This paper describes a vacuum suction-type end effector for depalletizing robots in distribution centers. The developed end effector has multiple suction pad units to which a bellows pneumatic actuator is applied as the support mechanism. Load-bearing capacity is improved due to a high-strength wire provided inside the bellows, and the contraction force is improved due to ring members placed inside of the ridges of the rubber bellows. The developed end effector is attached to the arm of a linear motion-type depalletizing robot, and its real-world performance is verified. Verification results confirm that the suction pad units tolerate cardboard box inclination and differences in box height by a simple lowering motion of the arm, and multiple cardboard boxes can be simultaneously unloaded. Moreover, as compared with conventional end effectors, the developed end effector achieves large expansion and contraction in a thin structure. The developed end effector is expected to broaden applications for depalletizing robots.

中文翻译：

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使用波纹管气动执行器作为卸垛机器人末端执行器的支撑机构的吸盘单元

本文介绍了一种真空吸尘式末端执行器，用于在配送中心对机器人进行卸垛。改进的末端执行器具有多个吸盘单元，将波纹管气动执行器用作支撑机构。由于在波纹管内部提供了高强度的钢丝，因此提高了承载能力，而由于在橡胶波纹管的凸脊内部放置了环形构件，因此改善了收缩力。研发的末端执行器安装在线性运动型卸垛机器人的手臂上，并验证了其实际性能。验证结果证实，吸盘单元通过简单的臂下降运动就可以承受纸板箱的倾斜和纸板箱高度的差异，并且可以同时卸载多个纸板箱。而且，与传统的末端执行器相比，先进的末端执行器可以在薄结构中实现较大的膨胀和收缩。预计开发的末端执行器将拓宽机器人卸垛的应用范围。