Gripper for a sorting device

Abstract

The invention relates to a gripper for the warehousing of small items, in particular pharmaceutical and dietary supplement packaging, into or out of a sorting device. With known grippers, the clamping force that can be applied by the gripper jaws is limited. In order to provide an increased clamping force, the gripper comprises a storage rack (10) extending in a first horizontal direction (X direction) and a second horizontal direction (Y direction) and two gripper jaws (40, 50) arranged above the storage rack (10) and fastened to a gripper jaw guide arrangement (30), wherein at least one gripper jaw (40, 50) has at least partially segmentally elastic, a longitudinal guide (42, 52) comprising a free end section (41, 51) and a fastened end section (44, 54) and a gripper chord (43, 53), and wherein a first end section (45, 55) of the gripper chord (43, 53) is fastened in the free end section (41, 51) and a second end section (46, 56) of the gripper chord (43, 53) is coupled with a traction element (60, 70) arranged in the fastened end section (44, 54) such that the gripper chord (43, 53) is movable in the X direction.

Description

TECHNICAL FIELD

[0001] The invention relates to a gripper for putting small items of goods, in particular pharmaceutical packages and dietary supplement packages, into or out of a sorting device. BACKGROUND

[0002] In modern sorting devices, as are often used in pharmacies, a large number of various small items of goods, usually pharmaceutical packages and dietary supplement packages, of different sizes are stored chaotically and position-optimally on elongated horizontal shelf floors. Together with the shelf walls, these form a plurality of shelf compartments, wherein each shelf compartment or shelf floor stores a large number of small items of goods. For position-optimized chaotic storage, the small items of goods are stored on the shelf floor such that as large a number of small items of goods as possible can be stored on each area unit of the shelf floor, i.e. such that as little free space as possible remains on the shelf floor.

[0003] In modern sorting devices, usually a plurality of small items of goods are stored in succession (with regard to the direction of storage and retrieval), wherein it is often observed that the small items of goods are stored such that they can be gripped by the grippers used in the sorting device due to their size, such that at least two small items of goods can be moved from the shelf floor to the storage rack of the gripper at one time.

[0004] The gripper type known from the prior art comprises two elongated gripper jaws which extend in the direction of storage and retrieval (X direction), wherein at least one gripper jaw is movable orthogonally to the direction of storage and retrieval (in the Y direction). The gripper jaws are usually fastened on a gripper guide arrangement, wherein the gripper guide arrangement is movable in the direction of storage and retrieval and comprises a means for moving at least one gripper jaw in the Y direction.

[0005] Usually at least one gripper jaw is swingably supported at its fastening end on the gripper guide arrangement, such that a free end section of the gripper jaw can be moved towards the other gripper jaw. By a correspondingly designed gripper, the small items of goods can be clamped with the free end section of at least one swingable gripper jaw. Depending on the arrangement of the small items of goods, it can also be intended to grip them from behind, such that not only one or more small items of goods to be retrieved are clamped, as is the case when at least one gripper jaw is drivable only in the Y direction.

[0006] In the known gripper, an oscillating movement is initiated with respect to the free end section of the gripper jaw, i.e. in the fastening end, such that by at least one swingable gripper jaw only a certain clamping force can be exerted. For the known gripper, it is also disadvantageous that the swung gripper is bent due to the difference between the position of the initiation of the oscillation and the "point of action" of the one or more items of goods to be retrieved. SUMMARY

[0007] It is an object of the present application to provide a gripper for a sorting device, wherein by means of at least one pivotable gripper jaw a higher clamping force can be provided to a piece of goods to be discharged.

[0008] The object of the present application is achieved by a gripper according to the application for the infeed and outfeed of small pieces of goods into and from a sorting device. The gripper according to the application comprises a rack extending in a first horizontal direction (X direction) and in a second horizontal direction (Y direction) orthogonal to the first horizontal direction, the rack having at least one infeed and outfeed face, and a gripper guide arrangement having two elongate gripper jaws arranged above the rack, which extend in the X direction, wherein the gripper guide arrangement is movable in the X direction and at least one gripper jaw is movable in the Y direction.

[0009] According to the application it is provided that the at least one gripper jaw comprises an at least partially elastic longitudinal guide and a gripper chord, wherein the longitudinal guide has a free end section facing away from the gripper guide arrangement and an opposite fastening end section, the gripper chord extending in parallel along a section of the elastic longitudinal guide in an untensioned state, wherein a first end section of the gripper chord is fastened in the free end section of the elastic longitudinal guide and a second end section of the gripper chord is coupled with a traction element arranged in the fastening end section, such that the gripper chord is movable in the X direction, wherein a movement of the gripper chord in the X direction promotes a movement of the free end section of the elastic longitudinal guide in the Y direction.

[0010] Unlike in the case of known grippers, the pivoting movement of the gripper jaw is not initiated in the fastening end section, but in the free end section by the coupling with the gripper chord. A movement of the gripper chord in the X direction "shortens" or "lengthens" the gripper chord section between the end sections of the elastic longitudinal guide. Due to its elasticity, the shortening is converted into a pivoting movement, while the lengthening causes a return swing to the initial position.

[0011] Thus, in the gripper according to the application a greater clamping force can be exerted, since the gripper chord, whose movement triggers the pivoting movement or the counter movement, acts on the free end section of the elastic longitudinal guide. The piece of goods to be discharged is usually grasped / clamped from behind in the region of the free end section, so that the force that can be transmitted in this region is determined. Due to the point of action of the gripper chord in the free end section of the elastic longitudinal guide, a deflection is also ruled out.

[0012] The application can be used in a gripper for the infeed and outfeed of small pieces of goods by only one infeed and outfeed face, but also in a gripper whose rack comprises two infeed and outfeed faces.

[0013] Whether the clamping jaws move / swivel in the Y direction away from the clamp or toward its longitudinal axis, which extends in the X direction, depends on the arrangement of the elastic longitudinal guide and the clamping jaw chord, or its fastening device. Small items are often stored so that removal occurs by moving the free end sections toward each other. Therefore, a preferred embodiment of the clamping apparatus according to the invention provides for at least one clamping jaw chord to be arranged between the elastic longitudinal guide and the opposing clamping jaw, so that a pulling movement applied to the clamping jaw chord by a pulling element assigned to the clamping jaw chord causes the free end section of the clamping jaw to move toward the opposing clamping jaw.

[0014] In order to safely remove one or more small items from the warehouse, it is preset in a preferred embodiment that the clamp includes two traction members, and both clamping jaws include elastic longitudinal guide members and clamping jaw chords, wherein the clamping jaw chords are arranged between the elastic longitudinal guide members, so that the traction movement applied to the clamping jaw chords by the traction members causes the free end sections of the clamping jaws to move toward each other.

[0015] The specific manner in which the movement of the gripper string is caused is not crucial for the present invention. For example, the gripper string can be coupled to a traction element designed as a linear drive. Alternatively, the gripper string can be coupled to a cable mechanism. However, such a design is relatively complex in terms of construction. In a structurally simple preferred embodiment, the traction element is designed as a lever device with a lever arm and a pivot axis, wherein the pivot axis has an eccentric, circular appendage that projects into an opening in the second end section of the gripper string.

[0016] In this case, the movement of the lever arm in the X direction is converted into a rotational movement of the rotation shaft. Since the eccentric attachment protrudes into the opening in the second end section of the gripper chord, the rotation of the rotation shaft causes a displacement of the eccentric attachment in the X direction, which in turn causes a movement of the gripper chord in the X direction and thus a deflection.

[0017] By coupling each lever arm to a separate drive, a movement of the lever arm in the X direction (and thus a rotation of the rotation axis) can be effected. However, in a preferred embodiment which remains structurally very simple, it is provided that the free end of the lever arm of the traction element projects into an elongated hole of a traction element actuator which is movable in the X direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Hereinafter, a preferred embodiment of the clamp according to the present invention will be described in more detail with reference to the accompanying drawings, wherein

[0019] Figure 1a and Figure 1b An oblique view of the preferred embodiment of the clamp is shown, wherein Figure 1a In the middle, the clamp's jaws have swung,

[0020] Figure 2a and Figure 2b Two top views of the preferred embodiment are shown, wherein Figure 2a Swing the gripper again and Figure 2b The traction member actuation device is partially omitted.

[0021] Figure 3a and Figure 3b A detail view showing the fastening area of ​​the clamping jaws,

[0022] Figures 4a and 4b show Figure 1a and Figure 1b Detail view of

[0023] Figure 5 A detailed view of the jaw guide arrangement is shown, and

[0024] Figure 6 A detail view of the oscillating clamping jaws is shown. DETAILED DESCRIPTION

[0025] Figure 1a and Figure 1b An oblique view of a preferred embodiment of a clamp 1 according to the present invention is shown. The clamp 1 comprises a storage rack 10 extending in a first horizontal direction (input and output direction, X-direction) and in a second horizontal direction perpendicular thereto (Y-direction), and having input and output end faces 14. A gripper guide arrangement 30 is arranged above the storage rack 10 and comprises two elongated gripper jaws 40, 50 extending in the X-direction. In the illustrated embodiment, the two gripper jaws 40, 50 are movable in the Y-direction, the movement mechanism of which will be described more precisely with reference to the subsequent figures.

[0026] The clamping device according to the present invention further comprises a pulling member actuation device 80, which includes a pulling member guide 81 having two elongated holes 82, into which the free ends of the lever arms 61, 71 of the two pulling members extend. As will be described more precisely with reference to the subsequent figures, the pulling members themselves are movable in the Y direction and cause the clamping jaws 40, 50 to deflect. In the illustrated embodiment, a sensor 2 is arranged on the pulling member actuation device 80, which monitors various aspects of the storage and removal processes.

[0027] The two clamping jaws 40, 50 comprise elastic longitudinal guides 42, 52, which have free end sections 41, 51 facing away from the clamping jaw guide arrangement 30 and opposite fastening end sections 44, 54, by means of which the elastic longitudinal guides are fastened to the traction element. The exact construction and mode of operation will be described more precisely with reference to the subsequent figures. The two clamping jaws 40, 50 are coupled at the free end sections 41, 51 to the first end sections 45, 55 of the clamping jaw chords 43, 53.Figure 1b The clamping jaw, in the non-oscillating state shown in Fig. 1, extends parallel to the elastic longitudinal guide 42, 52. In addition, the clamping jaw string 43, 53 is coupled to the traction element by means of the second end section, so that the clamping jaw string can be moved in the X direction. This movement of the clamping jaw string in the X direction causes a movement of the free end section of the associated elastic longitudinal guide in the Y direction. The clamping jaw string of the clamp according to the invention bends the elastic longitudinal guide of the clamping jaw according to the principle of the bow / string, i.e. a shortening of the clamping jaw string (corresponding to a movement of the second end section of the clamping jaw string away from the free end section) causes a bending of the elastic longitudinal guide, where this movement is referred to hereinafter as "oscillation". Since the clamping jaw string is arranged "inside" with respect to the elastic longitudinal guide in the embodiment shown, a movement of the clamping jaw string in the X direction towards the clamping jaw guide arrangement causes a deflection of the free ends of the elastic longitudinal guide towards one another.

[0028] Unlike in the case of known clamps, the oscillating movement of the clamping jaw, which causes the "deflection" of the free ends of the clamping jaw, is not initiated by means of a swivel joint arranged in the clamping jaw guide arrangement, but rather the clamping jaw string acts on the free end section of the elastic longitudinal guide opposite the clamping jaw guide arrangement and causes a movement of the free end section of the clamping jaw by means of a movement in the X direction. In alternative embodiments of the clamp and depending on the manner and method in which small items of goods are deposited in the sorting device, it is also conceivable purely in principle to move or oscillate the clamping jaws "outwards" in order to discharge small items of goods.

[0029] Figure 1a and Figure 1b The clamp shown in Fig. 1 comprises a recess 11 extending in the X direction of the storage rack 10, in which a sliding device 12 is guided, by means of which small items of goods can be moved from the storage rack onto the shelf floor of the sorting device, more precisely through the infeed and outfeed faces 14 of the storage rack 10. The drive of the sliding device is arranged below the storage rack and is not illustrated in the figures.

[0030] The clamping jaw guide arrangement 30 is movable in the X direction, for which purpose it is coupled to a drive unit. For the present application, it is not essential how this drive unit is embodied, many special embodiments being known to the person skilled in the art. In the embodiment shown, the clamp comprises a drive 90 arranged on the side of the clamping jaw guide arrangement 30, by means of which a swivel axis 91 extending parallel to the storage rack can be driven, which in turn cooperates with the coupling element 31 of the clamping jaw guide arrangement 30, so that by means of a swivel movement of the swivel axis 91 the clamping jaw guide arrangement can be moved in the X direction.

[0031] In the embodiment shown, the traction member actuating device 80 is coupled with the jaw guide arrangement 30 in such a way that the aforementioned rotational movement also moves the traction member actuating device 80 itself in the X direction. The traction member actuating device 80 comprises a drive 83 by means of which the traction member guide 81 can be moved in the X direction relative to the jaw guide arrangement 30. The way in which the movement of the traction member guide 81 specifically causes the movement of the jaw string is described in more detail with reference to the subsequent figures.

[0032] Figure 2a and Figure 2b A top view of this preferred embodiment of the clamp according to the application is shown, in which in Figure 2a the two jaws 40, 50 are moved towards one another in the free end sections 41, 51 of the elastic longitudinal guides, i.e. are deflected. In Figure 2b the traction member actuating device and the right-hand jaw are omitted, so that it can already be seen preliminarily how the jaws are arranged on the traction member.

[0033] In Figure 2a it can be seen that the oscillating movement contributes to the jaw string and the elastic longitudinal guide extending parallel to one another in the undeflected state (see Figure 2b ) being "separated" from one another, wherein this separation depends on the degree of deflection of the jaws. In particular in Figure 2a it can be seen that the jaw strings 43, 53 are coupled at their first end sections 45, 55 respectively with the free end sections of the elastic longitudinal guides. In the second end sections 46, 56, the jaw strings converge into the guide housings 64, 74 of the traction member, in which the second end sections are coupled with eccentric attachments on the rotational axes of the traction member. The elastic longitudinal guides are also fastened in the guide housings.

[0034] In Figure 2b in the right-hand part of the drawing (next to the jaws themselves), the guide housings of the traction member are also omitted, and it can be seen that the traction member comprises a rotational axis 72 and a circular attachment 73, wherein the exact design is described in more detail with reference to the subsequent figures.

[0035] Figure 3a and Figure 3b A detailed view of the fastening region of the jaws 40, 50 on the traction member 60, 70 attached to the jaws is shown (in which the guide housings are omitted in order to better illustrate the internal components of the guide). The traction member, which is clearly visible in perspective in particular in the subsequent Figures 4a and 4b, is coupled to the jaw slide 32 by means of the not shown guide housings, which in turn are coupled to the Y guides 33 of the jaw guide arrangement and cause the movement of the jaws in the Y direction. The traction member itself comprises a force arm 61, 71 by means of which the movement in the X direction causes the movement of the jaw string in the X direction and thus the deflection of the jaws.

[0036] In Figure 3a , the clamping jaw in the swung-in state is shown, in Figure 3b , the clamping jaw in the swung-out state is shown. It can be seen in the comparison of the force arms 61, 71 in Figure 3a , that they stand slightly tilted, i.e. slightly moved from the Z-axis towards the clamping jaw slide 32 - see figures 4a and 4b for a description of how this movement is initiated.

[0037] On the right side of Figure 3a , it can be seen that the circular attachment 73 on the swivel axis 72 of the clamping element attached to the right clamping jaw is arranged eccentrically on the swivel axis 72. It can be seen in the comparison of Figure 3a and Figure 3b , that in Figure 3a , the attachment is swiveled further in the X-direction towards the clamping jaw slide. Since the attachment 73 extends into the circular opening in the second end section of the clamping jaw string, the swivel of the swivel axis from the position in Figure 3b to the position in Figure 3a , the swiveled clamping jaw, causes the clamping jaw string to move in the X-direction in its second end section towards the clamping jaw slide, wherein this movement causes the deflection of the free end sections 41, 51 of the elastic longitudinal guides towards each other.

[0038] Figures 4a and 4b show detailed perspective views of the preferred embodiment in the area where the clamping jaws are fastened on the traction elements 60, 70, wherein in figure 4a the swung-out state of the clamping jaws is illustrated, while in figure 4b the swung-in state of the clamping jaws is illustrated. In order to particularly illustrate the different positions of the traction element guide 81 as well as the force arms 61, 71 of the traction elements 60, 70, figures 4a and 4b are arranged very close to each other, and there are two vertical dashed lines Z1, Z2 running through both figures.

[0039] As can be seen in the comparison of the force arms 61, 71 and the traction element guide 81, in figure 4b the traction element guide 81 continues to move "backwards" away from the entry and exit faces of the shelving. Due to this backwards movement, the linear movement of the traction element guide 81 is converted by the force arms 61, 71, in combination with the swivel axis, into a rotational movement of the swivel axis. Since the eccentric attachments 63, 73 are arranged on the swivel axis, the rotational movement of the swivel axis in turn causes a movement of the clamping jaw string in the X-direction.

[0040] As can be seen in the previous figures, the elastic longitudinal guides also comprise circular openings in the fastening area, through which the swivel axes of the traction elements respectively extend. However, since the swivel axes are not designed to be eccentric, their swivel does not cause any displacement of the elastic longitudinal guides. Therefore, due to the eccentric attachments, the swivel of the swivel axes causes a relative movement of the clamping jaw string with respect to the elastic longitudinal guides.

[0041] When comparing the free ends of the lever arms 61 , 71 that are “connected” by the vertical line Z2 , it can also be seen that in the depiction of FIG. 4 b , the free ends also continue to move “backwards”.

[0042] Figure 5 A detailed view of the gripper jaw guide arrangement is shown, with the traction member guides largely omitted in this figure to illustrate the internal components of the gripper jaw guide arrangement. In the illustrated embodiment, both gripper jaws are movable in the Y direction. The specific manner in which the gripper jaws are movable in the Y direction depends largely on the specific application of the gripper, and many variations are known to those skilled in the art based on the prior art. For example, it is conceivable to equip each gripper jaw with a linear motor that drives the gripper jaw along the corresponding guide in the Y direction. In the illustrated embodiment, the gripper jaw guide arrangement 30 comprises a two-part Y-guide 33, to which a gripper jaw slide 32 is mounted. Each gripper jaw slide is coupled to a guide 34 designed as a rack, arranged so that the tooth flanks of the two guides face each other and overlap in other areas. A gear 35 is arranged horizontally and vertically between the guides 34 and interacts with the tooth flanks of the guides so that rotation of the gears induces symmetrical movement of the guides and, consequently, of the gripper jaw slides along the Y-guides. Based on this design, only one drive is required to move the two gripper slides; however, this also means that the two gripper slides can only move synchronously.

[0043] Figure 6 A detailed view of the swinging jaws is shown. Figure 6 In particular, it can be seen that the clamping jaw chord is not designed as a rope, but as an elongated strip - this allows for better contact with the small items to be removed from the warehouse, and the clamping jaws should rest in the area of ​​the clamping jaw chord. Furthermore, it can be seen again that during the oscillation process, the clamping jaw chords 43, 53 "separate" from the elastic longitudinal guides 42, 52, thereby creating a gap between them.

Claims

1. A clamp (1) for loading small items into a sorting device and / or unloading small items from a sorting device, the clamp comprising: A storage rack (10) extending in a first horizontal direction and in a second horizontal direction perpendicular to the first horizontal direction, the storage rack having at least one storage entry and storage exit end surface (14); A clamping jaw guide arrangement (30) having two elongated clamping jaws (40, 50) arranged above the storage rack (10) and extending in a first horizontal direction, wherein the clamping jaw guide arrangement (30) is movable in the first horizontal direction and at least one of the clamping jaws is movable in a second horizontal direction, It is characterized in that At least one of the clamping jaws (40, 50) comprises an at least partially elastic longitudinal guide (42, 52) and a clamping jaw chord (43, 53), wherein the longitudinal guide has a free end section (41, 51) facing away from the clamping jaw guide arrangement (30) and an opposite fastening end section (44, 54), the clamping jaw chord extending in the untensioned state parallel to the section of the elastic longitudinal guide (42, 52), The first end section (45, 55) of the clamping chord (43, 53) is fastened to the free end section (41, 51) of the elastic longitudinal guide, and the second end section (46, 56) of the clamping chord (43, 53) is coupled to the traction member (60, 70) arranged at the fastening end section (44, 54), so that the clamping chord (43, 53) can move in a first horizontal direction, wherein the movement of the clamping chord (43, 53) in the first horizontal direction causes the free end section (41, 51) of the elastic longitudinal guide (42, 52) to move in a second horizontal direction.

2. The clamp (1) for storing small goods into a sorting device and / or removing small goods from a sorting device according to claim 1, characterized in that: At least one clamping jaw chord (43, 53) is arranged between an elastic longitudinal guide (42, 52) and an opposing clamping jaw, so that a traction movement applied to the clamping jaw chord (43, 53) by the traction element (60, 70) assigned to the clamping jaw chord moves the free end section (41, 51) of the clamping jaw (40, 50) toward the opposing clamping jaw.

3. The clamp (1) for storing small goods into a sorting device and / or removing small goods from a sorting device according to claim 1, characterized in that: The clamp comprises two traction members (60, 70), and both jaws (40, 50) comprise elastic longitudinal guides (42, 52) and jaw chords (43, 53), wherein the jaw chords (43, 53) are arranged between the elastic longitudinal guides (42, 52), so that a traction movement applied to the jaw chords (43, 53) by the traction members (60, 70) moves the free end sections (41, 51) of the jaws towards each other.

4. A clamp (1) for storing small goods into a sorting device and / or removing small goods from a sorting device according to any one of claims 1 to 3, characterized in that: The pulling element (60, 70) is designed as a lever device with a lever arm (61, 71) and a rotation axis (62, 72), wherein the rotation axis (62, 72) has an eccentric, round appendage (63, 73) that projects into an opening (47, 57) at the second end section (46, 56) of the clamping jaw chord (43, 53).

5. The clamp (1) for storing small goods into a sorting device and / or removing small goods from a sorting device according to claim 4, characterized in that: The free ends of the force arms (61, 71) of the traction members (60, 70) are respectively extended into the long holes (82) of the traction member actuating device (80) which can move in the first horizontal direction.

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