CN115648254A - Robot gripper device capable of changing transfer direction and operation method - Google Patents

Abstract

The robot claw hand device comprises a turnover device, a clamping device and a stopping device, wherein the turnover device comprises a turnover seat, a turnover rod, a moving block and a push rod, the clamping device comprises a clamping seat, a double-sided rack, a gear and a clamping hand, the stopping device comprises a stopping seat and a pin, a dovetail groove is arranged in the middle of the turnover seat, a limiting plate is arranged on the left side of the front portion of the dovetail groove, a limiting rod is arranged on the right side of the front portion of the limiting plate, a cylinder plate is arranged on the left side of the dovetail groove, a vertical plate is arranged on the rear side of the turnover seat, an L-shaped groove is formed in the side face of the vertical plate, a first shaft is arranged on one side of the turnover rod, two shafts are arranged on the other side of the turnover rod, the lower portion of the moving block is provided with a dovetail block, a turnover rod hole in the front-back direction is formed in the upper portion of the turnover rod hole, two retainer rings are arranged on the left side of the push rod, an inclined plane is arranged on the right side of the push rod, and the moving block is connected with the dovetail groove in a sliding mode.

Description

A robot gripper device and operation method for changing transfer direction

technical field

The invention relates to the field of robots, in particular to a robot gripper device and an operation method for changing transfer directions.

Background technique

The robot gripper is an important tool for the robot to transfer materials. In the process of transferring materials, it is necessary to change the direction of the materials. It is troublesome to rely on the robot to steer the transferred materials. A robot gripper is needed to solve the above problems.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the prior art, and provides a robot gripper device and an operation method for changing the direction of transfer, which can automatically change the direction of materials during the transfer process.

The purpose of the present invention is to realize through the following technical solutions:

A robot gripper device for changing the transfer direction, including a turning device, a clamping device, and a stop device. The turning device includes a turning seat, a turning bar, a moving block, and a push rod. The clamping device includes a clamping seat and a double-sided rack. , gear, clamping hand, and the stop device includes a stop seat and a pin. There is a dovetail groove in the middle of the flip seat, and a limit plate is provided on the left side of the front part of the dovetail groove. The side has a cylinder plate, the rear side of the turning seat has a vertical plate, the side of the vertical plate has an L-shaped groove, one side of the turning lever has one shaft, the other side of the turning lever has two shafts, the lower part of the moving block has a dovetail block, and the upper part of the moving block has front and rear The upper part of the flip rod hole has a square hole for the moving block in the left and right direction, the left side of the push rod has two gear rings, the right side of the push rod has a slope, the moving block slides to connect with the dovetail groove, and the moving block slides in the dovetail groove , the two shafts are rotated and connected to the flip rod hole, the flip rod rotates in the flip rod hole, one shaft is slidingly connected to the L-shaped groove, and the other shaft is sliding in the L-shaped groove, the right side of the cylinder plate is fixedly connected to the cylinder, and the push rod is slidingly connected to the moving block hole, the push rod slides in the square hole of the moving block, two No. 1 springs are inserted into the outside of the push rod, and the two No. The outside of the spring is against the inside of the gear ring, and the left side of the push rod is fixedly connected to the telescopic rod of the cylinder.

There is a clamping seat square hole in the middle of the clamping seat, the rear side of the clamping seat square hole has a side hole passing through the clamping seat square hole, the upper part of the clamping seat has a connecting block, and the rear side of the connecting block has a connecting block hole. There are two symmetrical hinge seats on both sides of the seat. There is a hinge seat groove in the middle of the hinge seat. There is a hinge seat hole on the outside of the hinge seat groove. There are two hinge seat holes on the inside of the hinge seat groove. The lower part of the rack vertical rod has a rack pin hole, the upper part of the rack vertical rod has a rack bar, one side of the gear has a gear rod, the upper part of the gear rod has a hole for the gear rod, the lower part of the gear has two holes for the gear rod, and the outside of the gripper has a The grip groove has a grip hole on the inner side of the grip groove.

There are two gripping holes on the outside of the gripping groove, the rack vertical bar passes through the square hole of the clamping seat, the vertical bar of the rack slides to connect with the square hole of the clamping seat, the double-sided rack slides in the square hole of the clamping seat, and the double-sided gear rack slides in the square hole of the clamping seat. Two No. 2 springs are set between the bar and the clamping seat. The No. 2 springs are symmetrically arranged on both sides of the double-sided rack. A gear and a connecting rod are respectively arranged in the hinge seat groove, and the gear and the connecting rod are stuck in the corresponding hinge seat groove. The lower part of the connecting rod is provided with a gripper respectively, and the gear and the connecting rod are stuck in the corresponding gripper groove. The gears on both sides mesh with each other, the two shafts are fixedly connected to the hole of the connecting block, and the side of the clamping seat moves parallel to the side of the block.

Beneficial effect:

The invention can automatically change the direction of the material during the transfer process. The turning device not only has the turning function but also controls the picking and placing of the material by the clamping device. The L-shaped groove has a vertical groove and a horizontal groove. The turning lever produces a turning action, and one axis slides in the horizontal groove to keep the clamping device in a horizontal state. The L-shaped groove not only has the function of turning over but also can ensure the position of the clamping device in space, ensuring that the clamping device and materials can be placed and placed The mutual position, the cooperation of the push rod, No. 1 spring and other components realize the sequential execution of the pick-and-place action of the clamping device. When a shaft slides from the vertical part of the L-shaped groove to the horizontal part, the clamping device turns to the horizontal state , the cylinder continues to extend, the moving block continues to drive the flip bar and the clamping device to move to the right, when the rack bar touches the limit bar, the double-sided rack stops moving, the clamping device continues to move to the right, and the left side The No. 1 spring is compressed, the double-sided rack and the clamping seat slide against each other, and the material between the grippers is clamped. When the material is clamped, the pin hole of the rack slides to align with the side hole, and the pin is on the third side. Inserted into the pin hole of the rack under the action of the spring, so that the relative position of the double-sided rack and the clamping seat is fixed, the clamping hand remains clamped, the telescopic rod of the cylinder moves to the left, and the push rod passes through the No. 1 spring on the right Drive the moving block to move to the left, the first axis slides slowly from the horizontal slot of the L-shaped slot to the vertical slot of the L-shaped slot, the clamping seat drives the clamping device from the horizontal state to the vertical state, and the left side of the moving block touches When it reaches the limit plate, the moving block stops moving, the cylinder continues to retract to the left, the No. 1 spring is compressed, the inclined surface contacts the gear lever, the inclined surface drives the gear lever to move to the rear side, and the pin retracts from the pin hole of the rack. The side rack is reset under the action of the No. 2 spring on both sides, and the gears on both sides are reversed under the action of the double-sided rack. The gripper loosens the clamping of the material, and the material is put down.

Description of drawings

Fig. 1 is a structural schematic diagram of a robot gripper device for changing the transfer direction according to the present invention.

Fig. 2 is a schematic diagram of the front structure on the left side of the robot gripper device for changing the transfer direction according to the present invention.

Fig. 3 is a schematic diagram of the structure of the robot gripper device for changing the transfer direction according to the present invention when grabbing materials.

Fig. 4 is a top view structure schematic diagram of the robot gripper device for changing the transfer direction according to the present invention when grabbing materials.

Fig. 5 is a structural schematic diagram of the turning device according to the present invention.

Fig. 6 is a schematic diagram of the structure of the turning seat according to the present invention.

Fig. 7 is a schematic diagram of the structure of the flip bar according to the present invention.

Fig. 8 is a schematic diagram of the structure of the moving block according to the present invention.

Fig. 9 is a structural schematic diagram of the push rod according to the present invention.

Fig. 10 is a schematic structural diagram of the clamping device of the present invention.

Fig. 11 is a schematic diagram of the structure of the clamping seat according to the present invention.

Fig. 12 is a schematic cross-sectional structure diagram of the clamping seat according to the present invention.

Fig. 13 is a schematic diagram of the structure of the double-sided rack according to the present invention.

Fig. 14 is a schematic diagram of the gear structure of the present invention.

Fig. 15 is a schematic diagram of the structure of the gripper according to the present invention.

Fig. 16 is a structural schematic diagram of the stopping device according to the present invention.

Detailed ways

Below according to accompanying drawing and embodiment the present invention will be described in further detail:

A robot gripper device for changing the transfer direction, comprising a turning device 100, a clamping device 200, and a stop device 300, the turning device 100 includes a turning seat 110, a turning bar 120, a moving block 130, a push rod 140, and a clamping device 200 It includes a clamping seat 210, a double-sided rack 220, a gear 230, and a gripper 240. The stop device 300 includes a stop seat 310 and a pin 320. There is a dovetail groove 111 in the middle of the flipping seat 110, and the left side of the front part of the dovetail groove 111 is There is a limiting plate 112, the right side of the front part of the limiting plate 112 has a limiting rod 113, the left side of the dovetail groove 111 has a cylinder plate 114, the rear side of the turning seat 110 has a vertical plate 115, and the side of the vertical plate 115 has an L-shaped groove 116, One side of the turning bar 120 has a shaft 121, the other side of the turning bar 120 has two shafts 122, the lower part of the moving block 130 has a dovetail block 131, the upper part of the moving block 130 has a turning bar hole 132 in the front and rear direction, and the turning bar hole 132 has a left and right turning bar hole. direction of the moving block square hole 133, the left side of the push rod 140 has two retaining rings 141, the right side of the push rod 140 has an inclined surface 142, the moving block 130 is slidably connected to the dovetail groove 111, and the moving block 130 slides in the dovetail groove 111. 122 rotates and connects to the turning rod hole 132, the turning rod 120 rotates in the turning rod hole 132, one shaft 121 slides and connects to the L-shaped groove 116, one shaft 121 slides in the L-shaped groove 116, and the right side of the cylinder plate 114 is fixedly connected to the cylinder 160, The push rod 140 is slidably connected to the square hole 133 of the moving block, and the push rod 140 slides in the square hole 133 of the moving block. The outside of the push rod 140 is inserted into two No. 1 springs 150, and the two No. 1 springs 150 are respectively arranged on both sides of the moving block 130 The inner side of each cylinder 160 is against the side of the moving block 130, the outer side of each No. 1 spring 150 is against the inner side of the retaining ring 141, and the left side of the push rod 140 is fixedly connected to the telescopic rod of the cylinder 160.

There is a clamping seat square hole 213 in the middle of the clamping seat 210, and the rear side of the clamping seat square hole 213 has a side hole 214 passing through the clamping seat square hole 213. The upper part of the clamping seat 210 has a connecting block 211, and behind the connecting block 211 There are connecting block holes 212 on the side, two symmetrical hinge seats 215 on both sides of the clamping seat 210, a hinge seat groove 216 in the middle of the hinge seat 215, a hinge seat hole 217 on the outside of the hinge seat groove 216, and a hinge seat hole 217 on the inside of the hinge seat groove 216. Hinge base two holes 218, double-sided rack 220 top has rack vertical bar 221, rack vertical bar 221 bottom has rack pin hole 222, rack vertical bar 221 top has rack bar 223, gear 230 side has Gear rod 231, gear rod 231 top has gear rod one hole 232, gear 230 bottom has gear rod two holes 233, gripper 240 outer side has gripper groove 241, gripper groove 241 inner side has gripper one hole 242, gripper groove There are two clamping holes 243 on the outside of 241, the rack vertical bar 221 passes through the square hole 213 of the clamping seat, the rack vertical bar 221 is slidably connected to the square hole 213 of the clamping seat, and the double-sided rack 220 is in the square hole 213 of the clamping seat Sliding, two No. 2 springs 260 are arranged between the double-sided rack 220 and the clamping seat 210, and the No. 2 springs 260 are symmetrically arranged on both sides of the double-sided rack 220, and the two sides of each No. 2 spring 260 are respectively fixedly connected to the rack The inner side of the cross bar 223 and the outer side of the clamping seat 210, a gear 230 and a connecting rod 250 are respectively arranged in the hinge seat groove 216 on each side, the gear 230 and the connecting rod 250 are stuck in the corresponding hinge seat groove 216, and the second hole 218 of the hinge seat is hinged. A hole 232 of the gear rod, a hole 217 of the hinge seat on one side of the connecting rod 250, a gripper 240 is respectively arranged on the gear 230 on the same side and the lower part of the connecting rod 250, and the gear 230 and the connecting rod 250 are stuck in the corresponding gripping groove 241, The first hole 242 of the clamping hand is hinged to the second hole 233 of the gear rod, the other side of the connecting rod 250 is hinged to the second hole 243 of the clamping hand, the two sides of the double-sided rack 220 are respectively meshed with the gears 230 on both sides, and the two shafts 122 are fixedly connected to the connecting block holes 212, the sides of the clamping seat 210 move the block 130 to be parallel to the sides.

The stop seat 310 has a stop seat hole 311 in the middle, the stop seat 310 has a waist groove 312 in the axial direction, the inner side of the pin 320 has a horizontal pin 321, the inner side of the horizontal pin 321 has a gear rod 322, and the pin 320 is slidably connected to the stop seat hole. 311, the horizontal pin 321 is slidably connected to the waist groove 312, the pin 320 slides in the stop seat hole 311 and the waist groove 312, the No. 3 spring 330 is set between the pin 320 and the stop seat 310, and the No. 3 spring 330 is placed on the stop seat In the hole 311, the two sides of the No. 3 spring 330 are against the bottom of the pin 320 and the bottom of the stop seat 310 respectively, the side of the stop seat 310 is fixedly connected to the side of the side hole 214, the pin 320 is inserted into the side hole 214, and the front side of the pin 320 is conditionally inserted rack pin hole 222.

When the present invention is used, the present invention is fixedly connected with the robot. In the initial state, a shaft 121 slides on the vertical part of the L-shaped groove 116, and the clamping device 200 is in a vertical state. When grabbing materials, the robot drives the present invention to move When the position of grabbing materials is reached, the cylinder 160 is started, the telescopic rod of the cylinder 160 is extended, and the telescopic rod of the cylinder 160 drives the push rod 140 to move to the right , the moving block 130 drives the overturn lever 120 to slide to the right together, and the first shaft 121 starts to rotate under the drive of the L-shaped groove 116, and the overturn lever 120 drives the clamping device 200 to rotate together. When sliding to the horizontal part, the clamping device 200 rotates to the horizontal state, the cylinder 160 continues to extend, and the moving block 130 continues to drive the turning bar 120 and the clamping device 200 to move to the right. When the rack bar 223 touches the limit bar At 113, the double-sided rack 220 stops moving, and the clamping device 200 continues to move to the right. The double-sided rack 220 and the clamping seat 210 slide mutually, and the double-sided rack 220 drives the gears 230 on both sides to rotate. When the gear 230 rotates, the gears 230 on both sides and the connecting rod 250 together drive the gripper 240 to move inwardly, and the material between the grippers 240 is clamped. When the material is clamped, the rack pin hole 222 slides to and The side holes 214 are aligned, and the pin 320 is inserted into the rack pin hole 222 under the action of the No. 3 spring 330. At this time, the cylinder 160 stops moving, and then the robot drives the present invention and the material to move to the set position, and the cylinder 160 begins to retract. 320 is inserted into the pin hole 222 of the rack, the relative position of the double-sided rack 220 and the clamping seat 210 is fixed, the clamp hand 240 remains clamped, the telescopic rod of the cylinder 160 moves to the left, and the push rod 140 passes through the right The No. 1 spring 150 drives the moving block 130 to move to the left, the first shaft 121 slowly slides from the horizontal groove of the L-shaped groove 116 to the vertical groove of the L-shaped groove 116, and the clamping seat 210 drives the clamping device 200 from the horizontal state Turn to the vertical state, the left side of the moving block 130 hits the limit plate 112, the moving block 130 stops moving, the cylinder 160 continues to retract to the left, the No. 1 spring 150 is compressed, the inclined surface 142 contacts the gear lever 322, and the inclined surface 142 The drive gear lever 322 moves to the rear side, the pin 320 retracts from the pin hole 222 of the rack, the double-sided rack 220 resets under the action of the No. 2 spring 260 on both sides, and the gears 230 on both sides reverse under the action of the double-sided rack 220. Turn, the gripper 240 loosens the clamping of the material, the material is put down, and then the cylinder 160 stops moving, and the present invention completes a transfer of the material.

The present invention can automatically change the direction of the material during the transfer process. The overturning device 100 not only has the overturning function but also controls the clamping device 200 to pick and place the material. The L-shaped slot 116 has a vertical slot and a horizontal slot. When the groove slides, the turning lever 120 will turn over, and the first shaft 121 will slide in the horizontal groove, so that the clamping device 200 is kept in a horizontal state. The L-shaped groove 116 not only has the function of turning over, but also can ensure the position of the clamping device 200 in space. To ensure the mutual position of the clamping device 200 and the pick-and-place of the material, the cooperation of the push rod 140, the No. 1 spring 150 and other components realizes the sequential execution of the pick-and-place actions of the clamping device 200. When the straight part slides to the horizontal part, the clamping device 200 rotates to the horizontal state, the cylinder 160 continues to extend, and the moving block 130 continues to drive the turning bar 120 and the clamping device 200 to move to the right. When the lever 113 is positioned, the double-sided rack 220 stops moving, the clamping device 200 continues to move to the right, the No. 1 spring 150 on the left side is compressed, the double-sided rack 220 and the clamping seat 210 slide mutually, and the clamping hands 240 The material is clamped, when the material is clamped, the rack pin hole 222 slides to align with the side hole 214, and the pin 320 is inserted into the rack pin hole 222 under the action of the third spring 330, so that the double-sided rack 220 and The relative position of the clamping seat 210 is fixed, the clamping hand 240 remains in the clamped state, the telescopic rod of the cylinder 160 moves to the left, and the push rod 140 drives the moving block 130 to move to the left through the No. 1 spring 150 on the right. 121 slowly slides from the horizontal groove of the L-shaped groove 116 to the vertical groove of the L-shaped groove 116, the clamping seat 210 drives the clamping device 200 from the horizontal state to the vertical state, and the left side of the moving block 130 touches the limit plate 112, the moving block 130 stops moving, the cylinder 160 continues to retract to the left, the No. 1 spring 150 is compressed, the inclined surface 142 contacts the gear lever 322, the inclined surface 142 drives the gear lever 322 to move to the rear side, and the pin 320 is released from the rack pin hole 222 is retracted, the double-sided rack 220 is reset under the action of the second spring 260 on both sides, the gears 230 on both sides are reversed under the action of the double-sided rack 220, the gripper 240 releases the clamping of the material, and the material is put down . The components of this application are matched with a balanced force to prevent the material from being clamped and deformed due to uneven force. This application can realize the automatic change of direction of the material during the transfer process, and the components are coordinated to run smoothly, preventing jamming, running smoothly, and preventing shaking from causing seizures. Material fall off, high degree of automation, high production efficiency.

An operation method of a robot gripper device for changing the transfer direction, comprising the following steps: the first step, when using the present invention, the present invention is fixedly connected with the robot, and when grabbing materials, the robot drives the present invention to move to the place where the grabbing materials are position, the cylinder 160 starts, the telescopic rod of the cylinder 160 extends, the clamping device 200 rotates from vertical to the horizontal state, the cylinder 160 continues to extend, and the material between the grippers 240 is clamped. When the material is clamped, then the robot Drive the present invention and the material to move to the set position, the cylinder 160 starts to retract, the clamping device 200 turns from the horizontal state to the vertical state, the gripper 240 releases the clamping of the material, the material is put down, and then the cylinder 160 stops moving , the present invention completes a material transfer.

An operation method of a robot gripper device for changing the transfer direction is as follows: when using the present invention, the present invention is fixedly connected with the robot. Vertical state, when grabbing materials, the robot drives the invention to move to the position of grabbing materials, the cylinder is activated, the telescopic rod of the cylinder is extended, and the telescopic rod of the cylinder drives the push rod to move to the right through the No. 1 spring to drive the moving block along the dovetail The slot slides to the right, and the moving block drives the turning lever to slide to the right together. The first shaft starts to rotate under the drive of the L-shaped slot, and the turning lever drives the clamping device to rotate together. When the first shaft slides from the vertical part of the L-shaped slot to the horizontal Partially, the clamping device rotates to the horizontal state, the cylinder continues to extend, and the moving block continues to drive the flip bar and the clamping device to move to the right. When the rack bar touches the limit bar, the double-sided rack stops moving. The clamping device continues to move to the right, the double-sided rack and the clamping seat slide against each other, and the double-sided rack drives the gears on both sides to rotate. Move to the inside, the material between the grippers is clamped, when the material is clamped, the pin hole of the rack slides to align with the side hole, the pin is inserted into the pin hole of the rack under the action of the No. 3 spring, and the cylinder stops at this time Move, then the robot drives the invention and the material moves to the set position, the cylinder starts to retract, and since the pin is inserted into the pin hole of the rack, the relative position of the double-sided rack and the clamping seat is fixed, and the gripper remains clamped state, the telescopic rod of the cylinder moves to the left, and the push rod drives the moving block to move to the left through the No. The seat drives the clamping device from the horizontal state to the vertical state, the left side of the moving block hits the limit plate, the moving block stops moving, the cylinder continues to retract to the left, the No. 1 spring is compressed, the inclined surface contacts the gear lever, and the inclined surface The drive lever moves to the rear side, the pin retracts from the pin hole of the rack, the double-sided rack resets under the action of the No. The material is clamped, the material is put down, and then the cylinder stops moving, and the invention completes a material transfer.

Claims (5)

1. A robot gripper device for changing the direction of transfer, characterized in that it comprises an overturning device, a clamping device, a stopper, the overturning device comprises an overturning seat, an overturning lever, a moving block, and a push rod, and the clamping device comprises a clamping Seat, double-sided rack, gear, gripper, stop device includes stop seat, pin, there is a dovetail groove in the middle of the flip seat, there is a limit plate on the left side of the front part of the dovetail groove, and a limit plate on the front right side of the limit plate. There is a cylinder plate on the left side of the dovetail groove, a vertical plate on the rear side of the turning seat, an L-shaped groove on the side of the vertical plate, a shaft on one side of the turning bar, two shafts on the other side of the turning bar, and a dovetail block on the lower part of the moving block. , the upper part of the moving block has a flipping rod hole in the front and rear directions, the upper part of the flipping rod hole has a moving block square hole in the left and right direction, the left side of the push rod has two gear rings, the right side of the push rod has a slope, and the moving block is slid to connect with the dovetail groove. The block slides in the dovetail groove, and the two shafts rotate to connect the flip lever hole. The flip lever rotates in the flip lever hole. One axis slides and connects to the L-shaped groove, and the other axis slides in the L-shaped groove. The right side of the cylinder plate is fixedly connected to the cylinder. The rod is slidably connected to the square hole of the moving block, the push rod slides in the square hole of the moving block, and the outside of the push rod is inserted into two No. On the side, the outside of each No. 1 spring is against the inside of the gear ring, and the left side of the push rod is fixedly connected to the telescopic rod of the cylinder. 2. A robot gripper device for changing the transfer direction according to claim 1, characterized in that: there is a clamping seat square hole in the middle of the clamping seat, and the rear side of the clamping seat square hole has a square hole through the clamping seat. The side hole of the hole, the upper part of the clamping seat has a connecting block, the rear side of the connecting block has a connecting block hole, there are two symmetrical hinge seats on both sides of the clamping seat, there is a hinge seat groove in the middle of the hinge seat, and there is a hinge seat outside the hinge seat groove One hole, the inner side of the hinge seat groove has two holes for the hinge seat, the upper part of the double-sided rack has a rack vertical rod, the lower part of the rack vertical rod has a rack pin hole, the upper part of the rack vertical rod has a rack cross bar, and one side of the gear has a Gear bar, the gear bar top has a gear bar hole, the gear bottom has two gear bar holes, the outside of the gripper has a gripper groove, the gripper groove inside has a gripper hole, and the gripper groove outside has two gripper holes. 3. A robot gripper device for changing the transfer direction according to claim 2, characterized in that: the vertical bar of the rack passes through the square hole of the clamping seat, and the vertical bar of the rack is slidably connected to the square hole of the clamping seat, double-sided The rack slides in the square hole of the clamping seat, and two No. 2 springs are set between the double-sided rack and the clamping seat. The No. 2 springs are symmetrically arranged on both sides of the double-sided rack, and each No. 2 spring is fixed on both sides Connect the inner side of the rack bar and the outer side of the clamping seat, and set a gear and connecting rod in the groove of each hinge seat. The gear and connecting rod are stuck in the corresponding groove of the hinge seat. One side of the rod is hinged with one hole in the hinge seat, and the gear on the same side and the lower part of the connecting rod are respectively provided with a gripper. The gear and the connecting rod are stuck in the corresponding gripper grooves. There are two holes in the hinged clamping hand, the two sides of the double-sided rack are respectively meshed with the gears on both sides, the two axes are fixedly connected to the connecting block holes, and the side of the clamping seat is parallel to the side of the moving block. 4. A robot gripper device for changing the transfer direction according to claim 3, characterized in that: the stop seat has a stop seat hole in the middle, the stop seat has a waist groove in the axial direction, and the inner side of the pin has a horizontal pin , There is a gear lever inside the horizontal pin, the pin is slidingly connected to the stop seat hole, the horizontal pin is slidingly connected to the waist groove, the pin slides in the stop seat hole and the waist groove, a No. 3 spring is set between the pin and the stop seat, and the No. 3 spring Placed in the hole of the stopper seat, the two sides of the No. 3 spring are against the bottom of the pin and the bottom of the stopper seat respectively, the side of the stopper seat is fixedly connected to the side of the side hole, the pin is inserted into the side hole, and the front side of the pin is conditionally inserted into the pin hole of the rack middle. 5. A kind of operation method of the robot gripper device that changes transfer direction according to claim 1, it is characterized in that: comprise the following steps: the first step, when using the robot gripper device that changes transfer direction, change described The robot gripper device in the transfer direction is fixedly connected to the robot. When grabbing materials, the robot drives the robot gripper device that changes the transfer direction to move to the position of grabbing materials. In the second step, the cylinder is activated, and the telescopic rod of the cylinder is extended. The clamping device rotates from vertical to horizontal, the cylinder continues to extend, and the material between the grippers is clamped. When the material is clamped, the robot then drives the robot gripper device that changes the transfer direction and the material moves to the device. When the position is fixed, the cylinder starts to retract, the clamping device turns from the horizontal state to the vertical state, the gripper releases the clamping of the material, the material is put down, and then the cylinder stops moving, and the invention completes a material transfer.

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