seat and the bearing cover, and their diameters are the same as that of the rolling balls 15, and the number of the rolling balls 15 is assembled in a circle according to full balls;

[0050] The inner end cut-off part of the spiral raceway of the fixed arm 1 is provided with a step, which fits with the side surface of the inner bearing cover 10 to jointly restrain the rolling balls 13, and they can only make a self-rotation movement in the corresponding holes of the left-handed cage 11;

[0051] The right-handed cage 12 is installed inside the output swing arm 2 and is filled with rolling balls 13, and the two inner bearing seats 9 jointly restrain the rolling balls 13, and they can only make a self-rotation movement in the corresponding holes of the right-handed cage 12;

[0052] One end of the input shaft 3 is provided with a boss, and a semi-circular raceway is provided on the side surface of the boss; a semi-circular raceway is provided on the inner side surface of the end face of the end bearing seat 5; a semi-circular raceway is provided on the side surface of the end bearing cover 6; the diameters of the semi-circular raceways are all the same as the diameter of the rolling balls 14; the end bearing seats 5 are respectively installed at both ends of the fixed arm 1, both ends of the input shaft 3 respectively extend out from both ends of the fixed arm 1, the boss at one end of the input shaft 3 is installed in the bearing seat 5, and the other end extends out from the central hole of the end bearing seat 5 and then the end bearing cover 6, the spring washer 7, and the lock nut 8 are installed in sequence. The input shaft 3, the rolling balls 14, and the end bearing seat 5 jointly form a pair of thrust bearings; the end bearing cover 6, the rolling balls 14, and the end bearing seat 5 jointly form another pair of thrust bearings.

[0053] Parameter relationship:

[0054] The lead parameter of the input shaft 3 is set to P1; for the two raceways on the outer surface of the moving screw 4, the lead parameter of the left-handed raceway is set to P2, and the lead parameter of the right-handed raceway is set to P3. The number of both the left-handed raceway and the right-handed raceway is even and equal. They are evenly arranged at equal intervals and crosswise in the circumferential direction on the outer surface of the moving screw 4; the lead parameters P2 and P3 can be unequal and are designed according to requirements. When the input shaft 3 is used as the rotational input and the output swing arm 2 is used as the rotational output, the total reduction ratio of the rotating mechanism is i = P2P3 / (P1P2 + P1P3).

[0055] Motion angle:

[0056] As Figure 6 、 7 shown, the moving screw 4 moves from the middle symmetric position to one end inside the end bearing seat 5, and can rotate relative to the surface in contact therewith by +90°; when it moves to the other end inside the end bearing seat 5, it can rotate relative to the surface in contact therewith by -90°; the full moving stroke can make the fixed arm 1 rotate relative to the output swing arm 2 by 180°.

[0057] Installation method:

[0058] First, install the inner bearing seat 9, inner bearing cover 10, and rolling balls 15 to form an internal thrust bearing assembly;

[0059] Second, fill the right-handed cage 12 with rolling balls 13 and embed it inside the output swing arm 2 to form an output assembly;

[0060] Third, fill the left-handed cage 11 with rolling balls 13 and embed it in the notch side raceway of the fixed arm 1 to form a fixed assembly;

[0061] Fourth, insert the output assembly into the notch of the fixed assembly, and push the moving screw 4 from the side of the cylinder of the fixed arm 1, rotate it, and adjust it to the centered state to contact all the rolling balls 13;

[0062] Fifth, combine the input shaft 3, rolling balls 14, and end bearing seat 5 to form an end thrust bearing assembly;

[0063] Sixth, push and rotate the end thrust bearing assembly through the inner cavity of the moving screw 4 and form a threaded connection relationship;

[0064] Seventh, form another end thrust bearing assembly with the end bearing seat 5, rolling balls 14, and end bearing cover 6;

[0065] Eighth, pass the spring washer 7 and lock nut 8 through the input shaft 3, flatten the spring washer and fasten it to complete the overall assembly.

[0066] The parts not detailed in the present invention belong to the well-known technologies in the art.

Claims

1. A driving / locking integrated rotating mechanism, characterized in that: include: A fixed arm (1), an output rotating arm (2), an input shaft (3), a movable screw rod (4) and a first rolling ball (13); The output rotating arm (2) is installed at the middle notch position of the fixed arm (1), the output rotating arm (2) and the fixed arm (1) are coaxial and can rotate 180 degrees relative to each other; the moving screw (4) is installed inside the sleeve of the fixed arm (1), and a first rolling ball (13) is provided between the moving screw (4), the fixed arm (1) and the output rotating arm (2) for rolling contact; the outer surface of the moving screw (4) includes two kinds of rolling tracks with different rotation directions and cross-arranged; the input shaft (3) is installed in the inner cavity of the moving screw (4), and both ends of the input shaft (3) are The movable screw (4) is restricted at both ends of the fixed arm (1) and can only rotate. A threaded contact is provided between the input shaft (3) and the movable screw (4). When the input shaft (3) rotates along a fixed axis, the movable screw (4) is caused to reciprocate through the threaded contact and is self-locked in the reverse direction. Under the constraint of the fixed arm (1), the movable screw (4) is caused to rotate at the same time through rolling contact. Under the constraint of the output rotating arm (2), the reciprocating motion of the movable screw (4) is superimposed on the rotating motion of the output rotating arm (2) through rolling contact.

2. The driving / locking integrated rotating mechanism according to claim 1, characterized in that: The outer surface of the movable screw (4) comprises a left-handed roller track and a right-handed roller track; the number of the left-handed roller tracks and the right-handed roller track are both even numbers and are equal, the left-handed roller tracks are arranged at equal intervals in the circumferential direction of the outer surface of the movable screw (4), and the right-handed roller tracks are arranged at equal intervals in the circumferential direction of the outer surface of the movable screw (4), so that the left-handed roller tracks and the right-handed roller tracks are arranged crosswise.

3. The driving / locking integrated rotating mechanism according to claim 2, characterized in that: The normal cross-sectional grooves of the spiral lines of the two raceways on the outer surface of the movable screw (4) are both semicircular arcs, and the normal cross-sectional grooves of the spiral lines of the raceways on the inner surface of the fixed arm (1) and the inner surface of the output rotating arm (2) are both semicircular arcs, and the diameter of the semicircular arc is equal to the diameter of the first rolling ball (13); the intersection area of ​​the two raceways on the outer surface of the movable screw (4) plays a supporting and transitional role for the first rolling ball (13), ensuring that the first rolling ball (13) does not leave the raceway.

4. The driving / locking integrated rotating mechanism according to claim 3, characterized in that: The lead parameter of the input shaft (3) is P1, and the nominal diameter of the external thread transmission of the input shaft (3) and the lead satisfy the self-locking condition; when the output arm (2) is used as a rotation input, the movable screw (4) can move back and forth, and cannot cause the input shaft (3) to rotate for output; when the input shaft (3) is used as a rotation input and the output arm (2) is used as a rotation output, the total reduction ratio of the integrated rotating mechanism is i=P2P3 / (P1P2+P1P3), wherein the lead parameter of the left-handed raceway is P2, and the lead parameter of the right-handed raceway is P3.

5. The driving / locking integrated rotating mechanism according to claim 4, characterized in that: The fixed arm (1) comprises a sleeve structure and a fixed end, wherein the sleeve is symmetrically and coaxially arranged on both sides of one side of the fixed end, so that a notch is formed in the middle of the fixed arm (1), and the fixed end is a square flange; the inner surface of the sleeve on both sides of the notch is provided with spiral raceways of equal number and the same rotation direction with an axial length of l1, and the spiral lines of the spiral raceways on both sides are continuous, and the lead parameter is equal to P2 or P3.

6. The driving / locking integrated rotating mechanism according to claim 5, characterized in that: The output rotating arm (2) comprises a cylindrical structure and a square flange, wherein the cylindrical structure is located at the center of one side of the square flange; the inner surface of the cylindrical structure is provided with spiral raceways having the same number and opposite rotation direction as the spiral raceways of the fixed arm (1); if the lead parameter of the fixed arm (1) is P2, the lead parameter of the output rotating arm (2) is P3; if the lead parameter of the fixed arm (1) is P3, the lead parameter of the output rotating arm (2) is P2;.

7. The driving / locking integrated rotating mechanism according to claim 6, characterized in that: It also includes a left-handed retainer (11) and a right-handed retainer (12); the left-handed retainer (11) is a cylindrical shell structure, with a plurality of equally spaced spiral lines distributed on the side wall, and a plurality of circular holes for restraining the first rolling ball (13) are evenly distributed along each spiral line, and the rotation direction of the arrangement trajectory of the circular holes is the same as the rotation direction of the raceway on the inner surface of the fixed arm (1); The right-hand retainer (12) is a cylindrical shell structure, with a plurality of equally spaced spiral lines distributed on the side wall, and a plurality of circular holes for restraining the first rolling ball (13) are evenly distributed along each spiral line, and the rotation direction of the arrangement trajectory of the circular holes is the same as the rotation direction of the raceway of the output rotating arm (2); A right-handed retainer (12) is installed inside the cylindrical structure of the output rotating arm (2) and filled with first rolling balls (13); thrust bearings are installed on both sides of the cylindrical structure of the output rotating arm (2); the inner bearing seats (9) of the two thrust bearings jointly constrain the first rolling ball (13), so that the first rolling ball (13) rotates in the corresponding hole of the right-handed retainer (12); the thrust bearing comprises an inner bearing seat (9), an inner bearing cover (10) and a third rolling ball (15); Left-handed retainers (11) are respectively installed at the ends of the two sleeves of the fixed arm (1) provided with spiral raceways and filled with first rolling balls (13). The inner bearing caps (10) of the two pairs of thrust bearings are respectively fitted to the ends of the two sleeves of the fixed arm (1). The inner bearing caps (10) and the left-handed retainer (11) jointly constrain the first rolling balls (13), so that the first rolling balls (13) rotate in the corresponding holes of the left-handed retainer (11).

8. The driving / locking integrated rotating mechanism according to claim 7, characterized in that: The input shaft (3) further comprises an end bearing seat (5), an end bearing cover (6), a spring washer (7), a locking nut (8) and a second rolling ball (14); a boss is provided at one end of the input shaft (3), and a semi-arc raceway is provided on the side of the boss; a semi-arc raceway is provided on the inner side of the end face of the end bearing seat (5); a semi-arc raceway is provided on the side of the end bearing cover (6); the diameter of the semi-arc raceway is the same as the diameter of the second rolling ball (14); the end bearing seats (5) are respectively installed at both ends of the fixed arm (1), and the two ends of the input shaft (3) extend from the two ends of the fixed arm (1) respectively; the boss at one end of the input shaft (3) is installed in the end bearing seat (5), and the other end extends from the center hole of the end bearing seat (5) and then the end bearing cover (6), the spring washer (7) and the locking nut (8) are installed in sequence; the input shaft (3), the second rolling ball (14) and the end bearing seat (5) together form a pair of thrust bearings; the end bearing cover (6), the second rolling ball (14) and the end bearing seat (5) together form another pair of thrust bearings.

9. The driving / locking integrated rotating mechanism according to claim 8, characterized in that: When the movable screw rod (4) moves from the middle symmetrical position to the end bearing seat (5) at one end of the fixed arm (1), it abuts against the end surface of the end bearing seat (5) and rotates relative to it by +90°; when the movable screw rod (4) moves from the middle symmetrical position to the end bearing seat (5) at the other end of the fixed arm (1), it abuts against the end surface of the end bearing seat (5) and rotates relative to it by -90°; the travel of the movable screw rod (4) from one end of the fixed arm (1) to the other end causes the fixed arm (1) to rotate 180° relative to the output rotating arm (2).

10. The method for installing a driving / locking integrated rotating mechanism according to claim 9, characterized in that: include: Installing the inner bearing seat (9), the inner bearing cover (10), and the third rolling ball (15) to form an inner thrust bearing assembly; Filling the right-hand retaining frame (12) with the first rolling balls (13) and installing it inside the output rotating arm (2) to form an output assembly; The left-handed retaining frame (11) is filled with first rolling balls (13) and installed in the notched side raceway of the fixed arm (1) to form a fixed assembly; Insert the output assembly into the notch of the fixed assembly, and push the moving screw (4) from the cylindrical side of the fixed arm (1) and rotate it until it is centered and in contact with the first rolling ball (13); The input shaft (3), the second rolling ball (14) and the end bearing seat (5) are combined to form an end thrust bearing assembly; The input shaft (3) of the end thrust bearing assembly is pushed in and rotated, the input shaft (3) passes through the inner cavity of the moving screw (4), the input shaft (3) and the moving screw (4) form a threaded connection relationship, and the end of the output shaft 3 extends out from the cylindrical port of the fixed arm (1); The end bearing seat (5), the second rolling ball (14), and the end bearing cover (6) are mounted on one end of the output shaft 3 extending out of the fixed arm (1) to form the other end thrust bearing assembly; Install the spring washer (7) and lock nut (8) on the end of the input shaft (3) and tighten the end bearing cover (6).

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