Suction type robot clamping jaw
By adopting the suction design of magnetic suction components and induction probe devices in the robot jaws, the existing robot jaws are solved, and the problems of missing clamps, multiple clamps, collision damage and inaccurate positioning in the processing of shaft rod parts are achieved, achieving more efficient and reliable workpiece processing and automated production.
Patent Information
- Application Number
- CN202421808095.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-29
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-07-29
AI Technical Summary
The existing robot jaws have problems such as missing clamps, multiple clamps, collision damage and inaccurate positioning in the automated processing of shaft rod parts, which affects the efficiency and reliability of automated production.
A suction robot jaw is designed, using magnetic suction assembly and induction probe device, which absorbs the workpiece by magnetic force and uses induction probe to accurately locate it, avoid direct collision between the jaw and the workpiece, and a buffer is provided to reduce collision damage.
It effectively reduces the situation of leakage clamps, multiple clamps and collision damage, improves the identification efficiency and grasping accuracy of workpieces, reduces the risk of failure in automated production processes, and extends the service life of clamps.
Smart Images
Figure CN222858041U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of automated processing, in particular to an automated processing device for shaft and rod parts, and specifically to a suction-type robot clamp. Background Art
[0002] In recent years, robotics technology has developed rapidly and its application in the field of intelligent manufacturing has become increasingly widespread. In the automated processing of shaft and rod workpieces, robot grippers are increasingly used to perform part grabbing and handling. In existing industrial application scenarios, unprocessed workpiece raw materials are placed in the raw material frame in sequence. After receiving the signal, the robot gripper grabs the workpiece from the raw material frame according to the set grabbing method and a specific path, and places the workpiece in the specified position.
[0003] The existing robot grippers have the following shortcomings: ① Since shaft and rod workpieces are placed compactly in the raw material frame, the robot grippers often miss or over-clamp, which leads to the risk of failure in the automated production process; ② The existing robot grippers do not have a buffer device, and during the clamping process, hard contact and collision with the shaft and rod often occur, which easily damages the grippers; ③ The robot grippers lack a workpiece positioning device, and shaft and rod workpieces are easy to move in the raw material frame, making it difficult for the robot grippers to quickly and accurately locate the workpiece, making it impossible to effectively clamp.
[0004] To solve the above problems, designers have made a series of targeted improvements to the robot gripper, such as: a clamping pressure alarm device and a gripper position moving device are installed on the robot gripper. If the gripper misses or clamps too much, an alarm will be triggered if the pressure value is incorrect or the gripper position is incorrect. Handling the alarm will affect production efficiency; the robot is set with a collision alarm. When the gripper collides, an emergency stop will be triggered, but the collision will still affect the accuracy of the gripper, and the gripper needs to be regularly repaired and maintained; when the robot gripper does not effectively grip, an alarm will be triggered to remind the operator to handle it, delaying production. Therefore, although these solutions have played a part, they have not completely eliminated the risk, or may bring other adverse effects.
[0005] Therefore, it is necessary to provide an improved robot gripper that can solve the above-mentioned shortcomings of the existing robot grippers in a more effective manner. Utility Model Content
[0006] The present disclosure intends to provide a suction-type robot gripper, which at least partially eliminates the shortcomings of the robot gripper in the existing automatic gripping procedures for shaft and rod parts.
[0007] The first objective of the present disclosure is to provide a suction-type robot gripper that can reduce the situations of missed clamping and over-clamping.
[0008] Another object of the present disclosure is to provide a suction-type robot gripper that can reduce damage to the gripper caused by collision.
[0009] Another object of the present disclosure is to provide a suction robot gripper that can quickly and accurately locate a workpiece to effectively grip the workpiece.
[0010] To achieve at least one of the above-mentioned purposes, according to one aspect of the present disclosure, a suction-type robot gripper is provided, comprising: a connecting rod, the upper end of which has a joint connected to a robot arm; at least one gripper assembly, the at least one gripper assembly being mounted on the side wall of the connecting rod, in particular, the suction-type robot gripper also comprises a suction device, which is arranged at the lower end of the connecting rod, wherein the suction device comprises a magnetic suction assembly, which is configured to utilize magnetic force to suck a single workpiece from a group of workpieces when the power is turned on, and place the workpiece on a work platform, and the at least one gripper assembly is configured to grab the workpiece from the work platform.
[0011] In the present disclosure, by adopting a suction device to suck the workpiece, the risk of collision between the clamping jaw and the workpiece can be avoided while ensuring accurate suction of the workpiece.
[0012] Furthermore, the magnetic suction component includes an electromagnet body and an electromagnet switch, the electromagnet body includes a shell and a coil and an iron core accommodated in the shell, the iron core includes a magnetic suction head extending from the lower end of the shell; the electromagnet switch is arranged on the shell of the electromagnet body to perform power on and off of the electromagnet body; wherein, when the electromagnet switch energizes the electromagnet body, the magnetic suction head generates magnetism sufficient to absorb the workpiece.
[0013] In the present disclosure, an electromagnet switch is used to control the suction operation of the workpiece. When the workpiece needs to be sucked, the electromagnetic switch is turned on and the workpiece will be automatically and stably adsorbed. Compared with the traditional clamping form, this suction method is more accurate and reliable.
[0014] Furthermore, the suction device also includes a sensing probe device, which is mounted on the housing of the electromagnet body to sense the presence and position of the workpiece.
[0015] In the present disclosure, by using a suction device with an inductive probe device, the risk of collision between the clamping jaws and the workpiece is advantageously reduced.
[0016] Furthermore, the inductive probe device includes a probe and a proximity switch, wherein the probe is mounted at the lower portion of the housing of the electromagnet body and extends downward beyond the magnetic suction head and is configured to be movable between different positions; the proximity switch is connected to the probe and is powered on or off according to the position of the probe.
[0017] Specifically, the probe includes a fixed end and a free end, the fixed end is pivotally mounted on the outer shell of the electromagnet body, and the free end can swing relative to the fixed end, wherein: when the probe does not touch the workpiece, the free end is in an initial position directly below the fixed end; when the probe touches the workpiece, the free end is pushed by the workpiece to be displaced and deviates from the initial position.
[0018] Accordingly, the proximity switch is configured such that: when the free end is in an initial position, the proximity switch is energized; and when the free end deviates from the initial position, the proximity switch is deenergized.
[0019] Furthermore, the suction robot gripper also includes a programmable controller, which is configured as follows: when the proximity switch is powered off, the programmable controller receives the power-off signal of the proximity switch and controls the magnetic suction head to move to align with the workpiece; when the magnetic suction head is aligned with the workpiece, a power-on command is sent to the electromagnet switch to make the magnetic suction head magnetic so as to absorb the workpiece.
[0020] In the present disclosure, by providing the inductive probe device and programmable controller of the above structure, the collision between the clamping jaw and the workpiece is avoided and the recognition efficiency and grasping accuracy of the workpiece are improved.
[0021] Further, the programmable controller is configured to identify the position of the workpiece based on the swing of the free end and calculate the to-be-moved path of the suction robot gripper.
[0022] In the present disclosure, the induction probe device also plays a role in positioning the workpiece. Even if the workpiece moves in the raw material frame, the robot gripper can quickly and accurately locate the position of the workpiece, thereby achieving effective clamping.
[0023] Furthermore, a buffer is included, which connects the suction device to the connecting rod to provide buffering when the suction device contacts the workpiece.
[0024] In the present disclosure, by providing the buffer, when the suction device comes into hard contact with the shaft rod, a buffer space is provided for the suction device, thereby effectively reducing the force, thereby avoiding damage to the clamping claws caused by collision.
[0025] Optionally, the at least one jaw assembly includes: a first jaw assembly for clamping a rough-machined workpiece; and a second jaw assembly for clamping a fine-machined workpiece, wherein each jaw assembly includes a jaw housing and at least one pair of fingers, the jaw housing is connected to a connecting rod and accommodates a driving device; the at least one pair of fingers are mounted on the outside of the jaw housing relative to each other and are configured to be able to move closer to or farther away from each other under the drive of the driving device.
[0026] In the present disclosure, by providing gripper assemblies for different workpieces, the application range and adaptability of the suction robot gripper according to the present disclosure are enhanced, and the design flexibility is also enhanced.
[0027] According to the suction-type robot gripper disclosed in the present invention, by using a suction device with an inductive probe device, the collision between the gripper and the workpiece is avoided, and the recognition efficiency and grasping accuracy of the workpiece are improved. Even for shaft-rod workpieces that are compactly placed in the raw material frame, the suction-type robot gripper will not miss or over-clamp, thus greatly reducing the risk of failure in the automated production process. And compared to the existing robot gripper, the inductive probe of the suction-type robot gripper disclosed in the present invention also plays a role in positioning the workpiece. Even if the workpiece moves in the raw material frame, the robot gripper can quickly and accurately locate the position of the workpiece, thereby achieving effective clamping. In addition, due to the high grasping accuracy and the presence of a buffer, the damage to the gripper caused by collision is greatly reduced, extending the service life of the gripper. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The features and advantages of one or more embodiments of the present invention will become more easily understood through the following description with reference to the accompanying drawings. The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. The drawings are not drawn to scale and some features may be enlarged or reduced to show the details of specific components. In the drawings:
[0029] Figure 1 is a schematic diagram of a suction robot gripper according to an embodiment of the present disclosure when not sucking a workpiece;
[0030] Figure 2 It is a schematic diagram of the suction robot gripper after sucking a workpiece according to an embodiment of the present disclosure.
[0031] Description of Figure Numbers:
[0032] 1 Connecting rod 3 Gripper housing
[0033] 5, 6 a pair of fingers 7, 8 a pair of fingers
[0034] S1 Rough machining of workpiece S2 Finish machining of workpiece
[0035] 10 Electromagnet body 12 Electromagnet switch
[0036] 14 Magnetic head
[0037] 20 Inductive probe device 22 Probe
[0038] 22A Fixed end 22B Free end
[0039] 30 Buffer
[0040] R artifacts DETAILED DESCRIPTION
[0041] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.
[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well.
[0043] Figure 1 A schematic diagram of the suction robot gripper of an embodiment of the present disclosure when not sucking a workpiece.
[0044] See also Figure 1 According to the embodiment of the present disclosure, the suction robot gripper comprises: a connecting rod 1, the upper end of which has a joint connected to the robot arm; and at least one gripper assembly, which is mounted on the side wall of the connecting rod 1. Different from the existing robot gripper, the suction robot gripper according to the embodiment of the present disclosure further comprises a suction device, which is arranged on the bottom side of the lower end of the connecting rod 1, wherein the suction device comprises a magnetic suction assembly, which is configured to use magnetic force to suck a single workpiece from a group of workpieces when the power is turned on, and place the workpiece on the working platform, and the at least one gripper assembly is configured to grab the workpiece from the working platform.
[0045] In the present disclosure, by setting up the magnetic suction component, compared with the existing situation of directly using the clamp to clamp the workpiece, the magnetic force corresponding to the weight of a workpiece can be provided in a targeted manner, so that the suction robot clamp according to the present disclosure can accurately absorb one workpiece each time, avoiding multiple clamping. At the same time, since the workpiece is sucked by magnetic force, the position accuracy requirement is lower than the position accuracy requirement when the clamp clamps the workpiece. Therefore, it is not easy to miss the clamp due to a small position deviation, and the risk of clamp collision can also be reduced.
[0046] Further, see Figure 1 and Figure 2The magnetic attraction component includes an electromagnet body 10 and an electromagnet switch 12. The electromagnet body 10 includes a shell, a coil and an iron core contained in the shell, and the iron core includes a portion extending from the lower end of the shell; the electromagnet switch 12 is arranged on the shell of the electromagnet body 10 to perform power on and off of the electromagnet body. When the electromagnet switch 12 is powered on, current flows into the coil in the electromagnet body to generate magnetism, the iron core is rapidly magnetized, and the portion of the iron core extending from the lower end of the shell constitutes a magnetic suction head 14. When the magnetized magnetic suction head 14 approaches a workpiece, it can generate a magnetic force to attract the workpiece.
[0047] Preferably, if Figure 2 As shown, when the target workpiece is a shaft-rod workpiece R, the structure of the magnetic head 14 is configured to have an arc shape for the shaft-rod workpiece R. However, for workpieces of different shapes, the magnetic head may also have a corresponding shape so as to fit closely with the workpiece.
[0048] By means of the magnetic suction assembly, the suction robot gripper according to the present disclosure can more accurately and firmly suck the target workpiece.
[0049] Furthermore, combined with Figure 1 and Figure 2 As shown, the suction device further includes an inductive probe device 20, which is mounted on the housing of the electromagnet body 10 to sense the presence and position of the workpiece R. The inductive probe device 20 includes: a probe 22, which is mounted on the lower part of the housing of the electromagnet body 10 and extends downward beyond the magnetic suction head 14, and is configured to be movable between different positions; and a proximity switch, which is connected to the probe 22 and is powered on or off according to the position of the probe 22.
[0050] Specifically, the probe 22 includes a fixed end 22A and a free end 22B. The fixed end 22A is pivotally mounted on the outer shell of the electromagnet body 10, and the free end 22B can swing relative to the fixed end. When the free end 22B of the probe does not touch the workpiece R, the free end is in its initial position, that is, it is suspended directly below the fixed end. At this time, the proximity switch is energized; when the free end 22B of the probe touches the workpiece R, the free end is pushed by the workpiece and displaced, thereby deviating from the initial position. At this time, the proximity switch also displaces, resulting in power failure.
[0051] Further, the suction robot gripper also includes a programmable controller (e.g., PLC) for transmitting signals and instructions, and the programmable controller is connected to the signal elements such as switches and sensors in the gripper, and has a processor or is connected to the robot control center. When the probe does not touch the workpiece R, the proximity switch is in a power-on state. At this time, the programmable controller controls the electromagnet switch 12 to be in a power-off state, so the magnetic suction head 14 is not magnetic; when the probe touches the workpiece R, the proximity switch is displaced due to the displacement of the free end 22A, resulting in power failure. At this time, the programmable controller receives the power-off signal of the proximity switch, and determines the position of the workpiece R, and then controls the magnetic suction head 14 to move to align with the workpiece R; when the magnetic suction head is aligned with the workpiece R, the programmable controller sends a power-on instruction to the electromagnet switch so that the magnetic suction head has magnetism to absorb the workpiece. In the present disclosure, an electromagnet switch is used to control the suction operation of the workpiece. When the workpiece needs to be sucked, the electromagnetic switch is turned on, and the workpiece will be automatically and stably adsorbed. Compared with the traditional gripper form, this suction method is more accurate and reliable.
[0052] In order to further control the position accuracy of the suction robot gripper and make the magnetic suction head more accurately align with the target workpiece R to achieve the suction of the workpiece R, the suction robot gripper according to the present invention has a precise positioning function. Specifically, the positioning function is achieved through a probe and a programmable controller: the programmable controller is configured to identify the position of the workpiece R based on the swing of the free end (for example, based on the swing direction, amplitude, etc.), and after the position information is analyzed and processed according to the preset operation logic in the controller, the offset path value of the suction robot gripper can be obtained. The offset path value information is transmitted to the actuator, so that the suction robot gripper moves to a position accurately aligned with the target workpiece R along a specified path to perform the suction operation.
[0053] According to the suction-type robot gripper disclosed in the present invention, by using a suction device that uses the induction probe technology, the collision between the gripper and the workpiece is avoided, and the recognition efficiency and grasping accuracy of the workpiece are improved. Even for shaft and rod workpieces that are compactly placed in the raw material frame, the suction-type robot gripper will not miss clamping or clamp too much, thus greatly reducing the risk of failure in the automated production process. And compared to the existing robot gripper, the induction probe of the suction-type robot gripper disclosed in the present invention also plays a role in positioning the workpiece. Even if the workpiece moves in the raw material frame, the robot gripper can quickly and accurately locate the position of the workpiece, thereby achieving effective clamping.
[0054] Further, the suction robot gripper according to the present disclosure further includes a buffer 30, which connects the suction device to the connecting rod 1 to provide buffering when the suction device contacts the workpiece R. The buffer 30 can be composed of any suitable structure such as a spring, and preferably, the buffer 30 is configured to play a buffering role in both the longitudinal direction and the lateral direction of the suction device.
[0055] In the present disclosure, by providing the buffer 30, when the suction device comes into hard contact with the shaft rod, a buffer space is provided for the suction device, thereby effectively reducing the force, thereby avoiding damage to the clamping claws caused by collision.
[0056] As an example, in the suction robot gripper according to the present disclosure, two gripper assemblies are included, each gripper assembly includes a gripper housing 3 and at least one pair of fingers, the gripper housing is connected to the connecting rod 1 and contains a driving device; a pair of fingers are mounted on the outside of the gripper housing 3 opposite to each other, and are configured to be able to approach or move away from each other under the drive of the driving device to clamp or release the workpiece. Among them, the first gripper assembly has four, i.e., two pairs of fingers, taking fingers 5 and 6 as examples, both of which have a relative "V"-shaped structure to facilitate clamping of shaft workpieces; similarly, the second gripper assembly has four, i.e., two pairs of fingers, taking fingers 7 and 8 as examples, both of which also have a relative "V"-shaped structure. In practical applications, the two gripper assemblies can have their own division of labor, for example, the first gripper assembly is used to clamp the rough-machined workpiece S1, the second gripper assembly is used to clamp the fine-machined workpiece S2, or the first gripper assembly and the second gripper assembly can be used to clamp workpieces of different sizes or shapes respectively. In addition, there can be more than two gripper assemblies, but a suitable number can be set according to actual needs. Similarly, each gripper assembly can also have fingers of other numbers and shapes. In the present disclosure, by providing gripper assemblies for different workpieces, the application range and adaptability of the suction robot gripper according to the present disclosure are enhanced, and the design flexibility is also higher.
[0057] When the suction device sucks the workpiece R, the workpiece R can be initially placed on a workbench, and then the corresponding clamping jaw assembly transfers the workpiece R to the corresponding processing area, which avoids various inconveniences when directly clamping the workpiece R from the workpiece frame with the clamping jaw assembly.
[0058] Summary: The suction robot gripper disclosed in the present invention mainly includes the following parts: a connecting rod, at least one gripper assembly and a suction device, and the main improvements are:
[0059] ① It includes a suction device, which is arranged on the bottom side of the lower end of the connecting rod, wherein the suction device includes a magnetic suction component, and the magnetic suction component is configured to use magnetic force to suck the workpiece when the power is turned on.
[0060] ② The suction device also includes a sensing probe device, which is used to sense the existence and position of the workpiece.
[0061] ③ Also includes a buffer, which connects the suction device to the connecting rod to provide buffering when the suction device contacts the workpiece.
[0062] The advantages of the suction robot gripper disclosed in the present invention are as follows:
[0063] ① By using a suction device to suck the workpiece, the risk of collision between the clamp and the workpiece can be avoided while ensuring accurate suction of the workpiece.
[0064] ② Use an electromagnetic switch to control the suction operation of the workpiece. When the workpiece needs to be sucked, the electromagnetic switch is turned on and the workpiece will be automatically and stably adsorbed. Compared with the traditional clamping form, this suction method is more accurate and reliable.
[0065] ③ By using a suction device with an inductive probe device, the risk of collision between the clamp and the workpiece is advantageously reduced.
[0066] ④ By using the induction probe device and programmable controller as described in the present invention, the collision between the clamp and the workpiece is avoided and the recognition efficiency and grasping accuracy of the workpiece are improved.
[0067] ⑤ The induction probe device also plays the role of workpiece positioning. Even if the workpiece moves in the raw material frame, the robot gripper can quickly and accurately locate the position of the workpiece, thereby achieving effective clamping.
[0068] ⑥ By setting the buffer, when the suction device comes into hard contact with the shaft rod, a buffer space is provided for the suction device, effectively reducing the force, thereby avoiding damage to the clamping claws caused by collision.
[0069] ⑦ By providing gripper assemblies for different workpieces, the suction robot gripper according to the present invention has a wider application range and adaptability, and a higher design flexibility.
[0070] According to the suction-type robot gripper disclosed in the present invention, by using a suction device with an inductive probe device, the collision between the gripper and the workpiece is avoided, and the recognition efficiency and grasping accuracy of the workpiece are improved. Even for shaft-rod workpieces that are compactly placed in the raw material frame, the suction-type robot gripper will not miss or over-clamp, thus greatly reducing the risk of failure in the automated production process. And compared to the existing robot gripper, the inductive probe of the suction-type robot gripper disclosed in the present invention also plays a role in positioning the workpiece. Even if the workpiece moves in the raw material frame, the robot gripper can quickly and accurately locate the position of the workpiece, thereby achieving effective clamping. In addition, due to the high grasping accuracy and the presence of a buffer, the damage to the gripper caused by collision is greatly reduced, extending the service life of the gripper.
[0071] Various embodiments and variations of the present invention have been described in detail above, but those skilled in the art should understand that the present invention is not limited to the above-mentioned specific embodiments and variations but may include other possible combinations and combinations, and other variations and modifications may be implemented by those skilled in the art without departing from the essence and scope of the present invention. All these variations and modifications fall within the scope of the present invention. Moreover, all components described herein may be replaced by other technically equivalent components.
Claims
1. A suction robot gripper, comprising: A connecting rod (1), the upper end of which has a joint connected to a robot arm; as well as at least one clamping jaw assembly, the at least one clamping jaw assembly being mounted on a side wall of the connecting rod (1), It is characterized in that It also includes a suction device, which is arranged at the lower end of the connecting rod (1), wherein the suction device includes a magnetic suction component, and the magnetic suction component is configured to use magnetic force to suck a single workpiece (R) from a group of workpieces when the power is turned on, and place the workpiece (R) on the working platform; and Wherein, the at least one clamping jaw assembly is configured to grasp the workpiece (R) from the working platform.
2. The suction robot gripper according to claim 1, characterized in that: The magnetic attraction component comprises: An electromagnet body (10), the electromagnet body (10) comprising a shell and a coil and an iron core accommodated in the shell, the iron core comprising a magnetic suction head (14) extending from the lower end of the shell; and An electromagnet switch (12), the electromagnet switch (12) being arranged on the outer shell of the electromagnet body (10) to switch power on and power off the electromagnet body; When the electromagnet switch (12) energizes the electromagnet body, the magnetic suction head (14) generates magnetism capable of sucking the workpiece (R).
3. The suction robot gripper according to claim 2, characterized in that: The suction device further comprises a sensing probe device (20), which is mounted on the housing of the electromagnet body (10) to sense the presence and position of the workpiece (R).
4. The suction robot gripper according to claim 3, characterized in that: The sensing probe device (20) comprises: A probe (22), the probe (22) being mounted on the lower portion of the housing of the electromagnet body (10) and extending downward beyond the magnetic suction head (14), and being configured to be movable between different positions; A proximity switch is connected to the probe (22) and is powered on or off according to the position of the probe (22).
5. The suction robot gripper according to claim 4, characterized in that: The probe (22) comprises: a fixed end (22A) pivotably mounted on the housing of the electromagnet body (10); and A free end (22B), the free end being capable of swinging relative to the fixed end, wherein: When the probe does not touch the workpiece (R), the free end is in an initial position suspended directly below the fixed end; When the probe touches the workpiece (R), the free end is pushed by the workpiece (R) to be displaced and deviate from the initial position.
6. The suction robot gripper according to claim 5, characterized in that: The proximity switch is configured as follows: When the free end is in the initial position, the proximity switch is energized; as well as When the free end deviates from the initial position, the proximity switch is de-energized.
7. The suction robot gripper according to claim 5 or 6, characterized in that: Also included is a programmable controller, wherein the programmable controller is configured to: When the proximity switch is powered off, the programmable controller receives a power-off signal from the proximity switch and controls the magnetic suction head (14) to move to align with the workpiece (R); and When the magnetic suction head (14) is aligned with the workpiece (R), a power-on instruction is sent to the electromagnet switch (12) so that the magnetic suction head (14) has magnetism and thus absorbs the workpiece (R).
8. The suction robot gripper according to claim 7, characterized in that: The programmable controller is configured to identify the position of the workpiece (R) based on the swing position of the free end and calculate the offset path value of the magnetic suction head (14).
9. The suction robot gripper according to any one of claims 1 to 6, characterized in that: A buffer (30) is also included, and the buffer (30) connects the suction device to the connecting rod (1) to provide buffering when the suction device contacts the workpiece (R).
10. The suction robot gripper according to any one of claims 1 to 6, characterized in that: The at least one jaw assembly comprises: a first clamping jaw assembly for clamping a rough-machined workpiece (S1); and a second clamping jaw assembly for clamping a finishing workpiece (S2), Wherein, each clamping jaw assembly comprises: a jaw housing (3) connected to the connecting rod (1) and accommodating a drive device; and At least one pair of fingers (5, 6; 7, 8) are mounted on the outside of the clamp housing (3) opposite to each other and are configured to move closer to or farther from each other under the drive of the drive device.