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...

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