Gripping device for the automated handling of sterile-goods containers

Abstract

The invention relates to a gripping device for the automated handling of sterile-goods containers, comprising - a gripper base which is adapted to be attached or attachable to a wrist of a robot, preferably a robot which has at least 6 DOF (degrees of freedom); - a first arm and a second arm; - wherein the first arm and the second arm have a rigid geometry; - wherein the first arm and the second arm are fastened to the gripper base in such a way that the first arm and the second arm are oriented, in their longitudinal orientation, parallel to a main axis of the gripping device and are spaced apart from one another; - wherein the first arm has a first rotatable shaft and the second arm has a second rotatable shaft, wherein the first rotatable shaft and the second rotatable shaft are located on a main axis parallel to the longitudinal axis of the respective arm; - wherein the spacing of the first arm from the second arm is configured such that, in a first orientation of the gripping device, a first sterile-goods container having a first predetermined width can be received by a first support surface of the first arm and a first support surface of the second arm; - wherein the spacing of the first rotatable shaft of the first arm from the second rotatable shaft of the second arm is configured such that, in a second orientation of the gripping device, a second sterile-goods container having a second predetermined width can be received by the first rotatable shaft of the first arm and the second rotatable shaft of the second arm; and - wherein the first predetermined width is greater than the second predetermined width.

Description

[0001] Description

[0002] Gripping device for automated handling of sterile goods containers

[0003] Technical area

[0004] The present invention relates to a device, a gripping device, a gripping system comprising a gripping device and a method for handling sterile goods containers.

[0005] background

[0006] The manual handling of sterile goods containers, particularly in so-called medical device processing units (RUEMP), is tiring and, in the long term, harmful to the health of employees. Regarding the automated transport, loading, unloading, and handling of sterile goods containers, various solutions have already been developed in the state of the art to automate the carrying of sterile goods containers and the lifting, loading, and unloading of sterile goods containers into sterile goods container transport trolleys and shelves to very high or low positions.

[0007] Some of these solutions include actuators that make the grippers heavier and thus reduce the overall payload. In addition, sensors in the actuators or the interfaces to the objects are known to carry out a plausibility check to determine whether the object has been gripped safely. This sometimes involves complex cabling to the existing cables or supply and discharge hoses of the actuators. In most cases, the cables limit the freedom of movement of the distal robotic segments, as the cables and hoses must not twist. Connectors in the wrist of robots are known to allow cables and controls to be connected directly. However, this usually only works with small electrical systems with very low power consumption. For all other systems, the feed lines must be laid along the robot's link chain. In addition to the problems described above regardingIn addition to the twisting, which can also lead to cable breakage, there are very major disadvantages in terms of hygiene in connection with contamination and difficult-to-clean components in the medical technology environment.

[0008] In addition, sterile goods containers are available in various dimensions, especially different widths. The number of different dimensions and widths of sterile goods containers is finite and, depending on the manufacturer and / or RUMED environment, is limited to a few, preferably two, different generations and / or sizes in terms of the footprint of the sterile goods containers. The problem here is that although the sterile goods containers have defined and thus predetermined dimensions, especially widths, in a more automated process, they must be recognized, differentiated, and reliably grasped by an automated gripping system to avoid accidents, unsterility, or other damage.

[0009] Summary of the invention

[0010] Therefore, one of the objects underlying the present invention is to overcome the disadvantages of prior art devices. In particular, one of the objects underlying the present invention is to provide devices that provide improved handling of sterile goods containers, in particular multiple sterile goods containers with different predetermined widths.

[0011] The present invention solves these problems by providing devices that improve the handling of sterile goods containers. The invention enables automated handling of sterile goods containers without reducing the overall load capacity. Furthermore, no sensors are required in the actuators or the interfaces to the objects to perform a plausibility check to determine whether the object has been securely grasped. The invention enables simple and efficient handling of sterile goods containers without the need for complex cabling to the existing cables or supply and discharge hoses of the actuators, except for the power supply and signal line of the sensors themselves, which can be connected directly to the robot's wrist.The invention enables a high degree of freedom of movement of the distal robotic segments with a very small diameter cable, without the risk of additional cables for the actuators and hoses becoming twisted. The invention thus enables improved hygienic handling of sterile goods containers without causing contamination and difficult-to-clean components in the medical technology environment.

[0012] These and other problems are solved by the subject matter of the appended independent claims.

[0013] Preferred embodiments can be taken from the dependent claims and further from the following description, particularly taking into account various embodiments as dealt with and described in the appended claims.

[0014] The embodiments, features, and combinations of features described here in connection with the invention, as well as the combination of features as specified in the appended claims, but also any combination of features mentioned and described in connection with the embodiments, are deemed to be disclosed herein, or at least derivable by a person skilled in the art. In particular, any feature and any combination of features in the embodiments described here can be claimed, for example, in a different combination, in particular in a different claim category, at least because the person skilled in the art will recognize that each individual combination of the features mentioned here is suitable for contributing to solving the underlying problem.Furthermore, each feature and combination of features in the claims and in the description below may be used and claimed separately, independently of the respective claimed subject matter, independently of claim dependencies and cross-references, and independently of the claim category in which the feature is claimed. For example, one or more embodiments according to the description below and / or the accompanying drawings may be provided in an arbitrary combination selected from one or more claims.

[0015] The objects described above are achieved according to the invention by a gripping device for the automated handling of sterile goods containers according to the present invention.

[0016] A gripping device according to the present invention comprises a gripper base adapted to be attached or attachable to a wrist of a robot, preferably a robot having at least 6 DOF (Degrees Of Freedom); a first arm and a second arm; wherein the first arm and the second arm have a rigid geometry; wherein the first arm and the second arm are attached to the gripper base such that the first arm and the second arm are aligned in their longitudinal orientation parallel to the main axis and arranged at a distance from one another; wherein the first arm has a first rotatable shaft and the second arm has a second rotatable shaft, wherein the first rotatable shaft and the second rotatable shaft are located on a main axis parallel to the longitudinal axis of the respective arm;wherein the spacing of the first arm from the second arm is arranged such that, in a first orientation of the gripping device, a first sterile goods container having a first predetermined width can be received by a first support surface of the first arm and a first support surface of the second arm; wherein the spacing of the first rotatable shaft of the first arm from the second rotatable shaft of the second arm is arranged such that, in a second orientation of the gripping device, a second sterile goods container having a second predetermined width can be received by the first rotatable shaft of the first arm and the second rotatable shaft of the second arm; and wherein the first predetermined width is greater than the second predetermined width;

[0017] The objects described above are also achieved according to the invention by an inventive method for handling sterile goods containers according to the present invention.

[0018] The method according to the invention comprises at least the following steps: a step a) of providing a gripper system, preferably according to the present invention, with a gripping device preferably according to the present invention, a step b) of optically detecting, preferably by means of an optical detection means, preferably a robot guidance camera, and determining whether a first sterile goods container with a first predetermined width or a second sterile goods container with a second predetermined width is ready for gripping, a step c) of rotating the gripping device by means of a wrist rotatably mounted about a main axis of the gripping device into a first or a second orientation of the gripping device, depending on the detection of the gripping sterile goods container in step b); a step d) of gripping the first orthe second sterile goods container with the gripper system; a step d) of moving the sterile goods container with the gripper system to a destination; a step e) of placing the sterile goods container at the destination.

[0019] The present invention is particularly advantageous because the spacing of the first arm from the second arm is arranged such that, in a first orientation of the gripping device, a first sterile goods container having a first predetermined width can be received by a first support surface of the first arm and a first support surface of the second arm. In a second orientation of the gripping device, a second sterile goods container having a second predetermined width can be received by the first rotatable shaft of the first arm and the second rotatable shaft of the second arm, wherein the spacing of the first rotatable shaft of the first arm from the second rotatable shaft of the second arm is arranged such that the shaft of the first arm and the shaft of the second arm have the desired orientation.The orientation can be changed particularly easily by rotating the gripping device about its main axis by means of the rotatably mounted wrist of an automated unit connected to it, in particular a robot, advantageously a 6DOF robot.

[0020] The term "rigid geometry" as used herein preferably refers to a geometry that cannot be changed and thus has a fixed shape. In the context of the present invention, the term "rigid geometry" preferably refers in particular to the geometry of the arms of the gripper system. The arms preferably each have a rigid, adapted geometry that is wider than another, second type of sterile goods container to be handled. In other words, this means that the other type of sterile goods container is preferably not compatible or handleable with the rigid geometry.

[0021] In other words, the arms or the rigid geometry of the arms are selected such that they are configured to grip a first sterile goods container with a first predetermined width, so that it can be received by a first support surface of the first arm and a first support surface of the second arm. At the same time, the rigid geometry of the arms is wider than another, second type of sterile goods container that is to be handled. To make the other, second type of sterile goods container manageable, the arms each have a rotatable shaft located on a main axis parallel to the longitudinal axis of the respective arm.In the second orientation of the gripping device, however, the second sterile goods container with a second predetermined width can also be picked up, namely by the first rotatable shaft of the first arm and the second rotatable shaft of the second arm, wherein the spacing of the first rotatable shaft of the first arm from the second rotatable shaft of the second arm is arranged such that the shaft of the first arm and the shaft of the second arm have the desired orientation.

[0022] In connection with the method according to the invention, it should also be noted that the specified steps do not necessarily have to be performed in the specified order. The specified steps can be performed in any other suitable order or even simultaneously.

[0023] However, the above-specified sequence may be advantageous for certain embodiments of the method according to the invention. For example, step b) of optical detection may be performed before step c) of rotating the gripping device, or even simultaneously.

[0024] It will also be appreciated by a person skilled in the art that a feature, embodiment, effect or advantage as described herein in connection with the inventive device and / or the inventive reverse osmosis system may also be a feature, embodiment, effect or advantage of the inventive method, or vice versa.

[0025] In this description and the appended claims, unless the context requires otherwise, the word “comprise” and variations such as “comprises” and “comprising” are understood to imply the inclusion of a specified element, integer, or step, or group of elements, integers, or steps, but not the exclusion of any other element, integer, or step, or group of elements, integers, or steps, although in some embodiments such other elements, integers, or steps, or groups of elements, integers, or steps may be excluded, i.e., the subject matter is the inclusion of a specified element, integer, or step, or group of elements, integers, or steps.

[0026] The terms "a," "an," "the," and similar references used in the context of describing the invention (particularly in the context of the claims) are to be construed to include both the singular and the plural, unless otherwise stated herein or clearly contradicted by the context. The specification of ranges of values ​​is merely a shorthand way to refer individually to each value within the range. Unless otherwise stated herein, each value is included in the specification as if individually recited herein.

[0027] Within the present application, terms such as “side” or “lateral”, “horizontal”, “horizontal”, “vertical”, “rear”, “front”, “top”, “bottom”, “bottom”, “opposite”, “inside”, “outside” or the like, which describe the position of a first object relative to another object, preferably refer to the relative position of a respective part or object with respect to its position when fully assembled for its intended use.

[0028] In a preferred embodiment of the method and / or the device according to the invention, the gripping device is rotated about the main axis by 180° in the first orientation compared to the second orientation.

[0029] This is particularly advantageous since this rotation enables the handling of both a first sterile goods container with a first predetermined width and a second sterile goods container with a second predetermined width with the same gripping device in a simple manner.

[0030] Preferably, in the first and second orientations, the first support surface of the first arm and the first support surface of the second arm are arranged in a horizontal plane and / or in the first and second orientations, the first shaft and the second shaft are arranged in a horizontal plane.

[0031] In a further preferred embodiment of the method and / or the device according to the invention, the first support surface of the first arm is arranged on a side of the first arm opposite the first rotatable shaft and the first support surface of the second arm is arranged on a side of the second arm opposite the second rotatable shaft.

[0032] In other words, the rotating shaft is preferably located on the opposite side to the rigid geometry of the respective arm.

[0033] This arrangement ensures in particular that the gripping device is capable of handling sterile goods containers of different sizes and geometries by adapting the arms accordingly using the shaft and, by utilising the existing geometry of the arms, by providing the shaft on the opposite side of the arms, providing a space-saving and ergonomic solution for the gripping process, which enables an easy change of the orientations of the gripping system.

[0034] In a further preferred embodiment of the method and / or device according to the invention, the gripper base is formed integrally with at least one of the arms. This advantageously enables a more robust design. Likewise, a one-piece design of the base with at least one gripper arm is possibly simpler to manufacture and thus more cost-effective. In a further preferred embodiment of the method and / or device according to the invention, the gripper base of the gripping device is configured and adapted for attachment to a wrist of a robot, preferably a robot that has at least 6 DOF (Degrees Of Freedom).

[0035] This allows for a unique use of the gripping device. On a robot arm, the rotatably mounted wrist allows for easy switching from a first orientation of the gripping device to a second orientation, and vice versa.

[0036] In a further preferred embodiment of the method and / or device according to the invention, the gripping device comprises a means for optical detection, preferably a robot guidance camera, which is configured to optically detect a first and / or second sterile goods container. This is particularly advantageous because the optical detection means can determine which sterile goods container is ready next. Detecting the container makes it possible to determine whether a first sterile goods container with a first predetermined width or a second sterile goods container with a second predetermined width is ready for gripping. This determining step can be carried out in particular in a control unit configured to process the detected images of the optical detection means.It is particularly advantageous to connect the optical detection device to a robot for navigation. Based on the detection and positioning of the sterile goods container to be handled, a control unit can thus orient the gripping device accordingly and grasp the sterile goods container.

[0037] In a further preferred embodiment of the method and / or the device according to the invention, in the second orientation of the gripping device, in which a second sterile goods container with a second predetermined width is received by the first rotatable shaft of the first arm and the second rotatable shaft of the second arm, at least the first rotatable shaft and / or the second rotatable shaft rests against a stop. Such a stop can in particular be designed as a stop of the sterile container and / or a stop mechanism can be provided in the shaft. In particular, the weight can be configured as a stop in one direction and the shaft itself can be configured as a stop in the actual arm in the other direction. This allows the second sterile goods container to be held particularly securely.

[0038] In a further preferred embodiment of the method and / or device according to the invention, the gripping device comprises a self-locking mechanism. This allows for particularly secure holding of the second sterile goods container and prevents the container from falling by preventing the shaft from opening accidentally. In particular, the holding force can be advantageously increased during high accelerations, especially during vertical lifting.

[0039] In a further preferred embodiment of the method and / or device according to the invention, the first rotatable shaft and / or the second rotatable shaft comprises at least one weight. The attachment of a weight is advantageous in that, on the one hand, the weight of the arms can be changed, and, on the other hand, the shaft itself can be actuated by the weight.

[0040] In a further preferred embodiment of the method and / or the device according to the invention, the at least one weight body is positively and / or non-positively connected to the first rotatable shaft and / or the second rotatable shaft, so that a retraction and / or extension of the shafts occurs by a change in the orientation of the gripping device from the first orientation to the second orientation, or vice versa, preferably by gravity. In other words, by means of the positively and / or non-positively connected weight body, the shaft can be actuated solely by gravity when the orientation of the gripping device changes, i.e. the position of the shaft is mainly controlled by the position relative to the horizontal axis of the gripping device when no sterile goods container is gripped.If a sterile goods container with the rigid geometry is to be picked up, the horizontal position of the wrist is at 0° and the weights point towards the ground with respect to their main axis and their center of gravity - the shafts are then aligned towards the outside of the respective arm and enable the sterile goods container to be picked up without touching it. If a different, narrower type of sterile goods container is to be picked up, the robot's wrist rotates 180° and the weights enable the shafts to be rotated towards the inside. The geometry of the shafts now at the top enables the other type of sterile goods container to be picked up. It is recommended that when changing to pick up the other type of sterile goods container, the wrist moves more than 180°, preferably 210°, to the previous position relative to the horizontal axis and then moves back in the opposite direction to 180°.This has the advantage of ensuring that both waves have the desired orientation.

[0041] In a further preferred embodiment of the method and / or the device according to the invention, the at least one weight body is arranged behind a cover in order to be protected or not to be restricted in its movement by foreign objects.

[0042] In a further preferred embodiment of the method and / or device according to the invention, the gripping device has at least one sensor arranged and configured to detect the at least one weight. The sensor is preferably arranged behind a cover. The sensor is preferably a contactless sensor or switch, in particular an inductive sensor. The sensor can preferably detect the position of the respective weight. This information is preferably forwarded to an interface of the robot. This allows a plausibility check to be achieved, ensuring that the rotatable shaft is always in the correct position before approaching a sterile goods container.In a further preferred embodiment of the method and / or the device according to the invention, the device comprises at least one display means, preferably an LED, configured to display at least the first orientation and / or the second orientation of the gripping device. The display means can display the switching of the sensors and / or the orientation of the weights and / or the shaft, or the orientation of the gripping device. The display means are preferably arranged in or on the gripper base. In this way, a very simple human-machine interface can be created that indicates when the gripping device, in particular a shaft, is in the respective orientation.

[0043] The sensors can be connected to each other in serial logic to minimize the number of cables from the gripping system to the robot control - e.g. left and right with the respective lower and upper position of the weights or the associated shaft.

[0044] The objects underlying the invention are also achieved by a gripping system comprising a gripping device, wherein a gripper base of the gripping device is attached to a wrist of a robot, preferably a robot that has at least 6 DOF (degrees of freedom). The gripping device is preferably a gripping device according to the present invention.

[0045] Short description of the characters

[0046] The present invention will be explained in more detail below with reference to the drawings, from which further features, embodiments, and advantages can be seen. In the embodiments shown in the figures, elements that have similar or identical functions are provided with the same reference numerals. Please note that the figures may not be to scale.

[0047] FIG. 1 shows a schematic representation of a gripping device according to a first embodiment of the invention;

[0048] FIG 2 shows a schematic detailed view of the front side of the gripping device according to the first embodiment of the invention;

[0049] FIG 3 shows a schematic detailed view of the rear side of the gripping device according to the first embodiment of the invention;

[0050] FIG 4 shows a schematic detailed view of the gripping device according to the first embodiment of the invention in a first orientation;

[0051] FIG 5 shows a schematic detailed view of the gripping device according to the first embodiment of the invention in a second orientation; and

[0052] FIG 6 shows a schematic detailed view of the gripping device according to the first embodiment of the invention;

[0053] Detailed description

[0054] FIG 1 shows a schematic representation of a gripping device according to a first embodiment of the invention.

[0055] The invention comprises a passive gripper system that can be adapted to gripping tasks or objects and is preferably connected to a robotic system, preferably its wrist. The purpose is the automated handling of various sterile goods container systems, or generations / types and sizes. In this context, a passive gripper system means that the gripper interface changes through the active rotation of the wrist 3 around a horizontal axis x with the aid of gravity – specifically, this means that the support or gripping surfaces can be folded in and out according to the sterile goods container geometry.The illustrated embodiment of the gripping device 1 according to the invention is suitable for the automated handling of sterile goods containers 9, 10 and comprises a gripper base 2 which is adapted to be attached or attachable to a wrist 3 of a robot (not shown here), preferably a robot which has at least 6 DOF (Degrees Of Freedom).

[0056] The gripping device 1 and the wrist 3 are rotatably mounted about a main axis x of the gripping device. Attached to the gripper base 2 are a first arm 4A and a second arm 4B, each with a rigid geometry 6.

[0057] The first arm 4A and the second arm 4B are attached to the gripper base 2 such that the first and second arms 4, or 4A and 4B, are aligned parallel to the main axis x in their longitudinal direction y and are spaced apart from one another. The first arm 4A has a first rotatable shaft 7A, and the second arm 4B has a second rotatable shaft 7B. Detailed views of the shaft 7 and parts thereof are shown in particular in FIGS. 2, 3, 4, 5, and 6.

[0058] It is already apparent from FIG. 1 that the first rotatable shaft 7A and the second rotatable shaft 7B are located on a main axis y parallel to the longitudinal axis y of the respective arm 4. The spacing of the first arm 4A from the second arm 4B is arranged such that, in a first orientation of the gripping device 1, which is shown schematically in FIG. 4, a first sterile goods container 9 with a first predetermined width, as shown, can be received by a first support surface of the first arm 4A and a first support surface of the second arm 4B (not shown here). A second orientation is shown in FIG. 5.Since the spacing of the first rotatable shaft 7A of the first arm 4A from the second rotatable shaft 7B of the second arm 4B is arranged such that, in one of the shown second orientations of the gripping device 1, a second sterile goods container 10 having a second predetermined width can be received by the first rotatable shaft 7A of the first arm 4A and the second rotatable shaft 7B of the second arm 4B, the shown embodiment of the gripping device 1 according to the invention is capable of selectively receiving the first sterile goods container 9 or the second sterile goods container 10 by simply rotating the device 1 about the main axis x. To enable this, the first predetermined width of the first container 9 is selected to be greater than the second predetermined width of the second container 10. The first support surface of the first arm 4A is preferably arranged on a side of the first arm 4A opposite the first rotatable shaft 7A.The first support surface of the second arm 4B is preferably arranged on a side of the second arm 4A opposite the second rotatable shaft 7A. The gripper base 2 is preferably formed integrally with the arms 4A and 4B.

[0059] The gripper base 2 is configured and adapted for attachment to a wrist 3 of the robot (not shown), which is preferably a robot having at least 6 DOF (Degrees Of Freedom).

[0060] The gripping device 1 further comprises a means for optical detection 5, preferably a robot guidance camera 5, which is configured for optical detection of a first and / or second sterile goods container 9.

[0061] FIG 2 shows a schematic detailed view of the front side of the gripping device according to the first embodiment of the invention in a viewing direction of the main axis x in the direction of the base 2. FIG 3, on the other hand, shows a schematic detailed view of the rear side of the gripping device 1, and in particular the rear side of the base 2 in the viewing direction along the main axis x.

[0062] If a first sterile goods container 9 with the rigid geometry 6 of the arms 4, 4A, 4B is to be picked up, the horizontal position of the wrist is at 0° and the weights 8 point with their center of gravity towards the ground with respect to their main axis - the shafts 7 are then aligned accordingly towards the outside of the respective arm 4 and enable the sterile goods container 9 to be picked up without it touching it with the shafts 7. FIG 4 shows a schematic detailed view of the gripping device 1 according to the first embodiment of the invention in such a first orientation. In the first orientation shown in FIG 4, the first sterile goods container 9 with the rigid geometry 6 of the arms 4, 4A, 4B is picked up with the wrist 2 at 0° to the horizontal axis x. In other words, the shaft 7, 7A, 7B is "open".In contrast, FIG. 5 shows a schematic detailed view of the gripping device according to the first embodiment of the invention in a second orientation, in which a second sterile goods container 10 is picked up by the rotatably mounted shaft 7, 7A, 7B. Here, the position of the robot's wrist 2 is at 180° to the horizontal axis x, and the "shaft is closed."

[0063] It should be understood that the gripping device 1 is rotated by 180° about the main axis x in the first orientation compared to the second orientation. This is immediately apparent from the interaction of FIGS. 4 and 5. In the first (FIG. 4) and the second (FIG. 5) orientations, the first support surface of the first arm 4A and the first support surface of the second arm 4B are arranged in a horizontal plane z, or in the first (FIG. 4) and the second (FIG. 5) orientations, the first shaft 7A and the second shaft 7B are arranged in a horizontal plane z'.

[0064] If a sterile goods container 10 of a different, narrower type is to be picked up, i.e. a container 10 in which the second predetermined width of the second container 10 is selected to be smaller than the first predetermined width of the first container 9, the wrist 3 rotates 180° about the main axis x and the weights 8 enable the shafts 7 to rotate towards the inside. The geometry of the shafts 7, which are now on top, enables the second sterile goods container 10 of the other type to be picked up. When changing the orientation to pick up the other sterile goods container type 9 or 10, the wrist 3 can be moved more than 180°, preferably 210°, to its previous position relative to the horizontal axis x and then brought back to 180° in the opposite direction.Such a step of brief over-rotation can be advantageous in the method according to the invention, since it can be ensured that both shafts 7 have the desired orientation. In the second orientation of the gripping device 1, in which a second sterile goods container 10 with a second predetermined width is received by the first rotatable shaft 7A of the first arm 4A and the second rotatable shaft 7B of the second arm 4B, at least the first rotatable shaft 7A and / or the second rotatable shaft 7B rests against a stop. Such a stop, which limits the movement of the shafts 7A and 7B and thus determines an end position of the shafts 7A and 7B, can be realized in various ways. In Fig. 1, the stop is realized by stop elements 61, which are designed as integral parts of the geometry 6.

[0065] Furthermore, the gripping device 1 shown comprises a self-locking mechanism. This self-locking mechanism locks the shafts 7, 7A, 7B in a first or a second orientation of the gripping device 1 and advantageously secures the container 9, 10 from accidentally slipping out of the gripping device 1. Such a self-locking mechanism can be implemented in various ways. In particular, the shafts 7, 7A, 7B can be mechanically locked by a locking mechanism, in particular a latching means. In the presently illustrated embodiment, the self-locking mechanism is designed as a gravity-mediated self-locking mechanism due to the relative geometry and arrangement of the shafts 7, 7A, 7B. This is particularly clearly visible in Fig. 5. The container 10 rests on the shaft 7 with its own weight and thus presses these shafts 7, 7A, 7B downwards and against the container wall of the container 10.The heavier the container 10 is, especially when loaded, the greater the resulting blocking force that the shafts 7 exert on the container wall of the container 10. As a result, the container 10, through its own weight, ensures that the shafts 7, 7A, 7B apply the blocking force to the container wall of the container 10, thus blocking the shafts 7, 7A, 7B.

[0066] FIG. 6 shows a schematic detailed view of the gripping device according to the first embodiment of the invention. The weight bodies 8 encompassed by the first rotatable shaft 7A and / or the second rotatable shaft 7B are immediately visible. The weight bodies 8 are positively and / or non-positively connected to the first rotatable shaft 7A and / or the second rotatable shaft 7B, so that retraction and / or extension of the shafts 7 occurs by changing the orientation of the gripping device 1 from the first orientation to the second orientation, or vice versa, preferably by gravity.

[0067] Additional covers 11 are provided, behind which the weight bodies 8 are arranged and, for example, also protect and / or conceal contactless sensors 12 that are configured to detect the position of the rotatable shaft 7 via the weights 8. The sensors 12 can also be arranged and configured to detect the at least one weight body 8.

[0068] The gripping device 1 comprises at least one display means 13, preferably an LED 13, configured to display at least the first orientation and / or the second orientation of the gripping device 1.

[0069] The illustrated embodiment of the gripping device 1 according to the invention can be attached to a gripping system according to the invention. According to the invention, the gripper base 2 and / or the wrist 3 of the gripping device 1 can be attached to a robot, preferably a robot that has at least 6 DOF (degrees of freedom).

[0070] List of reference symbols

[0071] 1 gripping device

[0072] 2 gripper base

[0073] 3 Robot wrist / robot interface

[0074] 4, 4A, 4B Arm

[0075] 5 Means of optical detection, robot guidance camera

[0076] 6 Geometry for holding a sterile goods container

[0077] 61 Stop element

[0078] 7, 7A, 7B Rotatable shaft for accommodating a second sterile goods container system

[0079] 8 Weight, pivotable and connected to rotatable shaft

[0080] 9, 10 Sterile goods containers

[0081] 11 Cover of the weights and supports for sensors

[0082] 12 Sensor

[0083] 13 Display means, LED x Main axis y Longitudinal axis of the arm z, z' horizontal plane

Claims

Claims 1. Gripping device (1) for the automated handling of sterile goods containers (9, 10), comprising - a gripper base (2) adapted to be attached or attachable to a wrist (3) of a robot, preferably a robot having at least 6 DOF (Degrees Of Freedom); - a first arm (4A) and a second arm (4B); - wherein the first arm (4A) and the second arm (4B) have a rigid geometry (6); - wherein the first arm (4A) and the second arm (4B) are fastened to the gripper base (2) in such a way that the first arm (4A) and the second arm (4B) are aligned in their longitudinal direction parallel to a main axis (x) of the gripping device (1) and arranged at a distance from one another; - wherein the first arm (4A) has a first rotatable shaft (7A) and the second arm (4B) has a second rotatable shaft (7B), wherein the first rotatable shaft (7A) and the second rotatable shaft (7B) are located on a main axis parallel to the longitudinal axis (y) of the respective arm (4); - wherein the spacing of the first arm (4A) from the second arm (4B) is arranged such that, in a first orientation of the gripping device (1), a first sterile goods container (9) having a first predetermined width can be received by a first support surface of the first arm (4A) and a first support surface of the second arm (4B); - wherein the spacing of the first rotatable shaft (7A) of the first arm (4A) from the second rotatable shaft (7B) of the second arm (4B) is arranged such that, in a second orientation of the gripping device (1), a second sterile goods container (10) with a second predetermined width can be moved away from the first rotatable shaft (7A) le (7A) of the first arm (4A) and the second rotatable shaft (7B) of the second arm (4B); and - wherein the first predetermined width is greater than the second predetermined width.

2. Gripping device (1) according to claim 1, wherein the gripping device (1) is rotated in the first orientation by 180° relative to the second orientation about the main axis (x), and preferably - in the first and second orientations, the first support surface of the first arm (4A) and the first support surface of the second arm (4B) are arranged in a horizontal plane (z) and / or - in the first and second orientations, the first shaft (7A) and the second shaft (7B) are arranged in a horizontal plane (z').

3. Gripping device (1) according to claim 1 or 2, wherein the first support surface of the first arm (4A) is arranged on a side of the first arm (4A) opposite the first rotatable shaft (7A) and wherein the first support surface of the second arm (4B) is arranged on a side of the second arm (4A) opposite the second rotatable shaft (7A).

4. Gripping device (1) according to one of claims 1 to 3, wherein the gripper base (2) is formed integrally with at least one of the arms (4A, 4B).

5. Gripping device (1) according to one of claims 1 to 4, wherein the gripper base (2) and / or the wrist (3) are configured and adapted for attachment to a robot, preferably a robot which has at least 6-DOF (Degrees Of Freedom).

6. Gripping device (1) according to one of claims 1 to 5, wherein the gripping device (1) comprises a means for optical detection (5), preferably a Ro- boter guidance camera (5), which is set up for the optical detection of a first (9) and / or second sterile goods container (10).

7. Gripping device (1) according to one of claims 1 to 6, wherein in the second orientation of the gripping device (1), in which a second sterile goods container (10) with a second predetermined width is received by the first rotatable shaft (7A) of the first arm (4A) and the second rotatable shaft (7B) of the second arm (4B), at least the first rotatable shaft (7A) and / or the second rotatable shaft (7B) bears against a stop.

8. Gripping device (1) according to one of claims 1 to 7, wherein the gripping device (1) comprises a self-locking mechanism.

9. Gripping device (1) according to one of claims 1 to 8, wherein the first rotatable shaft (7A) and / or the second rotatable shaft (7B) comprises at least one weight body (8).

10. Gripping device (1) according to claim 9, wherein the at least one weight body (8) is positively and / or non-positively connected to the first rotatable shaft (7A) and / or the second rotatable shaft (7B), so that a retraction and / or extension of the shafts (7) takes place by a change in the orientation of the gripping device (1) from the first orientation to the second orientation, or vice versa, preferably by gravity.

11. Gripping device (1) according to one of claims 1 to 10, wherein the at least one weight body (8) is arranged behind a cover (11).

12. Gripping device (1) according to one of claims 1 to 11, wherein the gripping device (1) has at least one sensor (12) which is used to detect of the at least one weight body (8) is arranged and arranged.

13. Gripping device (1) according to one of claims 1 to 12, comprising at least one display means (13), preferably an LED, configured to display at least the first orientation and / or the second orientation of the gripping device (1).

14. Gripping system comprising a gripping device (1), wherein a gripper base (2) of the gripping device (1) is attached to a wrist (3) of a robot, preferably a robot which has at least 6-DOF (Degrees Of Freedom), wherein preferably the gripping device (1) is a gripping device (1) according to one of claims 1 to 13.

15. Method for handling sterile goods containers (9, 10), comprising at least the following steps: - a step a) of providing a gripper system, preferably according to claim 14, with a gripping device (1) preferably according to one of claims 1 to 13, - a step b) of optical detection, preferably by means of a means for optical detection (5), preferably a robot guidance camera (5), and of determining whether a first sterile goods container (9) with a first predetermined width or a second sterile goods container (10) with a second predetermined width is ready for gripping, - a step c) of rotating the gripping device (1) by means of a wrist (3) rotatably mounted about a main axis (x) of the gripping device (1) into a first or a second orientation of the gripping device (1), depending on the detection of the gripping sterile goods container (9) in step b); - a step d) of gripping the first (9) or the second (10) sterile goods container with the gripper system (1); - a step d) of moving the sterile goods container (9, 10) with the gripper system (1) to a destination location; - a step e) of placing the sterile goods container (9, 10) at the destination.

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