gripper

Abstract

The invention provides a gripper for locking a storage container (10), the gripper comprising: a gripper housing; a pair of gripping arms held in the gripper housing, wherein the gripping arms have a mating shape; a movable rotatable actuator device held in a passage between the pair of gripping arms for moving the gripping arms between a closed and an open position. Further, a load handling device comprising one or more grippers for lifting and moving a storage container, a method of using a gripper and a grid-based storage and retrieval system comprising at least one load handling device comprising one or more grippers are provided.

Description

Technical Field

[0001] This invention relates to a gripper for locking articles. More specifically, the invention relates to a gripper device movable between open and closed positions to secure the gripper within an opening on an article. One or more grippers can be used as part of a lifting assembly of a loading and handling device operating on a storage system having stacked storage bins. Background Technology

[0002] Methods for handling rows of stacked containers have been well-known for decades. Some such systems, as described in Bertel's US2701065, include rows of self-supporting container stacks to reduce the storage volume associated with storing such containers, while still providing access to specific containers when needed. Access to specific containers is achieved by providing relatively sophisticated lifting mechanisms that can be used to stack and remove specific containers from the stack. However, the cost of such systems is impractical in many cases, and these systems are primarily used commercially for the storage and handling of large transport containers.

[0003] The idea of ​​using self-supporting container stacking and providing a mechanism for retrieving and storing specific containers has been further developed, for example, as described in Cimcorp's EP 0767113 B. EP'113 discloses a mechanism for removing several stacked containers using a rectangular tube-type robotic loading processor that descends around the container stack and is configured to grip containers at any horizontal height within the stack. In this way, multiple containers can be lifted from the stack at once. The movable tube can be used to move multiple containers from the top of one stack to the top of another, or to move containers from the stack to an external location and vice versa. This system is particularly useful when all containers in a single stack contain the same product (referred to as a single-product stack).

[0004] According to the system described in EP'113, the height of the tube must be at least the same as the height of the largest container stack in order to extract the highest container stack in a single operation. Accordingly, when used in enclosed spaces such as warehouses, the maximum height of the stack is limited by the tube that needs to be adapted to accommodate the loading processor.

[0005] EP 1037828 B1 (Autostore) describes a system in which container stacks are arranged within a frame structure. Figures 1 to 4 in the accompanying drawings schematically illustrate this type of system. A robotic loading and handling device can move controllably around the stack on a track system on the highest surface of the stack.

[0006] UK patent application GB2520104A (Ocado Innovation Limited) describes a loading processing device in which each robotic loading processor covers only one grid space, thereby allowing for high density of loading processors and high throughput for a system of a specific size.

[0007] In the aforementioned known robotic picking systems, robotic loading and handling equipment moves controllably around the top of a stack on a grid-like track system. Specific loading and handling equipment lifts boxes from the stack; the lifted containers contain the inventory goods needed to fulfill a customer order. The containers are transported to a picking station, where the required inventory goods can be manually removed from the boxes and placed into delivery containers that form part of the customer order, and are manually filled at the appropriate time for shipment. At the picking station, goods can also be picked by industrial robots suitable for such work, such as those described in UK patent application GB2524383B (Ocado Innovation Limited).

[0008] As shown in Figures 1 and 2, stackable storage containers (referred to as boxes 10) are stacked on top of each other to form a stack 12. The stack 12 is arranged in a frame 14 within a warehouse storage or manufacturing environment. Figure 1 is a schematic perspective view of the frame 14, and Figure 2 is a top view of a single stack 12 of boxes 10 arranged within the frame 14. Each box 10 typically holds several products or inventory items; depending on the application, the inventory items within the box 10 can be the same or different product types. Furthermore, the box 10 can be physically subdivided to accommodate several different inventory items.

[0009] Frame 14 includes several upright members 16 supporting horizontal members 18 and 20. A first set of parallel horizontal members 18 is positioned perpendicular to a second set of parallel horizontal members 20 to form several horizontal grid structures supported by the upright members 16. Members 16, 18, and 20 are typically made of metal. Boxes 10 are stacked between members 16, 18, and 20 of frame 14, such that frame 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of boxes 10.

[0010] The top layer of frame 14 includes tracks 22 arranged in a grid pattern on top of stack 12. Furthermore, referring to Figures 3 and 4, tracks 22 support several robotic loading and handling devices 30. A first set 22a of parallel tracks 22 guides the loading and handling devices 30 to move in a first direction Y at the top of frame 14, while a second set 22b of parallel tracks 22, arranged perpendicular to the first set 22a, guides the loading and handling devices 30 to move in a second direction X, perpendicular to the first direction. In this way, tracks 22 allow the loading and handling devices 30 to move in two dimensions in the XY plane, enabling the loading and handling devices 30 to be moved to positions above any stack 12.

[0011] Each loading and handling device 30 includes a carrier 32 arranged on tracks 22 of a frame 14 above the stack 12, traveling in the X and Y directions. A first set of wheels 34 consists of pairs of wheels 34 at the front and rear of the carrier 32, arranged to engage with two adjacent tracks of the first set of tracks 22a. Similarly, a second set of wheels 36 consists of pairs of wheels 36 on each side of the carrier 32, arranged to engage with two adjacent tracks of the second set of tracks 22b. Each set of wheels 34, 36 can be raised and lowered such that either the first set of wheels 34 or the second set of wheels 36 engages with tracks 22a, 22b at any given time.

[0012] When the first set of wheels 34 engages with the first set of rails 22a and the second set of wheels 36 is lifted off the rails 22, the wheels 34 can be driven to move the loading and processing device 30 in the X direction via a drive mechanism (not shown) housed in the carrier 32. To move the loading and processing device 30 in the Y direction, the first set of wheels 34 is lifted off the rails 22, and the second set of wheels 36 is lowered to engage with the second set of rails 22b. The drive mechanism can then be used to drive the second set of wheels 36 to achieve movement in the Y direction.

[0013] In this way, under the control of a central control utility (not shown), one or more robotic loading and handling devices 30 can move around the top surface of the stack 12 on the frame 14, as shown in Figure 4. Each robotic loading and handling device 30 is provided with a lifting device 38 for lifting one or more boxes 10 from the stack 12 to access the desired product.

[0014] The main body of carrier 32 includes a cavity 40, sized to hold box 10. Lifting device 38 includes a winch and a box gripper assembly 39. The lifting device lifts box 10 from stack 12 into the cavity 40 within the main body of carrier 32. While in cavity 40, box 10 is lifted off the track below, allowing loading and handling equipment to move laterally to different locations on the grid. Upon reaching a target location (e.g., another stack, an access point in a storage system, or a conveyor belt), box 10 can be lowered from the cavity and released from gripper assembly 39.

[0015] In this way, multiple products can be accessed at any time from multiple locations on the grid and stack.

[0016] The preceding text describes a storage system related to groceries, etc. Figure 4 illustrates a typical such storage system, which has several loading and handling devices 30 operating on a grid above the stack 12.

[0017] Figures 1 and 4 illustrate boxes 10 within a stack 12 of a storage system. It can be understood that a large number of boxes 10 may exist in any given storage system, and many different items may be stored in the boxes 10 within the stack 12. Each box 10 may contain different categories of inventory items within a single stack 12.

[0018] In one system described above and incorporated herein by reference in UK patent application GB2517264A (OcadoInnovation Limited), the storage system includes a series of boxes 10, which may further include delivery containers DT containing customer orders or may further include boxes 10 containing inventory goods awaiting picking. These different boxes 10 and combinations thereof may be included in the storage system and may be accessed by the robotic loading and handling equipment 30 as described above.

[0019] It should be understood that automated or semi-automated storage and retrieval systems are not limited to systems for grocery goods. For example, this technology can be applied to shipping, baggage handling, vehicle parking, indoor or hydroponic greenhouses and agriculture, modular buildings, self-storage facilities, cargo handling, transport yards, manufacturing facilities, pallet handling, parcel sorting, airport logistics (ULD), and integrated logistics; these are just a few possible applications. It should be understood that different types of storage and retrieval systems will have different technical requirements.

[0020] The present invention is conceived in this context. Summary of the Invention

[0021] Various aspects of the invention are set forth in the appended claims.

[0022] One object of the present invention is to provide an improved gripper for use as part of a lifting assembly on a loading and handling device. In some aspects, the gripper may be “self-actuated” or passively actuated by connection to other actions, such as lowering the gripper into place. In this way, the gripper does not require other devices or additional parts for actuation. For example, some prior art devices require solenoids to open and close the gripper. It should be understood that such systems would require additional power and data to operate. In contrast, the gripper of this invention simply lowers into place, and the lowering action may cause the gripper to be actuated, moving between open and closed positions, and may have no electrical components at all.

[0023] It should be understood that the clamp can be used on other types of equipment that require a latching mechanism.

[0024] A gripper for locking a storage container is provided. The gripper includes: a gripper housing; a pair of gripping arms held in the gripper housing, wherein the gripping arms have mating shapes; and a movable and rotatable actuator device held in a channel between the pair of gripping arms for moving the gripping arms between closed and open positions, wherein the gripper is actuated by movement of the actuator device along a substantially vertical axis or z-axis.

[0025] The arms of the gripper have mating shapes so that they can be assembled together. For example, in the case where one arm in a pair has a cavity or groove, the other arm in the pair has a corresponding protrusion. Thus, the shapes of the arms mate with each other to be assembled together in an overlapping or interlocking manner. In some cases, the paired arms may be essentially mirror images of each other.

[0026] The pair of gripping arms are held in place by the gripper housing. Each arm is pivotally attached to the gripper housing, and the edge of the housing is shaped to receive the distal end of the arm, away from the pivot attachment point or head. In this way, the pair of arms can move between a first (closed) position and a second (open) position.

[0027] The movement of the gripper between open and closed positions can be controlled by an actuator device. At the head end of the gripping arm held by the gripper housing, the gripping arm is shaped to provide an opening and a generally straight channel therebetween, which holds the actuator device in place. Below or outside the head end of the gripping arm, the channel continues into other cavities or grooves formed between the paired gripping arms.

[0028] The inner surface of each gripping arm may include a cam surface with a plurality of slots or channels for receiving the distal end of the actuator device. Alternatively, the surface may be considered as a guide of a shaped basic interior, a channel of a shaped basic interior, or a channel guide of a shaped basic interior. The cam surface may be at least partially curved or helical. Each channel is helical in the same direction of rotation. A pair of gripping arms may include four substantially closed channels for receiving the distal end of the actuator device.

[0029] The inner surface of each gripping arm can be considered as a surface that engages with the corresponding surface of the mating arm. It should be understood that the surface will not be flat due to the mating shape of the gripping arms. In addition to overlapping or interlocking forms of mating surfaces that allow the paired gripping arms to remain together in the closed position, grooves or channels can be formed on the mating surfaces. In this way, within the cavity between the paired gripping arms, the distal end of the actuator device can move through a network of pathways formed by the grooves or channels, and is guided by the sides of the channels or grooves.

[0030] As the distal end of the actuator device moves along the pathway, the curvature or helical shape of the pathway can introduce angular rotation into the actuator device. The pathway can be substantially strip-shaped. The amount or rate of curvature along each pathway can be substantially constant, or the pathway can pass through points of discontinuity in curvature, such as at points where the actuation direction changes from top to bottom or bottom to top.

[0031] By always rotating in the same direction, the actuator's movement through the channel can be smoother and will not be interrupted by changes in direction.

[0032] Channels can be shaped to guide actuator devices along different routes through a network of pathways. Specific pathways or channels may result in different movements of the gripper.

[0033] Internal or substantially enclosed channels can be interconnected. In this way, the actuator device can move sequentially from one channel to the next. With each internal channel spiraling in the same direction of rotation, the actuator device can continuously rotate from one channel to the next in the same direction with each movement.

[0034] In alternative arrangements, the passageway can be cross-shaped or have intersecting paths.

[0035] The first actuation movement causes the clamping arm to move from the closed position to the open position, the second actuation movement locks the clamping arm in the open position, the third actuation movement unlocks the clamping arm, and / or the fourth actuation movement causes the clamping arm to move from the open position to the closed position.

[0036] For example, movement through one channel may cause the gripper to open or close. Movement through another or the next channel may cause the gripper to lock in place. In this way, the gripper can be controlled by a mechanical device. Some channels may resemble others but have rotational symmetry to allow a continuous sequence between channel networks to return to the starting point.

[0037] Each clamping arm in a pair of clamping arms can be substantially the same.

[0038] When the paired gripping arms are similar, the number of different parts constituting the gripper can be reduced. For example, if the gripping arms are injection molded, only one mold is needed. In this way, the gripper is simplified, capital costs can be reduced, and maintenance can be simplified. It should be understood that the gripping arms are interchangeable, and it is not necessary to ensure the use of the correct paired parts, as they are identical.

[0039] Each of the paired clamping arms is 180 degrees about the z-axis. o Rotationally symmetric.

[0040] Rotational symmetry allows for a shape that ensures the gripper arms have a mating shape with protrusions and grooves. In this way, it eliminates the need to assemble the left / right gripper arms together. Rotational symmetry can be about the z-axis or a fundamental vertical axis that extends along the main axis of the gripper arm from the head to the distal end.

[0041] The gripper may further include an indicator for indicating the rotational position of the actuator device.

[0042] For example, the device used to indicate the rotational position could be an orientation mark on the upper surface of the plunger. In this way, a reader can be used to determine the position (open, closed, and / or locked) of the gripper arm based on the actuator orientation, even if the gripper arm is not visible. The orientation mark could be a reflective surface that is easily visible to a visual sensor at a distance.

[0043] The indicating device may include an indicator plate and a cover plate placed on the indicator plate. The indicator plate may include at least one distinguishing region on its top surface, that is, a region that is distinguishable from the top surface of the cover plate. For example, the distinguishing region may be a colored or textured region that differs from the color or texture of the top surface of the cover plate. The indicator plate may be elongated and may include a distinguishing region at each longitudinal end of the indicator plate.

[0044] The cover plate may include at least one opening that matches the shape of a distinguishing area on the indicator plate, such that the distinguishing area can be detected or seen from above when the opening is aligned with the distinguishing area. The indicating device may also include an indicator attachment to which the cover plate and the indicator plate can be fitted. The indicator attachment may include a bolt head (e.g., a center bolt head) that passes through a locating hole (e.g., a center locating hole) in the indicator plate to assemble the indicator plate onto the indicator attachment. The bolt head may be further fitted into a protrusion on the underside of the cover plate, and the protrusion may include a hole or recess for receiving the bolt head. The cover plate may be fitted onto the bolt head such that rotation of the bolt head causes synchronous and equal rotation of the cover plate. For example, the bolt head may include a semi-circular cross-section, and the hole or recess in the protrusion may include a semi-circular cross-section with the same cross-sectional dimensions as the bolt head. In this way, rotation of the bolt head can cause synchronous and equal rotation of the cover plate. Therefore, the cover plate can rotate with the indicator attachment and relative to the indicator plate.

[0045] The indicator accessory may include a ball chain receiving portion for receiving the ball chain. The ball chain receiving portion may include a receiving socket capable of receiving balls from the ball chain.

[0046] The actuator device may include an actuator attachment that can be connected to the top or proximal end of the actuator device. The actuator attachment can be connected to the actuator device such that rotation of the actuator device causes rotation of the actuator attachment, for example, synchronous and identical rotation of the actuator attachment. The actuator attachment may include a ball chain receiving portion for receiving a ball chain. The ball chain receiving portion may surround the actuator device, i.e., it may enclose the longitudinal axis of the actuator device, and may include a socket capable of receiving balls from the ball chain. The ball chain may surround both the ball chain receiving portions of the indicator attachment and the actuator attachment, thereby mechanically connecting the actuator device to the indicator device. The ball chain receiving portion can function as a pulley or sprocket for the ball chain, such that when the actuator attachment rotates, the ball chain is driven to rotate the indicator device. The ball chain ensures synchronous and identical rotation between the actuator device and the indicator device.

[0047] As described above, the movement of the gripper between open and closed positions can be controlled by an actuator device. Specifically, the movement of the gripping arm between the closed, open, and open / locked positions can be controlled by rotation of the actuator device. When the actuator device rotates to open and close the gripping arm, the indicator attachment can rotate synchronously and equally (due to the action of the ball chain). The rotation of the indicator attachment can rotate the cover plate such that, in a first position, the opening is not aligned with (i.e., above) the distinguishing area on the indicator plate, meaning the distinguishing area is covered by the cover plate. In this way, for example, the distinguishing area on the indicator plate may be undetectable or invisible to a reader or sensor. The actuator device can cause rotation of the indicator attachment and place the cover plate in a second position, in which the opening is aligned with (i.e., above) the distinguishing area (i.e., the distinguishing area is exposed by the opening in the cover plate), making the distinguishing area detectable or visible to, for example, a reader or sensor. When the gripping arm is in the closed position, the first position of the cover plate can correspond to the position of the actuator device. When the gripper arm is in the open or open and locked position, the second position of the cover can correspond to the position of the actuator device. In this way, when the cover is in the first or second position, the indicating device can provide an indication of the gripper status (i.e., whether the gripper arm is open or closed) to a reader or sensor. The distinguishing region can be shaped such that the opening partially overlaps with the distinguishing region to indicate an intermediate state of the gripper arm, such as when the gripper arm is in the open position (i.e., the open / unlocked position) before moving to the open and locked position.

[0048] The lifting assembly may include at least one gripper (e.g., four grippers), each gripper including an actuator device and an actuator attachment. Each gripper may be provided with an indicating device, i.e., each actuator attachment may be mechanically connected to an indicating attachment of the indicating device, for example, via the ball chain described above. In this way, a reader or sensor can determine whether the individual grippers of the lifting assembly are in phase or out of phase with each other, i.e., whether the respective gripping arms of each gripper are in the same position (closed or open). Multiple indicating devices can be detected simultaneously, for example, by a reader or sensor located at a distance from or above the indicating device. The grippers may be located on the periphery or edge of the lifting assembly. The indicating devices may be laterally displaced (i.e., laterally displaced relative to the z-axis of the gripper), for example, the indicating devices may be located on the periphery or within the edge of the lifting assembly. The indicating devices may be located towards the center of the lifting assembly.

[0049] The loading processing equipment may include a detection device for detecting the state of the indicator, specifically whether the distinguishing area of ​​the indicator is visible. Therefore, the detection device can detect the state of the indicator and determine whether the gripping arm is open or closed. The detection device may include a reader, sensor, vision sensor, camera, etc., that can detect whether the distinguishing area is visible from a distance; that is, the detection device may be located at a distance from the indicator (e.g., above the indicator). For example, the loading processing equipment may include a camera that can detect whether the distinguishing area is visible (i.e., exposed by an opening). The detection device may be located above or within the loading processing equipment, for example, at the bottom of the loading processing equipment. In this way, the detection device may be located above a lifting assembly including the gripper and the indicator. The detection device can detect the state of the indicator from a distance above the indicator.

[0050] Although the foregoing describes an indicator device in which the cover plate rotates with the indicator attachment, in other embodiments, the indicator plate may be attached to the indicator attachment such that rotation of the indicator attachment causes the indicator plate to rotate, while the cover plate remains fixed.

[0051] The indicator device can provide a binary indication of the clamping arm position, such as "open" or "closed".

[0052] Alternatively, a magnet can be located on the upper part of the plunger. In this way, a Hall sensor can be used to determine the orientation of the plunger. Furthermore, a Hall sensor can be used to assist in the rotation of the plunger to ensure that the plunger is correctly oriented.

[0053] The gripper may further include a stop device for orienting the actuator device.

[0054] A stop device can be used to ensure that the actuator device is accurately positioned in the gripper arrangement. It should be understood that the stop device can be mechanical or magnetic and is designed to resist or prevent the actuator device from rotating to discrete positions. For example, the stop device can be one or more notches in the head portion of the gripper arm and mating spring-loaded ball bearings, or a spring-loaded ball bearing in the head portion of the gripper arm and one or more notches in the actuator device. It should be understood that a magnetic stop device can be electrically or electronically controlled. It should be understood that the stop device can be releasable. Furthermore, it should be understood that the stop device can also demonstrate its ability to facilitate the sequential movement of the actuator device to the next position.

[0055] The gripper can be actuated by moving the actuator along the basic vertical axis or the z-axis.

[0056] The vertical movement of the actuator assembly can be along the main axis of the gripping arm. To actuate the gripper, the actuator is vertically displaced relative to the gripping arm. The actuator can be guided by the frame to ensure that the actuator assembly remains aligned within the openings and channels between the paired gripping arms.

[0057] The actuation movement causes the distal end of the actuator to move up and down within the cavity between the paired gripping arms. When the actuator is pushed, the distal end moves deeper into the gripping arm, while when the actuator is pulled, the distal end moves toward the top or head of the gripping arm.

[0058] The actuator device may include a plunger having at least one radial pin at its distal end for guiding rotational movement of the plunger. The actuator device may include a plunger having a pair of radial pins at its distal end for guiding rotational movement of the plunger. The plunger radial pin may have a generally octagonal cross-section. Alternatively, the radial pin may be cross-shaped. It should be understood that a cross-section of any angle is expected to achieve a similar effect.

[0059] The radial pin is sized to contact the side of the internal channel. In this way, the actuator or plunger is guided through the channel. As the pin moves along the side of the channel due to the action of the actuator, where the channel twists, the reaction force on the plunger causes the plunger to rotate or twist. The entire plunger can rotate or twist, or only the spinner portion of the plunger can rotate or twist. In the case of rotation or twist of the entire plunger, the state of the gripper can be tracked and / or measured from above using a vision or sensor system and / or using ML, for example, using the aforementioned indicator and / or stop device.

[0060] The pin can have a beveled edge to move smoothly through the channel and remain aligned with it, which can be particularly useful at points of curvature discontinuity.

[0061] The channels between the paired gripping arms can be at an angle to form a pinch point.

[0062] As described above, the actuator device or plunger is positioned between a pair of clamping arms. When the device is held together by the clamping housing, a narrow point or clamp in the channel between the clamping arms at the top or head end of the clamp prevents the plunger from being pulled out or separated from the clamping arms. In this way, the plunger is held in place by the pair of clamping arms when the arms are held by the housing. The clamp helps prevent the plunger from loosening during assembly or operation, thus making the clamp more reliable.

[0063] Each gripping arm may further include several meshing teeth.

[0064] The gripping arms may include any number of teeth that mate with the teeth of the second gripping arm in a pair of gripping arms. The teeth help align the paired gripping arms relative to each other. Furthermore, the teeth help hold the gripper in the closed position. The teeth may be located at the lower or distal end of the gripping arm, such as near the hook end of the gripping arm.

[0065] The distal end of each gripping arm may include a hook for locking the storage container, and / or the distal end of the gripping arm may taper gradually.

[0066] It should be understood that grippers are typically used to lock another item. For example, a gripper can be inserted into the opening of a container and then used to lock the container in place. When viewed in the zx plane, the hooks of each of the paired gripping arms together form a basic arrow shape, or it could be a basic triangle. In this way, each tail end of the arrow can engage with the bottom side of the opening in the container. Furthermore, the tip of the arrow can help guide the gripper into the opening, reducing the actuation positioning of the gripper. In addition, the hooks can further taper in the zy plane to further aid in guiding the gripper into the opening.

[0067] It should be understood that grippers can benefit from 3D printing and have complex shapes. It should also be understood that machine learning (ML) techniques can be used to optimize the shape and other properties or address issues of the gripper.

[0068] A loading processing apparatus is provided for lifting and moving storage containers 10 stacked in a grid frame structure 14, the grid frame structure comprising: a first set of parallel members 22a in a substantially horizontal plane and a second set of parallel members 22b extending substantially perpendicular to the first set of parallel members 22a to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of posts 16 to form a plurality of vertical storage positions below the grid for stacking containers 10 therebetween and for vertically guiding the containers through the plurality of grid spaces by the posts, the loading processing apparatus comprising: a body mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with the first set of parallel members 22a and the second set of wheels being arranged to engage with the second set of parallel members 22b; and a lifting assembly for raising and / or lowering the loading, the lifting assembly comprising at least one of the aforementioned clamps.

[0069] A method of using a gripper is provided, the method comprising the steps of: actuating one or more grippers by a first actuation movement to move a gripping arm from a closed position to an open position.

[0070] One or more grippers are actuated by a second actuation movement that locks the gripper arm in the open position, one or more grippers are actuated by a third actuation movement that unlocks the gripper arm, and / or one or more grippers are actuated by a fourth actuation movement that causes the gripper arm to move from the open position to the closed position.

[0071] A grid-based storage and retrieval system is provided, comprising: a grid frame 14 structure including: a first set of parallel members 22a in a substantially horizontal plane and a second set of parallel members 22b extending substantially perpendicular to the first set of parallel members 22a to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of posts 16 to form a plurality of vertical storage locations below the grid for stacking containers 10 therebetween and for guiding containers vertically through the plurality of grid spaces by the posts; at least one loading and processing device described above operates on the grid frame structure, wherein the at least one loading and processing device further includes a communication device; and a central control utility for controlling the at least one loading and processing device to: lift containers from the stack below the grid, and / or lower containers into the stack below the grid.

[0072] It should be understood that grippers can be used as part of a lifting assembly mounted on a loading and handling device. The loading and handling device may be adapted to move on a grid-based frame, wherein the parallel members of the grid may include parallel tracks or rails. The loading and handling device may be guided to perform a series of lifting and transport operations on containers, using one or more grippers and one or more actuated movements to lock the containers. It should be understood that improved grippers can improve the operation of the loading and handling device and, correspondingly, improve the storage and retrieval system.

[0073] For example, when in the closed position, the gripper arm can be inserted into an opening in the edge of the container and then opened using an actuation device. In the open position, the gripper is positioned too wide to be removed from the opening, thus locking the gripper to the container. The actuation device can also lock the gripper arm in place to prevent accidental movement between the open and closed positions and to ensure that the gripper remains fixed to the container.

[0074] It should be understood that the gripper can be used with any suitable equipment or device, and the use of the gripper is not limited to the embodiments given in this description in conjunction with loading and handling devices operating on grid-based storage pick-up and retrieval systems.

[0075] Other aspects and advantages will become apparent in the following description. Attached Figure Description

[0076] The present invention will now be described with reference to the accompanying drawings, in which:

[0077] Figure 1 is a schematic perspective view of the frame structure that accommodates several stacked boxes in the storage system;

[0078] Figure 2 is a schematic plan view of a portion of the frame structure in Figure 1;

[0079] Figures 3(a) and 3(b) are schematic perspective views of the rear and front of a form of robotic loading and handling device used with the frame structures of Figures 1 and 2, respectively. Figure 3(c) is a schematic perspective view of a lifting box using a known loading and handling device.

[0080] Figure 4 is a schematic perspective view of a known storage system, including several loaded processor devices of the type shown in Figures 3(a), 3(b) and 3(c), mounted on the architecture of Figures 1 and 2;

[0081] Figures 5a-c show schematic zx plan views or front views of the gripper, which can be used on the gripper assembly of a loading and handling device for lifting containers when operating within the system described in conjunction with Figures 1-4.

[0082] Figures 6a, 6b, 6c, 6d, 6e, and 6f are schematic diagrams of the components that make up the clamp;

[0083] Figure 7 This is a schematic diagram of a pair of clamping arms, with a plunger placed between the clamping arms;

[0084] Figures 8a and 8bFigure 8a is a schematic diagram of a gripper used as part of a gripper assembly. It shows a front view of a pair of mating gripper arms and a cross-sectional view along line AA indicated in Figure 8a, showing an internal channel within one of the gripper arms.

[0085] Figures 9a, 9b, 9c, 9d and 9e are schematic diagrams of the gripper taken through line BB indicated in Figure 9f, showing the sequence of positions of the plunger as it moves through the internal channel of the gripper;

[0086] Figures 10a, 10b and 10c This is a schematic diagram of a clamp used to lift containers;

[0087] Figures 11a and 11b This is a schematic diagram of a pair of clamping arms with meshing teeth;

[0088] Figure 12 This is a schematic diagram of a clamp including clamp attachments;

[0089] Figures 13a and 13b An exploded view of the indicator is shown, where Figure 13a is a perspective view and Figure 13b is a front view;

[0090] Figures 14a and 14b 0 were shown respectively o Rotation (Fig. 14a) and 90 o Front and top views of the indicator when rotated (Fig. 14b); and

[0091] Figure 15 A top view of a lifting assembly including four grippers, each gripper including an indicator, is shown. Detailed Implementation

[0092] As is well known, a cam is a rotating component in a mechanical linkage used to convert rotational motion into linear motion. Typically, a shaft with an irregular cylindrical shape allows a lever in contact with the cam to perform a smooth reciprocating motion. A linear cam is a cam in which the cam element moves in a straight line rather than rotating. Its profile is cut into the edge or face of a plate or block. The gripper described herein is a variant of the cam.

[0093] The gripper 100 includes a pair of gripping arms 110 operated by a plunger 111. The plunger 111 is held between the gripping arms 110 and guided by a frame. The frame includes two posts 113 on which a plate 112 can slide, wherein the plate 112 slides with the plunger 111. Vertical movement of the plunger 111 causes the gripping arms 110 to open and close. Additionally, the plunger 111 can be used to lock the gripper 100 in place. In Figure 5a, the plunger 111 is fully raised and the gripping arms 110 are closed. In Figure 5b, the plunger 111 is fully depressed and the gripping arms 110 are open. In Figure 5c, the plunger 111 is at its midpoint or height and the gripping arms 110 are locked open. The vertical movement of the plunger 111 and its effect on the gripper 100 will be described further below.

[0094] Figure 6 shows a schematic diagram of each component assembled together to manufacture the clamp 100. Figures 6a and 6b A plunger 111, used as an actuator device, is shown in zx and zy views, respectively. The plunger 111 includes a rod 115 and a pair of pins (radial pins) 116 arranged symmetrically at one end (referred to herein as the distal end). As can be seen from Figure 6b, the cross-section of the pins 116 is basically octagonal.

[0095] Figure 6c is a schematic perspective view, Figure 6d is a schematic xy view of the gripper housing 117, and Figure 6e is a schematic zy view of the gripping arms. Pairs of mating gripping arms 110 are held together within the housing 117. Holes are provided for pivotally attaching the gripping arms 110 to the housing 117, thereby holding the pair of gripping arms 110 in proper position within the housing 117. As shown in Figure 6c, the inner side of the housing end is curved to allow the gripping arms 110 to rotate about a pivot point 118. As shown in Figure 6e, the head of the gripping arm 110 has a lip 119 that interacts with a corresponding lip (not shown) surrounding the lower inner edge of the housing 117 to prevent the gripping arm 110 from falling through the housing 117. As described herein, the head end of the gripping arm is located at the uppermost end of the gripper 100 in use, and the distal end is the lowermost end of the gripper 100 in use. During assembly, the clamping arm 110 rotates about pivot point 118 between closed and open positions. Figure 6f This is a perspective view of the paired clamping arms 110a and 110b. Each clamping arm 110a and 110b is identical and has 180° rotational symmetry. The inner surfaces of the clamping arms 110a and 110b have grooves and mating protrusions that are formed to fit together when the two clamping arms 110a and 110b are arranged side by side and the gripper is closed. The inner surfaces of the clamping arms 110a and 110b further include several cam slots or channels, which will be discussed further below.

[0096] Figure 7A schematic zx plan view of the pair of mating gripping arms 110 in the closed position is shown, with the actuator device or plunger 111 inserted into the top of the pair of gripping arms 110. For simplicity, the gripper housing is not shown. Figure 7 As shown in the figure. In this position, the pin (plunger pin) 116 is oriented transversely to the clamping arm 110, or aligned with the gap between the clamping arms 110, and the clamping arm protrusion is nested in a mating groove.

[0097] Figure 8a shows a schematic diagram of the paired clamping arms 110, and Figure 8b shows a cross-sectional view along line AA indicated in Figure 8a. For simplicity, the clamp housing is not shown in Figure 8. In this arrangement, the grooves of the clamping arms form channels 1, 2, 3, and 4 for receiving the distal end of the plunger (not shown). These channels define four different pathways that the plunger 111 follows sequentially during actuation – 1-2-3-4-1-… As the plunger end moves vertically through channels 1-4, the plunger 111 is guided on the sequential pathway by a pin (plunger pin) 116 guided by the cam surface of the clamping arm 110. As described above, the cross-section of the pin 116 is octagonal. The pin edges may also be beveled. This facilitates smooth movement of the distal end of the plunger 111 and helps maintain the alignment of the pin 116 with channels 1-4. As the plunger 111 moves vertically, the shape of the cam surface causes the plunger 111 to rotate.

[0098] Figures 9a-e are schematic diagrams through the paired clamping arms 110 (shown along BB in Figure 9f), illustrating the orientation of the pin (plunger pin) 116 as the plunger 111 moves through channels 1-4. One pin 116 is marked with an "x" to aid in understanding the relative rotation of the plunger 111 during vertical movement through channels 1-4. In practice, the upper surface of the plunger 111 may be marked with an indicator device to determine the orientation of the plunger 111 (and clamping arms) from above or at a distance from the gripper itself. Figures 10a-c are schematic diagrams of the gripper 100 for lifting the container 10. It should be understood that Figures 10a-c are similar to Figures 5a-c, except that the container 10 is added.

[0099] The tips of the hooks are together in the closed position. Figure 7 The distal end of the plunger 111 is located substantially at the top of the gripper 100, between the two gripping arms 110, and the pin 116 is aligned with the gap between the gripping arms 110 (Fig. 9a). In this arrangement of the gripper 100, the distal end of the gripper 100 can be inserted through the opening in the container 10, as shown in Fig. 10a and indicated by the arrow.

[0100] The downward movement can continue into the first actuated movement of the gripper 100, in which the plunger 111 is pushed relative to the gripping arm in a substantially vertically downward direction. The distal end of the plunger 111 follows the channel passage 1 (FIG. 8a), and the gripper housing 117 and plate 112 abut against the upper edge of the container 10. As the plunger end moves downward along the channel 1, the rod 115 rotates approximately 45° clockwise due to the movement of the pin 116 along the cam surface (FIG. 9b). Simultaneously, the gripping arm 110 is pushed open by the rod 115, which moves downward along the channel between the upper part or head of the gripping arm 110, causing the gripper 100 to move to the open position (FIG. 10b).

[0101] To position the gripper 100 in place to lift the container 10, in the open position, the gripper 100 is lifted upwards such that the hook end abuts and engages the inner edge surrounding the container opening (Fig. 10c). During the same movement, a second substantially vertical actuated movement of the plunger 111 relative to the gripping arm 110 pulls the plunger upwards, guiding the rod end along the channel 2 to an upper position within the gripping arm 110. As it moves along the channel 2, the rod 115 rotates approximately 45° clockwise, and the pin 116 aligns laterally with the gap between the gripping arms 110 (Fig. 9c). The rod end is now at its highest position within the channel 2. The pin (lateral pin) 116, aligned at the top of the channel 2, locks the gripper 100 in the open position. Therefore, in this position, the gripper 100 is secured within the container 10 and cannot be pulled out of the container opening.

[0102] To release the gripper 100, the gripper 100 must return to the closed position. During the third actuation movement, the plunger 111 is pushed downward relative to the gripping arm, and the rod end is guided along the channel 3. The shape of the channel causes the rod to rotate clockwise by approximately 45 degrees. o (Fig. 9d). At the same time, the clamping arm 110 disengages from the bottom side of the top edge of the container, and the clamp housing 117 is pushed to the outside of the container.

[0103] Finally, in the fourth actuation movement, plunger 111 is pulled back to the starting position in an upward direction along channel 4. The shape of the channel causes rod 115 to rotate approximately 45 degrees clockwise. o The gap between pin 116 and the clamping arm (Fig. 9e) and the top of the clamping arm ( Figure 7 Alignment. Simultaneously, as the plunger is pulled upwards and out from between the clamping arms 110, the clamping arms 110 move together to the closed position under the influence of gravity (i.e., under the weight of the clamping arms 110). Alternatively, as the plunger 111 moves upwards, the clamping arms 110 may be forced together into the closed position. Figure 7Directly above pivot point 118, the side of clamping arm 110 is angled to clamp point 120 to force clamping arm 110 into a closed position as the plunger end rises. Then, clamp 100 can be removed from the container by continuing to move upwards and lifting the clamp out of the opening.

[0104] By comparing Figures 9a and 9e, it can be understood that plunger 111 has rotated 180° from the closed initial position, through the open and locked positions, and returned to the closed position. By combining Figures 10a-10c, it can be understood that the vertical displacement of plunger 111 relative to the gripper housing 117 has three positions: fully raised (…). Figure 7 (Figure 10a); fully depressed (Figure 10b); and an intermediate position between fully depressed and fully depressed (Figure 10c), where the plunger end is at the top of channel 2. Not shown, a stop device can be used to ensure that the plunger rotates ratchetly between the positions shown in Figures 9a-9e. Furthermore, the stop device can assist in the vertical movement of the plunger to move from one position to the next.

[0105] To retain the plunger 111, at the head end, the opening between the clamping arms is shaped to have a clamping point 120, as shown. Figure 7 As shown. At clamp 120, the channel is too narrow for the plunger end and pin 116 to pass through. Therefore, when the clamp 100 is held together in the housing 117, it is impossible to accidentally remove the plunger 111.

[0106] Figure 11 illustrates that the clamping arm 110 is shaped to have meshing teeth 121. Figure 11a shows a schematic zx plan view, and Figure 11b shows a cross-sectional view through the line CC indicated on Figure 11a. When the arm is in the closed position, the teeth 121 interlock or engage together. This feature helps to maintain the alignment of the clamping arm 110 and additionally locks the arm together.

[0107] Figure 12 A gripper 100 is shown, comprising a gripper attachment 130 (shown in Figures 13-15 and further described below) for connecting the gripper 100 to an indicator 140. The gripper attachment 130 is connected to the tip or proximal end 132 of a plunger 111, and this connection causes rotation of the gripper attachment 130 to occur with rotation of the plunger 111. The gripper attachment 130 includes a ball chain receiving portion 134 for receiving a ball chain (not shown). The ball chain receiving portion 134 surrounds a rod 115 of the plunger 111 and includes a plurality of hemispherical recesses or sockets 135, each socket 135 capable of receiving balls from the ball chain. The ball chain receiving portion 134 is positioned between two parallel plates 136a, 136b transverse to the axis of the ball chain receiving portion 134 and the plunger 111, such that they act as washers for the ball chain received in the ball chain receiving portion 134.

[0108] Figure 13a shows an exploded perspective view of the components forming the indicator 140, and Figure 13b shows an exploded front view of the components forming the indicator 140. The indicator 140 includes an indicator attachment 141, an elongated indicator plate 142, and a cover plate 144 placed on the indicator plate 142. The indicator attachment 141 includes a ball chain receiving portion 143 for receiving a ball chain (not shown). The ball chain receiving portion 143 includes several hemispherical grooves or recesses 145, the shape and size of which are the same as the recesses 135 in the ball chain receiving portion 134 of the holder attachment 130 (e.g., ...). Figure 12 (As shown). This allows the same ball chain received in the ball chain receiving portion 134 of the gripper attachment 130 to be received in the ball chain receiving portion 143 of the indicator attachment 141. The ball chain wraps around the ball chain receiving portions 134 and 143 and mechanically connects the plunger 111 to the indicator 140 (see Figure 143). Figure 15 Ball chain receiving portions 134 and 143 serve as pulleys or sprockets for the ball chain, wherein the ball chain receiving portions can drive the ball chain as it rotates or be driven by the rotating ball chain. Specifically, when the gripper attachment 130 rotates (due to the rotation of the plunger 111), it drives the ball chain placed in the ball chain receiving portion 134. The driven ball chain, in turn, causes the indicator attachment 141 to rotate. The ball chain ensures synchronized and equal rotation between the gripper attachment 130 and the indicator attachment 141. The operation of the ball chain will be referred to below. Figure 15 Further detailed description.

[0109] The indicator plate 142 includes colored or contrasting areas 146a, 146b on the top surface of each longitudinal end of the indicator plate 142. The indicator plate 142 also includes two downwardly extending clips 147a, 147b for attaching the indicator plate 142 to a lifting assembly. The clips 147a, 147b advantageously allow the indicator plate 142 to be easily attached to and / or removed from the lifting assembly. This enables the indicator plate 142 to be retrofitted to the lifting assembly, facilitating the manufacture and assembly of the lifting assembly.

[0110] The cover plate 144 has a generally circular shape and includes two openings 148a, 148b that match the shape of the contrast areas 146a, 146b on the indicator plate 142, such that when the openings 148a, 148b are aligned with the contrast areas 146a, 146b, the contrast areas 146a, 146b on the indicator plate 142 are visible from above.

[0111] Cover plate 144 and indicator plate 142 are mounted on indicator accessory 141. Specifically, indicator accessory 141 includes a center bolt head 150 that passes through a center locating hole 152 in indicator plate 142 and is fitted into a protrusion 154 on the bottom side of cover plate 144. Protrusion 154 includes a hole or recess (not shown) for receiving bolt head 150. The semi-circular cross-section of the hole or recess is the same size as the semi-circular cross-section of bolt head 150. This semi-circular cross-section ensures that rotation of bolt head 150 causes synchronous rotation of cover plate 144.

[0112] The positioning hole 152 in the indicator plate 142 allows the bolt head 150 to rotate freely relative to the indicator plate 142. Therefore, the indicator plate 142 does not rotate with the indicator accessory 141. Furthermore, clips 147a and 147b on the indicator plate 142 secure the indicator plate 142 to the lifting assembly, further ensuring that the indicator plate 142 does not rotate with the indicator accessory 141. Therefore, the cover plate 144 rotates with the indicator accessory 141 and relative to the indicator plate 142.

[0113] In the specific embodiment described above, the cross-section of the bolt head 150 ensures synchronous rotation between the bolt head 150 (and the indicator 140 to which it is attached) and the cover plate 144. However, those skilled in the art will know that many other connection methods between the indicator attachment 141 and the cover plate 144 can result in equal or synchronous rotation between these two components.

[0114] Figure 14a shows the front and top views of the indicator 140 when the plunger 111 is rotated 0°, and Figure 14b shows the front and top views of the indicator 140 when the plunger is rotated 90°.

[0115] As described above, the clamping arm 110 starts from the closed start position (shown in FIG. 9a), moves to the open and locked position (shown in FIG. 9c), and then moves to the closed end position (shown in FIG. 9e). When the clamping arm 110 is in the closed start position, the plunger 111 is rotated at 0°, and the cover plate, together with the openings 148a, 148b in the cover plate, is positioned not aligned with the contrast areas 146a, 146b on the indicator plate 142, i.e., the cover plate covers the contrast areas, and the contrast areas are not visible. When the clamping arm 110 moves from the closed start position to the open and locked position, the plunger 111 rotates 90°. As described above, the rotation of the plunger 111 causes the clamp attachment 130 to rotate, thereby driving the ball chain placed in the ball chain receiving portions 134, 143. In turn, the ball chain drives the indicator attachment 141, causing the cover plate 144 to rotate. The ball chain ensures synchronous and equal rotation between the clamp attachment 130 and the indicator attachment 141. Therefore, when the plunger 111 rotates 90°, this causes the indicator attachment 141 and the cover plate 144 to rotate 90°. Rotating the cover plate 144 90° so that the openings 148a, 148b are positioned above the contrast areas 146a, 146b on the indicator plate (i.e., the openings 148a, 148b are aligned above the contrast areas 146a, 146b), thus exposing and making the contrast areas 146a, 146b visible from above.

[0116] When the clamping arm 110 moves from the open and locked position to the closed end position, the plunger 111 and the clamp attachment 130 rotate 90 degrees again. o This causes the indicator accessory 141 and the cover to rotate 90 degrees. o This is so that the openings 148a and 148b are no longer aligned above the contrast areas 146a and 146b, meaning the cover plate covers the contrast areas and the contrast areas are not visible. When the clamping arm 110 moves between the closed position and the open and locked position, the cover plate rotates 90°, thereby covering or exposing the contrast areas 146a and 146b.

[0117] Therefore, indicator 140 provides a visual means for technicians, operators, cameras, etc., to determine the state of clamping arm 110 (i.e., whether the clamping arm is closed or open) and thus determine whether clamp 100 locks the storage container 10.

[0118] Rotating the cover plate 90° to cover or expose contrast areas 146a, 146b provides a binary indication of whether the gripper arm 110 is in a start / end closed position or an open and locked position; that is, indicator 140 provides a binary indication of whether the gripper arm 110 is "closed" or "open." This provides a direct visual assessment for the operator, technician, or camera when determining whether the gripper arm 110 is in a closed or open position. This binary indication is also particularly useful when the assessment is used for machine learning purposes.

[0119] Figure 15 A top view of a lifting assembly 160 including four grippers is shown, each gripper having gripper attachments 162a, 162b, 162c, and 162d. Gripper attachments 162a, 162b, 162c, and 162d are each connected to a corresponding indicator 164a, 164b, 164c, and 164d via ball chains 166a, 166b, 166c, and 166d. Gripper attachments 162a, 162b, 162c, and 162d and indicators 164a, 164b, 164c, and 164d are as described above. Each ball chain 166a, 166b, 166c, and 166d surrounds the ball chain retractor portion of the gripper attachment and the ball chain retractor portion of the indicator attachment, and mechanically connects a plunger to indicators 164a, 164b, 164c, and 164d. As described above, the ball chain receiving section serves as a pulley or sprocket for ball chains 166a, 166b, 166c, and 166d. As the gripper attachments 162a, 162b, 162c, and 162d rotate (caused by the rotation of the plunger), they drive the ball chains 166a, 166b, 166c, and 166d. In turn, the driven ball chains cause the indicator attachments to rotate. The ball chains ensure synchronized and equal rotation among each gripper attachment 162a, 162b, 162c, and 162d and its indicator attachment.

[0120] Each indicator 164a, 164b, 164c, 164d includes a cover plate 168a, 168b, 168c, 168d that rotates 90° (as indicated by the arrow) to cover or expose a contrast area, thereby indicating whether the corresponding gripping arm of each gripper is in the open or closed position. By providing indicators 164a, 164b, 164c, 164d for each gripper in the lifting assembly 160, it can be determined whether the individual grippers are in phase or out of phase with each other, i.e., whether the gripping arms of all four grippers are in the closed or open position. Furthermore, as... Figure 15 As shown, by providing an indicator for each gripper, multiple indicators can be viewed simultaneously, providing a direct means for technicians / operators or cameras to determine whether the grippers are in phase and synchronized with each other. Synchronizing all grippers in the lifting assembly with each other is particularly beneficial for ensuring the effective and optimal function of the lifting assembly. The grippers are located on the periphery of the lifting assembly 160, while the indicators 164a, 164b, 164c, and 164d are positioned within the periphery of the lifting assembly 160, particularly towards the center of the lifting assembly 160. This advantageously allows an observer or a camera with a relatively narrow field of view to simultaneously view all indicators 164a, 164b, 164c, and 164d.

[0121] It should be understood that variations in the shape of the gripper having the functionality described herein are intended to fall within the scope of this disclosure. Machine learning (ML) techniques can be used to improve the shape functionality of the gripper and optimize its characteristics.

[0122] While the foregoing specification makes efforts to draw attention to features of the invention deemed particularly important, it should be understood that, whether or not specifically emphasized, the applicant claims protection for any patentable features or combinations thereof mentioned herein and / or shown in the accompanying drawings.

[0123] It should be understood that various combinations of the above-described equipment and arrangements can be used to design tillage systems, methods, and equipment for specific applications. It should be understood that the features described above can all be used together in a single system. In other specific embodiments of the invention, some features may be omitted. These features can be used in any compatible arrangement. Many variations and modifications not explicitly described above are possible without departing from the scope of the invention as defined by the appended claims.

[0124] In this document, the term "movement relative to the gap" is intended to include movement within the gap, such as sliding along the gap, as well as movement into or out of the gap.

[0125] In this paper, the term "movement in the direction of n" (and related wording), where n is one of x, y, and z, is intended to indicate movement substantially along or parallel to the n-axis in any direction (i.e. towards the positive end of the n-axis or towards the negative end of the n-axis).

[0126] In this document, the term "connection" and its derivatives are intended to include the possibilities of direct and indirect connections. For example, "x connects to y" is intended to include the possibility that x is directly connected to y without any intermediate components, and the possibility that x is indirectly connected to y with one or more intermediate components. When a direct connection is intended, the terms "directly connected," "directly connected," or similar terms will be used. Similarly, the term "support" and its derivatives are intended to include the possibilities of direct and indirect contact. For example, "x supports y" is intended to include the possibility that x directly supports and directly contacts y without any intermediate components, and the possibility that x indirectly supports y and has one or more intermediate components contacting x and / or y.

[0127] In this article, the word "includes" and its derivatives are intended to be inclusive rather than exclusive. For example, "x includes y" is intended to include the possibility that x includes one and only one y, multiple y's, or one or more y's and one or more other components. When intended to have an exclusive meaning, the phrase "x consists of y" will be used, which means that x includes only y and excludes other components.

Claims

1. A gripper for locking a storage container (10), characterized in that include: Clamp housing; A pair of clamping arms held in the holder housing, wherein the clamping arms have a mutually cooperating shape; A movable and rotatable actuator device held in a channel between the pair of clamping arms for moving the clamping arms between a closed position and an open position; The gripper is actuated by moving the actuator device along a substantially vertical axis. The inner surface of each clamping arm includes a cam surface with a plurality of channels for receiving the distal end of the actuator device.

2. The holder of claim 1, wherein, The cam surface is at least partially curved or spiral-shaped.

3. The gripper of any one of claims 1-2, wherein, Each of the channels is spiral-shaped in the same direction of rotation.

4. The holder according to claim 1 or 2, wherein The paired gripping arms include four substantially enclosed channels for receiving the distal end of the actuator device.

5. The holder of any one of claims 1-2, wherein, Each of the paired clamping arms is substantially identical.

6. The clamp according to any one of claims 1-2, wherein, Each of the pair of clamping arms is 180 o rotationally symmetric about a substantially vertical axis.

7. The gripper according to any one of claims 1-2, further comprising an indicating device for indicating the rotational position of the actuator device.

8. The clamp according to any one of claims 1-2, further comprising a stop device for orienting the actuator device.

9. The clamp according to any one of claims 1-2, wherein, The actuator device includes a plunger having at least one radial pin at its distal end for guiding rotational movement of the plunger.

10. The clamp according to claim 9, wherein, The radial pin has a generally octagonal cross-section.

11. The clamp according to any one of claims 1-2, wherein The first automatic movement causes the clamping arm to move from the closed position to the open position. The second actuation movement locks the clamping arm in the open position. The third actuation movement unlocks the clamping arm, and / or The fourth actuation movement causes the clamping arm to move from the open position to the closed position.

12. The clamp according to any one of claims 1-2, wherein, The channel between the paired clamping arms is at a certain angle to form a clamping point.

13. The clamp according to any one of claims 1-2, wherein, Each of the clamping arms further includes a plurality of meshing teeth.

14. The clamp according to any one of claims 1-2, wherein, The distal end of each of the clamping arms includes a hook for locking the storage container, and / or wherein the distal end of each of the clamping arms tapers gradually.

15. The gripper according to any one of claims 1-2, further comprising an indicator for indicating whether the gripping arm is in the closed position or the open position.

16. The clamp according to claim 15, wherein, The indicating device includes an indicator plate and a cover plate placed on the indicator plate, the indicator plate including at least one distinguishing region on its top surface, and the cover plate including at least one opening that can be aligned with the distinguishing region on the indicator plate.

17. The clamp according to claim 16, wherein, The indicating device is connected to the actuator device such that rotation of the actuator device causes synchronous rotation of the cover plate.

18. The clamp according to claim 16, wherein, The actuator device is rotatable to position the cover plate in a first position, in which the at least one opening is not aligned with the at least one distinguishing region.

19. The clamp according to claim 16, wherein, The actuator device is rotatable to place the cover plate in a second position, in which the at least one opening is aligned with the at least one distinguishing region.

20. The clamp according to claim 15, wherein, The indicating device is capable of lateral displacement from the clamp.

21. A loading and handling device for lifting and moving storage containers (10) stacked in a grid frame structure, characterized in that, The mesh frame structure includes: A first set of parallel members (22a) in a substantially horizontal plane and a second set of parallel members (22b) extending substantially perpendicular to the first set of parallel members (22a) form a grid pattern comprising several grid spaces, wherein the grid is supported by a group of columns (16) to form several vertical storage positions below the grid for stacking storage containers (10) therebetween and for the columns to guide the storage containers (10) vertically through the several grid spaces. The loading and processing equipment includes: The main body is mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with a first set of parallel members (22a), and the second set of wheels being arranged to engage with a second set of parallel members (22b); and A lifting assembly for raising and / or lowering a load, the lifting assembly comprising at least one clamp according to any one of claims 1-20.

22. The loading and processing apparatus according to claim 21, wherein, The at least one gripper of the lifting assembly includes an indicating device for indicating whether the gripping arm is in the closed position or the open position.

23. The loading processing apparatus of claim 22, further comprising a detection device for detecting the state of the indicating device, the state of the indicating device being based on whether the clamping arm is in the closed position or the open position.

24. The loading and processing apparatus according to claim 23, wherein, The detection device is located at a certain distance from the indicator device.

25. A method of using the clamp according to any one of claims 1-20, characterized in that, Includes the following steps: The first actuation moves one or more grippers, causing the gripping arm to move from the closed position to the open position. The second actuation moves one or more grippers to lock the gripping arm in the open position. Use a third actuation to move and actuate one or more grippers, unlocking the gripping arm, and / or The fourth actuation moves one or more grippers, causing the gripping arm to move from the open position to the closed position.

26. A grid-based storage and retrieval system, characterized in that, include: The grid frame structure includes: A first set of parallel members (22a) extending substantially horizontally in a plane and a second set of parallel members (22b) extending substantially perpendicular to the first set of parallel members (22a) form a grid pattern comprising several grid spaces, wherein the grid is supported by a group of columns (16) to form several vertical storage positions below the grid for stacking storage containers (10) therebetween and for the vertically guided storage containers (10) through the several grid spaces by the columns. At least one loading and processing device operating on the grid frame structure according to any one of claims 21 to 24, wherein, The at least one loading processing device further includes a communication device; and Central control utility for controlling the at least one loading processing device to: Lift the storage container from the stack below the grid, and / or lower the storage container into the stack below the grid.

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