The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Gripper Design with Adjustable Working Area for Depalletizing Delivery Cardboard box of Various Sizes

비정형 택배 상자 디팔레타이징을 위한 작업 면적 조절 그리퍼 설계

  • Yeri Sim (School of Mechanical Engineering, Pusan National University) ;
  • Sangrok Jin (School of Mechanical Engineering, Pusan National University)
  • Received : 2022.10.05
  • Accepted : 2022.11.14
  • Published : 2023.02.28
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Abstract

This paper shows a design of a gripper with an adjustable working area to depalletize a delivery cardboard box of various sizes. The gripper should pick the box with only one flat surface to lift the boxes stacked close to each other. The lift force of the gripper is the vacuum suction force. To handle boxes of various sizes, the gripper adjusts the working area. The gripper operates four vacuum generators independently. The simultaneous rotation on different axes of four gripper-arms with suction cups moves the position of suction force. The six operation modes of the gripper are divided into the size of the working area. The operation mode is determined according to the size of the top side of the box. Experiments are conducted by lifting the box of various sizes. The gripper can pick the box of various sizes without vacuum leaks from unused cups. Also, the experiments verify the improvement of stability of the box by adjusting the working area of the gripper. The gripper can lift the box without deformation of the box by adjusting the working area.

Keywords

Acknowledgement

This work was supported by Korea Institute for Advancement of Technology (KIAT) grant funded by the Korea Government (MOTIE) (P0008473, HRD Program for Industrial Innovation)

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