Gripper for moving an object and method for moving an object using the same

Abstract

The gripper according to the invention comprises a delivery table (10) extending in the X-direction and the Y-direction, and a gripping means guide arrangement (20) having a gripping means (100; 30), the gripping means (100; 30) comprising a first one-sided flexible chain (300) comprising a bend limiting device (320, 321), the first one-sided flexible chain (300) having a first end (301) away from the gripping means guide arrangement (20) and a second end (302) facing towards the gripping means guide arrangement (20). According to the invention, the one-sided flexible chain (300) is movable and deflectable by a deflection device at an angle between 70 and 110° relative to the X-direction in a second articulated direction, positioned so that a pressing force is transmitted to the article, and has an alignment device that holds the chain links in an extended position, not pivoted relative to each other, in a non-articulated flexed state.

Description

[Technical field]

[0001] The present invention relates to a gripper for a storage device having a horizontal storage surface for storing and retrieving items, and a method for transferring items to and from the gripper. [Background technology]

[0002] Picking machines, as an example of a storage device for pharmaceutical packages, regularly use grippers that move the article, i.e., pharmaceutical package, from a storage surface onto the gripper by clamping the pharmaceutical package with pivotable clamp jaws and pulling it onto the gripper. The clamping force applied by the clamp jaws must overcome the static friction of the pharmaceutical package / storage surface, otherwise the pharmaceutical package will remain on the storage surface. For light pharmaceutical packages, overcoming static friction by clamping is not an issue. For heavy pharmaceutical packages and other heavy articles, movement by clamping is not possible or only possible with complex mechanisms due to the weight. Such clamping is undesirable, disadvantageous or even impossible for delicate articles, since a certain clamping force must necessarily be exerted on the workpiece. Summary of the Invention [Problem to be solved by the invention]

[0003] It is an object of the present invention to provide a gripper capable of moving even heavy and / or delicate objects, and a method for moving heavy and delicate objects. [Means for solving the problem]

[0004] The present invention is solved unilaterally by a gripper according to claim 1. The gripper according to the invention for moving articles comprises a delivery table extending in a first horizontal direction (X direction) and in a second horizontal direction (Y direction) perpendicular to the first horizontal direction and having at least one storage and retrieval end surface extending in the Y direction, and a gripping means guide arrangement arranged on the delivery table, the gripping means guide arrangement extending in the X direction and having a gripping means movable in the X direction and having an end remote from the gripping means guide arrangement and an end close to the gripping means guide arrangement. The mobility of the gripping means can be provided in different ways, for example by moving the gripping means guide arrangement in the X direction, for example by a linear linear drive extending in the X direction, or by moving the gripping means or a part thereof, for example by a telescopic arrangement of the gripping means. Grippers with the above mentioned components and their functionality are known from the prior art.

[0005] The gripping means of the gripper according to the present invention comprises a first deflection device, a first guide part extending in the X-direction, a second guide part, and a first one-sided flexible chain cooperating with the deflection device and the guide part and having a plurality of chain links with a chain link length (KGL), the one-sided flexible chain comprising a bend limiting device limiting the pivoting of the chain links relative to each other in a first joint direction and allowing pivoting in a second joint direction, the first one-sided flexible chain having a first end remote from the gripping means guide arrangement and a second end close to the gripping means guide arrangement.

[0006] According to the present invention, the one-sided flexible chain is movable by a drive unit and deflectable by a deflection device to a second joint direction at an angle between 70° and 110° with respect to the X direction, and the one-sided flexible chain is arranged so as to be able to transmit a pressing force to an article moved onto the delivery table when the gripping means is moved in the X direction. The one-sided flexible chain has an alignment device which, in a non-articulated bent state, holds the chain links in a non-pivoting, extended arrangement relative to each other and fixes them against pivoting in the second joint direction.

[0007] One-sided flexible chains, also called push chains or back-rigid chains, are a special product in linear drive technology. Push chains consist of specially formed high-precision mechanical chain links. The chain links are designed in such a way that pivoting in a first articulation direction (the inflexible "side" of the chain) is only possible to a limited extent, but in a second articulation direction (the flexible "side" or direction) is permitted. Such chains are usually constructed in such a way that the chain links can only swing relative to the inflexible side to the extent that a stretched, straight chain can be formed. How exactly the limitation of the pivoting is achieved depends on the exact construction of the chain, and in this case the device used for this purpose is called a bend limiting device. The general construction and the general mode of operation of these chains are known to those skilled in the art and will not be described in more detail. Only details that are essential to the invention and may differ from known chains are described.

[0008] In the gripper according to the invention, the first one-sided flexible chain can be deflected by the chain drive and by the first deflection device at an angle between 70 and 110° with respect to the X-direction. In order to prevent the one-sided flexible chain from taking an "arbitrary" orientation after "leaving" the deflection device, e.g. winding up towards the second joint, according to the invention the chain constitutes the above-mentioned alignment device, which ensures that the chain remains linearly aligned after "leaving" the deflection device.

[0009] The gripper according to the invention makes it possible to push the article onto the delivery table (from the "point of view" of the chain, although from the gripper as a whole this is more of a pulling action), but since the push chain part is flexible (so that the chain part can pivot further towards the second joint) when applying a compressive force to the side away from the storage and retrieval end face (i.e. the back face), the corresponding gripper cannot be used to push the article onto the storage face.

[0010] According to the invention, an alignment device is provided for the gripper, which holds the one-sided flexible chain in a non-articulated bent state, i.e. in a stretched, non-pivoted arrangement, when it is moved or stretched on the delivery table. In one embodiment, the alignment device of the one-sided flexible chain is designed as a spring element extending through the chain, which presses the chain links in the first articulated direction against the bending limiter. The design of the alignment device is technically simple and requires only minor modifications to the "normal" one-sided flexible chain.

[0011] In another embodiment, the alignment device is formed by a plurality of latch arms with latch lugs and latch receptacles, the latch arm of one chain link being able to cooperate with the latch receptacle of an adjacent chain link, the cooperating latch arm and latch receptacle stretching and aligning the corresponding chain link. To ensure the alignment of the chain links, it is necessary to lock the chain links before the chain section is moved on the delivery table. For this purpose, in this embodiment, the second guide section is designed to lock the adjacent chain links. This can be achieved, for example, by making the second guide section longer than the chain link length, depending on the exact configuration of the latch means (latch arms, latch lugs, latch receptacles).

[0012] The gripper according to the invention cannot push heavy objects from the delivery table to the storage location for the reasons mentioned above (the one-sided flexible chain is flexible in the pushing direction from the delivery face across the storage and retrieval end face, and the chain links can pivot towards the second joint). Additional devices of the gripper can be used to push objects from the delivery table to the storage location.

[0013] In a preferred embodiment of the gripper, in which the article can also be pushed from the delivery table with the aid of the first flexible chain, the gripper has a second gripping means having a receiving device which can be detachably connected to a first end of the first one-sided flexible chain such that a pushing force (from the "point of view" of the chain) is transmitted to the article when the gripping means is moved in the X direction towards the storage and retrieval end face.

[0014] Providing a releasable connection to the receiving device provides a rigid and pressure-resistant connection in both directions (to the storage and retrieval faces) and can also be used to transmit larger forces, i.e. even heavier items can be transferred from the storage face to the gripper and from the gripper to the storage face.

[0015] Another important advantage of the present invention is that the structure of the gripping means is relatively simple and such chains can be stored in a "space-saving" manner along the X-direction of the gripping means. Also, the gripping means itself can be made slim, which is essential for a tight and therefore space-saving storage of items on a dimensioned storage surface. Furthermore, the components are very robust, so that frequent maintenance and rapid wear are not to be expected.

[0016] In order to be able to use the entire length of the gripping means, in a preferred embodiment the first deflection device and the receiving device are arranged at an end of the gripping means remote from the gripping means guide arrangement.

[0017] By moving the gripping means in the X direction towards the delivery table of the gripper, the article(s) are moved onto the delivery table. In case of maximum "movement" of the gripping means (in the X direction), the positioning of the deflection device and the receiving device on the gripping means defines the delivery position of the article on the delivery table. In this way, the deflection device and the receiving device are positioned at the end away from the gripping means guide arrangement, so that the article is located close to the storage and retrieval end face. However, this position may not be optimal or usable for further handling of the article. Furthermore, in this configuration, it is not easy to move the article from the delivery table to the storage face using the one-sided flexible chain (i.e. without providing further components).

[0018] In particular, in order to be able to place the articles at different positions on the delivery table, according to a preferred embodiment the first deflection device and / or the receiving device can be moved in the X direction by a drive on or in the associated gripping means, respectively. Such mobility also makes it possible to move the articles from the gripper, for example to a storage surface, with the aid of the first flexible chain, as will become clear in the method description below.

[0019] This receiving device is capable of establishing a detachable connection with the first end of the first one-sided flexible chain as long as its functionality is ensured, i.e. when the gripping means is moved in the X direction towards the storage and retrieval end face a pressing force is transmitted to the articles. In a structurally simple embodiment, the receiving device comprises an opening for receiving the first end of the first chain, which opening preferably has a depth greater than the chain link length.

[0020] In another embodiment, the receiving device is provided by a first end of a second one-sided flexible chain, cooperating with a second deflection device, movable by a second chain drive and deflectable by the second deflection device at an angle between 70 and 110° with respect to the X direction, so that the first end of the second chain can move into the space between the gripping means, the first ends of the chains being detachably interconnected such that a pressing force is transmitted to the storage and retrieval end faces when the gripping means moves in the X direction.

[0021] In this embodiment, the two gripping means have the same components (arranged) as mirror images of each other, in which case the receiving device is provided by all of the aforementioned components.

[0022] Such an embodiment is particularly useful when the possible distance between the gripping means is large, since in this way it is still possible to use a relatively short chain, which only has to bridge half the space in each case. The exact method of the detachable connection between the ends of the chain depends on the individual case, but in the simplest case a simple rigid plug / socket connection can be used.

[0023] As mentioned above, it may be provided that the deflection device or the deflection device and the receiving device are movable in the X-direction along the gripping means. However, the degree of freedom of movement of the deflection device is limited by the length of the chain, if the chain is not received in the gripping means guide arrangement, at least when the deflection device is moved towards the end of the gripping means close to the gripping means guide arrangement. In order to allow a wide range of movement during the movement of the deflection device(s), according to a preferred embodiment, a gripping means is provided with a deflection device and a further deflection device at the end remote from the gripping means guide arrangement at the end close to the gripping means guide arrangement, the one-sided flexible chain can be deflected by the further deflection device from the X-direction, preferably at an angle of less than 90°, so that the second end of the chain can move over the delivery table.

[0024] This object is further achieved by a method of transferring an article to a gripper according to the invention, in which the gripper is moved to a storage surface associated with the article to be retrieved, the at least one gripping means is moved in the X direction to the storage surface such that the article is located next to the gripping means, the first one-sided flexible chain is moved by an associated chain drive such that a first end is stretched by a first deflection device away from the gripping means guide arrangement at an angle between 70 and 110° to the X direction, adjacent chain links downstream of the deflection device away from the gripping means guide arrangement are brought into a mutually non-pivoting stretched arrangement, and the stretched portion of the one-sided flexible chain is moved behind the article such that the article is located between the stretched portion of the chain and the delivery surface. Finally, the at least one gripping means is moved in the X direction to the delivery table with the stretched portion of the first one-sided flexible chain pushing the article towards the delivery table.

[0025] As previously mentioned, a gripper with only one gripping means cannot push an item out of the gripper and onto the storage surface due to the nature of the one-sided flexible chain.

[0026] However, in a preferred embodiment of the method, which can be performed with only one gripper with two gripping means, the gripper is moved towards a storage surface associated with the article to be retrieved, the gripping means is moved in the X direction towards the storage surface such that the article is placed between them, the first one-sided flexible chain is moved by the associated chain drive such that a first end is stretched by a first deflection device away from the gripping means guide arrangement at an angle between 70° and 110° to the X direction, adjacent chain links downstream of the deflection device away from the gripping means guide arrangement are brought into a non-pivoting stretched arrangement relative to each other, and the stretched part of the one-sided flexible chain is moved behind the article such that the article is placed between the stretched part of said chain and the delivery table, and the first end of the first chain is removably connected to the receiving device of the second gripping means, and a pressing force is transmitted to the article when the gripping means is moved in the X direction towards the storage and retrieval end surface. Finally, the gripping means is moved in the X direction towards the delivery table, so that the article is pushed onto the delivery table of the gripper.

[0027] In a preferred embodiment, the first ends of the chains are releasably connected to the receiving device by moving a second one-sided flexible chain by an associated chain drive such that a first end of the second chain is moved into the space between the gripping means by a second deflection device away from the gripping means guide arrangement, and the first ends of the chains are releasably interconnected such that a pressing force is transmitted to the articles when the gripping means is moved in the X direction towards the storage and retrieval end face.

[0028] Depending on the exact configuration of the grippers, the flexible chain can also be used to push the article out of the grippers onto the storage surface. For this purpose, a deflection device remote from the gripping means guide arrangement or a corresponding deflection device and receiving device are moved towards the end of the gripping means close to the gripping means guide arrangement. The first one-sided flexible chain is then moved by the associated chain drive such that its first free end is moved by the first deflection device remote from the gripping means guide arrangement into the space between the gripping means, i.e. behind the article to be moved relative to the storage and retrieval end surface. The first free end of the first chain is detachably connected to the receiving device of the second gripping means such that a pushing force is transmitted to the article when the gripping means is moved in the X direction towards the storage and retrieval end surface, after which the article is removed from the support of the gripper by moving the gripping means in the X direction over the storage and retrieval end surface. [Brief description of the drawings]

[0029] In the following, preferred embodiments of the gripper and the method according to the invention will be described with reference to the drawings. [Figure 1] FIG. 1 shows a schematic diagram of a first embodiment of a gripper. [Figure 2a] FIG. 2a shows a detailed view of a first embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 2b] FIG. 2b shows a detailed view of a first embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 2c] FIG. 2c shows a detailed view of a first embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 2d] FIG. 2d shows a detailed view of a first embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 3a] FIG. 3a shows a detailed view of a second embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 3b] FIG. 3b shows a detailed view of a second embodiment of a one-sided flexible chain of a gripper according to the invention. [Figure 3c]FIG. 3c shows a detailed view of a second embodiment of a single-sided flexible chain of a gripper according to the invention. [Figure 3d] FIG. 3d shows a detailed view of a second embodiment of a single-sided flexible chain of a gripper according to the invention. [Figure 3e] FIG. 3e shows a detailed view of a second embodiment of a single-sided flexible chain of a gripper according to the invention. [Figure 4a] FIG. 4a shows a detailed view of a chain link of the embodiment according to FIGS. 3a to 3e. [Figure 4b] FIG. 4b shows a detailed view of a chain link of the embodiment according to FIGS. 3a to 3e. [Diagram 5] FIG. 5 shows a partial detailed view of the gripping means in a second embodiment of the gripper. [Figure 6] FIG. 6 shows a partial detailed view of the gripping means in a third embodiment of the gripper. [Figure 7a] FIG. 7a shows a schematic plan view of a fourth embodiment of a gripper. [Figure 7b] FIG. 7b shows a schematic plan view of a fifth embodiment of a gripper. [Figure 8a] Figure 8a shows different stages of an embodiment of a method for transferring an article to a gripper according to the invention. [Figure 8b] Figure 8b shows different stages of an embodiment of a method for transferring an article to a gripper according to the invention. [Figure 8c] FIG. 8c shows different stages of an embodiment of a method for transferring an article to a gripper according to the invention. [Figure 9a] Figure 9a shows different stages of an embodiment of a method for transferring an article from a gripper according to the invention. [Figure 9b] Figure 9b shows different stages of an embodiment of a method for transferring an article from a gripper according to the invention. [Figure 9c] Figure 9c shows different stages of an embodiment of a method for transferring an article from a gripper according to the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] FIG. 1 shows diagrammatically a first embodiment of a gripper 1 according to the invention. This gripper comprises a gripping means 100 fixed to a gripping means guide arrangement 20 arranged on a delivery table 10 of the gripper. The delivery table extends in a first horizontal direction (X direction) and in a second horizontal direction (Y direction) perpendicular to the first horizontal direction and comprises a storage and retrieval end surface 11 extending in the Y direction. The gripping means itself is movable in the X direction, this movability being provided by the gripping means guide arrangement. Alternatively, it is also conceivable that the gripping means is telescopic, i.e. only a part of the gripping means is movable in the X direction. In this connection, reference is made to the description of FIGS. 7a and 7b, where an embodiment is described in which the mobility of the gripping means is explained in more detail.

[0031] The gripping means 100 comprises a deflection device 104 and a chain drive 155. Furthermore, the gripping means in this embodiment comprises a first guide part 103 extending in the X direction and a second guide part 110 for the first end part 301 of the one-sided flexible chain 300. The one-sided flexible chain is moved by the movement of the chain drive and deflected from the X direction to the Y direction by means of a deflection device, in the embodiment shown, the deflection is at an angle of 90°, i.e. from the X direction to the Y direction. In another embodiment, the angle can be between 70 and 110°, such an angle also allows a suitable movement of the article. As will be explained in more detail below, the article is pushed to the delivery table (from the point of view of the chain) by means of the one-sided flexible chain. The one-sided flexible chain is provided with a bend limiting device that limits the pivoting of the chain links relative to each other in a first articulation direction (GR1) and allows pivoting in a second articulation direction (GR2), so that a corresponding pushing force can be transmitted. A more detailed description of the one-sided flexible chain and the bend limiting device is given with reference to the following figures:

[0032] As already mentioned above, the one-sided flexible chain comprises an alignment device which, in the non-articulated flexed state, holds the chain links in a non-pivoting, extended arrangement relative to one another and fixes them against pivoting in the direction of the second articulation, of which two examples are described in detail below. In another embodiment, it is essential that adjacent chain links of the one-sided flexible chain are locked after a displacement. For this reason, in the illustrated embodiment, the length (FAL) of the second guide section 110 is greater than the chain link length (KGL) (in this guide section formed by two parallel guide means, two adjacent chain links are locked in alignment with one another), so that after deflection, the chain links are no longer freely movable but are displaced in a defined direction. After locking, the chain is approximately "rigid", but this rigidity can be released again by applying a certain force. In another embodiment, this "rigidity" can be achieved in other ways, as will be described below.

[0033] With the gripper according to the invention, even heavy objects can be pushed from the storage surface onto the gripper without the need for additional devices or components. However, even if a deflection device (not shown) movable in the X direction and an object (not shown) move "backwards", they cannot be pushed "from below up" because the chain is flexible rather than rigid in this direction.

[0034] 2a-d show detailed views of a first embodiment of a one-sided flexible chain of a gripper according to the invention. In the embodiment shown, each individual chain link 310 comprises two articulation openings 312 into which articulation extensions 311 of an adjacent chain link engage.

[0035] As already mentioned, the one-sided flexible chain used in the gripper according to the invention comprises a bend limiting device which limits the pivoting of the chain links relative to each other in the first articulation direction GR1 and allows pivoting in the second articulation direction GR2. In the embodiment shown in Fig. 2a-2d, this bend limiting device is formed by two components of adjacent chain links. The chain link which has to be limited from pivoting in the first articulation direction GR1 comprises a stop 321 of the adjacent chain link and a cooperating protrusion 320. As can be seen in Fig. 2c, the protrusion 320 of the chain link 310'' abuts against the stop of the chain link 310', so that the stop 321 of the chain link 310' limits the further pivoting of the chain link 310'' in the first articulation direction GR1. What is not visible in Fig. 2c is that on the opposite side of the stop 321 there is no corresponding stop which limits the pivoting of the protrusion 320.

[0036] The one-sided flexible chain of the gripper according to the invention also comprises an alignment device which, in the non-articulated bending state, holds the chain links in a non-pivoted, extended orientation relative to one another and fixes them against pivoting in the second articulated direction. In the illustrated embodiment, this alignment device is designed as a spring element 330 which extends through the chain 300 and presses the chain link 310 in the first articulated direction GR1 against the bending limiters 320, 321. This is shown in the "upper" elongated portion of the figure. In this way, the alignment device ensures that the chain, in the non-articulated bending state, is aligned in a straight line and has a constant stiffness, in this embodiment defined by the biasing force of the spring element 330.

[0037] 3a-3e are detailed views of a second embodiment of a one-sided flexible chain of a gripper according to the invention, in which the alignment device is formed by a number of latch arms 340 with latch lugs 341 and latch receptacles 342. The latch arms of one chain link can cooperate with the latch receptacles 342 of the adjacent chain link, the cooperating latch arms and latch receptacles stretching and aligning the corresponding chain links. Since to initiate locking, adjacent chain links must be linearly aligned with respect to each other, in this embodiment it is also necessary that the second guide part 103 of the gripping means is designed to lock adjacent chain links. This is shown and explained, for example, in the embodiment according to FIG. 1.

[0038] Figures 4a and 4b are detailed views of a chain link of the embodiment of Figures 3a-3e, where the latch arm 340 includes a latch lug 341 shown in Figure 4a and a latch receptacle 342 shown in Figure 4b. Furthermore, the projection of the bend limiting device is shown in the figures, which in the second embodiment is designed according to the first embodiment, as seen in Figure 3c.

[0039] 5 is a detailed view of a portion of the gripping means 30, 40 of a second embodiment of a gripper according to the invention. In this second embodiment, the two gripping means are not of mirror-symmetrical "identical" construction, but only the "left" gripping means 30 comprises the chain 300 and other components described with reference to the first embodiment. It should be noted that in this embodiment, unlike the first embodiment, the deflection device 34 and the second guide part 38 are movable in the longitudinal direction of the gripping means 30 (i.e. in the X-direction). In the illustrated embodiment, the deflection device 34 and the second guide part 38 are arranged for this purpose on a carriage 39. This carriage further comprises a drive device 35, shown in dashed lines, which cooperates with a linear guide 36 to move the carriage. In the illustrated embodiment, the chain drive 55 is also arranged on the carriage 39. Due to the mobility of the carriage 39, the first guide part 33 in this embodiment is of a slightly different construction and arrangement.

[0040] In the second embodiment, the second gripping means 40 is not realized by a mirror image structure of the gripping means 30, but comprises a receiving device realized as a carriage 70 movable in the X direction and having an opening 71 capable of receiving a first end chain link of the first chain 300. Preferably, the depth of the opening is greater than the chain link length. The carriage 70 further comprises a drive device 75 cooperating with the linear guide 46 to move the carriage 70 in the X direction.

[0041] Figure 6 shows a partial detailed view of the gripping means of a third embodiment of the gripper. In this embodiment, the two gripping means 30,40 have a mirror-symmetrical structure, i.e. the same components in a corresponding arrangement. Figure 6 in particular shows the orientation or arrangement of the two one-sided flexible chains 300,60. The two one-sided flexible chains 300,60 are again only diagrammatically shown in Figure 6, but the exact structure of the chains used corresponds, for example, to the embodiment shown in Figures 2a to 3e. The first guide parts 33,43 of the gripping means 30,40 are intended to ensure that the parts of the chains extending in the X-direction do not move freely "inside", so that they can also be arranged "inside" the flanks of the chain links. The flanks of the chain links may be corrugated.

[0042] 7a and 7b are schematic plan views of a fourth and fifth embodiment of a gripper, the gripper according to the invention being again described in detail with reference to these figures.

[0043] The gripper 1 comprises a delivery table 10 extending in an X direction and in a Y direction perpendicular to the X direction, with a storage and retrieval end surface 11. The gripper 1 further comprises a gripping means guide arrangement 20 with a drive 22 cooperating with a linear guide 21 (shown in dashed lines) for moving the gripping means guide arrangement 20 in the X direction. In the illustrated embodiment, the gripping means guide arrangement 20 consists of two gripping means 30, 40 movable in the Y direction along a linear guide 23 by means of drives 24a, 24b, so that the distance between the gripping means can be adapted to the articles and the distance between them can be adjusted.

[0044] The two gripping means 30, 40 are constructed in mirror symmetry in both embodiments and each has an end 31, 41 close to the gripping means guide arrangement 20 and an end 32, 42 remote from the gripping means guide arrangement 20. A deflection device 34, 44 is arranged at each of the ends 32, 42 remote from the gripping means guide arrangement 20, and this device allows the one-sided flexible chain 300, 60 (hereinafter also simply referred to as chain) of the gripping means to be deflected into the space between the gripping means, specifically at an angle between 70 and 110° with respect to the X-direction. The chain has a first end 301, 61 remote from the gripping means guide arrangement 20 and a second end 302, 62 close to the gripping means guide arrangement 20.

[0045] A chain drive 55, 65, which cooperates with the chain 300, 60 and allows it to move in the X-direction along the gripping means, is arranged on each of the deflection devices 34, 44. By using the deflection device, this movement in the X-direction is deflected into a movement in the Y-direction, and the chain drive deflects the first end 301, 61 into the space between the gripping means. The chain drive (like all components) is shown only diagrammatically and may consist only of a chain gear and a rotary drive cooperating with the chain. In alternative embodiments, the chain drive may be arranged elsewhere and may even be of a completely different design. For example, the chain links may be connected to a drive moving in the X-direction, which may move on a linear guide.

[0046] The chain itself is guided along a first guide section 33, 43 in order to allow the chain to move "freely" and prevent its second end from getting caught in the space between the gripping means or from swinging randomly. The exact design of the first guide section 33, 43 depends on the design of the gripping means itself.

[0047] In addition to the first guide part 33, 43, each of the two gripping means also has a second guide part 38, 48, the orientation of which determines how the chain is guided into the space between the gripping means. Furthermore, depending on the exact design of the one-sided flexible chain, the second guide part can also serve to lock the chain links of the chain after a displacement. This has already been explained in detail with reference to the previous figures.

[0048] In Fig. 7b the gripper is shown with "extended" gripping means, which are moved in the X direction towards the storage surface 3 next to the item 2. It is also shown that the two chains 300, 60 have been moved into the space between the gripping means. In the fifth embodiment, the mutually facing first ends 301, 61 of the chains 300, 60 are provided with connecting pieces 54, 64 which are releasably connected from one end to the other. In the simplest case, a releasable rigid plug / socket connection can be established. As can be seen, the two chains (relative to the direction of the items / storage and retrieval end faces) engage the rear of the item 2. As the chains are only flexible on one side (see the description of Figs. 2a-3e), the free part which moves between the gripping means cannot move "upwards" (due to the connection) when the gripping means move back towards the delivery table. During this movement the chains (from the "point of view" of the chains) can exert a pressing force on the item.

[0049] At the end 31,41 of the gripping means close to the gripping means guide arrangement a further deflection device 37,47 is shown which acts in a similar manner to the gripping means at the far end except that it deflects the second end 302,62 of the chain into the space between the gripping means. Why this is useful and necessary will be explained in one of the following figures.

[0050] Figures 8a-8c show different stages of an embodiment of a method for transferring articles to a gripper according to the invention, the illustrated gripper embodiment having two gripping means 30, 40, each with a one-sided flexible chain, arranged in mirror symmetry. Furthermore, although not explicitly shown, a deflection device arranged according to the above can be moved in the X direction by a carriage 39, as explained with reference to Figure 5. The gripping means guide arrangement 20 is only shown diagrammatically, the other components of the gripper being completely omitted. Figures 8a-8c (and the following Figures 9a-9c) are only intended to diagrammatically illustrate the method for transferring articles to and from the gripper.

[0051] In Fig. 8a the gripping means is moved in the X direction towards the storage surface 3 next to the article 2. The chain is then "stretched" and connected, i.e. it is moved via a deflection device into the space between the gripping means and releasably connected and engages the rear of the article 2 (as seen from the gripper storage surface / delivery table 10). After engaging the rear of the article 2 the gripping means is moved in the X direction towards the delivery table 10 (by deflecting a first end of the chain between the gripping means and the releasably connecting connection means, not shown here), so that the chain exerts a pressing force on the article, causing it to slide onto the delivery table, as shown in Fig. 8b.

[0052] Figure 8b shows a position which would be the end position in an embodiment where the deflection device is not movable in the X direction. However, in this embodiment the deflection device is movable and the deflection device is moved further in the X direction towards the gripping means guide arrangement 20, as shown in Figure 8c, so that the article 2 is moved in the X direction towards the gripping means guide arrangement 20.

[0053] Figures 9a-9c show different stages of an embodiment of a method for transferring articles from a gripper according to the invention, for example onto a storage surface, which transfer is performed by a gripping means and a chain. In the gripper embodiment shown in Figures 8a-8c and 9a-9c, the gripping means has, at its end close to the gripping means guide arrangement 20, a further deflection device 37, 47 designed to guide the second end of the chain into the space between the gripping means, as shown in Figure 9a.

[0054] In order to push the article out of the delivery table 10, the article needs to be gripped again behind it (as seen from the gripping means guide arrangement / storage and retrieval end face). For this purpose (for example starting from the position of FIG. 8c), the deflection device movable in the X-direction has to be brought even closer to the gripping means guide arrangement 20 and taken behind the article ("underside" according to FIG. 9a). In doing so, in order to keep the article immobile, the first end of the chain needs to be retracted (if it has not already done so). This "retraction" lengthens the part of the chain arranged parallel to the gripping means in the X-direction. A further deflection device then deflects the second end of the chain into the space between the gripping means. This happens as soon as the first and second deflection devices are positioned, depending on the length of the chain and the position of the first and second deflection devices. It is retracted "only" when the first and second deflection devices are moved further away or behind the article to be moved.

[0055] When the deflection devices are moved into the appropriate position, the chain with its associated chain drive is moved by the first and second deflection devices with a first end in a direction away from the gripping means guide arrangement 20 into the space between the gripping means, i.e. "under" the article 2. The first ends of the chain are then detachably connected to each other in such a way that a pressing force is transmitted from the chain to the article when the gripping means moves in the X direction towards the storage and retrieval end face. In this pushing action, the connection of the chain ends is essential since the chains are stressed in their flexible direction during the pushing action towards the storage and retrieval end face.

[0056] After the releasable connection is made, the gripping means is moved in the X direction towards the storage and retrieval end face and the item is eventually moved to the storage face or another location within the storage apparatus, such as onto a conveyor belt or retrieval chute.

Claims

1. A gripper for moving an object, comprising: a delivery table (10) extending in a first horizontal direction (X-direction) and in a second horizontal direction (Y-direction) perpendicular to said first horizontal direction, said delivery table having at least one storage and retrieval end surface (11) extending in said Y-direction; a gripping means guide arrangement (20) arranged on the delivery table (10), the gripping means guide arrangement (20) having a gripping means (100; 30) extending in the X-direction, movable in the X-direction, and having an end (101) remote from the gripping means guide arrangement (20) and an end (102) close to the gripping means guide arrangement (20); The gripping means (100; 30), a first deflection device (104; 34), a first guide portion (103; 33) extending in the X direction, and a second guide portion (110; 38); a first one-sided flexible chain (300) cooperating with said deflection device (104; 34) and having a plurality of chain links (310) having a chain link length (KGL); said gripping means (100; 30), said one-sided flexible chain (300) comprising bend limiting devices (320, 321) for limiting the pivoting of said chain links relative to each other in a first articulation direction (GR1) and allowing pivoting in a second articulation direction (GR2), said first one-sided flexible chain (300) having a first end (301) remote from said gripping means guide arrangement (20) and a second end (302) close to said gripping means guide arrangement (20); Equipped with the one-sided flexible chain (300) is movable by a drive (155; 55) and deflectable by the deflection device towards the second joint at an angle of 70 to 110° with respect to the X-direction; the one-sided flexible chain (300) is arranged so as to be capable of transmitting a pressing force to an article moved onto the delivery table (10) when the gripping means (100; 30) is moved in the X-direction; The one-sided flexible chain (300) is provided with an alignment device that holds the chain links in a non-pivoting, extended arrangement relative to each other in a non-articulated, bent state and fixes them against pivoting in the second articulated direction.

2. 2. The gripper for moving an article as described in claim 1, wherein the alignment device of the one-sided flexible chain (300) is configured as a spring element (330) extending through the chain and urging the chain link (310) in the first articulation direction (GR1) against the bend limiting device (320, 321).

3. The alignment device is formed by a plurality of latch arms (340) having latch lugs (341) and latch receptacles (342); a latch arm of a chain link (310) can cooperate with a latch receptacle (342) of an adjacent chain link, the cooperating latch arm and latch receptacle extending and aligning the corresponding chain link; The gripper for moving an article according to claim 1 , wherein the second guide portion (103) is configured to lock adjacent chain links.

4. 4. A gripper for moving an article as claimed in any one of claims 1 to 3, wherein the gripper has a second gripping means (40) having a receiving device detachably connectable to the first end (301) of the first one-sided flexible chain (300) so that a pressing force is transmitted to the article when the gripping means is moved in the X direction towards the storage and retrieval end face (11).

5. 5. The gripper for moving articles according to claim 1, wherein the first deflection device (34) and / or the receiving device are arranged at the end of the gripping means (100; 30, 40) remote from the gripping means guide arrangement (20).

6. Gripper for moving articles according to any one of claims 1 to 5, wherein the first deflection device (34) and / or the receiving device are respectively movable in the X-direction by means of a drive device (35, 75).

7. A gripper for moving articles as claimed in any one of claims 4 to 6, wherein the receiving device of the second gripping means (40) comprises an opening (71) for receiving the first end (301) of the first chain (300), the opening preferably having a depth greater than a chain link length.

8. the receiving device being movable by a second chain drive (65) in cooperation with a second deflection device (44) and deflectable by said second deflection device (44) at an angle between 70 and 110° with respect to said X-direction, and being provided by a first end (61) of a second one-sided flexible chain (60); The gripper (1) for moving an article according to any one of claims 4 to 7, wherein the first end (61) of the second chain (60) can be moved into the space between the gripping means (30, 40), and the first ends (301, 61) of the chains (300, 60) are detachably interconnectable such that a pressing force is transmitted to the storage and retrieval end face (11) when the gripping means moves in the X direction.

9. the gripping means (100; 30, 40) having at its end remote from the gripping means guide arrangement (20) a deflection device (104; 34, 44) has at its end close to the gripping means guide arrangement (20) a further deflection device (37, 47), the one-sided flexible chain being deflectable from the X-direction by said further deflection device, preferably at an angle of less than 90°, Gripper (1) for moving articles according to any one of claims 1 to 8, wherein the second end of the chain is movable over the delivery table (10).

10. A method for transferring an article to a gripper according to any one of claims 1 to 9, comprising the steps of: The gripper is moved to a storage surface (3) associated with the item (2) to be retrieved; at least one gripping means (100; 30, 40) is moved in the X direction towards the storage surface (3) such that the article is placed next to said at least one gripping means (100; 30, 40); said first one-sided flexible chain (300) is moved by said associated chain drive (155; 55) such that said first end (301) is stretched by said first deflection device (104; 34) away from said gripping means guide arrangement (20) at an angle between 70° and 110° with respect to said X-direction; adjacent chain links (310) downstream of the deflection device (104; 34) away from the gripping means guide arrangement (20) are brought into a mutually non-pivotal extended position, an extended portion of the one-sided flexible chain is moved behind the article, and the article is placed between the extended portion of the chain and the delivery table, A method of moving articles, wherein said at least one gripping means (100; 30, 40) is moved in said X direction towards said delivery surface and said extension portion of said first single sided flexible chain pushes said articles towards said delivery surface.

11. A method for transferring an article to a gripper according to any one of claims 3 to 9, comprising the steps of: The gripper is moved to a storage surface (3) associated with the item (2) to be retrieved; the gripping means (30, 40) are moved in the X direction towards the storage surface (3) such that the item (2) is placed between the gripping means (30, 40); said first one-sided flexible chain (300) is moved by said associated chain drive (55) such that said first end (301) is stretched by said first deflection device (34) away from said gripping means guide arrangement (20) at an angle between 70° and 110° with respect to said X-direction; adjacent chain links (310) downstream of the deflection device (34) away from the gripping means guide arrangement (20) are brought into a non-pivoting, elongated arrangement relative to one another, an elongated portion of the one-sided flexible chain is moved behind the article, and the article is disposed between the elongated portion of the chain and the delivery surface; the first end (301) of the first chain (300) is detachably connected to the receiving device of the second gripping means (40) such that a pressing force is transmitted to the article when the gripping means moves in the X direction towards the storage and retrieval end face (11); The gripping means (30, 40) is moved in the X direction towards the delivery table (10) and the article is pushed onto the delivery table (10) of the gripper.

12. said first end (301) is detachably connected to said receiving device by moving said second one-sided flexible chain (60) by said associated chain drive (65) such that said first end (61) of said second chain (60) is moved by said second deflection device (44) away from said gripping means guide arrangement (20) into the space between said gripping means (30, 40); 12. The article moving method according to claim 11, wherein the first ends (301, 61) of the chains (300, 60) are detachably connected such that a pressing force is transmitted when the gripping means moves in the X direction towards the storage and retrieval end face (11).

13. A method for transferring an article from a gripper onto a storage surface (3) according to any one of claims 6 to 9, comprising the steps of: the deflection device (34, 44) away from the gripping means guide arrangement (20), or the corresponding deflection device and the receiving device, are moved towards the end (31, 41) of the gripping means (30, 40) close to the gripping means guide arrangement (20); said first one-sided flexible chain (300) is moved by said associated chain drive (55) such that said first end (301) is moved by said first deflection device (34) in a direction away from said gripping means guide arrangement (20) into the space between said gripping means (30, 40); the first end (301) of the first chain (300) is detachably connected to the receiving device of the second gripping means (40) such that a pressing force is transmitted when the gripping means moves in the X direction towards the storage and retrieval end face (11); The gripping means (30, 40) is moved in the X direction on the storage and retrieval end face (11) such that the article is moved from the support platform of the gripper.

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