Slot manipulator and method for lifting target object and slot

Abstract

The present invention provides a manipulator (1) for lifting target objects (2a, 2b) and an upwardly opening container (3), the target objects (2a, 2b) being at least partially disposed within the container (3). The manipulator includes a first target object engaging device (4a) for engaging a first target object (2a), a second target object engaging device (4b) for engaging a second target object (2b), and a separation tool (5) for forcibly separating the first and second target objects (2a, 2b) when engaged by the first and second target object engaging devices (4a, 4b), thereby exerting internal forces on the target objects (2a, 2b) against the container (3). The present invention also provides a method for lifting target objects and an upwardly opening container.

Description

Technical Field

[0001] This invention relates generally to the field of automated object handling, and more specifically to lifting objects from upward-opening containers (such as tanks). Background Technology

[0002] In general, there is a need for solutions that automate the handling of various target objects in industries such as manufacturing and distribution.

[0003] An example of a target that presents challenges for automated handling is a target placed in an upward-opening container, where not only the target but also the container must be lifted. Existing solutions are either unable to safely lift the container or are complex and expensive.

[0004] The objectives of specific embodiments of the present invention include eliminating or at least mitigating the aforementioned disadvantages of the prior art. Summary of the Invention

[0005] Accordingly, the present invention provides a manipulator for lifting a target object and an upwardly opening container, the target object being at least partially disposed within the upwardly opening container. The manipulator includes a first target object engaging device for engaging a first target object, a second target object engaging device for engaging a second target object, and a separation tool for forcibly separating the first and second target objects when they are engaged with the first and second target object engaging devices. Thus, the target object can exert internal force on the container.

[0006] Advantageously, with such a manipulator, not only can the target object be safely lifted, but the container used for the target object can also be safely lifted. Specifically, the manipulator can lift both the target object and the container without direct engagement or contact with the container. In this way, the manipulator can be designed to have a smaller footprint than the container to be lifted. The manipulator according to the invention is cost-effective in terms of components, assembly, and maintenance. It is also reliable and durable. Furthermore, by utilizing the target object itself to lift the container, no separate tool is needed to lift the container, and the position of the container's sides is not required. In addition, the manipulator does not require high manufacturing tolerances for either the target object or the container; relatively large dimensional deviations are permissible.

[0007] Because the target object applies internal force to the container, the container can be lifted by the target object through the friction between the target object and the container.

[0008] Containers may be trays or troughs, typically made of corrugated cardboard. Target objects may be, for example, generally box-shaped or cylindrical. Target objects may be cartons containing products or a set of cans (e.g., four), such as a set of six cans wrapped in plastic or paper.

[0009] Preferably, the separation tool is configured to force the first and second targets to separate at least partially in the horizontal direction.

[0010] Preferably, the separation tool is configured to force the bottoms of the first and second targets to separate. The targets then apply internal force to the lower part of the upward-opening container, which has high strength. Additionally, a low-height container, only surrounding the bottom portion (such as the lower tenth of the target), can be lifted by the target.

[0011] Preferably, the separation tool is configured to rotate the first and second targets about corresponding horizontal axes (i.e., axes in the horizontal plane). These axes are preferably located above the targets, and more preferably above the target engagement devices. This allows for a wide range of translational movement of the targets.

[0012] The separation tool can be configured to force the first and second target objects apart by translating or rotating the first and / or second target object engaging device. Rotation can be performed about a horizontal or vertical axis.

[0013] The separation tool can be configured to force the first and second targets apart by the weight of at least one target. The weight of the target then advantageously activates a manipulator to apply internal forces to the container. For this purpose, the separation tool can be flexible, and it can be suspended at a position horizontally spaced from the position where the weight of the target affects the separation tool. Thus, the separation tool can deform due to the weight of the target lifted by the manipulator.

[0014] Preferably, the separation tool carries at least one target engagement device. The target engagement device can be attached to the separation tool. The target engagement device can be securely rotatably attached to the separation tool, such that rotation of a portion of the separation tool can be transmitted to rotate the target engagement device. Preferably, the target engagement device is securely rotatably attached to the separation tool, such that the separation tool can transmit torque to the target engagement device. Rotation of a portion of the separation tool may be a result of deformation of the separation tool.

[0015] The target object engaging device can be configured, for example, to engage the target object by under-pressure or magnetic force. Preferably, the target object engaging device is configured to engage the upper side of the target object, and more preferably, only the upper side of the target object is engaged, without engaging the lower side or lateral side. The target object engaging device can be a vacuum suction gripper or an electromagnet.

[0016] Preferably, the separation tool is a flexible component configured to deform according to the weight of the target object lifted by the manipulator.

[0017] Preferably, the manipulator further includes a lifting member adapted to carry the separation tool. The lifting member can be a structure (such as a robot) that connects the manipulator to the operating manipulator. For this purpose, the lifting member may include an attachment tool, such as a hole or bracket, through which the lifting member can be attached to, for example, a robot.

[0018] Alternatively, the separation tool may be referred to as a carrier component or a target engagement device carrier.

[0019] Preferably, the manipulator further includes a connecting tool that connects the lifting member and the separation tool in a manner that allows the separation tool to deform under the weight of the target object being lifted by the manipulator. The separation tool can be suspended below the lifting member via the connecting tool.

[0020] Preferably, the separation tool and / or lifting component are flat plate components. Alternatively, either or both may be strip-shaped, rod-shaped, or composed of strip mesh or rod mesh.

[0021] Preferably, the separation tool has extensions in two orthogonal horizontal directions. Such a separation tool can carry an array of target engagement devices and can separate at least two target engagement devices along two horizontal directions. The target can then apply internal forces to the container in both directions and lift the container more firmly.

[0022] The manipulator may include a contact sensor for determining contact between the manipulator and the target object.

[0023] The contact sensor can also determine the contact between the container carried by the manipulator and the surface on which the container will be placed.

[0024] Preferably, the contact sensor is configured to sense the distance between the separation tool and the lifting member.

[0025] Contact sensors can be configured to determine whether a separation tool and a lifting component are positioned with a first distance or a second distance between them. Such contact sensors can be durable and simple in design. A contact sensor may include a sensor body and a movable sensor component that can move relative to the sensor body.

[0026] A contact sensor or its movable sensor component may be positioned between the separation tool and the lifting component.

[0027] Preferably, the manipulator's coverage area is smaller than the coverage area of ​​the container to be lifted. With this configuration, the manipulator can lift both the target object and the container even when all sides of the container are adjacent to obstacles. Additionally, the manipulator can place the target object and the container adjacent to another container or other object (such as a wall). The manipulator is preferably configured to lift the target object and the container by engaging only the upper sides of at least two targets.

[0028] Preferably, the first target object is engaged by at least two first target object engaging devices, and the second target object is engaged by at least two second target object engaging devices. With this configuration, the first and second target objects can be more effectively forced apart. Specifically, rotation can be effectively transmitted from the separation tool to the target object. Furthermore, the object engaging devices do not need to be securely rotated and attached to the separation tool.

[0029] Preferably, the manipulator is carried by a robot. The robot will then be able to lift the target object and the upward-opening container together, with the target object at least partially disposed within the upward-opening container. The robot may be attached to the lifting mechanism.

[0030] The present invention further provides a method for lifting a target object and an upwardly opening container, the target object being at least partially disposed within the upwardly opening container. The method includes the steps of: engaging a first target object, engaging a second target object, securing the container to the first and second target objects by forcibly separating the first and second target objects, and lifting the target object and the container.

[0031] The advantages of this method correspond to those described above regarding the manipulator. This method may involve steps corresponding to the manipulator features described above.

[0032] The container can be secured to the first and second target objects by rotating at least one target object. The target object can be rotated 0.5-5 degrees, preferably 1-3 degrees. The rotation is preferably performed about a horizontal axis. The rotation is preferably performed about a horizontal axis higher than the target object. Attached Figure Description

[0033] The above and other aspects, features and advantages of the present invention will be made clear from the following description of various specific embodiments and from the reference in conjunction with the accompanying drawings.

[0034] Figure 1 It is a three-dimensional side view of the manipulator and four targets arranged in an upward-opening container, wherein the upward-opening container is in the form of a groove standing on a surface.

[0035] Figure 2 Corresponding to Figure 1 However, the manipulator is raising the target and the slot.

[0036] Figures 3a-3d A schematic cross-sectional view illustrates the method for lifting the target object and the upward-opening container.

[0037] Figure 4-6 An alternative manipulator and method step 3c is illustrated schematically in a cross-sectional view.

[0038] Figure 7An alternative to step 3c of the method is shown in a top view. Detailed Implementation

[0039] The invention will now be described more fully. However, the invention may be implemented in many different forms and should not be construed as being limited to the specific embodiments described herein; rather, these specific embodiments are provided by way of example, which makes the invention more thorough and complete and will fully convey the scope of the invention to those skilled in the art.

[0040] Figure 1 and Figure 2 The manipulator 1 is shown, comprising eight suction cups 4a, 4b (only two suction cups are labeled in the figure) attached to the separation tool 5, which is supported by a lifting member 6 via four connecting tools 7. Two contact sensors 8 are provided to sense the distance between the separation tool 5 and the lifting member 6.

[0041] The manipulator is configured to lift the upward-opening container 3 (in this embodiment, a tray or trough, more precisely, a corrugated cardboard trough) and four targets 2a, 2b (only two targets are labeled in the figure).

[0042] The objects 2a and 2b shown in the illustration are elongated boxes, which may be, for example, packaged cans or cartons containing products. Container 3 has a base and sidewalls. The base is sized to accommodate four objects 2a and 2b, and the sidewalls are approximately half the height of the objects. The sidewalls extend at a slight angle relative to the vertical. The top of the container is open and slightly larger than the base due to the angled sidewalls, allowing objects 2a and 2b to be easily inserted into container 3. It should be understood that the invention is not limited to... Figure 1 and Figure 2 The specific form of the target object or container shown. Specifically, the container can be a box-shaped container with an open top, such as an open or lidded cardboard box. The container can also be made of, for example, plastic materials or thin-walled metal.

[0043] exist Figure 1 In the middle, the manipulator 1 is placed on the target objects 2a and 2b (from Figure 1Above (from the illustrated angle), suction cups 4a and 4b are in contact with targets 2a and 2b. The first left front suction cup 4a is in contact with the first left front target 2a, and the second right front suction cup 4a is in contact with the second right front target 2b. Corresponding first and second rear suction cups and first and second rear targets are also provided, their functions being the same as those of the front suction cups and targets. As can be seen, in this embodiment, all four targets 2a and 2b are engaged by two suction cups 4a and 4b respectively. The suction cups are releasably attached to the targets by providing negative pressure to the suction cups via an air compressor device and suction hoses (not shown). Alternatively, the suction cups may be referred to as vacuum suction grippers.

[0044] By using two or more suction cups for each target object, the target object can be attached more securely. If the target object has an uneven or unpredictable top shape, multiple suction cups per target object may be particularly advantageous.

[0045] exist Figure 2 In this process, manipulator I has been lifted upwards by a robot (not shown) or another lifting device. Manipulator I has lifted targets 2a and 2b and container 3 via suction cups 4a and 4b. As explained below, container 3 has been lifted through the interaction between targets 2a and 2b and container 3.

[0046] Suction cups 4a and 4b are attached to a separation tool 5, which in this specific embodiment is constructed of a flexible plate. The separation tool 5 may be made of plastic, composite material, or a thin metal sheet (such as a thin steel sheet). The separation tool 5 is flexible and configured to elastically deform when lifting the target objects 2a and 2b. This deformation is as follows... Figure 2 As shown, this is indicated by three arrows located in the center below the separation tool 5. In other embodiments, the separation tool 5 may be constructed from a flexible mesh structure (such as a flexible strip mesh).

[0047] from Figure 2 The study suggests that the deformation of the separation tool causes the suction cups 4a and 4b to move, thereby engaging the target objects 2a and 2b with the interior of the container 3. Thus, when the separation tool 5 is lifted, the container 3 is also lifted. Almost simultaneously with the vertical lifting of the target objects 2a and 2b, they engage with the container 3. More precisely, due to the deformation or downward bending of the separation tool, the suction cups 4a and 4b rotate about a horizontal axis, thereby rotating and translating the engagement of the target objects 2a and 2b with the relative inner walls of the container 3. In a single movement of the separation tool 5, the target objects 2a and 2b engage with the container 3, lifting the container 3.

[0048] exist Figure 1 and 2In the specific embodiment shown (and in Figures 3-5 below), targets 2a and 2b rotate about a horizontal axis above them. This arrangement causes the rotation to result in a significant movement of the bottoms of the first and second targets.

[0049] exist Figure 1 and 2 In a specific embodiment, the separation tool 5 is deformed—significantly enlarged—into a bowl shape. When viewed from below, the lower surface of the deformed separation tool 5 is convex during deformation. Therefore, the suction cups 4a and 4b attached to the lower surface of the separation tool 5 are separated from each other. In this way, the corresponding targets 2a and 2b are forcibly separated and pressed against the opposing inner walls of the container 3. The targets 2a and 2b are engaged with the interior of the container 3 by being horizontally forcibly separated.

[0050] Such as through research Figure 2 As understood, two suction cups are provided for each target object, and the suction cups are placed at a certain distance from each other in the direction in which the deformation of the separation tool mainly occurs (the longitudinal direction of the separation tool). The deformation of the separation tool 5 will be effectively converted into the rotation of the target objects 2a and 2b.

[0051] The lifting member 6 is a rigid structure that carries the flexible separation tool 5 via a connecting tool 7 located at each corner of the lifting member 6. The separation tool 5 is suspended in a manner that allows it to move vertically relative to the lifting member 6. More precisely, the separation tool 5 can move vertically between first and second distances d1, d2, as described below.

[0052] In other specific embodiments, see Figure 5 There may be two connection tools. (7.) Figure 1 and 2 In a specific embodiment, the three connecting tools 7 arranged in a triangle are another embodiment sufficient for the lifting component 6 to support the separating tool 5.

[0053] exist Figure 1 In the first position, the separation tool 5 is located close to the lifting member 6. Through contact with the targets 2a and 2b, the separation tool 5 is pushed towards the lifting member 6. At this first position, a first distance d1 exists between the lifting member 6 and the separation tool 5.

[0054] exist Figure 2 In this configuration, the separation tool 5 is located in a second vertical position further away from the lifting member 6. The separation tool is pulled away from the lifting member 6 by gravity. At this second position, there is a second distance d2 between the lifting member 6 and the separation tool 5. The second distance d2 is greater than the first distance d1. The manipulator can be configured such that the separation tool 5 can be moved until it contacts the lifting member 6, meaning that the first distance d1 can be equal to 0.

[0055] When manipulator 1 is as follows Figure 2 As shown, when the target objects 2a, 2b and container 3 are lowered to the desired position, container 3 will come into contact with a surface (e.g., the ground, a pallet or another target object), and thus, as the descent continues, the separation tool 5 will be moved from a second distance d2 to a first distance d1.

[0056] In this specific embodiment, the connecting tool (uniformly labeled as 7) consists of bolts 7a and 7b, which are screwed into the lower side of the lifting component from below via the bolt head 7b and the downwardly protruding bolt shank 7a. The separating tool 5 is suspended on the bolt head 7b. The separating tool 5 has a narrow slit 7c through which the bolts 7a and 7b extend, see [reference needed]. Figure 2 The enlarged view shows a portion of the design. The length of the slit 7c allows for variation in the longitudinal extension of the separating tool, while its width (exceeding the diameter of the bolt shank 7a) allows for variation in the lateral extension of the separating tool.

[0057] exist Figure 1 and 2 In the specific embodiment shown, both the lifting member 6 and the separating tool 5 are rectangular plate-shaped members with approximately the same area when viewed from above. The separating tool 5 is suspended below the lifting member 6 by connecting tools 7 located at each corner of the rectangular plate-shaped member. The slot 7c allows the separating tool 5 to make a certain degree of horizontal movement due to the deformation of the separating tool 5. More precisely, since the separating tool 5 is deformed into a bowl shape, the rounded corners of the separating tool 5 are allowed to make a certain degree of horizontal movement through the connecting tools 7. The slot 7 allows the bolts 7a and 7b to move to a certain extent along the longitudinal and transverse directions of the separating tool. As an alternative to the slot, the separating tool 5 may be equipped with a generally circular hole, a large bolt head or a large washer, or similar items to support the separating tool 5 and provide the necessary horizontal movement to allow the separating tool 5 to deform.

[0058] In another specific embodiment (not shown), the connecting tool 7 may be configured to allow the vertical and horizontal movement in a different manner. The connecting tool may be, for example, flexible, such as a spring, or may be a tool capable of resisting tension but not compression, such as a wire, chain, or cord.

[0059] See also Figure 1 and 2 The manipulator may further include a contact sensor (referred to as 8) for determining contact between the manipulator 1 and the targets 2a and 2b. The contact sensor 8 may also determine when the container 3 and its targets 2a and 2b come into contact with the surfaces on which they are placed after the manipulator 1 is lowered.

[0060] More precisely, the contact sensor 8 can determine whether the lifting component 6 and the separation tool 5 are set to be a first distance d1 or a second distance d2 apart from each other.

[0061] In this specific embodiment, the contact sensor 8 is mounted to the lifting member 6. The contact sensor 8 includes a sensor body 8a mounted on the top of the lifting member 6 and a through hole 8c through the lifting member 6 (in... Figure 2 A movable sensor element 8b (indicated by dashed lines) extends from and protrudes from the underside of the lifting member. The movable sensor element 8b is located between the lifting member 6 and the separation tool 5.

[0062] In the current embodiment, the contact sensor 8 is placed horizontally between the connecting tools 7, closer to the center of the separating tool 5 than the connecting tool located near the corner of the separating tool 5. By providing two contact sensors 8, one on each longitudinal side of the separating tool 5, the contact sensors 8 can be used to detect unexpected tilting of the separating tool 5 relative to the lifting member 6.

[0063] At the first position of the separation tool ( Figure 1 The movable sensor element 8b is pushed into the sensor body 8a by the separation tool 5, so that the contact sensor 8b is registered and the lifting member 6 and the separation tool 5 are set to be a first distance d1 apart from each other.

[0064] At the second position of the separation tool ( Figure 2 The movable sensor element 8b is not in contact with the separation tool 5 and therefore will not be pushed into the sensor body 8a (optionally removed from the sensor body by the spring tool), thus contacting the sensor 8 registers that the lifting member 6 and the separation tool 5 are set to be a second distance d2 apart from each other.

[0065] In the current embodiment, there are two contact sensors 8. If only one (e.g., the left) movable sensor element 8b is pushed in, then the tilting positioning of the separation tool 5 is detected.

[0066] Now we will combine Figures 3a to 3d A method for lifting a target object and an upward-opening container is described. This method is applicable to... Figure 1 and 2 The manipulator shown.

[0067] Figure 3 illustrates the first step A, in which only the manipulators of the first and second suction cups 4a and 4b are shown descending toward the first and second target objects 2a and 2b in the container 3. It should be understood that the manipulators also include at least a separation tool 5, which in this specific embodiment may be composed of a flexible rod or strip (see...). Figure 4 Or 5).

[0068] In step A of the first step, if the following is used Figure 1 and 2 As shown in the diagram, the lifting component 6 and the separation tool 5 are set to be a second distance d2 apart from each other.

[0069] Figure 3b The second step B is shown, in which suction cups 4a and 4b are releasably attached to target objects 2a and 2b by negative pressure. The first suction cup 4a is attached to the first target object 2a, while the second suction cup 4b is attached to the second target object 2b.

[0070] In step B, if the following is used Figure 1 With the manipulator shown, the lifting component 6 and the separation tool 5 are set to be a first distance d1 apart from each other.

[0071] Figure 3c The third step, C, is shown, in which targets 2a and 2b rotate counterclockwise around a horizontal axis. The first suction cup 4a and the first target 2a rotate clockwise, while the second suction cup 4b and the second target 2b rotate counterclockwise. Suction cups 4a and 4b rotate around horizontal axes Za and Zb (perpendicular to the drawing plane).

[0072] These rotations can preferably be determined by the weight of the targets 2a and 2b and their interaction with... Figure 1 and 2 The relevant description is caused by the suction cups 4a and 4b carried by the flexible separation tool 5. Arbitrary lifting of the suction cups 4a and 4b is shown by arrows in Figure 3. However, the manipulators (not shown) in other embodiments include other means for rotating or moving the suction cups 4a and 4b. Due to rotation, the lowermost edges of the objects 2a and 2b abut against and press against the lower opposing inner walls of the container 3. Additionally, the upper inner edges of the objects 2a and 2b may abut against and press against each other.

[0073] Figure 3d The fourth step, D, is demonstrated, in which suction cups 4a and 4b lift target objects 2a and 2b, as well as container 3. This is in Figure 3d Through the bottom of the container and the container in Figures 3a to 3c The distance between the surfaces to which the vehicle is docked is used to display this. If using Figure 1 and 2 If the manipulator is as shown, then the lifting component 6 and the separation tool 5 will again be set to be a second distance d2 apart from each other.

[0074] Figure 3d Arrows are provided to represent the forces acting on container 3 when it is lifted by manipulator 1. Container 3 is subjected to gravity F. G Horizontal force F from target objects 2a and 2b OThe vertical frictional force F resulting from the interaction between the targets 2a and 2b and the container 3. F The effect. As shown in the figure, the horizontal force F from the target object. O These forces act internally in the opposite direction on the relative transverse walls inside the container. Although not shown in the figures, they are present in all embodiments of the invention.

[0075] In the next step (not shown), the manipulator 1 can be lowered and the targets 2a, 2b and container 3 placed on the surface. In this step, the contact sensor 8 described above can register the contact (distance d1) between container 3 and the surface.

[0076] Figure 4-7 A specific implementation is shown, consisting of only two target objects 2a and 2b and two suction cups 4a and 4b. Figure 4-7 The main purpose is to demonstrate alternative solutions related to step C of the method shown in Figure 3, namely, how to forcibly separate the target objects 2a and 2b to join the container 3. However, Figure 4-7 It is also used to demonstrate that the concept of the invention applies to two objects, and it should be understood that the container can contain any number of objects arranged in one or more columns or in any manner.

[0077] Figure 4 The specific implementation schematically shows a manipulator 1 including a first suction cup 4a, a second suction cup 4b, and a separation tool 5. The separation tool 5 is a flexible strip that carries the suction cups 4a and 4b.

[0078] As shown in the figure, the separation tool 5 includes an optional intermediate lifting attachment—a lifting eyelet—for lifting the separation tool by, for example, a robot. When the separation tool 5 is lifted from the center, its left and right ends bend downwards due to the weight of the targets 2a and 2b. Then, the first suction cup 4a and the first target 2a ( Figure 4 The left) is rotated counterclockwise, while the second suction cup 4b and the second target object 2b ( Figure 4 (Right) is rotated clockwise.

[0079] Figure 4 The specific embodiment shown involves compressing the uppermost edge of the target object against the upper relative inner wall of the container 3. This approach is advantageous in some cases and fits well with containers 3 having high sidewalls (e.g., sidewalls extending to be flush with the uppermost edge of the target object within the container). Figure 4 In the middle, the sidewall of container 3 is higher than the target objects 2a and 2b.

[0080] Figure 5 The specific implementation method corresponds to Figure 1 and 2The specific embodiment shown is a version used only for lifting the first and second targets 2a, 2b and the container. The manipulator 1 includes a first suction cup 4a, a second suction cup 4b, a separation tool 5, a lifting member 6, and two connecting elements 7. The separation tool 5 is a flexible rod (specifically a plastic rod) and carries the suction cups 4a, 4b. The connecting elements 7 may be provided as eyelets through which the flexible rod passes.

[0081] When deformation occurs, the separation tool 5 takes on a curved shape, with the middle part of the rod bending downwards. In this way, the suction cups 4a and 4b attached to the lower surface of the separation tool 5 will be separated from each other by rotation and translation.

[0082] Figure 6 The illustration schematically shows a specific embodiment where the suction cups 4a, 4b and the targets 2a, 2b do not rotate to squeeze and lift the container 3 from the inside. Instead, the suction cups 4a, 4b and the targets 2a, 2b are simply translated away from each other to abut against the opposing inner walls of the container 3. Elements of the manipulator 1 other than the suction cups 4a, 4b are not shown in the figure. The manipulator 1 may, for example, include a separating element in the form of an electrical or pneumatic actuator for translating the suction cups 4a, 4b.

[0083] Figure 7 A schematic illustration shows a specific embodiment where a first suction cup 4a and a first target object 2a rotate about a vertical axis to squeeze and lift the container 3 from the inside. Elements of the manipulator 1 other than the suction cups 4a and 4b are not shown in the figure. The manipulator 1 may, for example, include a separating element in the form of an electrical or pneumatic actuator that rotates the first suction cup 4a. Alternatively, the first suction cup 4a may be screwed into a threaded tool, causing the suction cup 4a to rotate under the weight of the target object 2a. As an alternative embodiment, the first and second suction cups 4a and 4b rotate in opposite directions about their vertical axes.

[0084] exist Figure 1-5 In the specific embodiment shown, in a single lifting motion, the container is fixed by forcibly separating the first and second target objects and lifting the container by the target object.

[0085] In the specific embodiments described above, four or two target objects are shown placed on or inside the container. It should be understood that the present invention does not preclude the presence of additional target objects on or inside the container that are not grasped by the suction cup.

Claims

1. A manipulator (1) for lifting a target object (2a, 2b) and an upwardly opening container (3), the target object (2a, 2b) being at least partially disposed within the container (3), the manipulator (1) comprising: - A first target object joining device (4a) for joining a first target object (2a); - Second target object joining device (4b), the second target object joining device (4b) is used to join the second target object (2b); - Separation tool (5), wherein the first target object joining device (4a) and the second target object joining device (4b) are attached to the separation tool (5), and the separation tool (5) is made of a flexible plate; A lifting member (6), said lifting member (6) being adapted to carry the separating tool (5); and A connecting tool (7) connects the lifting member (6) and the separating tool (5) to each other by deforming the separating tool (5) by the weight of the target objects (2a, 2b) lifted by the manipulator (1), such that the separating tool (5) forces the first and second target objects (2a, 2b) to separate at least partially in the horizontal direction when the first and second target objects (2a, 2b) are engaged by the first and second target object engaging devices (4a, 4b), such that the target objects (2a, 2b) apply internal forces to the container (3), which can be lifted by the target objects (2a, 2b) through the friction between the target objects (2a, 2b) and the container (3).

2. The manipulator according to claim 1, wherein the separation tool (5) is configured to force the first and second targets (2a, 2b) to separate at least partially in the horizontal direction.

3. The manipulator according to claim 2, wherein the separation tool (5) is configured to force the bottoms of the first and second targets (2a, 2b) to separate.

4. The manipulator according to claim 3, wherein the separation tool (5) is configured to rotate the first and second targets (2a, 2b) about respective horizontal axes (Za, Zb).

5. The manipulator according to claim 4, wherein the manipulator (1) is configured such that the horizontal axis is above the target (2a, 2b).

6. The manipulator according to claim 4 or 5, wherein the separating tool (5) carries at least one of the target engagement devices (4a, 4b).

7. The manipulator according to claim 6, wherein the separation tool (5) is a flexible member, and wherein the manipulator (1) is configured such that the separation tool (5) deforms by the weight of the target (2a, 2b) lifted by the manipulator (1).

8. The manipulator according to any one of claims 1-5, wherein the separating tool (5) and / or the lifting member (6) is a plate-shaped element, a strip-shaped element, a rod-shaped element, or is composed of a strip mesh or rod mesh.

9. The manipulator according to any one of claims 1-5, wherein the contact sensor (8) is configured to sense the distance between the separation tool (5) and the lifting member (6).

10. The manipulator according to any one of claims 1-5, wherein the coverage area of ​​the manipulator (1) is smaller than the coverage area of ​​the container (3) to be lifted.

11. The manipulator according to any one of claims 1-5, wherein the first target (2a) is engaged by at least two first target engagement devices (4a), and the second target (2b) is engaged by at least two second target engagement devices (4b).

12. A robot comprising the manipulator (1) as described in any of the preceding claims.

13. A method for lifting a target object (2a, 2b) and an upwardly opening container (3) using a manipulator (1) according to any of the preceding claims, wherein the target object (2a, 2b) is at least partially disposed within the container (3), the method comprising the steps of: - Join the first target object (2a); - Join the second target object (2b); - The container (3) is secured to the first and second targets (2a, 2b) by forcibly separating them; and - Lift the target object (2a, 2b) and the container (3).

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