Robot system for carrying and unstacking stacks

Abstract

The utility model discloses a robot system for carrying and unstacking, and relates to the field of carrying robots. The robot system for carrying and unstacking comprises a robot, a robot tail end grabbing device and a visual system. The robot tail end grabbing device comprises a grabbing support connected to the robot, an annular frame connected to the grabbing support, a plurality of box clamping jaw devices, at least one product clamping jaw device and at least one product suction device. The box clamping jaw devices are arranged in the circumferential direction of the annular frame so as to clamp or loosen the top wall of a box. The product clamping jaw device is connected to the grabbing support in a lifting mode and used for clamping or loosening products. The product suction device is connected to the grabbing support in a liftable mode and used for sucking or loosening products. The visual system comprises a supporting frame and a first camera connected to the supporting frame. The robot system for carrying and unstacking can clamp the box body with the top opening, clamp the product and suck the product to move at the same time, the compatibility and flexibility of carrying and unstacking of the robot are improved, and the equipment cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of handling robots, and in particular to a robot system for handling and depalletizing. Background Art

[0002] Factories and warehouses frequently require palletizing and depalletizing, as well as the warehousing and outbound handling of materials. This process involves not only full boxes of materials but also individual items. Traditional manual handling is not only time-consuming and labor-intensive, but also inefficient. In warehouses with limited temperature and humidity requirements, the working environment is poor and challenging. Using robotic arms for palletizing and depalletizing requires different robotic actuators to handle boxes and different materials, resulting in high costs and a large space requirement. Utility Model Content

[0003] The purpose of this application is to provide a robot system for handling and depalletizing, which can simultaneously clamp boxes with top openings, clamp products and suck products for movement, thereby improving the compatibility and flexibility of robot handling and depalletizing and reducing equipment costs.

[0004] This application is implemented as follows:

[0005] The present application provides a robot system for handling and depalletizing, comprising:

[0006] The robot comprises a base, a robot arm support rotatably connected to the base about a vertical axis, a first robot arm rotatably connected to the robot arm support along a vertical plane, and a second robot arm rotatably connected to the first robot arm along a vertical plane;

[0007] Also includes:

[0008] The robot end gripping device is connected to the second robot arm and includes a gripping bracket connected to the second robot arm and an annular frame connected to the gripping bracket, a plurality of box gripping devices, at least one product gripping device, and at least one product suction device; the plurality of box gripping devices are arranged at intervals along the circumference of the annular frame for respectively gripping or releasing the top wall of the box; the product gripping device is liftably connected to the gripping bracket for gripping or releasing the product; and the product suction device is liftably connected to the gripping bracket for adsorbing or releasing the product.

[0009] The vision system includes a support frame and a first camera connected to the support frame.

[0010] In some optional embodiments, the grabbing bracket includes a connecting flange connected to the second robotic arm, a first mounting plate and a second mounting plate respectively connected to both ends of the connecting flange, and a connecting plate respectively connected to the first mounting plate and the second mounting plate at both ends, the two ends of the first mounting plate and the second mounting plate are respectively connected to the inner walls of the two sides of the annular frame, and the product clamping device and the product suction device are respectively connected to the first mounting plate and the second mounting plate.

[0011] In some optional embodiments, reinforcing plates are connected between the first mounting plate and the second mounting plate and the connecting flange and the connecting plate, respectively.

[0012] In some optional embodiments, the box body clamping device includes a first pneumatic finger having a pair of box body fixing clamps, and a plurality of parallel slots are respectively provided on adjacent sides of the two box body fixing clamps.

[0013] In some optional embodiments, the product clamping device includes a second pneumatic finger having a pair of product fixing clamps, and a lifting slide cylinder connected to the second pneumatic finger and for driving the second pneumatic finger to lift and lower. The lifting slide cylinder is connected to the grasping bracket, and the adjacent sides of the two product fixing clamps are respectively connected to soft silicone sheets.

[0014] In some optional embodiments, the second pneumatic finger is connected to the lifting slide cylinder through a vertical plate, a horizontal plate is connected between the second pneumatic finger and the vertical plate, and at least one reinforcing rib plate is connected between the vertical plate and the horizontal plate.

[0015] In some optional embodiments, the product suction device includes a suction cup mounting plate, at least one vacuum suction cup connected to the bottom of the suction cup mounting plate, a lifting cylinder for driving the suction cup mounting plate to rise and fall, and a vacuum generating device connected to the suction cup mounting plate, and the vacuum generating device is connected to each vacuum suction cup through a pipe.

[0016] In some optional embodiments, a connecting rod is connected to the top of the support frame, and the connecting rod is connected to a camera lifting device for driving the first camera to lift.

[0017] In some optional embodiments, the vision system further includes a second camera connected to the bottom of the connecting plate.

[0018] In some optional embodiments, the second robotic arm is connected to an articulated seat that can rotate along a vertical plane, and the articulated seat is connected to a rotating motor for driving the grabbing bracket to rotate around a vertical axis.

[0019] The beneficial effects of the present application are: the robot system for handling and depalletizing provided in the present application includes a robot, a robot end gripping device and a vision system, the robot includes a base, a robot arm support rotatably connected to the base around a vertical axis, a first robot arm rotatably connected to the robot arm support along a vertical plane, and a second robot arm rotatably connected to the first robot arm along a vertical plane; the robot end gripping device includes a gripping bracket connected to the second robot arm and an annular frame connected to the gripping bracket, a plurality of box gripping devices, at least one product gripping device and at least one product suction device; the plurality of box gripping devices are arranged at intervals along the circumference of the annular frame for respectively clamping or releasing the top wall of the box; the product gripping device can be lifted and lowered to the gripping bracket for clamping or releasing the product; the product suction device can be lifted and lowered to the gripping bracket for adsorbing or releasing the product; the vision system includes a support frame and a first camera connected to the support frame. The robot system for handling and depalletizing provided in the present application can simultaneously clamp boxes with top openings, clamp products, and suck products for movement, thereby improving the compatibility and flexibility of robot handling and depalletizing and reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic diagram of the structure of a robot system for handling and depalletizing provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of a robot end gripping device in a robot system for handling and depalletizing provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of the structure of a grabbing bracket in a robot system for handling and depalletizing provided in an embodiment of the present application;

[0024] Figure 4 A schematic diagram of the structure of a box gripper device in a robot system for handling and depalletizing provided in an embodiment of the present application;

[0025] Figure 5 A schematic diagram of the structure of a product gripper device in a robot system for handling and depalletizing provided in an embodiment of the present application;

[0026] Figure 6A schematic diagram of the structure of a product suction device in a robot system for handling and depalletizing provided in an embodiment of the present application;

[0027] Figure 7 A schematic diagram of the partial structure of the vision system in the robot system for handling and depalletizing provided in an embodiment of the present application.

[0028] In the figure: 100, robot; 110, base; 120, robot arm support; 130, first robot arm; 140, second robot arm; 150, articulated seat; 160, rotating motor; 170, first motor; 180, second motor; 190, third motor; 200, robot end gripping device; 210, gripping bracket; 211, connecting flange; 212, first mounting plate; 213, second mounting plate; 214, connecting plate; 215, reinforcing plate; 220, ring frame; 230, first pneumatic Finger; 231, box fixing clamp; 232, card slot; 240, second pneumatic finger; 241, product fixing clamp; 242, lifting slide cylinder; 243, soft silicone sheet; 244, vertical plate; 245, horizontal plate; 246, reinforcing rib plate; 250, suction cup mounting plate; 251, vacuum suction cup; 252, lifting cylinder; 253, vacuum generating device; 300, visual system; 310, support frame; 320, first camera; 330, connecting rod; 340, camera lifting device; 350, second camera. DETAILED DESCRIPTION

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0031] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0032] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Furthermore, terms such as "horizontal," "vertical," and "overhanging" do not necessarily imply that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0034] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0035] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] The features and performance of the robot system for handling and depalletizing of the present application are further described in detail below with reference to the embodiments.

[0037] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7As shown, an embodiment of the present application provides a robot system for transporting and depalletizing, comprising a robot 100, a robot end gripping device 200 connected to the robot 100, and a vision system 300;

[0038] Among them, such as Figure 1 As shown, the robot 100 includes a base 110, a robotic arm support 120 rotatably connected to the top of the base 110 around a vertical axis, a first robotic arm 130 rotatably connected to the top of the robotic arm support 120 along a vertical plane, and a second robotic arm 140 rotatably connected to the first robotic arm 130 along a vertical plane. The base 110 is connected to a first motor 170 for driving the robotic arm support 120 to rotate around the vertical axis, the robotic arm support 120 is connected to a second motor 180 for driving the first robotic arm 130 to rotate along the vertical plane, and the first robotic arm 130 is connected to a third motor 190 for driving the second robotic arm 140 to rotate along the vertical plane; the second robotic arm 140 is hinged to an articulated seat 150 rotatable along a vertical plane through a rotating shaft, and the articulated seat 150 is connected to a rotating motor 160 for driving the robot end grasping device 200 to rotate around the vertical axis.

[0039] like Figure 2 As shown, the robot end gripping device 200 includes a gripping bracket 210, an annular frame 220 connected to the gripping bracket 210, four box gripping devices, a product gripping device, and a product suction device. The four box gripping devices are arranged at intervals along the circumference of the annular frame 220 for respectively gripping or releasing the top wall of the box; the product gripping device is liftably connected to the gripping bracket 210 for gripping or releasing the product; the product suction device is liftably connected to the gripping bracket 210 for adsorbing or releasing the product; the annular frame 220 is composed of four frame plates connected in sequence;

[0040] like Figure 3 As shown, the grabbing bracket 210 includes a connecting flange 211 connected to the output shaft of the rotating motor 160, a first mounting plate 212 and a second mounting plate 213 connected to the two ends of the connecting flange 211 at the top, and a connecting plate 214 connected to the first mounting plate 212 and the second mounting plate 213 at both ends, respectively. The two ends of the first mounting plate 212 and the second mounting plate 213 are respectively connected to the inner walls of the two sides of the annular frame 220, the product clamping device and the product suction device are respectively connected to the first mounting plate 212 and the second mounting plate 213, and a reinforcing plate 215 is connected between the first mounting plate 212 and the second mounting plate 213 and the connecting flange 211 and the connecting plate 214.

[0041] like Figure 4As shown, the box clamping device includes a first pneumatic finger 230 having a pair of box fixing clamps 231, and a plurality of parallel slots 232 are respectively provided on the adjacent sides of the two box fixing clamps 231. The first pneumatic finger 230 is connected to the inner wall of the annular frame 220, and the first pneumatic fingers 230 of the two box clamping devices are connected to the inner wall of one end of the annular frame 220. The first pneumatic fingers 230 of the other two box clamping devices are connected to the inner walls on both sides of the annular frame 220. The four box clamping devices are respectively arranged at the four corners of the annular frame 220.

[0042] like Figure 5 As shown, the product clamping device includes a second pneumatic finger 240 with a pair of product fixing clamps 241, and a lifting slide cylinder 242 connected to the second pneumatic finger 240 and used to drive the second pneumatic finger 240 to rise and fall. The lifting slide cylinder 242 is connected to the first mounting plate 212, and the adjacent sides of the two product fixing clamps 241 are respectively connected with soft silicone sheets 243; the second pneumatic finger 240 is connected to the lifting slide cylinder 242 through a vertical plate 244, and a horizontal plate 245 is also connected between the second pneumatic finger 240 and the vertical plate 244, and at least one reinforcing rib plate 246 is connected between the vertical plate 244 and the horizontal plate 245.

[0043] like Figure 6 As shown, the product suction device includes a suction cup mounting plate 250, two vacuum suction cups 251 connected to the bottom of the suction cup mounting plate 250, a lifting cylinder 252 for driving the suction cup mounting plate 250 to rise and fall, and a vacuum generating device 253 connected to the suction cup mounting plate 250. The vacuum generating device 253 is connected to each vacuum suction cup 251 through a pipe, and the lifting cylinder 252 is connected to the second mounting plate 213.

[0044] like Figure 1 and Figure 7 As shown, the vision system 300 includes a support frame 310, a connecting rod 330 with one end connected to the top of the support frame 310, a first camera 320 and a second camera 350, and the other end of the connecting rod 330 is connected to a camera lifting device 340 for driving the first camera 320 to rise and fall, and the second camera 350 is connected to the bottom of the connecting plate 214.

[0045] The working principle of the robot system for transporting and depalletizing provided in the embodiment of the present application is:

[0046] Fix the support frame 310 of the vision system 300 to the side of the carton stack so that the first camera 320 connected to the camera lifting device 340 on the connecting rod 330 connected to the top of the support frame 310 is located above the carton stack;

[0047] When destacking is required, the first camera 320 located above the carton stack takes a picture of the carton stack below and performs image processing to obtain the position information of the carton on the top layer of the carton stack. Then, the first motor 170 of the robot 100 is controlled to start driving the robotic arm support 120 to rotate around the vertical axis, driving the first robotic arm 130 and the second robotic arm 140 to rotate to a preset position. The second motor 180 and the third motor 190 are controlled to respectively drive the second robotic arm 140 of the first robotic arm 130 to rotate along the vertical plane, so that the robot end gripping device 200 connected to the second robotic arm 140 moves to the preset position above the carton stack, so that a pair of box fixing clamps 231 of the first pneumatic fingers 230 in the four box gripping claw devices connected to the four corners of the annular frame 220 of the robot end gripping device 200 are respectively located on both sides of the top wall of a carton on the top layer of the carton stack. At this time, the first pneumatic fingers 230 in the four box gripping claw devices connected to the four corners of the annular frame 220 of the robot end gripping device 200 are controlled to drive the corresponding pair When the box fixing clamp 231 clamps the top wall of the carton, the first motor 170 of the robot 100 can be controlled to start driving the robotic arm support 120 to rotate around the vertical axis, driving the first robotic arm 130 and the second robotic arm 140 to rotate to a preset position, and the second motor 180 and the third motor 190 are controlled to respectively drive the second robotic arm 140 of the first robotic arm 130 to rotate along the vertical plane, so that the robot end grasping device 200 connected to the second robotic arm 140 moves to a preset position, and finally the first pneumatic fingers 230 in the four box clamping devices connected to the four corners of the annular frame 220 in the robot end grasping device 200 are controlled to drive the corresponding pair of box fixing clamps 231 to release the top wall of the carton to complete the carton moving operation; when the stacking reaches a certain extent, the distance between the cartons in the carton stack and the first camera 320 above it is too far and exceeds the working distance of the first camera 320, the camera lifting device 340 drives the first camera 320 to descend, ensuring that the first camera 320 can capture the carton to assist the robot 100 to continue destacking.

[0048] When palletizing is required, the camera lifting device 340 first drives the first camera 320 to descend so that the first camera 320 can capture the pallet on the ground, and then determines the position of the pallet after image processing. At this time, the first motor 170 of the control robot 100 starts to drive the robotic arm support 120 to rotate around the vertical axis, driving the first robotic arm 130 and the second robotic arm 140 to rotate to a preset position, and controls the second motor 180 and the third motor 190 to respectively drive the second robotic arm 140 of the first robotic arm 130 to rotate along the vertical plane, so that the robot end gripping device 200 connected to the second robotic arm 140 moves to above the position where the carton to be palletized is located, and the second camera 350 connected to the bottom of the connecting plate 214 of the gripping bracket 210 takes a picture and identifies the position information of the carton, and controls the robot 100 to drive the robot end gripping device 200 to move above the carton, so that a pair of first pneumatic fingers 230 in the four box gripping claw devices connected to the four corners of the annular frame 220 in the robot end gripping device 200 The box fixing clamps 231 are respectively located on both sides of the top wall of a carton on the top layer of the carton stack. At this time, the first pneumatic fingers 230 in the four box clamping devices respectively connected to the four corners of the annular frame 220 in the robot end grasping device 200 are controlled to drive the corresponding pair of box fixing clamps 231 to clamp the top wall of the carton, and the first motor 170 of the robot 100 can be controlled to start driving the robotic arm support 120 to rotate around the vertical axis to drive the first robotic arm 130 and the second robotic arm 140 to rotate to a preset position, and the second motor 180 and the third motor 190 are controlled to respectively drive the second robotic arm 130 and the second robotic arm 140 to rotate along the vertical plane, so that the robot end grasping device 200 connected to the second robotic arm 140 moves to the pallet, and the first pneumatic fingers 230 in the four box clamping devices respectively connected to the four corners of the annular frame 220 in the robot end grasping device 200 are controlled to drive the corresponding pair of box fixing clamps 231 to loosen the top wall of the carton to complete the carton stacking operation, and stack the cartons one by one into the required stack shape as required.

[0049] After all the full boxes of products have been palletized, if there is a need to grab a small number of products, the robot 100 moves the robot end gripping device 200 to the full box and the empty box, takes pictures through the second camera 350 connected to the bottom of the connecting plate 214 of the gripping bracket 210 and identifies the position of the products in the full box below and the position where the products need to be placed in the empty box, controls the first motor 170 of the robot 100 to start driving the robot arm support 120 to rotate around the vertical axis, drives the first robot arm 130 and the second robot arm 140 to rotate to the preset position, and controls the second motor 180 and the third motor 190. 0 drives the second robotic arm 140 of the first robotic arm 130 to rotate along the vertical plane, so that the robot end gripping device 200 connected to the second robotic arm 140 moves to above the product, uses the second camera 350 to take a picture and identify the type of product, selects the product gripping device or the product suction device to fix the product according to the type of product, and when the product gripping device is selected, controls the lifting slide cylinder 242 to drive the second pneumatic finger 240 to descend so that the pair of product fixing clamps 241 of the second pneumatic finger 240 move to both sides of the product, and the second pneumatic finger 240 drives the pair of product fixing clamps 241 to move to both sides of the product. 41 clamps the product. When the product suction device is selected, the lifting cylinder 252 is controlled to drive the suction cup mounting plate 250 to descend to the bottom of the suction cup mounting plate 250. The vacuum suction cup 251 is pressed against the top of the product. The vacuum generating device 253 is controlled to start vacuuming each vacuum suction cup 251 through the pipeline to fix the product. Then, the first motor 170 of the robot 100 is controlled to start driving the robot arm support 120 to rotate around the vertical axis to drive the first robot arm 130 and the second robot arm 140 to rotate to the preset position. The second motor 180 and the third motor 190 are controlled to drive the first robot arm 100 to rotate around the vertical axis to drive the first robot arm 130 and the second robot arm 140 to rotate to the preset position. The second robotic arm 140 of 130 rotates along the vertical plane, so that the robot end grasping device 200 connected to the second robotic arm 140 drives the fixed product to move to the top of the empty box, controls the second pneumatic finger 240 to drive a pair of product fixing clamps 241 to release the product or controls the vacuum generating device 253 to stop vacuuming each vacuum suction cup 251 through the pipeline to stop adsorbing and fixing the product, so that the product falls into the empty box, and repeats this process until the number of products in the original empty box reaches the requirement, and then the cartons containing the products are grasped and stacked on the carton stack in the same way as palletizing.

[0050] The robot system for handling and depalletizing provided in the embodiment of the present application integrates and connects a box clamping device, a product clamping device and a product suction device to a grasping bracket 210 as a robot end grasping device 200 to be connected and used in conjunction with the robot 100. It can simultaneously clamp a box with a top opening, clamp products and suck and move products, thereby improving the compatibility and flexibility of the robot in handling and depalletizing and reducing equipment costs.

[0051] The gripping bracket 210 comprises a connecting flange 211 connected to the robot 100, a first mounting plate 212 and a second mounting plate 213 connected to the ends of the connecting flange 211 at the top, and a connecting plate 214 connected to the first and second mounting plates 212, 213 at the ends. The first and second mounting plates 212, 213 are connected to the inner walls of the annular frame 220 at their ends, ensuring that the box gripper, product gripper, and product suction device are stably connected to the connecting flange 211 via the annular frame 220, the first and second mounting plates 212, 213, respectively. Reinforcement plates 215 are connected between the first and second mounting plates 212, 213, the connecting flange 211, and the connecting plate 214, respectively. These reinforcement plates 215 enhance the overall structural strength and stability of the gripping bracket 210, ensuring stable gripping and movement of cartons and products. The box gripper devices are spaced circumferentially and connected to the annular frame 220, ensuring that they securely hold the top walls of the four sides of the carton, thereby ensuring stable gripping and movement of the carton.

[0052] The second robotic arm 140 is hinged to an articulated seat 150 that can rotate along a vertical plane through a rotating shaft. The articulated seat 150 is connected to a rotating motor 160 for driving the robot end grasping device 200 to rotate around a vertical axis. This can ensure that the articulated seat 150 and the robot end grasping device 200 connected to its bottom remain in a vertical arrangement due to the action of gravity, so that the positions of the cartons and products connected to the robot end grasping device 200 are stable, and the robot end grasping device 200 is driven to rotate around the vertical axis by the rotating motor 160, so that the cartons clamped and moved by the robot end grasping device 200 are rotated around the vertical axis to a preset angle to be placed on the carton stack.

[0053] The vision system 300 includes a first camera 320 provided on a connecting rod 330 connected to a support frame 310 and a second camera 350 connected to the bottom of a connecting plate 214 of a grabbing bracket 210. The first camera 320 and the second camera 350 can cooperate to respectively obtain the position of cartons on a fixed position carton stack and the position of cartons and products at other positions, so as to facilitate the clamping and movement of the product to the carton and then further move it to the carton stack.

[0054] In other optional embodiments, the number of the box clamping devices can also be two, three or more than three. In other optional embodiments, the number of the product clamping devices and the product suction device can also be two or more than two.

[0055] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

Claims

1. A robotic system for handling and depalletizing, comprising: A robot comprising a base, a robotic arm support rotatably connected to the base about a vertical axis, a first robotic arm rotatably connected to the robotic arm support along a vertical plane, and a second robotic arm rotatably connected to the first robotic arm along a vertical plane; It is characterized by further comprising: The robot end gripping device is connected to the second robotic arm and includes a gripping bracket connected to the second robotic arm and an annular frame connected to the gripping bracket, a plurality of box gripping devices, at least one product gripping device, and at least one product suction device; the plurality of box gripping devices are arranged at intervals along the circumference of the annular frame for respectively gripping or releasing the top wall of the box; the product gripping device is liftably connected to the gripping bracket for gripping or releasing the product; the product suction device is liftably connected to the gripping bracket for adsorbing or releasing the product; The vision system includes a support frame and a first camera connected to the support frame.

2. The robot system for handling and depalletizing according to claim 1, characterized in that: The grabbing bracket includes a connecting flange connected to the second robotic arm, a first mounting plate and a second mounting plate respectively connected to both ends of the connecting flange, and a connecting plate respectively connected to the first mounting plate and the second mounting plate at both ends. The two ends of the first mounting plate and the second mounting plate are respectively connected to the inner walls on both sides of the annular frame, and the product clamping device and the product suction device are respectively connected to the first mounting plate and the second mounting plate.

3. The robot system for handling and depalletizing according to claim 2, characterized in that: Reinforcement plates are connected between the first mounting plate and the second mounting plate and the connecting flange and the connecting plate respectively.

4. The robot system for handling and depalletizing according to claim 1, characterized in that: The box body clamping device comprises a first pneumatic finger having a pair of box body fixing clamps, and a plurality of parallel arranged clamping slots are respectively provided on adjacent sides of the two box body fixing clamps.

5. The robot system for handling and depalletizing according to claim 1, characterized in that: The product clamping device includes a second pneumatic finger with a pair of product fixing clamps, and a lifting slide cylinder connected to the second pneumatic finger and used to drive the second pneumatic finger to lift and lower. The lifting slide cylinder is connected to the grabbing bracket, and the adjacent sides of the two product fixing clamps are respectively connected with soft silicone sheets.

6. The robot system for handling and depalletizing according to claim 5, characterized in that: The second pneumatic finger is connected to the lifting slide cylinder through a vertical plate. A horizontal plate is connected between the second pneumatic finger and the vertical plate. At least one reinforcing rib plate is connected between the vertical plate and the horizontal plate.

7. The robot system for handling and depalletizing according to claim 1, characterized in that: The product suction device includes a suction cup mounting plate, at least one vacuum suction cup connected to the bottom of the suction cup mounting plate, a lifting cylinder for driving the suction cup mounting plate to rise and fall, and a vacuum generating device connected to the suction cup mounting plate. The vacuum generating device is connected to each of the vacuum suction cups through a pipe.

8. The robot system for handling and depalletizing according to claim 1, characterized in that: The top of the support frame is connected to a connecting rod, and the connecting rod is connected to a camera lifting device for driving the first camera to rise and fall.

9. The robot system for handling and depalletizing according to claim 2, characterized in that: The vision system also includes a second camera connected to the bottom of the connecting plate.

10. The robot system for handling and depalletizing according to claim 1, characterized in that: The second robotic arm is connected to an articulated seat that can rotate along a vertical plane, and the articulated seat is connected to a rotating motor for driving the grabbing bracket to rotate around a vertical axis.

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