MANIPULATOR, AS WAREHOUSE WITH MANIPULATOR

Description

[0001] The present invention relates to a manipulator for a storage facility with storage surfaces on which items can be arranged in a row, and to a storage facility with at least one manipulator and storage surfaces on which items can be arranged in a row.

[0002] It is known that storage areas, such as channel storage systems with storage channels, are filled using a manipulator. The manipulator moves to the input end of the storage area and transfers the items to their storage locations. Such storage systems are frequently used for goods. Inclined shelf racks are particularly suitable for fast-moving goods. In these racks, the individual items are stored in channels separated by lateral barriers on a sloping surface. When an item is removed from the bottom, the remaining items slide down. Typically, each channel contains identical items. The items generally come in cuboid packages, with packages of the same size placed in a channel whose width is matched to the package size. However, such storage systems can also accommodate goods of different shapes, e.g.,Cylinders, and different formats are stored within the same channel.

[0003] Furthermore, warehouses with horizontal storage surfaces are known, which are also called rack warehouses. The manipulator of such a warehouse has a gripping device that extends to place an object on or pick it up from a storage surface.

[0004] To store items in the warehouse, the manipulator picks them up at a transfer station, where the items are automatically or manually transferred by an operator onto the manipulator's platform. This is usually done via a loading platform from which the items slide onto the platform, or from which the manipulator picks them up using its gripping device.

[0005] The previously known storage systems include, for example, automated storage units, such as those used in pharmacies to store packages of medicine.

[0006] Such a storage robot is known from EP 2 165 950 A1. The manipulator has a gripping device with a gripper having two clamping jaws. The clamping jaws are attached to a frame and, to pick up an object, are moved with the frame towards the object until the object is positioned between the clamping jaws. The clamping jaws are then moved towards each other until they are in contact with the object. By pivoting the clamping jaws in the horizontal plane, a gripping movement is performed, and the object is clamped between the clamping jaws. The drives for the individual movements are all arranged on the frame, so that when the frame moves, the drives are carried along, and thus a relatively large weight has to be moved. Therefore, at least some of the drives must be relatively powerful.Furthermore, due to the high weight to be moved, the accuracy of the frame's movement, and thus of the clamping jaws, is comparatively low, or increased design effort is required to achieve high accuracy. The frame must be relatively robust to support the drives, which further increases its own weight. WO 2016 / 168874 A1 discloses a manipulator with the features of the preamble of claim 1. US 2015 / 081089 A1 describes another manipulator with telescopically extendable clamping jaws. A further manipulator is known from DE 10 2011 010557 A1.

[0007] It is therefore the object of the present invention to provide a manipulator for a bearing with bearing surfaces for storing objects, in which the gripping device has a design improved with regard to weight, as well as a bearing with such a manipulator.

[0008] The manipulator according to the invention is defined by the features of claim 1.

[0009] The bearing according to the invention is defined by the features of claim 14.

[0010] The manipulator according to the invention for a storage area with at least one storage surface on which objects can be arranged in a row, wherein an operating side of the storage surface can be operated via the manipulator, has the features of claim 1.

[0011] The invention thus provides that only the clamping jaws are moved in the second horizontal direction towards or away from the bearing surface, so that the drive device and the drive transmission device for this movement can remain stationary. This allows the weight to be moved to be kept very low. Since the two drive transmission devices act directly on the clamping jaws, the drive movement can be transmitted directly to the clamping jaws, thus minimizing the complexity of the device. Because the clamping jaws are driven individually in the second horizontal direction and therefore only a small weight needs to be moved, the corresponding drive for this movement can be designed with comparatively low power.

[0012] Using the manipulator according to the invention, objects can be arranged on the storage surface of a bearing either side by side in a row in a horizontal direction, or one behind the other, as viewed from the manipulator's perspective. The clamping jaws can also be used to grip or transport several objects simultaneously, for example, objects of the same size.

[0013] To operate the storage surface, the carriage of a manipulator according to the invention is moved towards the operating side of the storage surface. For this purpose, at least the carriage of the manipulator is movable in at least two spatial directions and preferably also pivotable about a vertical axis. To remove an object from the storage surface, the clamping jaws are driven in the second horizontal direction until they are located above the storage surface on both sides of the object. The clamping jaws are then moved towards each other in the first horizontal direction to grip the object. Subsequently, the clamping jaws are moved away from the storage surface in the second horizontal direction, so that they pull the object onto the support surface of the carriage. In their home position, the second horizontal direction corresponds to the longitudinal direction of the clamping jaws.

[0014] Preferably, the drive devices are movable towards or away from each other, whereby the drive transmission devices move the clamping jaws in the first horizontal direction. In other words, the movement of the clamping jaws in the first horizontal direction is also caused by the drive transmission devices, so that they perform the corresponding movement together with the clamping jaws.

[0015] Within the scope of the invention, it is particularly provided that the first horizontal direction is orthogonal to the second horizontal direction.

[0016] Because the drive transmission devices cause the movement in the first horizontal direction, it can also be achieved that no drive motor needs to be moved along with this movement, so that it can, for example, remain stationary and only drive the drive transmission devices.

[0017] According to the invention, each drive transmission device has a holder on which one of the clamping jaws is mounted for translational displacement. The holders are pivotable in a horizontal plane, and the angle between the clamping jaws can be changed via this pivoting movement. In addition to movement in the first and second horizontal directions, the clamping jaws can also be pivoted relative to each other, thereby generating a gripping motion. For example, this pivoting movement can bring the distal ends of the clamping jaws towards each other in a pincer-like manner, so that when gripping an object, only a small area at the end of the clamping jaws contacts the object, exerting an advantageous pressing force. This allows the object to be transported stably using the clamping jaws.

[0018] Due to the translationally displaceable mounting of the clamping jaws on the holder, the clamping jaws can advantageously be moved in the second horizontal direction. The mounting of the clamping jaws on the holder moves along with the holders when they pivot in the horizontal plane, so that the clamping jaws remain movable in their longitudinal direction even in a pivoted position. The inventive design of the holders with clamping jaws mounted thereon, wherein the holders are pivotable, enables the pivoting movement of the clamping jaws in a structurally simple manner, with each drive transmission device individually driving the corresponding holder and thus the clamping jaw. As a result, only a small weight, namely the weight of the holder and the clamping jaw, needs to be moved for the pivoting movement, so that the drive required for the pivoting movement can be equipped with low power.

[0019] According to the invention, the clamping jaws are driven individually in different directions. However, this does not mean that the movements of the clamping jaws occur sequentially, but rather that, through appropriate control, the movement of the clamping jaws is usually synchronized with each other.

[0020] Preferably, the drive device includes a first drive motor that drives the drive transmission device towards or away from each other. In other words, the first drive motor drives the clamping jaws in the first horizontal direction via the drive transmission devices.

[0021] It can be provided that the drive transmission devices are each arranged on or attached to a threaded spindle, with the first drive motor rotating the threaded spindle, thereby allowing the respective drive transmission device to move along the corresponding threaded spindle. Advantageously, the drive transmission devices can be moved towards or away from each other by means of the threaded spindles, and synchronous movement of the drive transmission devices can be easily achieved by appropriately designing the threaded spindles.

[0022] Preferably, the threaded spindles can be driven in opposite directions, with the first drive motor rotating one of the threaded spindles and this spindle transmitting the drive motion to the other threaded spindle. In this way, a counter-rotating drive can be achieved in a structurally simple manner, for example, by using two gears to transmit the drive motion from one threaded spindle to the other. Furthermore, it can be easily achieved that the threaded spindles are moved at the same rotational speed (but in opposite directions) by, for example, using gears with identical diameters to transmit the drive motion.

[0023] In a preferred embodiment of the invention, the drive device includes a second drive motor which, via the drive transmission device, drives the clamping jaws in the second horizontal direction. Thus, the clamping jaws can share a common drive motor for the drive in the second horizontal direction, which initiates the drive movement of the clamping jaws. By providing a common second drive motor, synchronous movement of the clamping jaws in the second horizontal direction can be achieved in a particularly simple manner. The drive transmission devices can, for example, transmit the drive movement to the clamping jaws by means of appropriate gearboxes.

[0024] Preferably, the clamping jaws each have a rack and the drive transmission devices each have a pinion, wherein the pinion of a transmission device engages with the rack of the corresponding clamping jaw and the drive movement of the second drive motor can be transmitted to the respective clamping jaw via the pinion. In this way, the translational displacement of the clamping jaw can be carried out in a particularly simple manner. The rack can, for example, be arranged on the upper or lower surface of the clamping jaw.

[0025] It is preferably provided that the drive device has a drive shaft, wherein the drive transmission devices are movably mounted on the drive shaft in the longitudinal direction of the drive shaft, wherein the drive shaft is rotaryally driven by the second drive motor and the drive shaft transmits the drive motion of the second drive motor to the pinion. According to the invention, the drive shaft of the drive device thus fulfills a dual function, namely, on the one hand, the mounting of the drive transmission devices so that they are movably mounted in the longitudinal direction of the drive shaft, and on the other hand, the transmission of the drive motion from the second drive motor to the pinion.By mounting the drive transmission components translationally on the drive shaft, the movement of the drive transmission components towards or away from each other, caused, for example, by the lead screws, can be advantageously achieved. At the same time, the lead screws can be relieved of stress, since a large part of the weight of the drive transmission components is borne by the drive shaft. Of course, it is also possible for the drive transmission components to be mounted on the support carriage by means of a separate bearing arrangement and thus independently of the drive shaft.

[0026] Preferably, the drive transmission devices each have a toothed belt drive that transmits the rotary drive motion of the drive shaft to the respective pinion. The toothed belt drive allows the rotary drive motion of the drive shaft to be transmitted to a pinion in a simple manner. Furthermore, the toothed belt drive offers a degree of elasticity, so that even when the drive shaft is stationary, the pinion can be rotated within a small angular range around its axis of rotation, thus exhibiting a certain amount of play. This play is advantageous when one of the clamping jaws is pivoted by means of the bracket, as this causes a slight tilting between the pinion and the rack into which the pinion engages. The play provided by the toothed belt drive allows the pinion to perform a small rotational movement around its axis, which simplifies the tilting process.Additionally, the teeth of the pinion and rack can be adapted to each other in such a way that the teeth have a clearance for tilting.

[0027] The rack can be made of plastic, for example. The pinion can also be made of plastic or metal, such as brass. By selecting the appropriate materials, wear on the rack and / or pinion, especially due to tilting during the pivoting movement of the clamping jaws, can be minimized.

[0028] Within the scope of the invention, the transmission of a drive movement, for example from one of the drive motors to the clamping jaw, does not necessarily mean that a direct transmission of the movement takes place, but the movement can also take place indirectly by means of intermediate elements.

[0029] In a preferred embodiment of the invention, the drive transmission devices each have a locking device that holds the respective holder in a home position. The drive transmission devices each have a spring device that, in the home position of the holders, exerts a preload force on the respective clamping jaw with a force component directed towards the other clamping jaw. The locking device can be released via a release device, so that the spring device pivots the holder by means of the preload force. In other words, the drive of the holder from the home position to a pivoted position is effected by means of the preload force of the corresponding spring device.To keep the brackets in the basic position, a locking device is provided, which also prevents the preload force of the spring device from unintentionally pivoting the corresponding bracket and thus the clamping jaw.

[0030] The release mechanism can be an electromagnet. The electromagnet allows the locking device to be released advantageously and very quickly. Furthermore, the electromagnet enables the release of the locking device with minimal energy input, for example, by briefly energizing the electromagnet to move a retainer of the release device using magnetic force. Once the locking device is released, the retainer is moved by a spring mechanism, allowing the electromagnet to be switched off shortly after release. The release mechanism can, for example, incorporate a spring to return the retainer to its initial position.

[0031] In the manipulator according to the invention, it can be provided that, by moving the drive transmission devices towards each other, the clamping jaws can be pressed against an object or against each other in a pivoted state of the holders, thereby pre-tensioning the spring device and allowing the holders to be moved into their home positions. By pressing the clamping jaws against an object or against each other, the clamping jaws can thus be moved into their home position against the pre-tensioning force of the spring device. It can be provided that the locking device snaps into place when the home position is reached in order to hold the holder in the home position.In the design of the manipulator according to the invention, the spring preload is selected such that an object to be transported can advantageously be held between the clamping jaws when the jaws are pivoted, without the clamping jaws pivoting against the spring force of the spring device towards the home position until they lock during transport. The clamping jaws are only returned completely to the home position by applying a further force via the drive transmission devices. When removing an object, for example, its dimensions may be known, so that the distance between the clamping jaws is adjusted to the object's dimensions by means of the drive transmission devices. The clamping jaws are then subsequently moved in the second horizontal direction until the object is positioned between the clamping jaws.By releasing the locking device, the clamping jaws initiate a gripping movement, clamping the object between them. The clamping force is provided by the spring mechanism. The objects can be stored on the storage surface with relatively little space between them. This is achieved by extending the clamping jaws relatively close to the object to be removed, thus requiring minimal space for the gripping movement. The manipulator according to the invention therefore allows for the efficient use of storage areas.

[0032] By providing a drive transmission device with a spring mechanism and a locking device, which allows the holder and thus the clamping jaw to pivot, a separate drive motor for the pivoting movement of the clamping jaw can be dispensed with, since the necessary drive energy can be supplied by the first drive motor and temporarily stored in the spring mechanism. The first drive motor moves the drive transmission devices towards each other, and by pressing the clamping jaws against an object or against each other, the drive force is transferred to the spring mechanism and temporarily stored as the preload force after reaching the home position and locking.

[0033] Preferably, a slide is arranged between the clamping jaws, which is displaceable in the second horizontal direction. Objects arranged on the support surface of the carriage can be moved in this second horizontal direction by means of the slide. To place one or more objects onto a support surface, the clamping jaws are moved in the second horizontal direction at a distance from each other adapted to the dimensions of the object(s) to be placed, until the distal ends are above the corresponding support surface. The object(s) are then moved in the second horizontal direction by means of the slide and pushed onto the support surface, with the clamping jaws forming a lateral guide for the objects.

[0034] Preferably, a sensor is arranged next to each clamping jaw, for example, on the mounting brackets. One sensor detects the retracted end position of one of the clamping jaws, and the other sensor detects the extended end position of the other clamping jaw. Of course, two sensors can also be arranged next to each clamping jaw, one detecting the retracted end position and the other the extended end position. However, for synchronously driven clamping jaws, one sensor is sufficient. The retracted state of one clamping jaw can be detected, from which it can be concluded that the other clamping jaw is also in its end position due to the synchronous movement, and the extended state of the other clamping jaw can be detected. The sensors can, for example, be optical sensors that detect a recess in the respective clamping jaw.

[0035] In the manipulator according to the invention, a very flat design of the support carriage is particularly possible, since it has to accommodate and carry a small number of drive motors, which also only have to provide a comparatively low power output.

[0036] The invention further relates to a bearing with several horizontally arranged bearing surfaces, each having at least one operating side and with at least one manipulator according to the invention.

[0037] The invention will be explained in more detail below with reference to the following figures.

[0038] They show: Fig. 1 a schematic perspective view of a bearing according to the invention with bearing surfaces and manipulator, Fig. 2 a schematic perspective view of the support carriage of one of the manipulators according to the invention, Fig. 3 a schematic view of the support carriage of the Figure 2without housing, Fig. 4 a schematic detail view of the spindles for driving the drive transmission devices of the manipulator according to the invention, Fig. 5 a schematic detail view of the drive shaft for transmitting the drive movement to the pinions for driving the clamping jaws, Figs. 6a and 6b schematic representations of the pivoting movement of the holders and thus of the clamping jaws and Fig. 7 a schematic detail view of the drive transmission devices with spring device and locking device.

[0039] In Figure 1 A section of a bearing 100 according to the invention is shown schematically in a perspective view.

[0040] Storage unit 100, for example a pharmacy storage unit, has a manipulator 1 and several horizontally arranged storage areas 150. Items 200, for example medicine packages, can be stored in a row on the storage areas 150.

[0041] The manipulator 1 has a support carriage 3 which is arranged on a movable frame 2. By means of the movable frame 2, the support carriage 3 can be moved in at least two spatial directions and pivoted about a vertical axis. The frame 2 can be moved parallel to an operating side 150a of the storage surfaces 150. Figure 1 This direction is referred to as the x-direction. Furthermore, the support carriage 3 can be adjusted in height to reach the different bearing surfaces 150. This direction is in Figure 1 the z-direction. The support carriage 3 can be pivoted around an axis extending in the z-direction, i.e. vertically, in order to, for example, serve additional storage areas or to reach a dispensing point for the items 200.

[0042] The individual storage areas 150 on the operating side 150a can be accessed by means of the support carriage 3 of the manipulator 1. The support carriage 3 has a platform 5 on which one or more items 200 can be placed for transport. Items 200 placed on the platform 5 can be moved and placed on the storage areas 150 by means of the support carriage 3, or items 200 can be removed from the storage area and placed on the platform 5. The support carriage 3 has a gripping device 7 for removing, placing, or transporting the items 200.

[0043] In the Figures 2 and 3 The support carriage 3 of a manipulator 1 according to the invention is shown schematically in a perspective view with and without a housing. The directional terms used below refer to the position shown in the Figure 1The position of the manipulator shown is that it is aligned to operate the operating side 150a of the storage surfaces 150.

[0044] The gripping device 7 has two elongated clamping jaws 9 and a drive device 10 for driving the clamping jaws 9. The clamping jaws 9 are each mounted on a drive transmission device 11 so as to be translationally movable. By means of the drive transmission devices 11, the clamping jaws 9 can be moved in various horizontal directions. The drive transmission devices 11 can be moved towards and away from each other in a first horizontal direction A, which also allows the clamping jaws 9 to be moved towards and away from each other. The first horizontal direction A corresponds to the x-direction of the Figure 1. By moving the clamping jaws in the first horizontal direction A, the distance between the clamping jaws can be adjusted to an object 200 so that it can be gripped advantageously.

[0045] Furthermore, the clamping jaws 9 can be moved in a second horizontal direction B by means of the drive transmission devices 11. The second horizontal direction B is in a basic position of the clamping jaws 9, which is in Figure 2 The longitudinal direction of the clamping jaws 9 is shown, such that the clamping jaws 9 can be moved towards and away from the bearing surfaces 150. The second horizontal direction B corresponds to the y-direction of the Figure 1 .

[0046] Each drive transmission device 11 engages one of the clamping jaws 9, so that the respective drive transmission device 11 drives each jaw individually in the first and second horizontal directions A, B. Particularly when moving the clamping jaws 9 in the second horizontal direction B, this design has the advantage that only the clamping jaws are moved, and not, as in the prior art, the clamping jaw holders and drives are moved in a complex manner to move the clamping jaws.

[0047] Above the wing 5 a camera 13 is arranged, which takes an image of part of the wing 5, the clamping jaws 9 and the area in front of the carriage 3, in order to be able to record the transport of objects 200 visually.

[0048] Furthermore, a slider 15 is arranged in the area of ​​the wing 5, which is displaceable in the second horizontal direction B and can, for example, move an object arranged on the wing 5 on the wing 5 in order to advantageously arrange it between the clamping jaws 9 or can also support a depositing process by sliding an object 200.

[0049] As from Figure 3 As can be seen, the slide 15 is driven by a slide drive 17 in the form of a drive motor.

[0050] The support carriage 3 further comprises a first drive motor 19, which drives the drive transmission devices 11 in the first horizontal direction. The rotary drive motion of the first drive motor 19 is transmitted via a belt drive 21 to a drive mechanism for the drive transmission devices 11, which is Figure 4 (opposite Figure 3 (rotated by 180°) is shown.

[0051] The drive motion is transmitted to a first threaded spindle 23, which is connected to one of the drive transmission devices 11. The rotational movement of the first threaded spindle 23 moves the corresponding drive transmission device 11 in the first horizontal direction A. At the end 23b of the first threaded spindle 23, which is opposite the drive side 23a where the belt drive 21 engages, the first threaded spindle 23 has a first gear 23c that engages with a gear 25a of a second threaded spindle 25. The rotational movement of the first threaded spindle 23 is thus transmitted to the second threaded spindle 25, resulting in a counter-rotating movement. The other drive transmission device 11 is arranged on the second threaded spindle 25. The rotational movement of the second threaded spindle 25 moves the other drive transmission device 11 in the first horizontal direction A.

[0052] Due to the inventive design of the drive device 10, in which only the drive transmission devices 11 and, via these, the clamping jaws 9 are driven, the first drive motor 19 can remain stationary in the support carriage 3 during the movement of the clamping jaws 9. Since only the drive transmission devices 11 and the clamping jaws 9 need to be moved by the first drive motor 19, only a relatively small amount of power is required for this movement, so that the drive motor 19 can be designed to be correspondingly small.

[0053] The drive device 10 further comprises a second drive motor 27, which drives a drive shaft 29, which is best located in Figure 5As can be seen, the drive is rotary. The motion is transmitted from the drive motor 27 to the drive shaft 29 via a belt drive (not shown). The drive transmission devices 11 are mounted on the drive shaft 29 so as to be translationally movable. This relieves the load on the first and second gear spindles 23, 25, and a large part of the weight of the drive transmission devices 11 and the clamping jaws 9 is borne by the drive shaft 29. The drive transmission devices 11 are mounted translationally along the longitudinal direction of the drive shaft 29, thus providing support for the movement of the drive transmission devices 11 in the first horizontal direction A.

[0054] The drive shaft 29 transmits the rotary drive motion of the second drive motor 27 to a toothed belt drive 31, which transmits the drive motion to a pinion 33. The pinion 33 engages with a rack (not shown) arranged on the corresponding clamping jaw 9. The rotary motion of the pinion 33 is thus converted into a longitudinal motion of the clamping jaw 9, so that the clamping jaw 9 can be moved in the second horizontal direction B.

[0055] The inventive design of the drive device 10, in which the drive motion of the second drive motor 27 is transmitted via the drive shaft 29 and the toothed belt drive 31 to the pinion 33, makes it possible to move only the clamping jaws 9 in the second horizontal direction B, so that the second drive motor 27 can remain stationary in the support carriage 3 during this movement. This means that only a relatively small amount of power is required to move the clamping jaws 9, allowing the second drive motor 27 to be designed to be correspondingly small.

[0056] As from the Figures 6a and 6bAs can be seen, the clamping jaws 9 can be pivoted relative to each other in a horizontal plane. For this purpose, the drive transmission devices 11 are pivoted in the horizontal plane so that the clamping jaws 9 are moved by means of the drive transmission devices 11 from a basic position in which the clamping jaws 9 are parallel to each other (in Figure 6a (shown) into a tilted position (in Figure 6b (shown), can be swivelled.

[0057] By pivoting the clamping jaws in the horizontal plane and the resulting change in angle, the distal ends of the clamping jaws 9 can perform a tweezer-like gripping movement, whereby an object 200 can be advantageously gripped by means of the clamping jaws 9.

[0058] The swivel mechanism is in Figure 7 depicted. Figure 7 shows a top view of the drive transmission devices 11, with clamping jaws 9 arranged on them. Figure 7 The left clamping jaw 9 is shown in a pivoted position in the top view, and the jaw shown in the top view is shown in the Figure 7 , right clamping jaw 9, shown in its basic position.

[0059] The clamping jaws 9 are each arranged on a holder 35. The clamping jaws 9 are also supported translationally on the holder 35 in the longitudinal direction of the clamping jaws 9. As shown from Figure 7 As can be seen, the brackets 35 can each be pivoted in the horizontal plane.

[0060] The drive transmission devices 11 each have a spring device 37 to initiate the pivoting movements of the holder 35 and thus the clamping jaws 9. The spring device, by means of its preload force, pushes the respective holder 35 from its home position into the pivoted position. A locking device 39 is provided to hold the holder 35 in its home position. The locking device 39 can be released by means of a release device 41, so that the spring device 37 can push the holder 35 and thus the clamping jaws 9 in the direction of the pivoting position. The release device 41 can be an electromagnet. This attracts a retainer 43 by magnetic force, so that the locking device 39 is released and the holder 35 can pivot freely. The use of an electromagnet has the advantage that it only needs to be energized for a short period of time until the locking device 39 is released.The return of the retainer 43 for re-locking the locking device 39 can be effected by means of a spring 45.

[0061] The spring device 37 is designed such that when the drive transmission devices 11 move towards each other, so that the clamping jaws 9 clamp an object 200, sufficient clamping force can be generated by the clamping jaws 9 without excessive or excessive deflection of the spring device 37 and thus without the locking device 39 engaging. In other words, when the clamping jaws 9 clamp an object 200 to be transported, the clamping jaws 9 remain largely in the pivoted position and are not fully pressed towards the home position. To move the clamping jaws 9 back from the pivoted position to the home position, the clamping jaws 9 can be pressed against each other so that, against the preload force of the spring device 37, the clamping jaws are pivoted back towards the home position.Upon reaching the home position, the locking device 39 engages and holds the clamping jaws 9 in the home position. The necessary drive energy for pivoting the clamping jaws into the home position and for pre-tensioning the spring device 37 is provided by the first drive motor 19, so that the drive energy can be temporarily stored in the spring device.

[0062] Furthermore, sensors (not shown) can be arranged on the brackets 35, which detect the retracted end position of the clamping jaws 9, as described in Figure 2 is depicted, or an extended position, as seen, for example, in the Figures 6a, 6bThe position of the clamping jaws is recorded. For this purpose, a sensor can be positioned next to one of the clamping jaws to determine the retracted end position, and another sensor can be positioned on the other clamping jaw 9 to determine the extended end position. Since the drive shaft 29 drives both clamping jaws 9 synchronously, it is sufficient if only one sensor is positioned next to each clamping jaw 9. This ensures that the synchronous movement guarantees that when one end position of a clamping jaw 9 is reached, the other clamping jaw 9 has also reached its corresponding end position. The sensors can, for example, be optical sensors that detect a recess in the respective clamping jaw 9.

Claims

1. Manipulator (1) for a storage facility (100) with at least one storage surface (150) on which objects (200) can be arranged in a row, wherein an operating side (150a) of the storage surface (150) can be operated via the manipulator (1), comprising at least one movable supporting slide (3) with a supporting surface (5) for receiving the objects (200), wherein a gripping device (7) with two elongated clamping jaws (9) is arranged on the supporting slide (3), the clamping jaws being movable in a first horizontal direction (A) towards or away from each other for adapting the distance of the clamping jaws (9) to an object (200), and movable in a second horizontal direction (B) towards or away from the storage surface (150), so that by means of the clamping jaws (9) at least one of the objects (200) can be removed from the storage surface (150) and conveyed onto the supporting surface (5) or can be conveyed from the supporting surface (5) onto the storage surface (150) and deposited thereon, and comprising a drive device (10) with two drive transmission devices (11), wherein in each case one of the drive transmission devices (11) engages one of the clamping jaws (9) and drives the respective clamping jaw (9) individually for carrying out the movement in the second horizontal direction (B), the drive transmission devices (11) each comprising a holder (35) on which, respectively, one of the clamping jaws (9) is mounted so as to be translationally displaceable characterized in that the clamping jaws (9) are arranged on the supporting surface (5), and in that the holders (35) can be pivoted in a horizontal plane, and wherein an angle between the clamping jaws (9) can be varied via the pivoting movements.

2. Manipulator according to claim 1, characterized in that the drive transmission means (11) are movable towards or away from each other, whereby the drive transmission means (11) move the clamping jaws (9) in the first horizontal direction.

3. Manipulator according to any one of claims 1 or 2, characterized in that the drive device (10) comprises a first drive motor (19) which drives the drive transmission means (11) towards or away from each other.

4. Manipulator according to claim 3, characterized in that the drive transmission devices (11) are each arranged on or at a threaded spindle (23,25), wherein the first drive motor (19) rotationally drives the threaded spindles (23,25), whereby the respective drive transmission device (11) is movable along the corresponding threaded spindle (23,25), wherein, preferably, the threaded spindles (23,25) are adapted to be driven in opposite directions, the first drive motor (19) rotationally drives one of the threaded spindles (23,25) and the threaded spindle (23,25) transmits the drive movement to the other of the threaded spindles (23,25).

5. Manipulator according to any one of claims 1 to 4, characterized in that the drive device (10) comprises a second drive motor (27) which drives the clamping jaws (9) in the second horizontal direction (B) by means of the drive transmission means (11).

6. Manipulator according to claim 5, characterized in that the clamping jaws (9) each have a toothed rack and the drive transmission devices (11) each have a pinion (33), the pinion (33) of a drive transmission device (11) engaging in the toothed rack of the corresponding clamping jaw (9) and the drive movement of the second drive motor (27) being transmittable to the respective clamping jaw (9) via the pinion (33).

7. Manipulator according to claim 6, characterized in that the drive device (10) comprises a drive shaft (29), wherein the drive transmission means (11) are mounted on the drive shaft (29) so as to be movable in translation in the longitudinal direction of the drive shaft (29), wherein the drive shaft (29) is driven in rotation by the second drive motor (27) and the drive shaft (29) transmits the drive movement of the second drive motor (27) to the pinion (33), wherein, preferably, the drive transmission means (11) each comprise a toothed belt drive (31) which transmits the rotational drive movement of the drive shaft (29) to the respective pinion (33).

8. Manipulator according to any one of claims 1 to 7, characterized in that the drive transmission means (11) each have a locking device (39) which holds the respective holder (35) in a basic position, the drive transmission devices (11) each having a spring device (37) which, in the home position of the holders (35), exert a prestressing force with a force component directed towards the respective other clamping jaw (9) on the respective clamping jaw (9), the locking device (39) being releasable via a release device (41), so that the spring device (37) pivots the holder (35) by means of the prestressing force, wherein, preferably, the release device (41) is an electromagnet.

9. Manipulator according to claim 8, characterized in that by a movement of the drive transmission means (11) towards each other, the clamping jaws (9) in the pivoted state of the holders (35) can be pressed against an object or against each other, whereby the spring device (37) can be pretensioned and the holders (35) can be moved into the home position.

10. Manipulator according to one of the claims 1 to 9, characterized in that a slider (15) is arranged between the clamping jaws (9), which is displaceable in the second horizontal direction (B).

11. Manipulator according to any one of claims 1 to 10, characterized in that next to at least one of the clamping jaws (9) a sensor is arranged for determining the end positions of the clamping jaw (9) during the movement in the second horizontal direction (B).

12. Manipulator according to claim 11, characterized in that a sensor is arranged next to each of the clamping jaws (9), one of the sensors determining the retracted end position of one of the clamping jaws (9) and the other sensor determining the extended end position of the other clamping jaw (9).

13. Manipulator according to any one of claims 6 to 12, characterized in that the racks are made of a plastic material.

14. Storage facility (100) having a plurality of horizontally arranged storage surfaces (150), each having at least one operating side (150a), and having at least one manipulator (1) according to any one of claims 1 to 13.