Robot gripper for box body stacking and unstacking

Abstract

A robot gripper for box body stacking and unstacking is applicable to logistics and warehousing industries of foods, medicine, tobaccos and the like, comprises a flange connected with a stacking robot, a top plate, a pair of downward inserting devices, a pair of side-pressing devices, a pair of bottom side-inserting devices, a selectable sucking disc and six groups of positioning sensor assemblies and has stacking and unstacking functions. By adopting the mode that box bodies are wholly surrounded, the possibility of box loosening in the quick carrying process is eliminated. The box body placing faces can be avoided during placing or gripping operation, a contact type placement is adopted, and impact caused falling, bumping and the like is avoided. The positioning sensor assemblies confirm poses of box bodies to be gripped according to a 'six-point positioning' principle, and accordingly confirmation of gripping poses of the gripper is achieved. Sensors in the different corresponding positioning sensor assemblies can be utilized to trigger interval time, and judgment on abnormal poses of the box bodies to be gripped can be performed and serves as a warning condition, so that timely shutdown and manual intervention and adjustment can be performed when the situation occurs.

Description

technical field [0001] The invention relates to a robot gripper for stacking and unstacking of box-type packaging items, which is suitable for logistics and storage industries in the fields of food, medicine, tobacco, and petrochemical industry, and is specially used to realize the six-sided orthogonal surface Box-packed items are palletized and depalletized. Background technique [0002] In industries such as logistics and warehousing in the fields of food, medicine, tobacco, and petrochemicals, the manufacturing of products, storage of goods, and transportation and circulation all involve the process of palletizing or depalletizing. At present, palletizing robots and their claws are often used instead of manual operations in the palletizing process, but most of the depalletizing process is achieved by manual handling. For example, the depalletizing process of goods loaded from the storage location is usually completed by the loader . With the market competition requireme...

AI Technical Summary

Problems solved by technology

From the analysis of the above-mentioned types of gripper structures and working capabilities, first, the existing comb-toothed grippers have special requirements for the placement surface of the grasped items, and can only grasp the items placed on the comb-toothed table. And limited by its mechanical structure, it is impossible to perform unstacking operations; secondly, although the suction cup gripper has no special requirements for the placement surface of the grabbed items, it can also realize two operations of stacking and unstacking from its structure, but it is not suitable for grabbing There are special requirements for the surface finish of the items to be picked up (for example, box-type packaging products). Once the surface of the suction cup is incomplete or has defects such as pits, the items will not be picked up reliably, and the two days after the suction is picked up and before the placement Due to the rapid handling movement of the palletizing robot in the operation room, under the action of inertial force, it is easy to cause the phenomenon of unpacking / unpacking, and the handling process is not reliable enough; From its structural analysis, although it has the possibility that the handling process will not cause unpacking / out-of-box phenomenon, its structure is easy to be grasped or placed with the surrounding environment of the position (for example, the adjacency of the box to be grasped in the stack shape) Box or other obstacles, etc.) interferes, so it does not have the ability to unstack

In addition, during the placing process of items, the splints are mostly released, and then the items fall to the target position. This placement process is difficult to meet the requirements for fragile and other items that need to avoid impact, and the accurate position and posture of the items are not very good. Guaranteed, it is easy to cause the stack to be loose, skewed or even collapsed

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