Industrial robot manufacturing parts handling device

Abstract

The utility model relates to industrial robot manufacturing part carrying device, including walking frame, the both sides symmetry of walking frame lower extreme are provided with walking module, and the front side of walking frame upper end is provided with mounting bracket, is equipped with lifting cylinder on mounting bracket, the output of lifting cylinder is fixedly connected with lifting seat, and lifting seat is installed with grabbing subassembly, and the lateral drive subassembly is equipped between mounting bracket and walking frame, and the bottom fixed mounting of connecting frame has visual camera, the utility model discloses adopts disc type turret structure as the core carrier of grabbing subassembly, and is arranged multiple standardization work position interfaces in its circumference, respectively assemble vacuum chuck, two finger electric control finger, three finger flexible clamping jaw and multiple finger electric clamp and so on multiple kinds of grab hand structure, simultaneously through rear end switching subassembly driving disc type turret rotation, realizes the quick automatic switching between different grab hands, need not stop machine dismounts or configures complex change tool mechanism, facilitates the adaptation of different parts'snatching operation, improves practicality.

Description

Technical Field

[0001] This utility model relates to the field of parts handling technology, specifically to a parts handling device for industrial robots. Background Technology

[0002] Industrial robots are robotic systems used in manufacturing. During the assembly of industrial robots, modular parts are required. However, with the continuous improvement of automation in the manufacturing industry, traditional manual handling methods can no longer meet the needs of high-efficiency, high-precision, and continuous production. In the manufacturing process of industrial robots, there are many types of parts with different sizes and weights, which puts forward higher requirements for the stability, flexibility, and safety of the handling process. Existing industrial robot parts handling devices require adjustments to the gripping structure based on the part's shape when handling different types of parts. Furthermore, they often necessitate stopping the machine to manually replace suction cups, grippers, and other tools, which is extremely inconvenient. Additionally, the parts are prone to posture shifts during transport, affecting the success rate of gripping. Therefore, we propose an industrial robot parts handling device to address these issues. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides an industrial robot parts handling device that enables multi-mode gripping. This solves the problem that existing industrial robot parts handling devices require different gripping structures to be adjusted according to the shape of the parts when gripping different types of parts, and often require stopping the machine to manually replace tools such as suction cups and grippers, which is very inconvenient. At the same time, the posture is easily deviated during parts transportation, affecting the gripping success rate.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an industrial robot manufacturing parts handling device, including a walking frame, walking modules symmetrically arranged on both sides of the lower end of the walking frame, and a mounting frame arranged on the front side of the upper end of the walking frame. A lifting cylinder is provided on the mounting frame, and a lifting seat is fixedly connected to the output end of the lifting cylinder. A gripping component is installed on the lifting seat. A lateral drive component is provided between the mounting frame and the walking frame. The lateral drive component is used to drive the mounting frame to move laterally relative to the walking frame in the horizontal direction. A connecting frame is fixedly connected to the front end of the lifting seat, and a vision camera is fixedly installed at the bottom of the connecting frame. The vision camera is used to collect part image information in the target work area, thereby identifying the position, posture and type of the part. The gripping assembly includes a disc turret, which is rotatably mounted on a connecting frame via a connecting shaft. The circumferential surface of the disc turret has multiple workstation interfaces for mounting different end effectors. Each workstation interface is equipped with a gripper mechanism. The rear end of the connecting shaft extends to the rear side of the connecting frame and is connected to a switching component. The switching component is used to drive the disc turret to rotate around the connecting shaft to switch between different gripper mechanisms.

[0005] It is important to note that the vision camera is an industrial-grade 2D / 3D composite camera, preferably a stereo vision or structured light camera with depth sensing capabilities. The installation angle is adjustable and it is equipped with a ring LED fill light to ensure that the contour and pose information of the parts can be accurately acquired even under low light or reflective surface conditions. The image acquisition trigger signal is automatically issued by the control system based on the current position to avoid false or missed images.

[0006] Furthermore, the walking module includes a displacement seat fixedly installed at the bottom of the walking frame, a fixed base installed below the displacement seat, and a guide rail fixedly installed longitudinally on the upper side of the fixed base. The upper end of the fixed base is provided with a linear drive module (the linear drive module uses a servo motor and ball screw structure). The linear drive module is used to drive the displacement seat to perform reciprocating linear motion along the guide rail, thereby driving the entire walking frame to move along the direction of the guide rail. The lower end of the displacement seat is slidably connected to the guide rail.

[0007] Furthermore, the lateral drive assembly includes side plates fixedly installed on both sides of the front end of the walking truss, a lead screw rotatably installed between the two side plates, guide rods set on both sides of the lead screw, a nut seat threaded onto the lead screw, and a servo motor fixedly installed on the left end of the side plate. The two ends of the guide rod are fixedly connected to the side plates respectively, and the output end of the servo motor is fixedly connected to the left end of the lead screw. The servo motor is used to drive the lead screw to rotate, thereby driving the nut seat to move linearly along the guide rod.

[0008] Furthermore, the front end of the nut seat is fixedly connected to the rear end of the mounting bracket, and both ends of the nut seat are slidably connected to the guide rod. When the lead screw rotates, the nut seat drives the mounting bracket to perform a lateral translational movement along the direction of the guide rod extension.

[0009] Furthermore, the fixed end of the cylinder body of the lifting cylinder is vertically connected to the bottom of the mounting frame, and limit rods are symmetrically fixedly installed on both sides of the upper end of the lifting seat. The limit rods pass vertically through the mounting frame and slide with it. The limit rods are used to guide and prevent rotation of the lifting seat.

[0010] Furthermore, the disc turret has a pentagonal structure, and each of the five sides of the disc turret is equipped with a standardized workstation interface. Each workstation interface is configured with a unified quick-change connection structure for mechanical, electrical and pneumatic circuits, and the gripper mechanism is connected to the disc turret through the workstation interface.

[0011] It is important to note that all five workstation interfaces of the disc turret integrate standardized quick-change mechanisms, including mechanical locking structures, electrical contact sockets, and pneumatic quick-connect fittings. All interfaces are uniformly numbered and mapped to the control system to ensure that they can be put into use without recalibration after the gripper mechanism is replaced.

[0012] Furthermore, the four gripping mechanisms are a vacuum suction cup, a two-finger electrically controlled finger, a three-finger flexible gripper, and a multi-finger electric clamp, with a force sensor installed on the multi-finger electric clamp.

[0013] It should be noted that the mounting surfaces of each gripper mechanism are precision machined, with flatness controlled within 0.02mm. Each station is equipped with positioning pin holes and anti-misalignment keyways to prevent installation errors or loosening and falling off. In particular, the vacuum suction cup array should be arranged with multiple independently controllable suction nozzle units according to the size of common parts, supporting partial start and stop to adapt to workpieces of different areas.

[0014] Furthermore, the switching assembly includes a transmission box fixedly installed at the rear end of the lifting platform, a drive gear and a transmission gear set in the transmission box, and a drive motor fixedly installed at the rear end of the transmission box (the drive motor is a self-locking motor to prevent shaking). The drive gear and the transmission gear mesh with each other, the transmission gear is fixedly connected to the rear end of the connecting shaft, and the drive gear is fixedly connected to the output end of the drive motor. When the drive motor starts, the power is transmitted to the transmission gear through the drive gear, which in turn drives the connecting shaft to rotate the disc turret by a specified angle, thus completing the precise switching and positioning of the gripper mechanism.

[0015] It is important to note that the control logic of the entire device is completed collaboratively by the PLC and the host computer: the vision system transmits the recognition results to the host computer, and after matching the optimal gripper type by the algorithm, it sends instructions to the PLC. The PLC then sequentially executes actions such as lateral movement, descent for photography, gripper identification, turret switching, precise positioning, gripping and lifting, and handling and placement. The entire process achieves automated closed-loop control.

[0016] Image processing and analysis methods include: Noise reduction: Median filtering or Gaussian filtering is used to eliminate ambient light interference and sensor noise; Background segmentation: Using depth map information, fixed backgrounds such as pallets and racks are removed, while foreground objects are preserved; Point cloud simplification: Voxelization downsampling of 3D point cloud data reduces computational load and improves processing speed.

[0017] Using algorithms based on region growing or Euclidean clustering, the multiple parts in the scene are separated one by one; For overlapping or partially obscured parts, the boundary is determined by combining the projection slicing method with the height difference. Output the 3D bounding box and centroid coordinates of each individual part.

[0018] Part identification requires building a part feature database, including part name and part shape.

[0019] Compared with the prior art, the technical solution of this application has the following beneficial effects: 1. This industrial robot parts handling device uses a disc turret structure as the core carrier of the gripping component, and arranges multiple standardized workstation interfaces around it. These interfaces are equipped with various gripping mechanisms such as vacuum suction cups, two-finger electrically controlled fingers, three-finger flexible grippers, and multi-finger electric clamps. At the same time, the disc turret is driven to rotate by a rear-end switching component, which enables rapid and automatic switching between different grippers without the need for machine shutdown, disassembly, or configuration of complex tool changing mechanisms. This facilitates the gripping of different parts and improves practicality. 2. The industrial robot manufacturing parts handling device adopts a pentagonal structure design for its disc turret, with uniform angle distribution at each station, which facilitates precise angular position control and enables rapid rotational positioning. Combined with visual image analysis, it is convenient to identify the appearance of the parts and confirm the corresponding gripper mechanism, thus improving convenience. 3. This industrial robot parts handling device achieves precise positioning and stable movement in three-dimensional space by setting up a walking frame and a two-stage drive structure. Combined with a vision camera installed at the front end of the lifting platform, it can complete the identification of the position, posture and type of the target parts before descent. Based on the analysis of the visual images, the posture of the parts is confirmed and the positioning is performed, thereby ensuring the success rate of grasping. Attached Figure Description

[0020] Figure 1 The diagram shown is a front view of the structure of this utility model; Figure 2 The diagram shown is a three-dimensional structural schematic of this utility model; Figure 3 The diagram shown is a schematic representation of the mounting bracket structure of this utility model. Figure 4 The diagram shown is a schematic representation of the lifting seat structure of this utility model. Figure 5 The diagram shown is a schematic representation of the internal structure of the transmission box of this utility model. Figure 6 The diagram shown is a schematic of the disc-type turret structure of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Walking frame; 101. Displacement seat; 102. Fixed base; 103. Guide rail; 2. Mounting frame; 201. Side plate; 202. Lead screw; 203. Guide rod; 204. Nut seat; 205. Servo motor; 3. Lifting cylinder; 301. Limit rod; 4. Lifting seat; 5. Connecting frame; 401. Transmission box; 402. Drive gear; 403. Transmission gear; 404. Drive motor; 6. Vision camera; 7. Disc turret; 8. Connecting shaft. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figures 1-6 The industrial robot parts handling device in this embodiment includes a traveling frame 1. Traveling modules are symmetrically arranged on both sides of the lower end of the traveling frame 1, and a mounting frame 2 is provided on the front side of the upper end of the traveling frame 1. A lifting cylinder 3 is mounted on the mounting frame 2, and a lifting seat 4 is fixedly connected to the output end of the lifting cylinder 3. A gripping component is mounted on the lifting seat 4. A lateral drive component is provided between the mounting frame 2 and the traveling frame 1, which drives the mounting frame 2 to move laterally relative to the traveling frame 1 in the horizontal direction. A connecting frame 5 is fixedly connected to the front end of the lifting seat 4, and a vision camera 6 is fixedly mounted on the bottom of the connecting frame 5. The vision camera 6 is used to collect data within the target workstation area. The part image information is used to identify the position, posture and type of the part. The gripping component includes a disc turret 7, which is rotatably mounted on the connecting frame 5 via a connecting shaft 8. The circumferential surface of the disc turret 7 is provided with multiple workstation interfaces for installing different end effectors. Each workstation interface is equipped with a gripper mechanism. The rear end of the connecting shaft 8 extends to the rear side of the connecting frame 5 and is connected to a switching component. The switching component is used to drive the disc turret 7 to rotate around the connecting shaft 8 and switch between different gripper mechanisms. The four gripper mechanisms are a vacuum suction cup, a two-finger electrically controlled finger, a three-finger flexible gripper and a multi-finger electric clamp. A force sensor is installed on the multi-finger electric clamp.

[0024] In this embodiment, the cylinder body fixed end of the lifting cylinder 3 is vertically connected to the bottom of the mounting frame 2, and limit rods 301 are symmetrically fixedly installed on both sides of the upper end of the lifting seat 4. The limit rods 301 pass vertically through the mounting frame 2 and slide with it. The limit rods 301 are used to guide and prevent rotation of the lifting seat 4.

[0025] It should be noted that the lifting cylinder 3 adopts a double-acting standard pneumatic actuator and is equipped with a magnetic switch to detect the extension and retraction position of the piston rod, ensuring reliable feedback of the lifting action.

[0026] Please see Figure 1 , Figure 2In this embodiment, the walking module includes a displacement seat 101 fixedly installed at the bottom of the walking frame 1, a fixed base 102 installed below the displacement seat 101, and a guide rail 103 fixedly installed longitudinally on the upper side of the fixed base 102. A linear drive module (using a servo motor 205 and a ball screw structure) is provided at the upper end of the fixed base 102. The linear drive module is used to drive the displacement seat 101 to perform reciprocating linear motion along the guide rail 103, thereby driving the entire walking frame 1 to move along the direction of the guide rail 103. The lower end of the displacement seat 101 is slidably connected to the guide rail 103.

[0027] It should be noted that the linear drive module adopts a servo motor 205 and a ball screw structure. The servo motor 205 has an encoder closed-loop control function, which can accurately feed back the rotation angle and speed. The guide rail 103 is a high-rigidity linear slide rail to prevent the displacement seat 101 from jamming or wearing unevenly.

[0028] Please see Figure 1 , Figure 2 and Figure 3 In this embodiment, the lateral drive assembly includes side plates 201 fixedly installed on both sides of the front end of the walking frame 1, a lead screw 202 rotatably installed between the two side plates 201, guide rods 203 arranged on both sides of the lead screw 202, a nut seat 204 threaded onto the lead screw 202, and a servo motor 205 fixedly installed on the left end of the side plate 201. The two ends of the guide rod 203 are fixedly connected to the side plate 201, and the output end of the servo motor 205 is fixedly connected to the left end of the lead screw 202. The servo motor 205 is used to drive the lead screw 202 to rotate, thereby driving the nut seat 204 to move linearly along the guide rod 203. The front end of the nut seat 204 is fixedly connected to the rear end of the mounting frame 2, and the two ends of the nut seat 204 are slidably connected to the guide rod 203. When the lead screw 202 rotates, the nut seat 204 drives the mounting frame 2 to perform lateral translational movement along the direction of extension of the guide rod 203.

[0029] It should be noted that the servo motor 205 drives the lead screw 202 to rotate, which causes the nut seat 204 to move the mounting bracket 2, thus smoothly converting the rotational motion into linear motion.

[0030] Please see Figure 1 , Figure 4 and Figure 6 In this embodiment, the disc turret 7 has a pentagonal structure, and each of the five sides of the disc turret 7 is provided with a standardized workstation interface. Each workstation interface is configured with a unified mechanical, electrical and pneumatic quick-change connection structure, and the gripper mechanism is connected to the disc turret 7 through the workstation interface.

[0031] It should be noted that the disc turret 7 adopts a pentagonal aluminum alloy integrated structure with five sides having an included angle of 72°, which facilitates the control system to perform positioning control according to a fixed step angle.

[0032] Please see Figure 4 and Figure 5 In this embodiment, the switching component includes a transmission box 401 fixedly installed at the rear end of the lifting seat 4, a drive gear 402 and a transmission gear 403 disposed in the transmission box 401, and a drive motor 404 fixedly installed at the rear end of the transmission box 401 (the drive motor 404 is a self-locking motor to prevent shaking). The drive gear 402 and the transmission gear 403 mesh with each other. The transmission gear 403 is fixedly connected to the rear end of the connecting shaft 8. The drive gear 402 is fixedly connected to the output end of the drive motor 404. When the drive motor 404 starts, the power is transmitted to the transmission gear 403 through the drive gear 402, thereby driving the connecting shaft 8 to rotate the disc turret 7 by a specified angle, thus completing the precise switching and positioning of the gripper mechanism.

[0033] It should be noted that the drive motor 404 is a self-locking stepper motor or a motor with a holding brake function. When the power supply is stopped, it can still maintain its current position and prevent the turret from rotating unexpectedly due to external disturbances, which could cause a safety accident.

[0034] Another implementation of the switching component in this embodiment is as follows: it specifically includes a drive cylinder installed on the transmission box 401. A rack is installed at the output end of the drive cylinder, and a gear that meshes with the rack is fixedly installed at the end of the shaft 8. The drive cylinder pushes the rack to move, synchronously pushing the gear to rotate, thereby driving the disc turret 7 to rotate. The form of the drive cylinder is adapted to the rotation stroke of the disc turret 7. The drive cylinder is equipped with a magnetic switch and a throttle valve to detect the piston position and adjust the movement speed. The control system calculates the required number of switching steps according to the target workstation number, triggers the cylinder to reciprocate, and completes the multi-workstation jump. The cylinder has linear drive, good overall self-locking, and strong anti-interference ability. It can still maintain the current position unchanged under conditions of large vibration or power failure, which has certain safety advantages.

[0035] The working principle of the above embodiments is as follows: Before work begins, the disc turret 7 resets to its default position (e.g., vacuum suction cup position) and awaits task instructions. When the handling process is initiated, firstly, the servo motor 205 drives the lead screw 202 to rotate, causing the nut seat 204 to slide along the guide rod 203, so that the mounting frame 2, together with its lifting mechanism, vision camera 6, and gripping components, moves laterally above the target loading area. Meanwhile, the lifting cylinder 3 slowly pushes the lifting seat 4 down, and the vision camera 6 at the bottom of the connecting frame 5 approaches the surface of the part to a preset height, triggering a shooting command. The image processing system performs noise reduction, background segmentation, part detection, pose estimation, and classification on the acquired data to determine the type, spatial position, and attitude angle of the part to be gripped. Then, the control system queries the preset strategy table based on the recognition results to determine the optimal gripper type (e.g., a "three-finger flexible gripper" corresponding to an irregular support). The mounting frame 2 is then started by the drive motor 404, which drives the connecting shaft 8 to rotate by a specified angle (e.g., 144°) through the drive gear 402 and the transmission gear 403. This allows the disc turret 7 to switch to the corresponding workstation, completing the automatic change of the gripper. The mounting frame 2 is then finely adjusted in the lateral position, and the lifting cylinder 3 descends again, aligning the selected gripper mechanism with the part gripping point. The limit rod 301 provides vertical guidance to ensure stable lifting without swaying. The gripper performs a closing action (e.g., clamping or multi-stage vacuum establishment), and the clamping status is monitored in real time by the force sensor to confirm successful gripping. The lifting cylinder 3 rises, lifting the part. Finally, the traveling frame 1 moves along the guide rail 103 to the target assembly station or conveyor line. The mounting frame 2 is adjusted laterally again, and the lifting seat 4 descends to the release height. The gripper releases the part, completing the placement. Status feedback and cyclic operation are then performed.

[0036] It should be noted that the control method of this utility model is controlled by a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art. The power supply is also common knowledge in the field. Furthermore, this utility model is mainly used to protect mechanical devices, so the control method and circuit connection will not be explained in detail here.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot parts handling device, characterized in that: The system includes a walking frame (1), with walking modules symmetrically arranged on both sides of the lower end of the walking frame (1), and a mounting frame (2) arranged on the front side of the upper end of the walking frame (1). A lifting cylinder (3) is provided on the mounting frame (2), and a lifting seat (4) is fixedly connected to the output end of the lifting cylinder (3). A gripping component is installed on the lifting seat (4). A lateral drive component is provided between the mounting frame (2) and the walking frame (1). The lateral drive component is used to drive the mounting frame (2) to move laterally relative to the walking frame (1) in the horizontal direction. A connecting frame (5) is fixedly connected to the front end of the lifting seat (4), and a vision camera (6) is fixedly installed at the bottom of the connecting frame (5). The vision camera (6) is used to collect image information of parts in the target work area, thereby identifying the position, posture and type of the parts. The gripping component includes a disc turret (7), which is rotatably mounted on the connecting frame (5) via a connecting shaft (8). The circumferential surface of the disc turret (7) is provided with multiple workstation interfaces for installing different end effectors. Each workstation interface is equipped with a gripper mechanism. The rear end of the connecting shaft (8) extends to the rear side of the connecting frame (5) and is connected to a switching component. The switching component is used to drive the disc turret (7) to rotate around the connecting shaft (8) to switch between different gripper mechanisms.

2. The industrial robot parts handling device according to claim 1, characterized in that: The walking module includes a displacement seat (101) fixedly installed at the bottom of the walking frame (1), a fixed base (102) installed below the displacement seat (101), and a guide rail (103) fixedly installed on the upper side of the fixed base (102) along the longitudinal direction. A linear drive module is provided at the upper end of the fixed base (102). The linear drive module is used to drive the displacement seat (101) to make reciprocating linear motion along the guide rail (103), thereby driving the walking frame (1) to move along the direction of the guide rail (103). The lower end of the displacement seat (101) and the guide rail (103) are slidably connected.

3. The industrial robot parts handling device according to claim 1, characterized in that: The lateral drive assembly includes side plates (201) fixedly installed on both sides of the front end of the walking frame (1), a lead screw (202) rotatably installed between the two side plates (201), guide rods (203) set on both sides of the lead screw (202), a nut seat (204) threaded on the lead screw (202), and a servo motor (205) fixedly installed on the left end of the side plate (201). The two ends of the guide rod (203) are fixedly connected to the side plate (201) respectively, and the output end of the servo motor (205) is fixedly connected to the left end of the lead screw (202). The servo motor (205) is used to drive the lead screw (202) to rotate, thereby driving the nut seat (204) to move linearly along the guide rod (203).

4. The industrial robot parts handling device according to claim 3, characterized in that: The front end of the nut seat (204) is fixedly connected to the rear end of the mounting bracket (2), and the two ends of the nut seat (204) are slidably connected to the guide rod (203). When the lead screw (202) rotates, the nut seat (204) drives the mounting bracket (2) to move laterally along the direction of the guide rod (203).

5. The industrial robot parts handling device according to claim 1, characterized in that: The cylinder body of the lifting cylinder (3) is vertically connected to the bottom of the mounting frame (2). Limiting rods (301) are symmetrically fixed on both sides of the upper end of the lifting seat (4). The limiting rods (301) pass vertically through the mounting frame (2) and slide with it. The limiting rods (301) are used to provide guidance and anti-rotation support for the up and down movement of the lifting seat (4).

6. The industrial robot parts handling device according to claim 1, characterized in that: The disc turret (7) has a pentagonal structure, and all five sides of the disc turret (7) are equipped with standardized workstation interfaces. Each workstation interface is configured with a unified mechanical, electrical and pneumatic quick-change connection structure, and the gripper mechanism is connected to the disc turret (7) through the workstation interface.

7. The industrial robot parts handling device according to claim 1, characterized in that: The four gripping mechanisms are a vacuum suction cup, a two-finger electrically controlled finger, a three-finger flexible gripper, and a multi-finger electric clamp. A force sensor is installed on the multi-finger electric clamp.

8. The industrial robot parts handling device according to claim 1, characterized in that: The switching assembly includes a transmission box (401) fixedly installed at the rear end of the lifting seat (4), a drive gear (402) and a transmission gear (403) set in the transmission box (401), and a drive motor (404) fixedly installed at the rear end of the transmission box (401). The drive gear (402) and the transmission gear (403) mesh with each other. The transmission gear (403) is fixedly connected to the rear end of the connecting shaft (8). The drive gear (402) is fixedly connected to the output end of the drive motor (404). When the drive motor (404) starts, the power is transmitted to the transmission gear (403) through the drive gear (402), which in turn drives the connecting shaft (8) to rotate the disc turret (7) by a specified angle, thus completing the precise switching and positioning of the gripper mechanism.

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