Gripper for an automated manipulator and method for operation of the gripper

Abstract

A manipulator gripper in particular for palletizing and / or depalletizing bundles by means of a robot, has a tool flange for connection to a manipulator; a clamp stop and a counter-stop. Both extend along a lowering axis. A support base extends toward the counter-stop in an insertion plane. The counter-stop and / or the clamp stop can be shifted toward the insertion plane of the support base along the lowering axis, relative to the tool flange.

Description

BACKGROUND OF THE INVENTION[0001]1. Field of the Invention[0002]The invention concerns a manipulator gripper, in particular for palletizing and / or depalletizing bundles by means of a robot, as well as a method for handling a bundle by means of an automated manipulator with such a gripper.[0003]2. Description of the Prior Art[0004]In many fields, one or more layers of goods bundles—that, for example, can be bound in containers, on trays or by packing means or packing aids (such as films)—of individual goods are stacked on conveyors (for example belt, chain or roller conveyors) as well as on transport aids (in particular pallets, table shelves or the like) and are therefore assembled, for example for transport, storage or sale. A layer or partial layer of such individual goods and / or goods bundles (in particular also an individual good or a goods bundle alone) is subsequently uniformly designated as a bundle.[0005]Typical examples are homogeneous or mixed stacks of drink cases, Tetrap...

AI Technical Summary

Benefits of technology

[0008]An object of the present invention is to improve the handling of bundles by means of a manipulator.

[0012]In that a stop is lifted away upon taking up an acceptance or, respectively, placement position of the bundle away from the insertion plane of the support floor along the lowering axis, bundles standing on the stop can also be handled, wherein the stop can advantageously be lowered along the lowering axis and thus the bundle can be fixed when it is not standing on the stop. In addition to this, an approach with different gripper orientations relative to the bundle is also advantageously possible.

[0020]By reducing the distance between clamp stop and counter-stop, in particular by sliding the clamp stop along the clamp axis towards the counter-stop, the bundle can be fixed non-positively and / or positively between clamp stop and counter-stop, wherein the counter-stop and / or the clamp stop is lowered along the lowering axis.

[0029]The clamp stop, the counter-stop and / or the support base can advantageously be shifted independent of one another along the respective movement axis by a respective, separate, advantageously pneumatic, hydraulic, electromagnetic and / or electromotorized drive actuator). Two or three of the clamp stop, the counter-stop and the support base can also be similarly coupled with one another and moved by a common drive. The clamp stop, the counter-stop and / or the support base are preferably shifted actively or driven, which increases the reliability of the movements and in particular also enables a targeted (for example successive) movement sequence.

[0032]In a preferred embodiment, an angle flange of the support base is arranged along the insertion axis on the side of the clamp stop facing away from the counter-stop so that the clamp stop is accommodated between counter-stop and angle flange. A support plate of the support base that is bent counter to the angle flange can then advantageously be shifted toward the counter-stop along the insertion axis, behind the side of the clamp stop facing away from the tool flange. This enables a compact design of the gripper.

Problems solved by technology

A disadvantage of this known gripper is that the bundle take-up and placement possibilities of this gripper are limited.

For example, due to the insertion movement of the support bases from the outside on both sides a bundle standing on a stop cannot be accepted and placed, in particular a bundle that is arranged without any or only with a small, distance from adjacent bundles or other boundaries in the layer cannot be accepted and placed.

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