Robotic Box Handling via Wedge Claw Engagement
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Solution Overview
Problem
Existing methods for handling stacked boxes with open top surfaces, such as resin boxes, are inefficient due to the inability to suction the top surface, requiring manual handling or limited mechanical solutions that only work for specific box configurations, especially when boxes of different sizes are stacked intricately.
Innovation Solution
A handling apparatus attached to a robot arm that includes a wedge member with a flat plate shape and a claw to engage with the box's outer flange, along with a fall prevention hanger, allows for vertical lifting and movement of the box by pressing opposite edges and forming gaps between adjacent boxes, enabling versatile handling regardless of flange orientation or box size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual handling is used for stacked boxes with open top surfaces, then flexibility in handling different box configurations is maintained, but labor intensity increases and handling efficiency decreases when boxes are stacked in multiple stages or are heavy
Solution Approach 1:
The handling apparatus is designed with a universal gripping mechanism that can handle boxes with different flange configurations (downward bending pieces or horizontal extensions) and various box sizes through adjustable pressing pads and wedge members, eliminating the need for different handling methods while maintaining adaptability across multiple box types and stacking configurations
2Weight of moving object
If a forklift method is used to lift and move stacked boxes, then heavy boxes can be handled, but the method requires large open space beside the stacked boxes and cannot access boxes located inside the stack
Solution Approach 1:
The handling apparatus transitions from lateral insertion (forklift method) to vertical insertion from above, allowing the wedge members and pressing pads to access boxes on uppermost stages and inside stacked configurations without requiring lateral space, while the robot arm provides multi-dimensional positioning capability to reach any box location in the stack
3Productivity
If a claw hooking method on downward bending pieces is used, then boxes can be lifted, but the device can only be used for boxes having the upper flange with the downward bending piece and cannot be applied to boxes with flanges extending only in horizontal direction
Solution Approach 1:
The handling apparatus employs dual-mode engagement capability where pressing pads can press on upper end surfaces of boxes with horizontal flange extensions, and wedge members can engage with both downward bending pieces and horizontal flange extensions, allowing the same device to handle multiple box configurations without modification
4Volume of stationary object
If boxes of different sizes are intricately combined and stacked, then space utilization is improved, but boxes interfere with each other making it impossible to directly shift, pull, or tilt a targeted box
Solution Approach 1:
The handling apparatus applies pressing pads and wedge members to opposite edges of the targeted box independently, segmenting the force application points to create localized engagement that overcomes interference from adjacent boxes, allowing individual box manipulation even in intricately stacked configurations
Data Source
AI summary
A handling method and apparatus for a stacked box can pull vertically upward and take out a stacked box having an open top surface. The handling method and apparatus gripes and moves the stacked box having an open top surface with the handling apparatus attached to a robot arm. The handling apparatus is moved to above a stacked uppermost box, a wedge member having a flat plate shape is inserted along outer surfaces of two opposite edges of an upper box, a claw provided to the wedge member is projected in a direction approaching the box and engaged with a lower surface of an outer flange of the box, and the box is lifted vertically upward and then a fall prevention hanger is driven on a lower side of the box to cause the box to be gripped by the handling apparatus and then moved by the robot arm.