Logistics grabbing device and logistics unstacking and stacking composite robot

Abstract

The utility model discloses a logistics gripping device and a logistics unstacking and stacking composite robot, and relates to the technical field of logistics robotics.The logistics gripping device comprises a mobile robot and a gripping manipulator, and the mobile robot is movably arranged; the grabbing mechanical arm comprises a supporting assembly which can be installed on the mobile robot in an up-down movable mode, a telescopic assembly installed below the supporting assembly and a grabbing assembly rotatably installed below the telescopic assembly. The telescopic assembly can be horizontally arranged in a telescopic mode so that the grabbing assembly can laterally stretch out of the mobile robot. The utility model aims to provide the goods taking device capable of improving the goods stacking and storing precision.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of logistics robots, particularly relates to a logistics grabbing device and logistics unstacking and stacking composite robot. BACKGROUND

[0002] The stacking robot can stack multiple containers on the mobile base, thereby carrying multiple containers at a time, and can improve the efficiency of the carrying operation, so the stacking robot becomes one of the research hotspots in the logistics industry. However, the multiple containers stacked on the mobile base may deviate, resulting in inaccurate alignment of the stacked containers and poor stability. SUMMARY

[0003] The main purpose of the utility model is to provide a logistics grabbing device and a logistics unstacking and stacking composite robot, which aims to provide a goods taking device that improves the stacking and storage accuracy of goods.

[0004] To achieve the above-mentioned purpose, the utility model provides a logistics grabbing device, wherein the logistics grabbing device comprises:

[0005] A mobile robot is movably arranged; and

[0006] A grabbing manipulator comprises a support assembly movably arranged on the mobile robot, a telescopic assembly arranged below the support assembly, and a grabbing assembly rotatably arranged below the telescopic assembly, wherein the telescopic assembly is horizontally telescopically arranged to laterally extend the grabbing assembly out of the mobile robot.

[0007] In an embodiment, the telescopic assembly comprises a plurality of telescopic units, and adjacent two telescopic units are relatively movable in the horizontal direction.

[0008] In an embodiment, the telescopic unit comprises a movable plate extending in the horizontal direction, and a first track structure is arranged between adjacent two movable plates.

[0009] In an embodiment, the grabbing assembly comprises a suction assembly, which is used to suction and grab goods on the top of the goods.

[0010] In an embodiment, the suction assembly comprises a vacuum suction assembly.

[0011] In an embodiment, the vacuum suction assembly comprises a mounting seat and a plurality of vacuum suction cups arranged on the mounting seat, and the mounting seat is rotatably arranged below the telescopic assembly.

[0012] In an embodiment, a second track structure extending in the vertical direction is arranged between the support assembly and the mobile robot.

[0013] In an embodiment, a lifting device is further arranged between the support assembly and the mobile robot, and the lifting device is used to drive the support assembly to move along the second track structure.

[0014] In an embodiment, the lifting device comprises a driving member arranged on the mobile robot, two gears arranged above and below the mobile robot, a transmission chain arranged between the two gears, and a fixing structure arranged on the support assembly, the driving member is in driving connection with the gears, and the transmission chain is fixedly arranged on the fixing structure, so as to drive the support assembly to move up and down when the transmission chain moves.

[0015] The utility model also proposes a logistics unstacking and stacking composite robot, wherein the logistics unstacking and stacking composite robot comprises a logistics grabbing device, the logistics grabbing device comprises a mobile robot and a grabbing manipulator, and the mobile robot is movably arranged.

[0016] The utility model also proposes a logistics grabbing device, which comprises:

[0017] The mobile robot is movably arranged; and,

[0018] The grabbing manipulator comprises a support assembly movably arranged on the mobile robot, a telescopic assembly arranged on the support assembly, and a grabbing assembly arranged on the telescopic assembly, wherein the telescopic assembly is arranged to be telescopically movable horizontally, so as to extend the grabbing assembly laterally out of the mobile robot.

[0019] In an embodiment, the telescopic assembly comprises a plurality of telescopic units, and adjacent two telescopic units are relatively movable horizontally.

[0020] In an embodiment, there is an overlapping support part between adjacent telescopic units, and the grabbing assembly is arranged on the end face of the most distal telescopic unit.

[0021] In an embodiment, the telescopic unit comprises a frame structure, and the relative movement is realized by a connecting rod or a hydraulic rod between adjacent frames.

[0022] In an embodiment, the telescopic unit comprises a movable plate extending horizontally, and a first track structure is arranged between adjacent two movable plates.

[0023] In an embodiment, the grabbing assembly is configured as a clamping structure or a fork structure.

[0024] In an embodiment, the grabbing assembly comprises a suction assembly for suctioning and grabbing the goods.

[0025] In an embodiment, the suction assembly comprises a vacuum suction assembly.

[0026] In an embodiment, the vacuum suction assembly comprises a vacuum suction disc rotatably arranged on the telescopic assembly.

[0027] In an embodiment, the vacuum suction assembly comprises a mounting base and a plurality of vacuum suction discs arranged on the mounting base, the mounting base being rotatably mounted below the telescopic assembly.

[0028] In an embodiment, a second track structure extending in the up-down direction is arranged between the supporting assembly and the mobile robot.

[0029] In an embodiment, the mobile robot comprises a base and a bracket arranged on the base, and the second track structure is connected to the bracket.

[0030] In an embodiment, a lifting device is further arranged between the supporting assembly and the mobile robot, the lifting device being used to drive the supporting assembly to move along the second track structure.

[0031] In an embodiment, the lifting device comprises a driving member arranged on the mobile robot, two gears arranged on the mobile robot in the up-down direction, a transmission chain arranged between the two gears, and a fixing structure arranged on the supporting assembly, the driving member and the gears being drivingly connected, and the transmission chain being fixedly arranged on the fixing structure so as to drive the supporting assembly to move in the up-down direction when the transmission chain moves.

[0032] In an embodiment, the supporting assembly is movably arranged on the mobile robot in the up-down direction; and / or

[0033] the telescopic assembly is arranged below the supporting assembly; and / or

[0034] the grabbing assembly is rotatably arranged below the telescopic assembly.

[0035] The utility model further provides a logistics unstacking and stacking composite robot, including logistics grabbing device, the logistics grabbing device is above-mentioned logistics grabbing device.

[0036] In an embodiment, the logistics unstacking and stacking composite robot further comprises a storage library.

[0037] The storage library is arranged on the mobile robot, and the storage library has a plurality of storage locations, and each storage location has at least a first storage location opening and a second storage location opening in a horizontal direction.

[0038] In an embodiment, the grabbing manipulator is arranged at a position corresponding to the first storage location opening.

[0039] In an embodiment, the plurality of storage locations are arranged from bottom to top.

[0040] In an embodiment, each storage location comprises two sub-storage locations horizontally spaced apart.

[0041] In an embodiment, the bottom of each storage location is provided with a first conveying device having a conveying stroke for conveying goods between the first storage location opening and the second storage location opening.

[0042] In the technical scheme, the mobile robot is movably arranged to move between a goods loading position and a goods stacking position, so as to meet the requirement of moving to a stacking area after the goods are taken. Specifically, the grabbing manipulator movably arranged on the mobile robot can adjust the grabbing height according to the height of the goods, so as to ensure the stability of grabbing. The grabbing manipulator comprises a telescopic assembly and the grabbing assembly rotatably arranged below the telescopic assembly. The telescopic assembly is arranged to be telescopically movable in a horizontal direction, so as to laterally extend the grabbing assembly out of the mobile robot. In this way, the mobile robot can be moved to the side of the goods, and adjusted to a position where the grabbing assembly is aligned with the goods, so as to adjust the grabbing precision of the goods in a horizontal direction. Then, the telescopic assembly is telescopically adjusted in the horizontal direction to adjust the grabbing precision of the goods in another horizontal direction. On this basis, the grabbing assembly is rotatably arranged below the telescopic assembly, so as to rotate the grabbing assembly together with the goods, so as to adjust the angle of the goods in the horizontal direction. In this way, based on the movement of the mobile robot, the telescopic movement of the telescopic assembly and the rotation of the grabbing assembly on the telescopic assembly, the stacking and storage precision of the goods is improved, so as to meet the functional requirement. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0044] Figure 1 A structural schematic view of one embodiment of the logistics unstacking and stacking composite robot provided by the utility model;

[0045] Figure 2 A three-dimensional schematic view of part of the structure in Figure 1 ;

[0046] Figure 3 A structural schematic view of the telescopic assembly in Figure 1 .

[0047] Explanation of reference numerals:

[0048] 1000, logistics unstacking and stacking composite robot; 100, logistics grabbing device; 1, mobile robot; 101, base; 102, support; 2, grabbing manipulator; 21, supporting assembly; 211, fixed structure; 22, telescopic assembly; 221, telescopic unit; 221a, movable plate; 221b, first track structure; 23, grabbing assembly; 230, adsorption assembly; 23a, vacuum adsorption assembly; 231, mounting seat; 232, vacuum chuck; 3, second track structure; 4, lifting device; 41, driving piece; 42, gear; 43, transmission chain;

[0049] 6, storage library; 61, library site; 611, first library site opening; 612, second library site opening; 613, sub-library site; 62, first conveying device;

[0050] The implementation, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0052] The stacking robot can stack multiple containers on the mobile base, thereby carrying multiple containers at a time and improving the efficiency of the carrying operation, so the stacking robot has become one of the research hotspots in the logistics industry. However, the multiple containers stacked on the mobile base may deviate, resulting in that the stacked containers cannot be accurately aligned and have poor stability.

[0053] The utility model provides a kind of logistics grabbing device, please refer to Figures 1 to 3 , the following will be described with specific drawings to the logistics grabbing device of the embodiment of the present application.

[0054] Please refer to Figures 1 to 3 , the logistics grabbing device 100 comprises a mobile robot 1 and a grabbing manipulator 2, the mobile robot 1 is movably arranged; the grabbing manipulator 2 comprises a support assembly 21 movably arranged on the mobile robot 1, a telescopic assembly 22 arranged on the support assembly 21 and a grabbing assembly 23 arranged on the telescopic assembly 22, wherein the telescopic assembly 22 is horizontally telescopically arranged to extend the grabbing assembly 23 out of the mobile robot 1.

[0055] In the technical scheme of the utility model, the mobile robot 1 is movably arranged to move between the goods loading position and the goods stacking position, meeting the requirement of moving to the stacking area after taking the goods. Specifically, the grabbing manipulator 2 movably arranged on the mobile robot 1 can adjust the grabbing height according to the height of the goods, ensuring the grabbing stability. The grabbing manipulator 2 comprises the telescopic assembly 22 and the grabbing assembly 23 rotatably arranged on the telescopic assembly 22, and the telescopic assembly 22 is telescopically arranged in the horizontal direction to extend the grabbing assembly 23 out of the mobile robot 1. In this way, the mobile robot 1 can move to the side of the goods, and is adjusted to the position where the grabbing assembly 23 is aligned with the goods to adjust the grabbing accuracy of the goods in a horizontal direction. Then, the telescopic assembly 22 extends the grabbing assembly 23 to grab the goods. After grabbing the goods, the telescopic adjustment of the telescopic assembly 22 in the horizontal direction can adjust the grabbing accuracy of the goods in another horizontal direction. On this basis, the grabbing assembly 23 is rotatably arranged on the telescopic assembly 22, so that the grabbing assembly 23 can drive the goods to rotate to adjust the angle of the goods in the horizontal direction. In this way, based on the movement of the mobile robot 1, the telescoping of the telescopic assembly 22 and the rotation of the grabbing assembly 23 on the telescopic assembly 22, the stacking and storage accuracy of the goods is improved to meet the functional requirement.

[0056] In some embodiments, the support assembly 21 can be movably arranged on the mobile robot 1. Further, the telescopic assembly 22 is arranged below the support assembly 21. Alternatively, the telescopic assembly 22 can be telescopically arranged in the horizontal direction to extend the grabbing assembly 23 laterally out of the mobile robot 1. Further, the grabbing assembly 23 can be rotatably arranged below the telescopic assembly 22.

[0057] Specifically, referring to Figure 3, the telescopic assembly 22 comprises a plurality of telescopic units 221, and two adjacent telescopic units 221 can move relatively in the horizontal direction. On the one hand, in order to ensure that the grabbing assembly 23 of the mobile robot 1 can be stably supported by the telescopic assembly 22 after grabbing the goods, the telescopic assembly 22 is provided as a plurality of telescopic units 221 that can move relative to each other. In some embodiments, there is a certain overlapping support part between adjacent telescopic units 221, which ensures the stability of the telescopic assembly 22 after extension, so as to ensure the stable support of the grabbing assembly 23, and the grabbing assembly 23 can be installed on the end face of the lowermost telescopic unit 221, that is, the most distal telescopic unit 221, with a large installation area and strong stability. On the other hand, in order to meet the requirements of adjusting the position of the goods in the horizontal direction by the telescopic assembly 22, and to meet the requirements of extending the grabbing assembly 23 on both sides of the mobile robot 1 to grab the goods on both sides of the mobile robot 1, the telescopic assembly 22 is provided as a plurality of telescopic units 221, so that two adjacent telescopic units 221 can move relatively in two directions to meet the above requirements.

[0058] Specifically, the telescopic unit 221 comprises a movable plate 221a extending in the horizontal direction, and a first track structure 221b is arranged between two adjacent movable plates 221a. The telescopic unit 221 can be provided as a frame structure to realize relative movement through connecting rods or hydraulic rods between adjacent frames, but the structure is obviously complex and not convenient for stable installation of the grabbing assembly 23. Therefore, in the present embodiment, the telescopic unit 221 is provided as a movable plate 221a, and a first track structure 221b is arranged between the movable plates 221a to drive two movable plates 221a to move relatively through the first track structure 221b, which is simple in structure and convenient for installation of the grabbing assembly 23.

[0059] In addition, with reference to Figure 2 , the grabbing assembly 23 comprises a suction assembly 230 for suctioning and grabbing the goods on the top of the goods. The grabbing assembly 23 can be provided as a clamping structure, a fork structure, etc., which can meet the requirements of stable grabbing of the goods and is not limited herein. In the present embodiment, the grabbing assembly 23 is provided as a suction assembly 230 to grab the goods by suctioning the goods on the top of the goods, so that the grabbing structure has less influence on the angle and position of the goods in the horizontal direction when grabbing or placing the goods, thereby improving the stacking and storage precision of the goods. In addition, the suction assembly 230 is provided corresponding to the type of goods, for example, when the goods are mostly metal structures, the goods can be grabbed by a magnetic suction structure. However, conventionally, the suction assembly 230 comprises a vacuum suction assembly 23a, which is more applicable.

[0060] Specifically, the vacuum suction assembly 23a includes a mounting seat 231 and a plurality of vacuum suction cups 232 arranged on the mounting seat 231, and the mounting seat 231 is rotatably mounted below the telescopic assembly 22. In addition, the vacuum suction assembly 23a can also include only one vacuum suction cup which is rotatably arranged on the telescopic assembly 22. That is, the vacuum suction assembly 23a can be arranged as a single vacuum suction cup 232 which is rotatably arranged on the telescopic assembly 22, which can ensure stable suction of the goods. However, when the goods have a large mass, the single vacuum suction cup 232 arranged in this way is not stable in suction. Therefore, in the embodiment, a mounting seat 231 is arranged to mount a plurality of vacuum suction cups 232, so as to ensure the stability of the goods grabbing. At the same time, the mounting seat 231 is rotatably mounted on the telescopic assembly 22, so as to meet the rotatable arrangement of the grabbing assembly 23.

[0061] In addition, a second track structure 3 extending in the up-down direction is arranged between the support assembly 21 and the mobile robot 1. The support assembly 21 drives the telescopic assembly 22 and the grabbing assembly 23 to move up and down. In order to avoid affecting the position and angle of the goods in the horizontal direction, the support assembly 21 needs to stably move on the mobile robot 1. Therefore, in the embodiment, the second track structure 3 is arranged between the support assembly 21 and the mobile robot 1 to guide the up-down movement of the support assembly 21, so as to meet the movement accuracy requirement.

[0062] In some embodiments, the mobile robot 1 includes a base 101 and a support 102 arranged on the base 101, and the second track structure 3 is connected to the support 102.

[0063] Specifically, a lifting device 4 is further arranged between the support assembly 21 and the mobile robot 1, and the lifting device 4 is used to drive the support assembly 21 to move along the second track structure 3. The driving structure for driving the support assembly 21 to move on the mobile robot 1 can be various, for example, the second track structure 3 is arranged as the driving structure to drive the support assembly 21 to move on the mobile robot 1, which can realize the stable movement of the support assembly 21. The specific arrangement is not limited herein. In the embodiment, the lifting device 4 is arranged between the support assembly 21 and the mobile robot 1, and the lifting device 4 drives the support assembly 21 to move. The lifting device 4 has a small requirement for the mounting position, and can drive the support assembly 21 to move through the traction structure, so the structure is simple to install and arrange. Specifically, the lifting device 4 includes a driving member 41 arranged on the mobile robot 1, two gears 42 arranged in the up-down direction on the mobile robot 1, a transmission chain 43 arranged between the two gears 42, and a fixing structure 211 arranged on the support assembly 21. The driving member 41 is drivingly connected with the gears 42, the transmission chain 43 is arranged through the fixing structure 211, so as to drive the support assembly 21 to move up and down when the transmission chain 43 moves.

[0064] Further, referring to Figure 1 , the logistics unstacking and stacking composite robot 1000 further comprises a storage library 6; the storage library 6 is arranged on the mobile robot 1, the storage library 6 has a plurality of library positions 61, and the library position 61 at least has a first library position opening 611 and a second library position opening 612 in the horizontal direction. Exemplarily, the plurality of library positions 61 are distributed from bottom to top. In addition, continuing to refer to Figure 1 , each library position 61 comprises two sub-library positions 613 horizontally spaced.

[0065] In some embodiments, the grabbing manipulator 2 is located at a position corresponding to the first library position opening 611.

[0066] In some embodiments, the bottom of each library position 61 is provided with a first conveying device 62, and the first conveying device 62 has a conveying stroke for conveying goods between the first library position opening 611 and the second library position opening 612.

[0067] In summary, in the present application, the mobile robot 1 moves under the dual action of vision and laser radar, which can automatically reconstruct the surrounding environment, further plan the driving route, and achieve the ability to walk freely, so as to freely move between the goods feeding position and the goods stacking position, meet the demand of moving to the next picking area after picking goods, and also meet the demand of goods picking which is lacking on the market.

[0068] In addition, the lifting device 4 is arranged on the upper surface of the mobile robot 1 to meet the demand of adjusting the height of the grabbing manipulator 2, and the grabbing manipulator 2 adjusts the grabbing height according to the height of the goods to be picked, so as to ensure the grabbing accuracy.

[0069] Specifically, the grabbing manipulator 2 comprises a telescopic assembly 22 and a rotating assembly, a grabbing assembly 23 is installed below the telescopic assembly 22, and a rotating assembly is arranged between the telescopic assembly 22 and the grabbing assembly 23. The telescopic assembly 22 can be telescopically arranged in the horizontal direction to laterally extend the grabbing assembly 23 to one side of the mobile robot 1. In this way, after the mobile robot 1 moves to the side of the goods, the mobile robot 1 is finely adjusted to a position where the grabbing assembly 23 is aligned with the goods, so as to adjust the grabbing accuracy of the goods in a horizontal direction. Then, the telescopic assembly 22 extends the grabbing assembly 23 to grab the goods. After the goods are grabbed, the telescopic adjustment of the telescopic assembly 22 in the horizontal direction can adjust the grabbing accuracy of the goods in another horizontal direction. On this basis, the grabbing assembly 23 is rotatably installed below the telescopic assembly 22 through the rotating assembly, so that the rotating assembly can drive the grabbing assembly 23 to rotate with the goods, so as to adjust the angle of the goods in the horizontal direction and the storage form of the goods.

[0070] In this way, based on the movement of the mobile robot 1, the telescoping of the telescopic assembly 22, and the rotation of the grabbing assembly 23 on the telescopic assembly 22, the stacking and storage accuracy of the goods is improved to meet the functional demand.

[0071] The utility model discloses still put forward a kind of logistics unstacking and stacking composite robot 1000, and logistics unstacking and stacking composite robot 1000 includes logistics grabbing device 100, and the specific structure of logistics grabbing device 100 refers to above-mentioned embodiment, since logistics unstacking and stacking composite robot 1000 has adopted all technical solutions of above-mentioned all embodiments, therefore at least have all beneficial effects brought by the technical scheme of above-mentioned embodiment, here no longer repeat in detail.Compared with traditional logistics transfer device that can only transfer whole stack goods, the logistics unstacking and stacking composite robot 1000 proposed in the application can plan access goods path, can automatically travel, can store goods on the basis of the free walking function of mobile robot 1, and the degree of automation is higher, can realize whole stack goods classification after unstacking, more practical.

[0072] The above-mentioned is only the exemplary implementation of the utility model, and does not limit the patent range of the utility model, and any equivalent structure transformation made by using the utility model specification and the attached drawing contents, or direct / indirect application in other related technical fields is included in the patent protection range of the utility model.

Claims

1. A logistics gripping device, characterized by, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

2. The logistics gripping device according to claim 1, characterized in that, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

3. The logistics gripping device according to claim 2, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

4. The logistics gripping device according to claim 2, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

5. The logistics gripping device according to claim 2, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

6. The logistics gripping device according to claim 1, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

7. The logistics gripping device according to claim 1, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

8. The logistics gripping device according to claim 7, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

9. The logistics gripping device according to claim 1, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

10. The logistics gripping device according to claim 9, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

11. The logistics gripping device according to claim 9, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

12. The logistics gripping device according to claim 11, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

13. The logistics gripping device according to claim 1, wherein The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

14. A logistic de-palletizing and palletizing composite robot, characterized by The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

15. The logistics depalletizing and palletizing composite robot according to claim 14, characterized in that, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

16. The logistics depalletizing and palletizing composite robot according to claim 15, characterized in that, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

17. The logistics depalletizing and palletizing composite robot according to claim 15, characterized in that, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13.

18. The logistics depalletizing and palletizing composite robot according to claim 15, characterized in that, The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. The utility model relates to a logistics grabbing device, which is the logistics grabbing device as claimed in any one of claims 1-13. 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