Single-motor-driven multi-gripper mechanism suitable for any gripper position

Abstract

The invention discloses a single-motor-driven multi-gripper mechanism suitable for any gripper position. The mechanism is arranged on an XY plane movement mechanism and comprises a fixing frame and a plurality of gripper mechanisms; a driving motor which is provided with an encoder and can be used for teaching the rotating positions of the gripper mechanisms is arranged on the fixing frame; an output shaft of the driving motor is connected with a driving belt wheel in a driving mode; the driving belt wheel is connected with a driven belt wheel through a synchronous belt, the driven belt wheel can be connected to a driven belt wheel of the next stage through a synchronous belt, and each driven belt wheel is connected with a connecting shaft in a driving mode; and the connecting shafts are connected to the gripper mechanisms through connecting parts. According to the single-motor-driven multi-gripper mechanism, rotation of the multiple gripper mechanisms can be realized through one driving motor, and therefore the volume weight of the whole mechanism can be greatly reduced, the production cost can be reduced, the material grabbing performance of equipment can be improved, and in addition, the mechanism is driven by the synchronous belts, can be adapted to transmission connection between the gripper mechanisms at any distance and has the high practical value.

Description

technical field [0001] The invention relates to the technical field of robot grippers, in particular to a single-motor-driven multi-grip mechanism adapted to any gripper position. Background technique [0002] In industrial production, in order to replace the manual feeding process, a large number of XY plane positioning mechanisms are used, and a feeding unit is installed on the positioning mechanism. In industrial sites, it is very common to install a gripper mechanism on the feeding unit, and in order to improve the efficiency of grabbing materials, it is also common to have multiple grippers work in turn. However, materials have various complex shapes and postures, so the robot gripper not only has strict requirements on the plane position, but also requires the gripper to be able to rotate freely. This requires not only the control of the position of the material in the world X-Y coordinate system, but also the control of the angle between the material and the XY plane...

AI Technical Summary

Problems solved by technology

Therefore, the gripper rotation mechanism of the existing technical scheme has a large volume and weight, and is expensive, and the larger weight and volume are not conducive to the improvement of the acceleration of the overall mechanism, which seriously restricts the performance of the overall mechanism; in addition, in the face of materials of different shapes and When materials exist in different positions, different grippers may be required to have different shapes and corresponding to different installation positions in order to correspond to different materials. At the same time, in order to meet the requirements for adjusting the rotation attitude, at least one motor must be installed drive rotation

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