Flexible clamp for EU box unstacking

Abstract

The invention provides a flexible clamp for EU box unstacking, comprising: a manipulator having a plurality of first execution ends arranged at intervals; the clamping seat assembly comprises at least one clamping seat assembly, at least one of the multiple first execution ends is connected with the clamping seat assembly, and the clamping seat assembly is provided with a clamping position close to the outer edge of the EU box and an idle position away from the outer edge; the limiting assemblies and the mechanical arms are arranged at intervals, the multiple limiting assemblies are arranged at intervals, the multiple limiting assemblies are movably connected with the clamping seat assembly, and each limiting assembly is provided with a working position and a separation position; and the positioning assembly and the mechanical arm are arranged in a spaced mode, and the positioning assembly is connected with the clamping base assembly. According to the flexible clamp, it is ensured that the limiting assembly is stably supported in the grabbing process, the tripping phenomenon caused by improper position is avoided, and the technical problems that when an existing flexible clamp grabs an EU box, stability is poor, and tripping is prone to occurring are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of logistics transportation, and in particular, to a flexible clamp for EU box unstacking. BACKGROUND

[0002] In the automatic processing flow of the logistics industry, EU boxes as standard logistics containers, the improvement of the rapid unstacking and handling automation is crucial to improve the overall logistics efficiency. The traditional rigid clamp often needs the box to have specific structural features (such as handle, pull hole, etc.) when grabbing the EU box, which limits the flexibility and application range of the automated equipment. Considering the diversity and irregularity of EU boxes in the logistics scene, such as box wall thickness, reinforcement rib setting, etc., flexible clamps gradually appear in the market, aiming to solve the limitations of rigid clamps when facing diversified box types.

[0003] However, the flexible clamp in the prior art, although it improves the matching ability with different EU box types to some extent, has poor stability, especially when facing the reinforcement rib on the EU box wall, it will appear the problem of decoupling. As part of the EU box structure, the reinforcement rib is used to increase the rigidity and stability of the box, but during the grabbing process, if the design is not proper, the reinforcement rib becomes a factor that hinders the effective work of the flexible clamp. When the elastic element (such as a marble, a spring, etc.) contacts the reinforcement rib, due to the increase of lateral pressure, the elastic element is prone to excessive deformation or jamming, thereby reducing the gripping force of the clamp, and even completely decoupling, which seriously affects the grabbing efficiency and success rate, and increases the uncertainty of logistics automation operation.

[0004] At present, no effective solution has been proposed to solve the above problems. SUMMARY

[0005] The main purpose of the present application is to provide a flexible clamp for EU box unstacking to solve the technical problems of poor stability and easy decoupling of the existing flexible clamp when grabbing the EU box.

[0006] In order to achieve the above object, according to one aspect of the present application, a flexible gripper for EU box unstacking is provided, comprising: a manipulator, the manipulator having a plurality of first execution ends, the plurality of first execution ends being arranged at intervals; a clamping seat assembly, the clamping seat assembly comprising at least one clamping seat assembly, at least one of the plurality of first execution ends being connected with the clamping seat assembly, the clamping seat assembly having a clamping position close to an outer edge of the EU box and an idle position away from the outer edge; a limiting assembly, the limiting assembly being arranged at intervals with the manipulator, the limiting assembly comprising a plurality of limiting assemblies, the plurality of limiting assemblies being arranged at intervals, the plurality of limiting assemblies being respectively connected with the clamping seat assembly, each limiting assembly having a working position and a separation position, when the clamping seat assembly is in the clamping position, each limiting assembly is in the working position matched with the outer edge; a positioning assembly, the positioning assembly being arranged at intervals with the manipulator, the positioning assembly being connected with the clamping seat assembly, the positioning assembly controlling each limiting assembly to keep the working position and the separation position.

[0007] Further, the clamping seat assembly has a first accommodating cavity, the clamping seat assembly has a limiting hole, the limiting hole comprises a plurality of limiting holes, the plurality of limiting holes are arranged one-to-one with the plurality of limiting assemblies, one end of each limiting assembly extends into the first accommodating cavity through the limiting hole, and the positioning assembly is arranged in the first accommodating cavity.

[0008] Further, the clamping seat assembly comprises: a first limiting plate, the first limiting plate being connected with the first execution end; a second limiting plate, the second limiting plate being arranged at intervals with the first limiting plate, the second limiting plate having a limiting hole, each limiting assembly being movably connected with the second limiting plate; and a middle connecting frame, the first limiting plate and the second limiting plate being connected through the middle connecting frame, the middle connecting frame being arranged at intervals with the first execution end, the first limiting plate, the second limiting plate and the middle connecting frame surrounding to form the first accommodating cavity, and the positioning assembly being connected with at least one of the first limiting plate and the middle connecting frame.

[0009] Further, the positioning assembly comprises a plurality of positioning assemblies, the plurality of positioning assemblies being arranged in an array on the clamping seat assembly, and the plurality of positioning assemblies being arranged one-to-one with the plurality of limiting assemblies.

[0010] Further, at least one of the plurality of positioning assemblies comprises: a positioning shell, the positioning shell being connected with at least one of the first limiting plate and the middle connecting frame, the positioning shell being arranged at intervals with the manipulator, the positioning shell having a second accommodating cavity, the positioning shell being movably connected with the limiting assembly, one end of the limiting assembly and at least part of the positioning shell forming a third accommodating cavity, the third accommodating cavity being in communication with the second accommodating cavity; a spring, the spring being arranged in the third accommodating cavity, the spring being arranged at intervals with the clamping seat assembly and the manipulator, the spring being connected with at least one of the positioning shell and the limiting assembly; and a two-way air valve, an external air pump being arranged in communication with the third accommodating cavity through the two-way air valve, the external air pump being arranged to exhaust and inhale air to the third accommodating cavity, and the external air pump being arranged to control each limiting assembly to keep the working position and the separation position.

[0011] Further, the limiting assembly comprises a limiting rod, the limiting rod is arranged apart from the mechanical hand, part of the limiting rod is arranged in the second accommodating cavity, the limiting rod is movably connected with the clamping seat assembly, and the first end of the limiting rod is matched with the outer edge; a piston block is arranged apart from the mechanical hand and the clamping seat assembly, the piston block is arranged in the second accommodating cavity, the piston block and part of the positioning shell form a third accommodating cavity, the piston block is movably connected with the positioning shell, and the second end of the limiting rod is connected with one end of the piston block.

[0012] Further, the positioning shell is provided with a positioning hole at one end, and part of the limiting rod extends into the second accommodating cavity through the limiting rod.

[0013] Further, the outer diameter of the limiting rod is B, and the inner diameter of the positioning hole is A, and B≤A.

[0014] Further, the outer diameter of the piston block is C, and the inner diameter of the positioning shell is D, and B≤A≤C≤D.

[0015] Further, the first end of the limiting rod is in an arc structure.

[0016] The technical scheme of the present application is applied, the first execution end of the mechanical hand controls the clamping seat assembly, so that the clamping seat assembly can be effectively clamped when approaching the outer edge of the EU box, and the clamping seat assembly is in an idle position when not working, the limiting assembly is movably connected with the clamping seat assembly, the positioning assembly can accurately control the limiting assembly to remain in a working position and a separation position, so that the limiting assembly can provide stable support in time during the grabbing process, and the phenomenon of tripping due to improper position is avoided, and the technical problems of poor stability and easy tripping of the existing flexible clamp when grabbing the EU box are solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The drawings accompanying the specification of this application form a part of the application and serve to further provide a further understanding of the present application, the illustrative embodiments of the present application and its description serve to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0018] Fig. 1 A structural schematic view of a first embodiment of a flexible clamp for EU box unstacking according to the present application is shown;

[0019] Fig. 2 A structural schematic view of a second embodiment of a flexible clamp for EU box unstacking according to the present application is shown;

[0020] Fig. 3 A structural schematic view of a third embodiment of a flexible clamp for EU box unstacking according to the present application is shown;

[0021] Fig. 4 A structural schematic view of a fourth embodiment of a flexible clamp for EU box unstacking according to the present application is shown;

[0022] Fig. 5 Fig. 5 shows a partial structural schematic diagram of a fifth embodiment of a flexible clamp for EU box unstacking according to the present application;

[0023] Fig. 6 Fig. 6 shows a structural schematic diagram of a sixth embodiment of a flexible clamp for EU box unstacking according to the present application.

[0024] Among them, the above-mentioned drawings include the following reference signs:

[0025] 10, clamping seat assembly;

[0026] 101, first limiting plate;

[0027] 102, middle connecting frame;

[0028] 103, second limiting plate;

[0029] 104, limiting hole;

[0030] 20, limiting assembly;

[0031] 201, limiting rod;

[0032] 202, piston block;

[0033] 30, positioning assembly;

[0034] 301, two-way air valve;

[0035] 302, spring;

[0036] 303, positioning shell;

[0037] 304, second containing cavity;

[0038] 305, positioning hole;

[0039] 40, EU box;

[0040] 50, mechanical hand;

[0041] 60, outer edge. DETAILED DESCRIPTION

[0042] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0046] In the field of logistics automation, especially in the handling of EU boxes (European Standard Logistics Boxes), achieving efficient and stable automation of EU box depalletizing and handling is key to improving overall logistics efficiency. Due to their standardized and modular design, EU boxes are widely used in the logistics chain, appearing in almost every stage from warehouse management to production line distribution. However, the diverse characteristics of EU boxes, such as different sizes, wall thicknesses, and reinforcing ribs, present a series of challenges to traditional automated equipment, particularly in the process of grasping and moving these boxes.

[0047] Traditional rigid clamps, including clamp-on, hook-and-pull, and lifting types, often rely on specific box structure features for gripping, such as handles or pull holes. While these pre-set gripping points work adequately for EU boxes with simple structures, they become inadequate when dealing with diverse box types. For example, EU boxes without handles or pull holes are difficult to grip effectively with these types of clamps, limiting the flexibility and applicability of automated equipment. This forces automated processes to frequently pause for manual intervention or clamp adjustments when faced with changes in box structure, thus reducing the efficiency of the entire logistics system.

[0048] To address this issue, the market has shifted towards the development of flexible clamps. The core of flexible clamps lies in their ability to adaptively conform to the different contours of EU boxes, theoretically applicable to various box types without prior knowledge of the box's specific structure. This design concept greatly expands the application areas of automated equipment and improves the feasibility of automated logistics operations, especially when handling EU boxes that have not undergone pre-sorting.

[0049] However, even flexible grippers reveal their limitations when faced with the reinforcing ribs on the EU container walls. These ribs, designed to enhance the structural strength and stability of the EU container, are typically located on the inner walls or outer edges of the container. During gripping, the contact between the ribs and the gripper creates lateral pressure, which puts the elastic elements to the test. Existing flexible grippers' elastic elements, such as spring-driven balls, while providing a degree of adaptive gripping capability, are prone to excessive deformation or jamming under excessive lateral pressure. Once the elastic element becomes stuck on the rib or deforms beyond repair, the gripping force drops sharply, or even completely disengages. This means the EU container fails to be gripped successfully, falls to the ground or onto other containers, causing physical damage or process interruption.

[0050] This instability and potential failure risk not only increase the uncertainty and complexity of automated logistics operations, but may also lead to production line shutdowns requiring manual intervention to resolve issues, thus contradicting the original intention of automation design—to improve efficiency and reduce human involvement. Furthermore, frequent disengagements and repairs exacerbate fixture wear, increase maintenance costs, and impact the economic viability and sustainability of logistics automation solutions.

[0051] Combination Figs. 1-6 As shown in the specific embodiment of this application, a flexible clamp for destacking EU boxes is provided.

[0052] Specifically, such as Figs. 1-4As shown, a flexible gripper for depalletizing EU boxes includes: a robot arm 50, a gripper assembly 10, a limiting assembly 20, and a positioning assembly 30. The robot arm 50 has a plurality of first actuating ends spaced apart. The gripper assembly 10 includes at least one gripper assembly 10. At least one of the plurality of first actuating ends is connected to the gripper assembly 10. The gripper assembly 10 has a clamping position near the outer edge 60 of the EU box 40 and an idle position away from the outer edge 60. The limiting assembly 20 is connected to the robot arm 50. The limit components 20 are arranged at intervals and are movably connected to the clamping seat assembly 10. Each limit component 20 has a working position and a disengaged position. When the clamping seat assembly 10 is in the clamping position, each limit component 20 is in the working position that mates with the outer edge 60. The positioning component 30 is arranged at intervals with the robot arm 50 and is connected to the clamping seat assembly 10. The positioning component 30 controls each limit component 20 to maintain its working position and disengaged position.

[0053] By applying the technical solution of this invention, the first execution end of the robotic arm 50 controls the gripper assembly 10 to achieve effective clamping when it approaches the outer edge 60 of the EU box 40, while remaining in an idle position when not in operation. The limiting assembly 20 is movably connected to the gripper assembly 10, and the positioning assembly 30 can precisely control the limiting assembly 20 to maintain the working position and the separation position, ensuring that the limiting assembly 20 can provide stable support in a timely manner during the gripping process, avoiding the phenomenon of disengagement caused by improper positioning, and solving the technical problem of poor stability and easy disengagement of existing flexible clamps when gripping the EU box 40.

[0054] Furthermore, the clamping seat assembly 10 has a first receiving cavity and a limiting hole 104. The limiting hole 104 includes multiple holes, and the multiple limiting holes 104 are respectively arranged in correspondence with multiple limiting components 20. One end of each limiting component 20 extends through the limiting hole 104 into the first receiving cavity, and the positioning component 30 is disposed in the first receiving cavity.

[0055] In this embodiment, the gripper assembly 10 is meticulously designed with a first receiving cavity, providing integrated space for the positioning assembly 30 and ensuring precise control. Simultaneously, the gripper assembly 10 is provided with multiple limiting holes 104, which correspond precisely with multiple limiting assemblies 20, allowing one end of each limiting assembly 20 to properly extend into the first receiving cavity through the limiting hole 104 and interact with the positioning assembly 30. This structural arrangement not only ensures the stability and accuracy of the gripper during the EU box gripping process but also achieves coordinated operation among the components, enhancing the overall gripping capability and automation level of the system. It demonstrates excellent performance and adaptability, especially when facing variations in box wall thickness and reinforcing rib designs.

[0056] In one exemplary embodiment, such as Fig. 5 As shown, the clamping seat assembly 10 includes: a first limiting plate 101, a second limiting plate 103, and a central connecting frame 102. The first limiting plate 101 is connected to the first execution end, and the second limiting plate 103 is spaced apart from the first limiting plate 101. The second limiting plate 103 has a limiting hole 104. Each limiting component 20 is movably connected to the second limiting plate 103. The first limiting plate 101 and the second limiting plate 103 are connected through the central connecting frame 102. The central connecting frame 102 is spaced apart from the first execution end. The first limiting plate 101, the second limiting plate 103, and the central connecting frame 102 form a first receiving cavity. The positioning component 30 is connected to at least one of the first limiting plate 101 and the central connecting frame 102.

[0057] In this embodiment, the gripper assembly 10 consists of a first limiting plate 101, a second limiting plate 103, and a central connecting frame 102. The first limiting plate 101 is directly connected to the first actuator of the robot arm and is responsible for transmitting gripping commands. The second limiting plate 103 is spaced apart from the first limiting plate 101 and has multiple limiting holes 104 for forming a movable connection with each limiting component 20, ensuring that it can flexibly adapt to the outer edge shape of the EU box during gripping. The central connecting frame 102 connects the first limiting plate 101 and the second limiting plate 103 and is spaced apart from the first actuator, which not only enhances the structural stability of the gripper assembly 10 but also provides space for the arrangement of the positioning component 30. The first limiting plate 101, the second limiting plate 103, and the central connecting frame 102 together enclose the first receiving cavity. The positioning component 30 is connected to at least one of the first limiting plate 101 and the central connecting frame 102 to achieve precise control of the limiting component 20, ensuring that the fixture maintains high gripping efficiency and stability when dealing with diverse EU box types. This design cleverly integrates various functional components, improving the flexibility and reliability of the fixture, and is key to achieving efficient automated logistics processing.

[0058] In this embodiment, the positioning components 30 include multiple units, which are arrayed on the clamping base assembly 10. Each positioning component 30 corresponds one-to-one with a plurality of limiting components 20. Each positioning component 30 comprises multiple units, which are precisely arranged in an array on the clamping base assembly 10, forming a strict one-to-one correspondence with the multiple limiting components 20. This ensures that each set of limiting components 20 can achieve independent and precise position control, thereby enabling stable and efficient clamping of the EU box regardless of its size. This avoids the instability or disengagement problems that may occur with traditional clamps when facing differences in wall thickness and reinforcing ribs.

[0059] In one exemplary embodiment, such as Fig. 6As shown, at least one of the multiple positioning components 30 includes: a positioning housing 303, a spring 302, and a two-way vent valve 301. The positioning housing 303 is connected to at least one of the first limiting plate 101 and the central connecting frame 102. The positioning housing 303 is spaced apart from the robot arm 50. The positioning housing 303 has a second receiving cavity 304. The positioning housing 303 is movably connected to the limiting component 20. One end of the limiting component 20 forms a third receiving cavity with at least a portion of the positioning housing 303. The third receiving cavity communicates with the second receiving cavity 304. The spring 302 is disposed in the third receiving cavity. The spring 302 is spaced apart from the clamping seat assembly 10 and the robot arm 50. The spring 302 is connected to at least one of the positioning housing 303 and the limiting component 20. An external air pump is connected to the third receiving cavity through the two-way vent valve 301. During the process of venting and sucking air into the third receiving cavity, the external air pump controls each limiting component 20 to maintain its working position and separation position.

[0060] In this embodiment, the positioning assembly 30, integrating the positioning housing 303, spring 302, and bidirectional vent valve 301, is cleverly connected to the first limiting plate 101 and the central connecting frame 102, forming an independent control unit and effectively expanding the flexibility and adaptability of the clamp. The positioning housing 303 has a second receiving cavity 304, providing a precise working environment for the spring 302 and the limiting assembly 20. Through a third receiving cavity connected to one end of the limiting assembly 20, the spring 302 plays its crucial elastic role within this cavity, ensuring that the limiting assembly 20 can quickly respond to and adapt to changes in the edge of the EU box when gripping it, especially when encountering reinforcing ribs, enabling it to avoid them without losing stability. The design of the bidirectional vent valve 301 further enhances the system's intelligence level. It allows an external air pump to precisely control the air pressure in the third receiving cavity, adjusting the extension and retraction state of the limiting assembly 20 through the exhaust and intake processes, achieving seamless switching from the working position to the separation position, greatly improving the efficiency and success rate of the gripping operation.

[0061] Furthermore, the limiting assembly 20 includes a limiting rod 201 and a piston block 202. The limiting rod 201 is spaced apart from the robot arm 50. A portion of the limiting rod 201 is disposed within the second receiving cavity 304. The limiting rod 201 is movably connected to the clamping seat assembly 10. The first end of the limiting rod 201 engages with the outer edge 60. The piston block 202 is spaced apart from the robot arm 50 and the clamping seat assembly 10. The piston block 202 is disposed within the second receiving cavity 304. The piston block 202 and a portion of the positioning housing 303 form a third receiving cavity. The piston block 202 is movably connected to the positioning housing 303. The second end of the limiting rod 201 is connected to one end of the piston block 202.

[0062] In this embodiment, the core components of the limiting assembly 20 include a limiting rod 201 and a piston block 202. The limiting rod 201 is spaced apart from the robot arm 50, and part of its structure is embedded in the second receiving cavity 304 provided by the positioning housing 303, establishing a movable connection with the gripper assembly 10. This allows the first end of the limiting rod 201 to be precisely aligned with and engage with the outer edge 60 of the EU box, achieving stable gripping. Simultaneously, the piston block 202 is also spaced apart from the robot arm 50 and the gripper assembly 10, and is placed in the second receiving cavity 304. It, together with a portion of the positioning housing 303, constitutes a third receiving cavity. The design of this cavity allows for a movable connection between the piston block 202 and the positioning housing 303. More importantly, the second end of the limiting rod 201 is directly connected to one end of the piston block 202, creating a dynamic force transmission path. The movement of the piston block 202 within the third receiving cavity effectively controls the extension and retraction of the limiting rod 201, ensuring the flexibility and reliability of the gripper when grasping different types of EU boxes.

[0063] In one exemplary embodiment, a positioning hole 305 is provided at one end of the positioning housing 303, and a portion of the limiting rod 201 extends into the second receiving cavity 304 through the limiting rod 201. The portion of the limiting rod 201 passing through the positioning hole 305 and extending into the second receiving cavity 304 inside the positioning housing 303 forms a stable and flexible connection mechanism, ensuring that the limiting rod 201 can be accurately positioned and moved when performing a gripping action, while maintaining effective docking with the external pneumatic control system.

[0064] In this embodiment, the outer diameter of the limiting rod 201 is B, and the inner diameter of the positioning hole 305 is A, where B ≤ A. The outer diameter of the limiting rod 201 is precisely marked as B, while the inner diameter of the positioning hole 305 on the positioning housing 303 is set as A. The design ensures that the dimensional relationship B ≤ A, allowing the limiting rod 201 to smoothly pass through the positioning hole 305 and achieve free extension and retraction within the second receiving cavity 304, while maintaining sufficient structural stability and operational accuracy. This is a key dimensional fit design to ensure that the clamp can efficiently and flexibly grasp the EU box.

[0065] Furthermore, the outer diameter of the piston block 202 is C, and the inner diameter of the positioning housing 303 is D, where B≤A≤C≤D. The outer diameter of the piston block 202 is designated as C, while the inner diameter of the positioning housing 303 is set as D. This careful design ensures the progressive dimensional compatibility of B≤A≤C≤D. This series of dimensional relationships not only guarantees the proper fit between the limiting rod 201 and the positioning hole 305, but also ensures that the piston block 202 can move unimpeded within the second receiving cavity 304 of the positioning housing 303. Furthermore, by connecting the second end of the limiting rod 201 to one end of the piston block 202, effective control of the extension and retraction of the limiting rod 201 is achieved.

[0066] In one exemplary embodiment, the first end of the limiting rod 201 has an arc-shaped structure. This structure significantly enhances its adaptability and gripping stability when in contact with the outer edge 60 of the EU box. The arc-shaped first end can better fit the edge contour of different EU boxes, reducing the risk of slippage due to shape mismatch during gripping. At the same time, the arc-shaped design can also provide a certain amount of clearance when contacting protruding structures such as reinforcing ribs, ensuring the smoothness and safety of the gripping action. This reflects the ingenuity and thorough consideration in the details of the design.

[0067] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0068] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0069] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible clamp for destacking EU boxes, characterized in that, include: A robotic arm (50) having a plurality of first actuators spaced apart; A clamping assembly (10) comprising at least one clamping assembly (10), at least one of a plurality of first actuators being connected to the clamping assembly (10), the clamping assembly (10) having a clamping position near the outer edge (60) of the EU box (40) and an idle position away from the outer edge (60); A limiting component (20) is provided at intervals with the robot arm (50). The limiting component (20) includes multiple components, which are spaced apart. The multiple limiting components (20) are movably connected to the clamping seat assembly (10). Each limiting component (20) has a working position and a separating position. When the clamping seat assembly (10) is in the clamping position, each limiting component (20) is in the working position that cooperates with the outer edge (60). A positioning component (30) is provided at intervals with the robotic arm (50). The positioning component (30) is connected to the clamping seat assembly (10). The positioning component (30) controls each of the limiting components (20) to maintain the working position and the separation position.

2. The flexible clamp for destacking EU boxes according to claim 1, characterized in that, The clamping seat assembly (10) has a first receiving cavity and a limiting hole (104). The limiting hole (104) includes a plurality of holes, and the plurality of limiting holes (104) are respectively provided with a plurality of limiting components (20). One end of each limiting component (20) extends through the limiting hole (104) into the first receiving cavity. The positioning component (30) is disposed in the first receiving cavity.

3. The flexible clamp for destacking EU boxes according to claim 2, characterized in that, The clamping seat assembly (10) includes: The first limiting plate (101) is connected to the first execution end; The second limiting plate (103) is spaced apart from the first limiting plate (101). The second limiting plate (103) has the limiting hole (104). Each limiting component (20) is movably connected to the second limiting plate (103). A central connecting frame (102) is provided, through which the first limiting plate (101) and the second limiting plate (103) are connected. The central connecting frame (102) is spaced apart from the first execution end. The first limiting plate (101), the second limiting plate (103), and the central connecting frame (102) form the first receiving cavity. The positioning component (30) is connected to at least one of the first limiting plate (101) and the central connecting frame (102).

4. The flexible clamp for destacking EU boxes according to claim 3, characterized in that, The positioning component (30) includes a plurality of components, which are arrayed on the clamping base assembly (10), and the plurality of positioning components (30) are configured in a one-to-one correspondence with the plurality of limiting components (20).

5. The flexible clamp for destacking EU boxes according to claim 4, characterized in that, At least one of the plurality of positioning components (30) includes: A positioning housing (303) is connected to at least one of the first limiting plate (101) and the central connecting frame (102). The positioning housing (303) is spaced apart from the robot (50). The positioning housing (303) has a second receiving cavity (304). The positioning housing (303) is movably connected to the limiting component (20). One end of the limiting component (20) forms a third receiving cavity with at least a portion of the positioning housing (303). The third receiving cavity communicates with the second receiving cavity (304). A spring (302) is disposed in the third receiving cavity, the spring (302) is spaced apart from the clamping seat assembly (10) and the robot (50), and the spring (302) is connected to at least one of the positioning housing (303) and the limiting assembly (20); A two-way vent valve (301) is provided, through which an external air pump is connected to the third receiving cavity. During the process of the external air pump venting and drawing air into the third receiving cavity, the limiting components (20) are controlled to maintain the working position and the separation position.

6. The flexible clamp for destacking EU boxes according to claim 5, characterized in that, The limiting component (20) includes: A limiting rod (201) is spaced apart from the robot arm (50), a portion of the limiting rod (201) is disposed in the second receiving cavity (304), the limiting rod (201) is movably connected to the clamping seat assembly (10), and the first end of the limiting rod (201) cooperates with the outer edge (60); A piston block (202) is spaced apart from the robotic arm (50) and the gripper assembly (10). The piston block (202) is disposed in the second receiving cavity (304). The piston block (202) and a portion of the positioning housing (303) form a third receiving cavity. The piston block (202) is movably connected to the positioning housing (303). The second end of the limiting rod (201) is connected to one end of the piston block (202).

7. The flexible clamp for destacking EU boxes according to claim 6, characterized in that, The positioning housing (303) has a positioning hole (305) at one end, and part of the limiting rod (201) extends into the second receiving cavity (304) through the limiting rod (201).

8. The flexible clamp for destacking EU boxes according to claim 7, characterized in that, The outer diameter of the limiting rod (201) is B, and the inner diameter of the positioning hole (305) is A, wherein B≤A.

9. The flexible clamp for destacking EU boxes according to claim 8, characterized in that, The outer diameter of the piston block (202) is C, and the inner diameter of the positioning housing (303) is D, wherein B≤A≤C≤D.

10. The flexible clamp for destacking EU boxes according to any one of claims 6-9, characterized in that, The first end of the limiting rod (201) has an arc-shaped structure.

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