CN218698941U - Robot control mechanism for parallel structure - Google Patents
Robot control mechanism for parallel structure Download PDFInfo
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- CN218698941U CN218698941U CN202223010509.3U CN202223010509U CN218698941U CN 218698941 U CN218698941 U CN 218698941U CN 202223010509 U CN202223010509 U CN 202223010509U CN 218698941 U CN218698941 U CN 218698941U
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- transfer line
- universal joint
- control mechanism
- robot control
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Abstract
The utility model discloses a robot control mechanism for parallelly connected structure, including vacuum chuck, support piece and top fixed plate, the external fixation of vacuum chuck bottom has the mounting, and one side of mounting has the rotation driving piece through the bolt fastening, and the output of rotation driving piece has the second transfer line through the hub connection, and the outside both sides of second transfer line have first transfer line through the hub connection, and the bottom of first transfer line is provided with the connecting piece through the axle activity, and the bottom of connecting piece is connected with support piece, and support piece's bottom is connected with vacuum chuck. The utility model discloses a be provided with the rotary driving spare, then through starting the rotary driving spare, the rotary driving spare makes the second transfer line rotate, and the second transfer line makes first transfer line remove, and first transfer line makes the connecting piece remove to the motion of controlling each first transfer line, control vacuum chuck's direction of motion, and install simple structure, stability is high.
Description
Technical Field
The utility model relates to a robot control mechanism specifically is a robot control mechanism for parallelly connected structure.
Background
The parallel robot is characterized in that the parallel robot has no accumulated error and high precision, a driving device can be arranged on the fixed platform or close to the position of the fixed platform, so that the moving part is light in weight, high in speed and good in dynamic response.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a control mechanism of robot for parallelly connected structure is mostly the sucking disc of cylinder connection bottom in order to solve the control mechanism who proposes in the above-mentioned background art, through the cylinder of installing a plurality of different angles on the robot, controls the direction of robot, and the cylinder that this kind of mode needs is more, and control structure is comparatively complicated, problem that stability is not high.
In order to achieve the above object, the utility model provides a following technical scheme: a robot control mechanism for parallelly connected structure, including vacuum chuck, support piece and top fixed plate, the external fixation of vacuum chuck bottom has the mounting, one side of mounting has the rotation driving piece through the bolt fastening, the output of rotation driving piece has the second transfer line through the hub connection, the outside both sides of second transfer line have first transfer line through the hub connection, the bottom of first transfer line is provided with the connecting piece through the axle activity, the bottom of connecting piece is connected with support piece, support piece's bottom is connected with vacuum chuck.
Preferably, the number of the fixing parts is three at the bottom of the top fixing plate, and the fixing parts are uniformly arranged at the bottom of the top fixing plate.
Preferably, the vacuum chuck is provided with a plurality ofly in support piece's bottom, and vacuum chuck evenly sets up support piece's bottom, and vacuum chuck has played the effect of adsorbing the part.
Preferably, the two sides of the top fixing plate are fixed with mounting pieces, the top of each mounting piece is movably provided with four fixing bolts, and the mounting pieces are symmetrical about the center of the top fixing plate.
Preferably, a third universal joint is fixed at the center of the bottom of the top fixing plate through a screw, and a fourth universal joint is connected to the bottom of the third universal joint through a shaft.
Preferably, the bottom of fourth universal joint is connected with the third stopper, the bottom of third stopper is connected with the bracing piece, the bottom of bracing piece is connected with first stopper.
Preferably, the bracing piece is provided with the second stopper in a sliding manner, the bottom of second stopper slides and is provided with the telescopic link, the telescopic link passes first stopper and is connected with the second universal joint, the bottom of second universal joint is provided with first universal joint through the axle activity, the bottom of first universal joint is connected to on the connecting piece.
Compared with the prior art, the beneficial effects of the utility model are that: the robot control mechanism for the parallel structure is reasonable in structure and has the following advantages:
(1) Through being provided with the connecting piece, first transfer line, the second transfer line, rotary driving spare and mounting have realized that control mechanism is simple, and stability is high, therefore, during the use, through being provided with rotary driving spare, then through starting rotary driving spare, rotary driving spare makes the second transfer line rotate, the second transfer line makes first transfer line remove, first transfer line makes the connecting piece remove, thereby control the motion of each first transfer line, control vacuum chuck's direction of motion, and device simple structure, and stability is high.
(2) The effect of stabilizing the direction to the device has been realized through being provided with telescopic link, bracing piece, first stopper and second stopper, further improves the stability of device, consequently, during the use, through being provided with bracing piece and second stopper, the second stopper removes on the bracing piece, then the telescopic link removes on first stopper to make control mechanism's operation more stable.
(3) Through being provided with first universal joint, the second universal joint, third universal joint and fourth universal joint have realized that control mechanism makes things convenient for telescopic link and bracing piece motion, avoid telescopic link and bracing piece to damage, therefore, the fourth universal joint can rotate round the axle on the third universal joint, can rotate round the axle on the first universal joint through the second universal joint, thereby telescopic link and bracing piece can be according to the synchronous rotation of direction of motion of robot, avoid telescopic link and bracing piece to damage.
Drawings
Fig. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is an enlarged schematic structural view of a point a in fig. 2 according to the present invention;
fig. 4 is a schematic top view of the present invention.
In the figure: 1. a vacuum chuck; 2. a support member; 3. a connecting member; 4. a first drive lever; 5. a second transmission rod; 6. a rotary drive member; 7. a fixing member; 8. a first universal joint; 9. a second universal joint; 10. a telescopic rod; 11. a support bar; 12. a top fixing plate; 13. a mounting member; 14. fixing the bolt; 15. a first stopper; 16. a second limiting block; 17. a third universal joint; 18. a fourth gimbal; 19. and a third limiting block.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the scope of the present invention.
Referring to fig. 1-4, the present invention provides an embodiment: a robot control mechanism for a parallel structure comprises a vacuum chuck 1, a support piece 2 and a top fixing plate 12, wherein a fixing piece 7 is fixed outside the bottom of the vacuum chuck 1, a rotary driving piece 6 is fixed on one side of the fixing piece 7 through a bolt, the output end of the rotary driving piece 6 is connected with a second transmission rod 5 through a shaft, two sides of the outside of the second transmission rod 5 are connected with first transmission rods 4 through shafts, a connecting piece 3 is movably arranged at the bottom of each first transmission rod 4 through a shaft, the second transmission rod 5 is rotated through the rotary driving piece 6, the first transmission rod 4 is rotated through the second transmission rod 5, the connecting piece 3 is moved, the support piece 2 is connected to the bottom of the connecting piece 3, and the vacuum chuck 1 is connected to the bottom of the support piece 2;
by starting the rotary driving piece 6, the rotary driving piece 6 enables the second transmission rod 5 to rotate, the second transmission rod 5 enables the first transmission rod 4 to move, and the first transmission rod 4 enables the connecting piece 3 to move, so that the movement of each first transmission rod 4 is controlled, and the movement direction of the vacuum chuck 1 is controlled;
three fixing pieces 7 are arranged at the bottom of the top fixing plate 12, the fixing pieces 7 are uniformly arranged at the bottom of the top fixing plate 12, a plurality of vacuum chucks 1 are arranged at the bottom of the supporting piece 2, the vacuum chucks 1 are uniformly arranged at the bottom of the supporting piece 2, and the vacuum chucks 1 have the function of adsorbing products;
the bottom of the fourth universal joint 18 is connected with a third limiting block 19, the bottom of the third limiting block 19 is connected with a supporting rod 11, and the bottom of the supporting rod 11 is connected with a first limiting block 15;
the support rod 11 is provided with a second limit block 16 in a sliding manner, the bottom of the second limit block 16 is provided with a telescopic rod 10 in a sliding manner, through the arrangement of the support rod 11 and the second limit block 16, the second limit block 16 moves on the support rod 11, the second limit block 16 can move on the support rod 11, and then the telescopic rod 10 moves on the first limit block 15, so that the operation of the control mechanism is more stable;
the telescopic rod 10 passes through the first limiting block 15 and is connected with a second universal joint 9, the bottom of the second universal joint 9 is movably provided with a first universal joint 8 through a shaft, and the bottom of the first universal joint 8 is connected to the connecting piece 3;
the fourth universal joint 18 can rotate around the shaft on the third universal joint 17, and can rotate around the shaft on the first universal joint 8 through the second universal joint 9, so that the telescopic rod 10 and the supporting rod 11 can synchronously rotate according to the moving direction of the robot, and the telescopic rod 10 and the supporting rod 11 are prevented from being damaged;
when the device is used, the device is fixed to a working position, then the device is rotated by starting the rotary driving piece 6, the rotary driving piece 6 enables the second transmission rod 5 to rotate, the second transmission rod 5 enables the first transmission rod 4 to move, the first transmission rod 4 enables the connecting piece 3 to move, the movement of each first transmission rod 4 is controlled, the movement direction of the vacuum chuck 1 is controlled, parts are sucked through the vacuum chuck 1, then the parts move to other directions, the second limiting piece 16 is arranged through the support rod 11 and the second limiting piece 16, the second limiting piece 16 moves on the support rod 11, then the telescopic rod 10 moves on the first limiting piece 15, the operation of the control mechanism is more stable, the fourth universal joint 18 can rotate around a shaft on the third universal joint 17, the second universal joint 9 can rotate around a shaft on the first universal joint 8, the telescopic rod 10 and the support rod 11 can synchronously rotate according to the movement direction of a robot, and the telescopic rod 10 and the support rod 11 are prevented from being damaged.
Claims (7)
1. A robot control mechanism for parallel structure which characterized in that: including vacuum chuck (1), support piece (2) and top fixed plate (12), the external fixation of vacuum chuck (1) bottom has mounting (7), one side of mounting (7) is fixed with rotary driving piece (6) through the bolt, there is second transfer line (5) output through the hub connection of rotary driving piece (6), there is first transfer line (4) second transfer line (5) outside both sides through the hub connection, the bottom of first transfer line (4) is provided with connecting piece (3) through the axle activity, the bottom of connecting piece (3) is connected with support piece (2), the bottom of support piece (2) is connected with vacuum chuck (1).
2. The robot control mechanism for a parallel structure of claim 1, wherein: the number of the fixing pieces (7) is three at the bottom of the top fixing plate (12), and the fixing pieces (7) are uniformly arranged at the bottom of the top fixing plate (12).
3. The robot control mechanism for a parallel structure of claim 1, wherein: the vacuum chucks (1) are arranged at the bottoms of the supporting pieces (2) in a plurality, and the vacuum chucks (1) are uniformly arranged at the bottoms of the supporting pieces (2).
4. The robot control mechanism for a parallel structure of claim 1, wherein: both sides at top fixed plate (12) top are fixed with installed part (13), the top activity of installed part (13) is provided with fixing bolt (14), installed part (13) are provided with four at the top of top fixed plate (12), installed part (13) are symmetrical about the central point of top fixed plate (12).
5. The robot control mechanism for a parallel structure of claim 1, wherein: the center position of top fixed plate (12) bottom has third universal joint (17) through the fix with screw, the bottom of third universal joint (17) is through the hub connection have fourth universal joint (18).
6. The robot control mechanism for a parallel structure of claim 5, wherein: the bottom of fourth universal joint (18) is connected with third stopper (19), the bottom of third stopper (19) is connected with bracing piece (11), the bottom of bracing piece (11) is connected with first stopper (15).
7. The robot control mechanism for parallel structures of claim 6, wherein: the utility model discloses a joint, including bracing piece (11), slip on the bracing piece and be provided with second stopper (16), the bottom of second stopper (16) slides and is provided with telescopic link (10), telescopic link (10) pass first stopper (15) and are connected with second universal joint (9), the bottom of second universal joint (9) is provided with first universal joint (8) through the axle activity, the bottom of first universal joint (8) is connected to on connecting piece (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223010509.3U CN218698941U (en) | 2022-11-12 | 2022-11-12 | Robot control mechanism for parallel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223010509.3U CN218698941U (en) | 2022-11-12 | 2022-11-12 | Robot control mechanism for parallel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218698941U true CN218698941U (en) | 2023-03-24 |
Family
ID=85614798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223010509.3U Active CN218698941U (en) | 2022-11-12 | 2022-11-12 | Robot control mechanism for parallel structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218698941U (en) |
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2022
- 2022-11-12 CN CN202223010509.3U patent/CN218698941U/en active Active
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