Suction pad unit using a bellows pneumatic actuator as a support mechanism for an end effector of depalletizing robots

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.