Robot clamp with functions of automatic object discharging and direction adjusting

Abstract

The invention relates to a robot clamp with functions of automatic object discharging and direction adjusting, and relates to the technical field of robot clamps. The robot clamp comprises a connecting flange and a second mechanical arm. A first mechanical arm is arranged on the right side of the connecting flange. A first rotating shaft is arranged on the right side in the first mechanical arm. The second mechanical arm is inlaid on the right side of the first rotating shaft. The robot clamp has the advantages that a third mechanical arm rotates on the second mechanical arm along a second rotating shaft, the height of grabbed workpieces can be improved, the second mechanical arm can rotate on the first mechanical arm along the first rotating shaft, and the workpieces can be driven to rotate; and the workpieces are rotated to the direction of the position where the workpieces need to be placed, the workpieces do not need to be rotated or moved by a whole robot, the situation that the rotating amplitude of the robot is larger than that of the second mechanical arm, and consequently the workpieces move or fall off in the direction changing process is avoided, and therefore the workpieces are more stable after being grabbed.

Description

technical field [0001] The invention relates to the technical field of robot grippers, in particular to a robot gripper with automatic discharge adjustment direction. Background technique [0002] With the rapid development of robot technology, industrial robots have been widely used in various fields. In logistics palletizing operations, using robots to grab workpieces for automatic palletizing can reduce labor intensity and improve palletizing efficiency. Today, industrial robots are widely used in my country's industrial The application in the field is becoming more and more extensive. With the popularity of robots, the movements of robots and their grippers are not flexible enough and subject to many restrictions. Especially in the application level of the palletizing and handling industry, it is difficult to give full play to their due advantages. [0003] A robot gripper is disclosed in the Chinese invention patent application publication specification CN104772766 A. Al...

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Problems solved by technology

[0002] With the rapid development of robot technology, industrial robots have been widely used in various fields. In logistics palletizing operations, using robots to grab workpieces for automatic palletizing can reduce labor intensity and improve palletizing efficiency. Today, industrial robots are widely used in my country's industrial The field of application is becoming more and more extensive. With the popularity of robots, the movements of robots and their grippers are not flexible enough and are subject to many restrictions. Especially in the application level of palletizing and handling industries, it is difficult to give full play to their due advantages

[0003] A robot gripper is disclosed in the Chinese invention patent application publication specification CN104772766 A. Although the pressing wheel of the robot gripper is covered with an elastic material, it can increase the clamping force when clamping the workpiece, and can also To effectively protect the appearance of the workpiece and avoid damage to the workpiece, the clamping surface at the end of the gripper fixture of the present invention is set as an arc surface, and the design of the clamping surface as an arc surface makes the clamping surface of the gripper of the fixture consistent with the circular pipe workpiece or the arc surface The workpiece is matched with the workpiece, and is suitable for stably clamping the workpiece of the above shape. When the clamping surface is set as an arc surface, the pressing wheel is arranged on the upper end surface and the lower end surface of the clamping surface, thereby improving the clamping surface of the arc surface. Clamping strength, but the contact area with the workpiece is reduced, and the pressure wheel will rotate and slip on the workpiece, causing the grasped workpiece to fall off

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