Robot wrist joint structure and stacking robot

Abstract

The invention relates to a robot wrist joint structure and a stacking robot. The robot wrist joint structure is used for controlling the posture of a clamp of a robot wrist joint end effector and comprises a power output disc and a rotary air supply device. The power output disc is provided with an air conveying channel, and is used for conveying air to the robot wrist joint end effector. The rotary air supply device comprises a rotary air supply shaft and a compressed air source input opening, an air supply opening is formed in the side wall of the rotary air supply shaft, and the compressedair source input opening is connected with the air supply opening. An air supply air path is arranged in the rotary air supply shaft, one end of the air supply air path communicates with the air supply opening, and the other end of the air supply air path communicates with the air conveying channel. Or the stacking robot is provided with the robot wrist joint structure. Air and power can be safelysupplied to the whole circumference of the industrial robot end effector, it is guaranteed that the industrial robot end effector is safe and compact, maintenance cost can be reduced, and the reliability of an industrial robot is improved.

Description

technical field [0001] The invention relates to a robot wrist joint structure and a stacking robot. Background technique [0002] In the industrial production process, more and more work scenes require the use of robots for operations. Among them, palletizing robots are widely used, and the wrist joints of palletizing robots are used to control the attitude of the end effector fixture. [0003] The power actuators of fixtures used in actual industrial production are mainly pneumatic actuators. The air source of the pneumatic actuator is compressed gas, so it is necessary to introduce an air pipe from the air pump to the wrist joint at the end. When the wrist joint moves, the air pipe There will be bending, and at the same time, the I / O interface wires that control the solenoid valve will also bend, which will inevitably affect the life of the trachea and the life of the control wires, and sometimes the program is out of control, and the trachea and wires are entangled, causi...

AI Technical Summary

Problems solved by technology

[0003] The power actuators of fixtures used in actual industrial production are mainly pneumatic actuators. The air source of the pneumatic actuator is compressed gas, so it is necessary to introduce an air pipe from the air pump to the end wrist joint. When the wrist joint moves, the air pipe There will be bending, and at the same time, the I / O interface wires that control the solenoid valve will also bend, which will inevitably affect the life of the trachea and the life of the control wires, and sometimes the program is out of control, and the trachea and wires are entangled, causing the trachea to break and The phenomenon of broken wires brings huge efficiency loss to maintenance and actual industrial production

Images