Staggered wheel set mechanism picking equipment and motion control method and device thereof

• Main Authors: WANG XUN, YANG YINXIANG, CHEN ZHONGCHUAN, ZHU YIMING, ZHOU DONGHONG, XIA XIANQIU, WANG GUANPING, YANG ZHONGSHAN, LEI ZHIJUN
• Format: Patent
• Language: Chinese; English
• Published: 17.04.2020
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses staggered wheel set mechanism picking equipment and a motion control method and device thereof. The staggered wheel set mechanism picking equipment comprises two static wheels,four guide wheels, a movable platform, a synchronous toothed belt, a first moving pair, a second moving pair, a moving wheel, a guide rod and a clamping jaw, and the two static wheels serve as driving wheels to be connected with corresponding driving motors. Due to the fact that the driving motor used for driving is fixed to the machine frame and does not move along with the front mechanism, thelower motion inertia and the higher dynamic response speed are achieved, and the mechanical arm is suitable for picking operation in the scene with the high requirement for the work rhythm. 本申请公开了一种交错轮组机构拾取设备及其运动控制方法和装置，该交错轮组机构拾取设备包括两个静轮、四个导轮、动平台、同步齿形带、第一移动副、第二移动副、动轮、导向杆和夹爪，其中的两个静轮作为驱动轮与相应的驱动电机连接。由于用于驱动的驱动电机固定于机架，不跟随前置机构运动，因此具备更低的运动惯量和更高的动态响应速度，因此适合于这种对工作节拍要求较高的场景下进行拾取操作。