Machine concept for removing reject objects from among pharmaceutical objects

Abstract

The present application relates to a device for removing reject objects, in particular for removing pharmaceutical objects, in particular RTU objects such as syringes and carpules, to a lifting device which lifts up reject objects, for example out of a magazine of objects on a production line, to a gripping tool which is designed to grip in particular the lifted-up reject objects, and to a method for operating the device for removing reject objects.

Description

[0001] Machine concept for the removal of defective pharmaceutical objects

[0002] Description

[0003] The present application relates to a device for removing defective objects, in particular pharmaceutical objects, especially RTU objects such as syringes and cartridges, a lifting device which lifts defective objects, for example on a production line, from a magazine of objects, in particular from a nest, a gripping tool which is designed to grip, in particular the lifted defective objects, and a method for operating the device for removing defective objects.

[0004] A device for removing defective objects is generally used to eliminate faulty objects and is particularly employed in production processes. Especially in the pharmaceutical industry, such production processes for pharmaceutical products can include steps such as providing objects, particularly empty syringes or cartridges; filling these objects; weighing and sealing these objects, if necessary multiple times; quality control of the products, during which defective objects are identified as defective objects; and the removal of these defective objects. These steps are typically carried out at various stations, and the objects are transported, for example, in nests and tubs or individually between stations, perhaps on a conveyor belt.DE 10 2011 113 358 A1 discloses, for example, a device in which pharmaceutical objects are transported individually between the stations of the sub-processes after being removed from tubs and nests, and subsequently placed back into tubs and nests. DE 10 2011 113 358 A1 also discloses a general defective object removal station. A nest is defined as a receiving device with generally through-openings in which the objects can be received, and a tub is defined as an approximately trough-shaped, box-like device in which a nest, in particular together with the objects it contains, can be placed. Often, the objects in the nests are arranged in a grid, which in particular comprises parallel rows of object positions, and / or regularly spaced, preferably equidistant, object positions.A nest can often comprise several staggered grids of object positions, particularly those with the same arrangement. A magazine can be considered either the entirety of such a nest with the objects transported within it, or simply a group of such objects without a nest, arranged regularly, especially in a grid pattern.

[0005] For example, if, after quality control, defective objects transported in a nest together with non-defective objects are to be selectively and individually removed from this nest, a device is required that can remove any individual object or groups of objects at will, since defective objects are usually positioned randomly within a nest. A device for the selective removal of defective syringes with finger flanges from a nest transported in a tub on a belt is known in the prior art. This device comprises two 6-axis robots and a lifting device. The first 6-axis robot removes the nests containing defective objects from the tub using a vacuum suction frame and places the nest over the lifting device.The lifting device comprises multiple pneumatically actuated cylinders that lift individual objects from below within the nest. These cylinders are individually controlled via valve manifolds. The pneumatic cylinders are arranged in positions corresponding to a grid of object positions within the nest. This arrangement of cylinders or object positions is referred to as the format. The lifted objects are then removed by a second 6-axis robot. This robot is equipped with a rake to contact the syringes under their finger flanges and thus remove them. While the second 6-axis robot transports the defective objects for disposal, the first 6-axis robot returns the syringe nest to its corresponding tub.

[0006] One disadvantage of the known solution is that only objects with suitable flanges, under which the rake of the second 6-axis robot can move to lift the objects, can be processed.

[0007] Another disadvantage of the known solution is its complexity and costly nature in many respects. The pneumatic tubing for the lifting device and the pneumatic control system with valve lenses are highly complex. Sufficient space must also be allocated for the positioning and movement of two inherently complex 6-axis robots, which significantly impacts the planning and design of other components in the production line. If a different format is to be used, the entire lifting device must be replaced as a single unit, a complex and costly process with the known solution. The mechanical complexity of these components increases the effort required for manufacturing and assembly, as well as the risk of failure and maintenance.The operation and automation, particularly when controlling the pneumatic cylinders via valve lenses, aligning the nest above the lifting device, or moving the rake under the flanges of the lifted objects by the 6-axis robots, involve a high degree of control complexity. Controlling the 6-axis robots also requires a special and complex robot control unit for this purpose.

[0008] Overall, the known solution is associated with high financial costs due to its complex design and operation.

[0009] Against this background, the object of the present invention was to provide means for removing defective objects that address the disadvantages of known solutions by, for example, being structurally simpler and easier to operate, thus making them more economical and versatile. According to a first aspect of the invention, the aforementioned object is achieved by a gripping tool for simultaneously gripping at least one object selected from a plurality of objects arranged in a grid in a magazine, characterized by at least one first gripping element with at least one first free space and at least one second gripping element with at least one second free space, wherein the gripping elements are positioned relative to each other such that the at least one first free space and the at least one second free space are each aligned correspondingly to each other in order to receive at least one object therein.and by an actuator configured to move at least one of the gripping elements relative to another of the gripping elements between a clamping position in which at least one object is gripped by clamping engagement between the first gripping element and the second gripping element, and a release position in which the at least one object is released. In particular, this gripping tool serves to grip a single object and / or to grip a plurality of objects simultaneously.

[0010] According to an important feature of this aspect, the gripping tool has at least one first gripping element with at least one first clearance, and at least one second gripping element with at least one second clearance. These gripping elements are positioned relative to each other such that their clearances are aligned correspondingly and can accommodate at least one object from a magazine. Preferably, there can be several first and second clearances, each aligned correspondingly to the others.Depending on the chosen embodiment, a single object or / and several objects can be picked up simultaneously in each pair of first and second free space, and the gripping tool can grip any single object, several individual objects from any position of a grid of objects in the magazine simultaneously, entire rows of objects simultaneously, or / and all objects simultaneously.

[0011] According to another important feature of this aspect, the objects are gripped by means of a clamping action between the gripping elements and released again by means of an actuator moving them relative to each other from a release position to a clamping position and vice versa. This gripping action allows all types of objects with approximately parallel and approximately perpendicular flanks to be gripped. Compared to the known solution, this offers the advantage that not only syringes with finger flanges, but also, for example, syringes without finger flanges and cartridges can be gripped.

[0012] At least one gripping element preferably has at least one plate-shaped gripping plate, wherein a free space is formed by a recess in the gripping plate. The first gripping element thus comprises at least one plate-shaped first gripping plate with at least one first free space, wherein at least one first free space is formed by a recess in the first gripping plate, and / or the second gripping element comprises at least one plate-shaped second gripping plate with at least one second free space, wherein at least one second free space is formed by a recess in the second gripping plate.A recess can, for example, be a cutout in the surface of a gripping plate, which has an approximately circular or elongated outline, so that a through-opening is created in a gripping plate, whereby objects to be gripped can be guided through the same recess individually or several objects simultaneously, and / or the recess can, for example, be designed as concave, in particular wave-shaped indentations on an edge of a gripping plate.

[0013] If the gripping elements are designed as gripping plates, they are preferably positioned parallel and horizontally one above the other. In an exemplary embodiment with through-hole-like recesses in the surfaces of a first gripping plate of a first gripping element and in a second gripping plate of a second gripping element, these two through-hole-like recesses are aligned correspondingly to each other due to the parallel arrangement of the gripping plates one above the other, so that objects to be gripped can be guided through both recesses simultaneously. In particular, the recesses include edges by means of which objects guided through the recesses can be gripped by clamping action.In a preferred embodiment of the first aspect, two first gripping elements are positioned one above the other such that a second gripping element can be positioned or / and is positioned between the two first gripping elements, wherein the two first gripping elements and the second gripping element are displaceable relative to each other, and in particular, wherein the two first gripping elements are immovable relative to each other, preferably being rigidly connected to one another. By a corresponding arrangement of the two first gripping elements and the second gripping element, an object gripped by clamping action can be gripped more stably, since, on the one hand, two contact areas are created by the first gripping elements, and, on the other hand, a third contact area is created opposite and between the two first gripping elements by the second gripping element. For example, an object clamped in this way is secured against tipping due to shear forces.In alternative embodiments, the roles of the first and second gripping elements can be reversed, such that two second gripping elements are positioned one above the other in such a way that a first gripping element can be positioned or / and is positioned between the two second gripping elements, wherein the two second gripping elements and the first gripping element are displaceable relative to each other, wherein in particular the two second gripping elements are immovable relative to each other, preferably being firmly connected to each other.

[0014] In a further embodiment of the first aspect, a first gripping element of the gripping tool comprises at least one, in particular a plurality, of first struts, and / or a second gripping element of the gripping tool comprises at least one, in particular a plurality, of second struts. Optionally, at least one clearance of at least one gripping element is arranged adjacent to a strut of the gripping element. Preferably, such struts are rod-shaped. In particular, such struts can be used to grip objects, especially objects arranged in rows, by means of a clamping action. Preferably, several struts are arranged adjacent to each other, in particular parallel to each other, so that objects arranged in several adjacent, in particular parallel, rows can be gripped simultaneously.For example, at least one first and at least one second strut can be opposed to each other in pairs, such that the associated surfaces of the opposed struts form opposed clamping surfaces. These opposed clamping surfaces then enable the objects to clamp together.

[0015] Preferably, one of the struts described above can be encompassed by a gripping element designed as a gripping plate, wherein this strut lies particularly in a plane of the corresponding gripping plate, preferably partially in this plane, and wherein, in particular, the clearances of the gripping elements are formed by recesses in the gripping plates and the clearances are arranged adjacent to the struts. For example, these clearances have an elongated shape, and clearances and struts are arranged alternately next to each other, so that a gripping plate with struts has a grid-like design. Such grid-like gripping plates can be adapted to the geometry of the magazine, in particular to the positions of the grid-arranged objects in the magazine, such that a clearance is provided for a portion of the grid-arranged objects, for example, for a row of objects in a grid.This makes it possible to grab individual objects, multiple individual objects simultaneously, entire rows of objects, and / or all objects from the magazine.

[0016] In a preferred embodiment, the gripping elements, in particular the gripping plates, preferably the gripping plates with struts, can be detached from the gripping tool and replaced by other gripping elements. Such other gripping elements can be adapted to a different geometry of another magazine. For example, the gripping elements offer a gripping stroke of approximately 40 mm. This means that, in an open configuration, they have a space of approximately 40 mm in extent in which objects can be picked up, and / or that the gripping elements can be moved relative to each other by up to approximately 40 mm between the clamping position and the release position.

[0017] In a preferred embodiment, in which the first gripping element preferably has at least one, and in particular a plurality, of first struts, wherein at least one first clearance of the first gripping element is arranged adjacent to a first strut of the first gripping element, at least one first clearance can extend into a plurality of first clamping recesses in an adjacent first strut such that the first strut has a rack-like shape. The first clamping recesses can be uniformly spaced apart from one another. For example, a first clamping recess can have a concave shape. Such a shape has the advantage that, during a clamping engagement, an object is guided to an ideal clamping position in the first clamping recess, and that the contact area between the gripping element and the object is increased compared to a flat clamping surface, thus making the clamping more stable.

[0018] In a further preferred embodiment, in which the second gripping element preferably has at least one, and in particular a plurality, of second struts, wherein at least one second clearance of the second gripping element is arranged adjacent to a second strut of the second gripping element, at least one second clearance can extend into a plurality of second clamping recesses in an adjacent second strut. The second clamping recesses can each comprise a tolerance compensation unit, which in particular comprises two webs that are preferably integral with the second strut and further preferably made of the same material as the second strut. Likewise, the second clamping recesses can be uniformly spaced apart from one another.A tolerance compensation unit offers the advantage of compensating for varying positions, orientations, and sizes of objects during a clamping action, for example, between the first and second gripping elements. Without a tolerance compensation unit, for instance, undesirable shear forces can occur when an object is clamped between clamping recesses, potentially damaging the clamped object. Furthermore, without a tolerance compensation unit, when multiple objects are clamped simultaneously, some may already be clamped, blocking the gripping elements, while others may be insufficiently or not at all clamped and could be lost during transport by the gripping tool or not gripped and transported at all.In a preferred embodiment, which has first clamping recesses in a first strut and second clamping recesses in a second strut, at least one first clamping recess and one second clamping recess are associated with each other so that they can jointly effect the clamping engagement of an object. In particular, one first clamping recess is associated with the first clamping recesses of a first strut and one second clamping recess is associated with the second clamping recesses of a second strut and is positioned along the respective strut such that the first clamping recess and the second clamping recess are opposite each other and, in a clamping position of the gripping plates, jointly produce a clamping effect. Preferably, these first and second struts are each adjacent to a first and a second free space, which are aligned correspondingly to each other.

[0019] In an alternative embodiment of the first aspect, in which the gripping elements comprise struts, a lamellar section is arranged on at least one strut of at least one gripping element. In particular, such lamellar sections can be used to grip objects, especially objects arranged in rows, by means of a clamping action. Preferably, several struts are arranged parallel to one another, so that objects arranged in several parallel rows can be gripped simultaneously. For example, at least one first and at least one second strut and the lamellar sections arranged thereon can be arranged in pairs opposite to each other, such that the associated surfaces of the opposed lamellar sections, which are particularly approximately flat, form opposed clamping surfaces. These opposed clamping surfaces then enable the objects to be gripped.

[0020] Furthermore, in this alternative embodiment, preferably at least one strut, in particular one of the struts described above, can be encompassed by at least one gripping plate, wherein this strut lies preferably in a plane of the corresponding gripping plate, preferably partially in this plane, and wherein the clearances for the gripping elements are formed by recesses in the gripping plates and the clearances are arranged adjacent to the struts. For example, these clearances have an elongated shape, and a strut and a clearance are always arranged alternately adjacent to each other, so that a gripping plate with struts is designed in a grid-like manner. Such grid-like gripping plates can be adapted to the geometry of the magazine, in particular to the positions of the grid-arranged objects, as described above.

[0021] Preferably, in this alternative embodiment, the lamellar sections on the struts interlock, particularly approximately vertically. This ensures that opposing clamping surfaces lie approximately in a common horizontal plane, preventing the objects from being uncontrollably tilted sideways by the clamping engagement between the opposing surfaces, even if the corresponding first and second struts are not arranged approximately in a common horizontal plane, especially if grid-like gripping plates encompassing the struts are arranged vertically one above the other. Furthermore, this allows the objects to be gripped securely.

[0022] In a preferred embodiment of the first aspect, the gripping elements, in particular the struts and / or gripping plates, are movable relative to each other, in particular movable in at least one direction which crosses the extension direction of the struts and / or an extension plane of a gripping plate and / or an extension direction of an object to be gripped and / or runs parallel to an extension plane of a gripping plate, preferably movable approximately linearly.

[0023] Furthermore, the gripping elements are preferably configured to be moved by the actuator, in particular by a parallel gripper, and especially to be moved approximately linearly. The gripping elements are optionally attached to shafts, in particular to two shafts each, one each assigned to the first and second gripping elements. Such shafts are preferably configured to be moved approximately linearly by the actuator, in particular by a parallel gripper, and in particular to transmit the actuator's actuation to the gripping elements.

[0024] In particular, the gripping elements can be attached to the shafts, for example, with screws, so that the gripping elements can be replaced. Shafts associated with the first gripping element are specifically aligned approximately parallel to shafts associated with the second gripping element. Preferably, the parallel gripper comprises two actuator units, each configured to displace a gripping element. Preferably, for an approximately linear displacement of two gripping elements, two actuator units are designed as linear actuators, arranged parallel to each other and specifically configured to effect opposing displacements. In an embodiment where two shafts are associated with a gripping element, these two shafts are preferably aligned parallel to each other.In particular, the shafts are rod-shaped, preferably cylindrical with a circular cross-section, over at least a section of their longitudinal extension. An approximately linear guidance of the gripping elements by means of shafts enables a uniform and defined directed displacement of the gripping elements.

[0025] In a further preferred embodiment, the gripping tool, in which two shafts are provided for each gripping element, has a holder that mechanically connects both shafts. This holder is itself connected to the actuator unit of the actuator associated with the gripping element. This holder improves the stability of a structure comprising two shafts and a gripping element, and enables synchronous displacement of two associated shafts by the actuator.

[0026] Preferably, the actuator is arranged in a housing to protect it from external influences. The shafts are guided through openings in a front plate of the housing, so that any displacement by the actuator is transmitted outwards via the shafts to gripping elements located outside the housing. Preferably, the openings in the front plate each additionally include a double wiper, which protects the interior of the housing from contamination, and a ball bushing, which mechanically relieves the double wiper and enables smooth shaft rotation with reduced resistance. The opening in the front plate, the double wiper, and the ball bushing all have the same outline as the shaft passing through them, in particular a circular outline.The housing contains a holder that connects two shafts to an actuator unit. This holder is additionally connected to a linear guide mounted on an inner surface of the housing and / or to support elements inside the housing. The linear guide ensures smooth shaft movement and improves the stability of the assembly consisting of the shafts, gripping element, holder, and actuator. Specifically, the actuator is mounted on an inner surface of the front panel and positioned above a holder. A linear guide is positioned below a holder and is connected directly to an inner surface of the housing base and / or to support elements located inside the housing, thus enhancing the housing's mechanical stability.Furthermore, the housing comprises, in particular, two side walls, a rear wall, and a lid, the lid of which may have a flange by means of which the gripping tool can be mounted on other devices. Preferably, components of the housing, in particular the housing walls, are made of stainless steel.

[0027] In a preferred embodiment of the first aspect, the gripping tool comprises modification means, which may be configured as hooks. Such modification means serve in particular to modify other devices intended for removing objects. For example, a lifting device for individually lifting defective objects, which is described below and may include interchangeable components, may be provided. These interchangeable components can be picked up, moved, separated from other components of such a lifting device, exchanged, and / or coupled to the other components of the lifting device using the modification means. The modification means are preferably movable in an approximately linear direction, for example, by means of an actuator, in particular the same actuator that is configured to cause a movement of a gripping element.For example, the gripping tool can be positioned near the lifting device and the modifying means can be moved so that they engage with and modify another component.

[0028] In a further preferred embodiment, the gripping tool comprises a control unit which controls its functions, in particular the gripping and releasing of objects autonomously and / or receives commands for this purpose from an external control unit, or the gripping tool is configured to be controlled by an external control unit.

[0029] According to a second aspect, the aforementioned problem of the invention is solved by a lifting device for individually lifting defective objects from a magazine containing objects, wherein the lifting device comprises at least one lifting element configured to contact and lift objects, and wherein the lifting device comprises at least one electromagnetic lifting device configured to actuate the lifting element. The number and selection of objects to be lifted from the magazine can be freely selected. For each lifting operation, it can be determined whether a specific individual object, a defined subset of the objects in the magazine (in particular, a plurality of adjacent objects or objects arbitrarily distributed in the magazine), or all objects in the magazine are lifted simultaneously.

[0030] According to an important feature of the second aspect, the lifting elements, which then contact and lift the objects to be lifted, are actuated by means of an electromagnetic lifting device. Actuating the lifting elements with an electromagnetic lifting device is technically simpler to implement and easier to control than actuating them, for example, with a pneumatic device, which is mechanically and structurally more complex. In a preferred embodiment, the at least one lifting element contacts the objects from below and also lifts them from below. A magazine well has, in particular, approximately vertically oriented through-openings through which the objects are guided for transport within the well. Simultaneously, the undersides of the objects are accessible from below, allowing the at least one lifting element to contact these undersides.

[0031] Preferably, the lifting device comprises a lifting plate which is configured to raise the electromagnetic lifting device, in particular approximately vertically, so that the lifting element is actuated when the electromagnetic lifting device performs this actuating action, wherein in particular the lifting plate has an opening for each lifting element which is assigned to the respective lifting element, and the respective lifting element can be guided, in particular approximately vertically, through the respective opening of the lifting plate, so that in particular, when the electromagnetic lifting device does not actuate the lifting element and the electromagnetic lifting device is raised by the lifting plate, the lifting element is displaced with respect to the lifting plate.In particular, when the electromagnetic lifting device is activated, the lifting element is coupled to it by electromagnetic forces, so that lifting the lifting plate along with the electromagnetic lifting device also results in lifting the lifting element. This causes the lifting element, by being lifted itself, to contact and lift the object to be lifted from below. If, on the other hand, the electromagnetic lifting device is not activated, the lifting element remains at rest and is displaced as a result of the relative movement of the lifting plate. Preferably, an opening in the lifting plate includes a sliding bushing to minimize friction between the lifting element and the opening.After lifting, the lifting plate can be lowered again, whereby the lifting element that was also lifted is returned to its starting position and can be lifted again when the lifting plate is activated by the electromagnetic lifting device, or remain at rest if the electromagnetic lifting device is not activated. According to a preferred embodiment of the second aspect, the lifting device comprises a format plate which has an opening for each lifting element, wherein the respective lifting element is guided, in particular, approximately vertically displaceable through the respective opening of the format plate, such that, in particular, when a lifting element is actuated, the lifting element is displaced relative to the format plate.The format plate includes an opening, in particular a sliding bushing, to minimize friction between a lifting element guided through the opening and the opening itself. Specifically, the format plate supports the lifting element in a horizontal direction, thus providing more stable guidance when the lifting element is actuated. The format plate is preferably made of POM.

[0032] In a further preferred embodiment of the second aspect, the lifting device comprises both a lifting plate and a formatting plate, wherein the formatting plate is arranged vertically above the lifting plate, spaced apart from it, and parallel to it, and / or the formatting plate and the lifting plate each have an opening for a lifting element, wherein the respective openings correspond to each other and are arranged approximately vertically one above the other, so that the lifting element is guided, in particular, approximately vertically, displaceably through both openings associated with it. By being guided through the formatting plate, the lifting element is additionally stabilized when actuated, in particular when it is lifted. Additionally, a lifting element that is not actuated, in particular a section of this lifting element which is always located above the formatting plate, can rest on the formatting plate.

[0033] Preferably, the electromagnetic lifting device comprises an electromagnet configured to interact electromagnetically with a lifting element, in particular to couple and decouple it electromagnetically. An electromagnet can be installed in a space-saving manner and easily controlled and actuated via an electrical connection. Furthermore, coupling using electromagnetic forces reduces the mechanical stress on components. In particular, the lifting element is simultaneously configured to allow the electromagnet to interact with it electromagnetically.

[0034] Preferably, the electromagnetic lifting device has a through-hole through which the corresponding lifting element is slidably guided and which, if a lifting plate is provided as described above, is preferably arranged collinearly with a corresponding opening in the lifting plate for the lifting element. An advantage of this embodiment is that this arrangement of the electromagnetic lifting device and lifting element is more space-saving than arranging these components side by side. Likewise, more electromagnetic lifting devices and lifting elements can be arranged closer together, for example, on a common lifting plate. A further advantage of this arrangement lies in the collinear, and therefore, in particular, the central and uniform force applied to the lifting element when the lifting element is actuated by the electromagnetic lifting device.Undesired torques and mechanical stress on the components can be reduced, and the service life of the components can be extended.

[0035] In a preferred embodiment of the second aspect, the lifting element comprises a plunger. In particular, the lifting element has an interaction section configured to interact electromagnetically with the electromagnetic lifting device, specifically to couple and decouple it electromagnetically, and for this purpose, in particular, to include magnetic or magnetizable components. The interaction section is specifically arranged at a lower end of the lifting element, particularly the plunger. Preferably, the interaction section comprises an approximately cylindrical interaction cylinder or an approximately plate-shaped interaction plate, wherein the interaction cylinder or the interaction plate preferably represents and / or includes the magnetic or magnetizable component.In particular, the magnetic or magnetizable component is made of stainless steel, more preferably of S235JR steel. In a further preferred embodiment, the lifting element, in particular the plunger, comprises at its upper end a receptacle designed to receive objects, wherein the receptacle is directed approximately upwards, preferably in a fork-shaped form and / or similar to a cutout in a cylindrical shell and / or is open in an approximately funnel-like manner, and which is designed to be removed from and attached to the lifting element, in particular the plunger. A plunger extends, in particular, longitudinally between a lower and an upper end and has a preferably cylindrical and / or conical shape over a section of its longitudinal direction. The plunger is oriented approximately parallel to the lifting direction of the object to be lifted.The lifting mechanism can be specifically adapted to the shape of the objects being lifted, making it easy to change the mechanism when lifting a different type of object. By providing a specially adapted mechanism, the lifting mechanism prevents the object from slipping sideways when the lifting element contacts and lifts it from below. Additionally, the removed lifting mechanisms can be easily cleaned and sterilized, ensuring more hygienic operation of the lifting device.

[0036] Preferably, an electromagnetic lifting device and a lifting element are combined to form a lifting unit. A plurality of such lifting units, and optionally a lifting plate and / or a formatting plate, are further combined to form a formatting unit. Such a formatting unit can optionally include a control component. The plurality of lifting units are arranged relative to one another such that the positions of the lifting elements correspond to the positions of objects arranged in a grid pattern in a magazine. Additionally, the formatting unit is attached to the lifting device, in particular by screws or bayonet fittings, in such a way that it can be detached from and attached to the lifting device.If a different magazine with a different grid arrangement of objects is used, the format unit can be exchanged for another format unit whose geometry, as well as the number and arrangement of lifting elements, in particular lifting units, are adapted to the other magazine. For this purpose, handles can be provided on the format unit, in particular on a format plate and / or on a housing of the format unit, which can be used, in particular, for transporting the format unit. Optionally, if the format unit has a control component, this can include a terminal box with a plurality of distribution blocks.In a preferred embodiment, the formatting unit comprises 160 lifting units, each consisting of a plunger with an interaction cylinder and an electromagnet with a through-hole, wherein the plunger is movably guided through the through-hole of the electromagnet, and optionally a control component, which in particular has a terminal box with preferably eight distribution blocks, wherein each distribution block can more preferably control 20 electromagnets. In particular, the control component can be arranged in a housing of the formatting unit on a base of the housing, or in a further embodiment, arranged below a lifting plate of the formatting unit, preferably attached to the lifting plate.Furthermore, a control component may be configured to control the lifting device as a whole, or to receive commands to actuate the electromagnetic lifting devices from a control unit of the lifting device and / or an external control unit.

[0037] In a preferred embodiment of the second aspect, with a lifting plate and a format unit as previously described, the lifting device further comprises a double lifting column with an inner lifting column configured to raise and lower the lifting plate, and an outer lifting column configured to raise and lower the format unit. Raising and lowering the format unit serves, for example, the purpose of equalizing the distance between the format unit and the objects to be lifted when objects of different dimensions, particularly objects of different lengths, are to be lifted. Preferably, when the outer lifting column, together with the format unit, is raised and lowered, the inner lifting column is also moved accordingly.Preferably, the inner lifting column is operatively connected to the lifting plate in such a way that raising and lowering the inner lifting column relative to the format unit causes a corresponding raising and lowering of the lifting plate, thereby actuating the lifting elements to be operated. Raising and lowering the inner and outer lifting columns can be achieved, in particular, by means of respective spindles, which are preferably driven by a belt drive and servo motor. Preferably, the double lifting column is configured to be controlled by a control unit of the lifting device and / or an external control unit.

[0038] Preferably, the formatting unit comprises at least two coupling elements, in particular an inner coupling base and an outer coupling base, which can be coupled to the inner lifting column and the outer lifting column, respectively. For this purpose, corresponding bayonet locking components can be provided on the inner coupling base and the inner lifting column, as well as on the outer coupling base and the outer lifting column. Such bayonet locking mechanisms make it possible, in particular, to achieve or disengage a coupling between the formatting unit and the double lifting column with a simple rotation.

[0039] As previously described, a gripping tool can, in particular, comprise modification means. It is preferably configured to couple the format unit to the double-stroke column or to decouple it from the double-stroke column by means of the modification means. For example, in the embodiment in which the format unit and the double-stroke column can be coupled via bayonet locks, the gripping tool, when the modification means are engaged with the format unit, can transport it and, for example, rotate it in such a way that bayonet locks, as previously described, are coupled or uncoupled. To enable the modification means to engage appropriately with the format unit, handles can, for example, be provided on the format unit, and the modification means are preferably designed in a hook shape so that they can engage with the handles.

[0040] In a further preferred embodiment of the second aspect, which comprises a lifting plate, a lifting actuator device can be provided instead of a double lifting column. This device is configured to move the lifting plate, particularly approximately parallel to the lifting direction of an object to be lifted, preferably up and down, and more preferably linearly up and down. For this purpose, the lifting actuator device comprises a linear unit, preferably a servo motor with belt drive, which is suitable for effecting a linear and particularly uniform lifting movement.

[0041] In a further possible preferred embodiment of the second aspect, the lifting device comprises an offsetting device configured to offset the lifting device horizontally, in particular approximately linearly, preferably in a Y-direction approximately orthogonal to an approximately vertical lifting direction, which is preferably aligned approximately parallel to a Z-direction. For this purpose, the offsetting device can comprise a linear unit, which preferably includes a servo motor with a belt drive. In particular, during this process, the magazine containing objects is transported horizontally, in particular approximately linearly, preferably approximately in an X-direction approximately orthogonal to the approximately vertical lifting direction on a conveyor belt device, in particular on a belt belt, which allows access to the undersides of the objects in the magazine from below.Through the interaction of the offset device and the conveyor belt device, object positions and lifting elements are aligned relative to each other so that the lifting elements can contact and lift their assigned objects. For this purpose, the offset device can displace components of the lifting device, for example, a lifting actuator and / or a format unit, preferably by up to approximately 25 mm in the Y direction. Furthermore, the magazine can comprise several identical grids of object positions, offset from one another in the X and Y directions. By offsetting the magazine in the X direction and the components of the lifting device in the Y direction, the lifting elements can be aligned under each selected grid of object positions in the magazine.Such an embodiment is particularly advantageous if the lifting device does not have enough lifting elements to lift all objects in the magazine simultaneously. Additionally, the offset device can be configured to move the format unit in the Y-direction until it protrudes from under the conveyor belt, especially the belt conveyor.

[0042] This significantly simplifies the process of replacing the format unit.

[0043] Preferably, a control unit of the lifting device can be configured to control an offset device, a lifting actuator device, and / or a control component of the lifting device, and / or to receive commands from an external control unit to control these components.

[0044] According to a third aspect of the invention, the aforementioned problem is solved by a device for removing defective objects, which comprises a gripping device and a lifting device, wherein the gripping device comprises a transport device, in particular a gripping robot, preferably a SCARA robot, and a gripping tool which is carried by the transport device, wherein the gripping tool is configured to grasp and release objects, and the transport device is configured to transport the gripping tool between a gripping position and a release position, and wherein the lifting device comprises at least one lifting element which is configured to contact and lift objects, wherein the gripping tool is further configured according to the preceding descriptions and / or the lifting device is configured according to the preceding descriptions.A SCARA robot is characterized in particular by its ability to transport the gripping tool by means of pivoting movements, especially in an approximately horizontal plane, and is therefore significantly simpler in design than, for example, a 6-axis robot used in the known solution. Furthermore, the control and automation of a single robot, in the case of a SCARA robot using a conventional drive controller, is considerably simpler than the complex control and automation of two robots, especially two 6-axis robots using complex robot control units whose movements must be choreographed. Moreover, the space requirements and design effort of the solution according to the invention, using only one robot, are reduced compared to the known solution with two robots, which also simplifies the design and construction of adjacent system components.Preferably, the transport device of the gripping device is configured to raise and lower the gripping tool approximately vertically, so that objects which are merely lifted and gripped by the gripping tool in the magazine can be completely lifted out of the magazine.

[0045] In particular, the magazine containing objects is transported horizontally, especially approximately linearly, preferably in an X-direction approximately orthogonal to the approximately vertical lifting direction, which runs parallel to a Z-direction, on a conveyor belt device, particularly a belt conveyor, which allows access to the undersides of the objects in the magazine from below. The lifting device is arranged below the conveyor belt device such that it is located near the magazine on the conveyor belt device or can be brought near the magazine in order to lift the defective objects to be lifted. The conveyor belt device can, in particular, be folded to the side or removed in some other way to allow easy access to the lifting device. This is particularly advantageous if the lifting device includes a format unit or other components that are to be separated from the lifting device.

[0046] Preferably, the device for removing defective objects comprises a control system which is configured to obtain information about the positions of defective objects in a magazine containing objects and to coordinate components of the device for removing defective objects accordingly in order to selectively remove the defective objects from the magazine.

[0047] According to a fourth aspect of the invention, the above problem is solved by a method for operating a device for removing defective objects in accordance with the preceding descriptions. This method comprises a step of obtaining positional information about defective objects in a magazine, wherein the defective objects have been identified among objects arranged in a grid pattern in the magazine, in particular in a plurality of grids in the magazine; a step of positioning the magazine containing objects, for example by means of a conveyor belt device on which the magazine is transported, above the lifting device in accordance with the preceding descriptions, such that the objects arranged in a grid pattern in the magazine and the lifting device are operationally aligned with each other;as well as a removal sequence comprising: positioning the gripping tool in accordance with the preceding descriptions above a gripping position associated with at least some of the objects arranged in a grid pattern in the magazine; lifting the defective objects whose position in the magazine is associated with the gripping position using the lifting device; optionally lowering the gripping tool to the level of the gripping position; gripping the lifted defective objects using the gripping tool; removing the gripped defective objects from the magazine by lifting the gripping tool; optionally positioning the gripping tool above a discharge position;and the release of removed defective objects. Such a method is characterized by low complexity in control through simple control technology of the components according to the above descriptions and low complexity in automation. In particular, compared to the known solution, in which complicated motion sequences and controls of, for example, a conveyor belt device, two 6-axis robots and a pneumatic lifting device must be coordinated, this method is more economical.

[0048] Preferably, the method comprises several picking sequences, wherein, if the objects are arranged in a plurality of grids in the magazine, the gripping tool is positioned over a different gripping position in each picking sequence. Each gripping position is associated with one grid from the plurality of grids and thus with a different portion of the objects arranged in the magazine in a grid pattern. Positioning the gripping tool over different, relative gripping positions and performing several picking sequences is particularly advantageous when the gripping tool can grasp all objects in a grid simultaneously, but the magazine of objects comprises several nested grids of objects, such that, for example, the total number of objects exceeds the gripping capacity of the gripping tool. Preferably, the objects in each grid are arranged in the same geometry.Even if the lifting device could lift all objects in the magazine simultaneously, multiple removal sequences are required in such a scenario. By being able to process multiple grids of object positions in the same magazine, the cycle rate of processed objects, for example in a production line, is increased, thereby making the operation of production facilities more economical.

[0049] In another embodiment, the method can comprise several removal sequences, wherein between each removal sequence a lifting device, which includes an offsetting device as described above, is moved by means of this offsetting device, and the magazine containing objects is repositioned, for example by a conveyor belt device, so that a further grid of objects in the magazine, which differs from the previous grid, and the lifting device are operationally aligned with each other. Such a procedure is particularly advantageous when the number of objects in a magazine exceeds the number of lifting elements in the lifting device.

[0050] The invention is explained in more detail below with reference to a first preferred embodiment and a further preferred embodiment, with reference to the drawings. The drawings show:

[0051] Fig. 1 is an isometric view of a gripping tool 1 according to the first preferred embodiment of the invention,

[0052] Fig. 2 shows a top view of a first gripping plate 100a of a first gripping element 10a according to the first preferred embodiment of the invention,

[0053] Fig. 3A is a top view of a second gripping plate 100b of a second gripping element 10b according to the first preferred embodiment of the invention, Fig. 3B is a top view of a section of the second gripping plate 100b of the second gripping element 10b according to the first preferred embodiment of the invention from Fig. 3A,

[0054] Fig. 4 shows a side view of two first gripping plates 100a and a second gripping plate 100b according to the first preferred embodiment of the invention,

[0055] Fig. 5A shows a top view of two first gripping plates 100a and a second gripping plate 100b in a release position of the gripping tool 1 according to the first preferred embodiment of the invention.

[0056] Fig. 5B shows a top view of the two first gripping plates 100a and the second gripping plate 100b in a clamping position of the gripping tool 1 according to the first preferred embodiment of the invention.

[0057] Fig. 6A shows a cross-sectional view of the two first gripping plates 100a and the second gripping plate 100b in a release position of the gripping tool 1 according to the first preferred embodiment of the invention.

[0058] Fig. 6B shows a cross-sectional view of the two first gripping plates 100a and the second gripping plate 100b in a clamping position of the gripping tool 1 according to the first preferred embodiment of the invention.

[0059] Fig. 7 shows a top view of a gripping tool 1 according to a further preferred embodiment of the invention,

[0060] Fig. 8A shows a cross-sectional view of the gripping plates 100a, 100b of the gripping elements 10a, 10b in a release position of the gripping tool 1 according to a further preferred embodiment of the invention. Fig. 8B shows a cross-sectional view of the gripping plates 100a, 100b of the gripping elements 10a, 10b in a clamping position of the gripping tool 1 according to an embodiment of the invention.

[0061] Fig. 9A shows a side view of an opened housing 12 of the gripping tool 1 according to the embodiments of the invention.

[0062] Fig. 9B shows a section of a cross-sectional view of a housing 12 of the gripping tool 1 according to the embodiments of the invention,

[0063] Fig. 10 shows a side view of a section of a lifting device 2 according to the embodiments of the invention under a magazine with objects 3,

[0064] Fig. 11 shows a side view of a section of a lifting device 2 according to the embodiments of the invention under a magazine with objects 3, while a selection of objects is lifted.

[0065] Fig. 12 shows an isometric view of a format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention,

[0066] Fig. 13 shows a top view of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention, from above.

[0067] Fig. 14 shows a top view of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention from below.

[0068] Fig. 15 shows a side view of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention, wherein one side wall of the lifting device is hidden. Fig. 16 shows a side view of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention, wherein one side wall of the lifting device is hidden.

[0069] Fig. 17 shows an isometric view of a double lifting column 260 of the lifting device 2 according to the first preferred embodiment of the invention,

[0070] Fig. 18 shows a top view of the double lifting column 260 of the lifting device 2 according to the first preferred embodiment of the invention,

[0071] Fig. 19 shows an isometric view of a section of the double lifting column 260 of the lifting device 2 according to the first preferred embodiment of the invention.

[0072] Fig. 20 shows a side view of a section of a lifting device 2 according to a further preferred embodiment of the invention,

[0073] Fig. 21 is an isometric view of a device for removing defective objects 4 according to the first preferred embodiment of the invention,

[0074] Fig. 22A shows a top view of a device for removing defective objects 4 according to the embodiments of the invention, while the gripping tool 1 is arranged above a gripping position 5,

[0075] Fig. 22B shows a top view of a device for removing defective objects 4 according to the embodiments of the invention, while the gripping tool 1 is arranged above a drop-off position 6, and

[0076] Fig. 23 shows a top view of a device for removing defective objects 4 according to a further embodiment of the invention, while the lifting device 2 is in a maintenance position 7. Figs. 1 to 6B, 12 to 19, and 21 illustrate a first preferred embodiment of the invention. Figs. 7 to 8B, 20, and 23 illustrate a further preferred embodiment of the invention. Figs. 9A to 11, 22A, and 22B illustrate general concepts of the invention that are applicable to both preferred embodiments.

[0077] Fig. 1 shows an isometric view of a gripping tool 1 according to the first preferred embodiment of the invention, which comprises a first and a second gripping element 10a, 10b, a housing 12, and shafts 14, wherein two shafts 14 are associated with each gripping element 10a, 10b. The gripping elements 10a, 10b comprise gripping plates 100a, 100b, which have clearances 102a, 102b and struts 104a, 104b, wherein the clearances 102a, 102b are elongated and adjacent to the struts 104a, 104b. The first preferred embodiment of the invention comprises two first gripping plates 100a and a second gripping plate 100b, which are arranged one above the other, with the second gripping plate 100b being arranged between the first gripping plates 100a. The shafts 14 connect the gripping elements 10a, 10b outside the housing 12 with components inside the housing 12. For this purpose, they are guided through openings 126 in a front panel 124 of the housing 12.On the top of the housing 12, a cover 120 of the housing 12 is visible, to which a flange 122 is attached, by means of which the gripping tool 1 can be mounted on other devices. Modifying means 129 are provided on the underside of the gripping tool 1, which in this embodiment are designed in a hook shape.

[0078] Fig. 2 shows a top view of a first gripping plate 100a of a first gripping element 10a according to the first preferred embodiment of the invention, which comprises first clearances 102a and first struts 104a. The first clearances 102a extend into first clamping recesses 105a in the first struts 104a. In particular, these first clamping recesses 105a have an approximately triangular plan view, are all arranged on the same side of a corresponding first strut 104a, and are evenly spaced from one another along this corresponding first strut 104a. The first struts 104a thus have a rack-like shape.

[0079] Figures 3A and 3B show a top view of a second gripping plate 100b of a second gripping element 10b according to the first preferred embodiment of the invention, which comprises second clearances 102b and second struts 104b. The second clearances 102b extend into second clamping recesses 105b in the second struts 104b. Details of these second clamping recesses 105b are shown in Figure 3B in a section of Figure 3A corresponding to the area marked with a dashed outline. Particularly in the case of gripping plates 100a and 100b arranged one above the other as in Figure 1, the second clamping recesses 105b are located on the opposite side of the second struts 104b with respect to the position of the first clamping recesses 105a on the first struts 104a of the first gripping plates 100a.They are arranged along the second struts 104b in such a way that the first clamping recesses 105a and the second clamping recess 105b associated with each other are opposite each other in the gripping tool 1.

[0080] Fig. 3B shows a top view of a section of a second gripping plate 100b of the second gripping element 10b according to the first preferred embodiment of the invention from Fig. 3A. The second clamping recesses 105b on the second struts 104b of the second gripping plate 100b are shown in detail. These second clamping recesses 105b each preferably have a tolerance compensation unit 106. This tolerance compensation unit 106 has, in particular, two webs 106*, which are preferably integral with the second strut 104b and preferably made of the same material as the second strut 104b. In particular, the webs 106* are flexible, for example, by virtue of their appropriately selected material thickness, in order to adapt to the size and / or a varying position and / or orientation of an object to be gripped, which is gripped by the gripping tool 1 by means of a clamping engagement.To support stable clamping of such an object, the webs 106*, in a state where no object is clamped, together with the second clamping recess 105b, can describe a concave clamping surface. To enable clamping and tolerance compensation by the tolerance compensation unit 106, the second clamping recess 105b extends behind the webs 106*. The webs are preferably arranged symmetrically on the second clamping recess 105b and facing each other such that a space exists between the webs 106*, and the flexible webs 106* can be pressed into this space behind them. In further preferred embodiments, tolerance compensation units 106 can, for example, also be provided on first and / or second gripping elements 10a, 10b, gripping plates 100a, 100b, struts 104a, 104b or / and clamping recesses 105a.

[0081] Fig. 4 shows a side view of two first gripping plates 100a and a second gripping plate 100b according to the first preferred embodiment of the invention. The two first gripping plates 100a and a second gripping plate 100b are arranged one above the other, with the second gripping plate 100b being arranged between the first gripping plates 100a.

[0082] Fig. 5A shows a top view of two first gripping plates 100a and a second gripping plate 100b in a release position of the gripping tool 1 according to the first preferred embodiment of the invention. A pair of first clamping recesses 105a in first struts 104a of the first gripping plates 100a and a second clamping recess 105b in a second strut 104b of the second gripping plate 100b are associated with each other and are positioned opposite each other, so that they are jointly assigned to an object position in a magazine of objects 3 and are configured to grip the object at that position. These associated first clamping recesses 105a and second clamping recesses 105b are spaced apart from each other in the release position, so that objects can be inserted into the spaces 102a, 102b.

[0083] Fig. 5B shows a top view of the two first gripping plates 100a and the second gripping plate 100b in a clamping position of the gripping tool 1 according to the first preferred embodiment of the invention. The pairs of first clamping recesses 105a in first struts 104a of the first gripping plates 100a and second clamping recesses 105b in second struts 104b of the second gripping plate 100b, which are associated with each other, face each other and are spaced apart from each other in a release position of the gripping tool 1, are brought closer together in the clamping position of the gripping tool 1 shown, by the first gripping elements 10a and the second gripping element 10b being displaced relative to each other.

[0084] Fig. 6A shows a cross-sectional view of the two first gripping plates 100a and the second gripping plate 100b in a release position of the gripping tool 1 according to the first preferred embodiment of the invention. The plane of the cross-sectional view intersects the struts 104a, 104b of the gripping plates 100a, 100b of the gripping elements 10a, 10b parallel to a Y and a Z direction and perpendicular to an X direction. A pair of first clamping recesses 105a in first struts 104a of the first gripping plates 100a and a second clamping recess 105b in a second strut 104b of the second gripping plate 100b are associated with each other and face each other. These associated first clamping recesses 105a and second clamping recesses 105b are spaced apart from each other in the release position, so that objects can be inserted into the free spaces 102a, 102b.

[0085] Fig. 6B shows a cross-sectional view of the two first gripping plates 100a and the second gripping plate 100b in a clamping position of the gripping tool 1 according to the first preferred embodiment of the invention. The plane of the cross-sectional view corresponds to the plane of Fig. 6A, and the gripping plates 100a, 100b correspond to the gripping plates 100a, 100b from Fig. 6A after the gripping elements 10a, 10b have been linearly displaced relative to each other in a Y-direction into the clamping position. The pairs of first clamping recesses 105a in first struts 104a of the first gripping plates 100a and second clamping recesses 105b in second struts 104b of the second gripping plate 100b, which are associated with and opposite each other, having previously been spaced apart, are now brought closer together.At each previously described object position, the first clamping recesses 105a form upper and lower contact areas, and the second clamping recess 105b forms middle contact areas for the object to be lifted, thus fixing it and mechanically securing it against slipping, twisting, and / or tilting. In particular, the webs 106* of the tolerance compensation units 106 at the second clamping recesses 105b are flexible, allowing them to deform according to varying positions and orientations of the objects to be lifted and to compensate for these tolerances during clamping.

[0086] Fig. 7 shows a top view of a gripping tool 1 according to a further preferred embodiment of the invention, which comprises a first and a second gripping element 10a, 10b, a housing 12, and shafts 14, wherein two shafts 14 are associated with each gripping element 10a, 10b. The gripping elements 10a, 10b comprise a first and a second gripping plate 100a, 100b, which have corresponding first and second clearances 102a, 102b and first and second struts 104a, 104b with lamellar sections 107, wherein the clearances 102a, 102b are elongated and adjacent to the struts 104a, 104b, and the struts 104a, 104b and lamellar sections 107 interlock vertically, i.e., along a Z-direction. The shafts 14 connect the gripping elements 10a, 10b outside the housing 12 with components inside the housing 12.On the top of the housing 12 a cover 120 of the housing 12 can be seen, to which a flange 122 is attached, with the help of which the gripping tool 1 can be mounted on other devices.

[0087] Fig. 8A shows a cross-sectional view of the gripping plates 100a, 100b of the gripping elements 10a, 10b in a release position of the gripping tool 1 according to a further preferred embodiment of the invention. The plane of the cross-sectional view intersects the struts 104a, 104b and lamellar sections 107 of the gripping plates 100a, 100b of the gripping elements 10a, 10b parallel to a Y and a Z direction and perpendicular to an X direction. The struts 104a, 104b and lamellar sections 107 interlock perpendicularly, forming opposed clamping surfaces 108. Associated, opposed clamping surfaces 108 are spaced apart from each other in the release position, allowing objects to be inserted into the clearances 102a, 102b. Fig. 8B shows a cross-sectional view of the gripping plates 100a, 100b of the gripping elements 10a, 10b in a clamping position of the gripping tool 1 according to the further preferred embodiment of the invention.The plane of the cross-sectional view corresponds to the plane from Fig. 8A, and the gripping plates 100a, 100b correspond to the gripping plates 100a, 100b from Fig. 8A after they have been linearly displaced relative to each other in a Y-direction into the clamping position. The previously spaced-apart, associated, opposed clamping surfaces 108 are now brought closer together.

[0088] Fig. 9A shows a side view of an open housing 12 of an exemplary gripping tool 1. Such an internal structure of the gripping tool can be used in both preferred embodiments of the invention shown here. The viewing direction follows the Y-direction, so that the rear side of a front plate 124 and components inside the housing 12 are visible. The shafts 14 are guided through openings 126 in the front plate 124, each of which comprises a double wiper and a ball bushing 128, the latter mechanically supporting and guiding the shafts 14 in the openings 126. An actuator 130, in particular a parallel gripper, is mounted on the rear side of the front plate 124 and is configured to effect a linear displacement of the gripping elements by means of two actuator units 132, in particular two linear actuators.For this purpose, each actuator unit 132 is connected to a holder 134, with each holder 134 being connected to two associated shafts 14 and supported from below by an associated linear guide 136. The linear guides 136 are mounted on support elements of the housing 138. Modifying means 129, which are provided on the gripping tool 1 and may be arranged, in particular, on a lower side of the housing 12, are not shown in this illustration. Preferably, the modifying means are guided through openings in a base of the housing 12 and are operatively connected, for example, to the actuator 130, in particular to the actuator units 132 and / or the holders 134, so that the modifying means can be actuated in a similar manner to the gripping elements 10a, 10b. The dashed line with arrows in Fig. 9A indicates a section plane of a cross-sectional view, which is shown in Fig. 9B.

[0089] Fig. 9B shows a section of a cross-sectional view of a housing 12 of the gripping tool 1 from Fig. 9A. Such an internal structure of the gripping tool can be used in both preferred embodiments of the invention shown here. The plane of the cross-sectional view is perpendicular to the X-direction and in the plane spanned by the Y- and Z-directions and intersects the gripping tool as indicated by the dashed line in Fig. 9A. The viewing direction follows the X-direction and the arrows in Fig. 9A. A shaft 14 is guided through a double wiper 140 and a ball bushing 128 in an opening 128 of the front plate 124. In the interior of the housing 12, which is located to the right of the front plate 124 in the drawing, the shaft 14 is connected to a holder 134. In this representation, said holder 134 is located to the left of another holder 134, which is connected to shafts that are associated with a different gripping element than the shaft shown.Both holders 134 are each connected to a linear guide 136, which is connected to a support element of the housing 138. In the illustration, a rear linear guide is obscured by a front linear guide 136. Both holders 134 are each connected to an actuator unit 132 of the actuator 130, with a rear actuator unit being obscured by a front actuator unit 132 in the illustration.

[0090] Fig. 10 shows a side view of a section of a lifting device 2 according to the embodiments of the invention, which is arranged below a magazine containing objects 3. This illustration demonstrates the general concept of a lifting device 2 according to the invention, which can be applied to both of the preferred embodiments of the invention shown here, regardless of the exact design of individual components. Lifting elements 20, in particular plungers 21, are shown, which have a receptacle 200 and an interaction section 202. The plungers 21 are slidably guided by a format plate 204 and a lifting plate 206, with the format plate 204 being arranged above the lifting plate 206. In the illustration, the plungers 21 rest on the format plate 204, with each plunger section being arranged above and resting on the format plate 204.Electromagnetic lifting devices 208, in particular electromagnets, are attached to the underside of the lifting plate 206. In the configuration shown, the electromagnetic lifting devices 208 are positioned in sufficient proximity to the interaction sections 202 so that when an electromagnetic lifting device 208 is actuated, the corresponding interaction section 202 couples with each other.

[0091] Fig. 11 shows a side view of a section of a lifting device 2 according to the embodiments of the invention, which is arranged under a magazine containing objects 3 and was already shown in Fig. 10, while predetermined, raised objects 30 are lifted. Individual electromagnetic lifting devices 208 have been selected and actuated, so that the interaction sections 202 located in their vicinity are coupled to the respective electromagnetic lifting device 208. The lifting plate 206 is lifted, so that all electromagnetic lifting devices 208 as well as the lifting elements 20, whose interaction sections 202 are coupled, are also lifted. Consequently, the lifted objects 30 are contacted by the lifted lifting elements 20 via their receptacles 200 and are also lifted.

[0092] Figures 12 to 16 show a lifting device 2 according to the first preferred embodiment of the invention.

[0093] Fig. 12 shows an isometric view of a format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention. Lifting elements 20, in particular plungers 21, are shown, which have a receptacle 200. The receptacle 200 is, in particular, fork-shaped. The lifting elements 20 are slidably guided by a format plate 204, which simultaneously forms an upper surface of a housing 211 of the format unit 210. In the illustration, one half of the lifting elements 20 rests on the format plate 204, with each section of a lifting element 20 arranged above and resting on the format plate 204. The other half of the lifting elements 20 is raised. Handles 216 on the housing 211, feet 212, and an outer coupling base 230 with projections 231 are also shown.

[0094] Fig. 13 shows a top view of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention. The lifting elements 20 are arranged regularly distributed in an XY plane. The positions of the lifting elements 20 in the XY direction correspond to the positions of objects in a magazine 3 in the XY direction. In particular, 160 positions are provided, preferably with two grids of 10 × 8 positions each being diagonally offset from one another. The format plate 204 and the handles 216 are also shown, for example.

[0095] Fig. 14 shows a top view from below of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention. Shown are the feet 212, the handles 216, electrical connections 213, the outer coupling base 230, and an inner coupling base 240. The outer coupling base 230 is shaped like a cylinder, attached to the housing 211, and includes on its underside, in particular, three protrusions 231, which constitute a first component of an outer bayonet lock. The inner coupling base 240 is cylindrically shaped, operatively connected to components inside the format unit 210, and includes on its underside, in particular, two protrusions 241, which constitute a first component of an inner bayonet lock.

[0096] Figures 15 and 16 show side views of the format unit 210 of the lifting device 2 according to the first preferred embodiment of the invention, with the side walls of the housing 211 of the format unit 210 obscured. These figures also show a lifting plate 206, wherein the format plate 204 is arranged above the lifting plate 206 and the lifting elements 20, in particular the plungers 21, are slidably guided by both the format plate 204 and the lifting plate 206. Guide cylinders 215 are arranged on the underside of the format plate 204, which are guided by the lifting plate 206 and along which the lifting plate 206 can be slidably moved, in particular linearly slidably. Support edges are provided at the end of each of the guide cylinders 215, on which the lifting plate 206 can rest. The lifting plate 206 is operatively connected to the inner coupling base 240 via connecting rods 250 and a connecting plate 251.The inner coupling base 240 is slidably guided through the base plate 217 of the housing 211 and the outer coupling base 230. Electromagnetic lifting devices 208, in particular electromagnets, are attached to the underside of the lifting plate 206. The electromagnetic lifting devices 208 are shaped like a cylinder, i.e., they have a through-hole, and a lower section of each lifting element 20 is slidably guided through a through-hole of a corresponding electromagnetic lifting device 208. At their lower end, each lifting element 20 comprises an interaction section 202, which in this embodiment is designed as an interaction cylinder and is configured to couple with the corresponding electromagnetic lifting device 208 when it is actuated and the corresponding electromagnetic lifting device 208 is in the vicinity of the corresponding interaction section 202.In the configuration shown, the inner coupling base 240 is raised, so that the lifting plate 208 is also raised via the operative connection through connecting rods 250 and connecting plate 251. One half of the electromagnetic lifting devices 208 is actuated and coupled to the corresponding interaction section 202, so that the corresponding lifting elements 20 are also raised. The lifting elements 20 corresponding to the other, unactuated half of the electromagnetic lifting devices 208 are not raised. It should be noted that any selection from, in particular all, of the electromagnetic lifting devices 208 can be actuated and coupled to the corresponding interaction sections 202, and the corresponding lifting elements 20 can be raised.Furthermore, the lifting device 2, in particular the formatting unit 210, can comprise a control component 214, which is preferably arranged inside the housing 211 on the base plate 217 thereof, but is not shown in these figures for the sake of clarity. Such a control component 214 can include terminal boxes and distribution blocks. For the sake of clarity, electrical connections between the control component 214 and the electromagnetic lifting devices 208, for example, are also not shown.

[0097] Figures 17 to 19 show a double-lift column 260 of the lifting device 2 according to the first preferred embodiment of the invention. A double-lift column

[0098] 260 is configured to effect two different mechanical actions. In particular, it can be coupled to the format unit 210 of the lifting device 2 and preferably serves to align the format unit 210 and to lift the lifting plate 206 via a functional connection to the lifting plate 206.

[0099] Fig. 17 shows an isometric view of a double lifting column 260 of the lifting device 2 according to the first preferred embodiment of the invention. The double lifting column 260 comprises an inner lifting column 270 and an outer lifting column 280. The outer lifting column 280 is shaped in particular like a cylindrical shell, and the inner lifting column 270 is cylindrical in shape, with the inner lifting column 270 being slidably guided by the outer lifting column 280. The lifting columns 270, 280 are further guided by a guide sleeve.

[0100] 261, which defines and stabilizes a direction of movement, in particular a vertical direction of movement of the lifting columns 270, 280. In particular, seals, wipers and / or sliding bushings are provided between the lifting columns 270, 280 and / or the guide sleeve 261. Both lifting columns 270, 280 comprise coupling elements 271, 281 at their upper ends, by means of which the format unit 210 can be coupled to the double lifting column 260. For this purpose, the coupling element 281 of the outer lifting column 280 comprises in particular three recesses 282, which constitute a second component of an outer bayonet lock, and the coupling element 271 of the inner lifting column 270 comprises in particular two recesses 272, which constitute a second component of an inner bayonet lock. The lifting columns 270,280 are each actuated in particular by means of servomotors 262, belt drive 263, spindles 264 and / or slides 265.Actuation by a servo motor 262 is transmitted via a belt drive 263 to a spindle 264. This spindle 264 is operatively connected to a carriage 265, which is mounted on the spindle 264, so that actuation by the motor 262 allows the carriage 265 to move up and / or down along the spindle 264. Additionally, a connecting element 266 can be provided, which engages with both a corresponding carriage 265 and the corresponding lifting column 270, 280, so that the carriage 265 and the lifting column 270, 280 are operatively connected. Moving a carriage 265 up and / or down thus results in the corresponding lifting column 270, 280 moving up and / or down.To further mechanically stabilize the double lifting column 260, each connecting element 266 can engage with a rail 267, in particular by means of rollers 268, which is aligned parallel to the direction of upward and / or downward movement of the lifting columns 270, 280 and the carriages 265. This prevents torsion and / or rotation of the components of the double lifting column 260. In particular, the double lifting column 260 is suitable for mounting under a plate 40, for example, a table or worktop. For this purpose, the guide sleeve 261 is guided through an opening in the plate 40, and in particular the guide sleeve 261, the spindles 264, and / or the rail 267 are attached to the plate 40. The guide sleeve 261 preferably comprises a cuff 261*, which rests on the plate 40 in the mounted state, so that the top and bottom of the plate 40 are spatially separated from each other.The coupling elements 271, 281 of the inner and outer lifting columns 270, 280 are arranged above the plate 40, so that a format unit 210 can be coupled to the double lifting column 260 from above by means of the inner and outer bayonet fittings. In particular, for this purpose, the protrusions 231 of the outer coupling base 230 interact with the indentations 282 of the coupling element 281 of the outer lifting column 280 as an outer bayonet fitting, and the protrusions 241 of the inner coupling base 240 interact with the indentations 272 of the coupling element 271 of the inner lifting column 270 as an inner bayonet fitting. Preferably, the other components of the double lifting column 260 are arranged below the plate 40.By arranging most of the components of the double-lift column 260 below a plate 40 and the formatting unit 210 above the plate 40, cleaner and more sterile operation of the lifting device 2 and work during the removal of defective objects is made possible. Fig. 18 shows a top view of the double-lift column 260 of the lifting device 2 according to the first preferred embodiment of the invention, and Fig. 19 shows an isometric view of a section of the double-lift column 260 of the lifting device 2. The top surfaces of the servomotors 262 are shown in detail in Fig. 18, as are the top surfaces of the spindles 264 and the coupling elements 271, 281 of the inner and outer lifting columns 270, 280, respectively, in Figs. 18 and 19.Both coupling elements 271, 281 comprise recesses 272, 282 into which the protrusions 231, 241 of the outer and inner coupling bases 230, 240 of the format unit 210 can be inserted and locked by rotation. A rotation for locking is preferably performed clockwise in an XY plane in a top view of this plane and parallel to the coupling elements 271, 281. Preferably, the recesses 272, 282 are undercut in the XY plane orthogonal to the circumferential direction of a corresponding locking rotation for this purpose. The undercut increases clockwise along this circumferential direction by the upwardly facing opening of each recess 272, 282, which points in a Z direction, tapering clockwise along this circumferential direction.

[0101] Fig. 20 shows a side view of a section of a lifting device 2 according to a further preferred embodiment of the invention, comprising the section of the lifting device 2 shown in Fig. 11 without the magazine containing objects 3. A format unit 210 is shown, comprising lifting units 221, each of which has an electromagnetic lifting device 208 and a lifting element 20, in particular a plunger 21, a format plate 204, a lifting plate 206, a control component 214, and handles 216. Preferably, the lifting unit 221, format plate 204, and lifting plate 206 are arranged as described above, with the control component 214 attached to the lifting plate 206 from below and the handles 216 attached to the format plate 204 from above. A receptacle 200 and an interaction section 202, which here is designed as an interaction plate, are also provided on the lifting elements 20.The receptacle 200 is shown here, in particular, open upwards in an approximately funnel-shaped manner. Also shown are structural elements of the lifting device 218, on which the format unit 210 is attached in such a way that it can be detached and replaced by another format unit 210, as well as components of the lifting-actuator device 220, which are configured to engage with the lifting plate 206, so that the lifting-actuator device 220 and the lifting plate 206 are operatively connected and lifting of the lifting plate 206 is made possible. The control component 214 preferably comprises a terminal box and four distribution blocks, which are arranged in a housing of the control component 214 and are not visible. For the sake of clarity, electrical connections between the control component 214 and the electromagnetic lifting devices 208, for example, are also not shown.

[0102] Fig. 21 shows an isometric view of a device for removing defective objects 4 according to the first preferred embodiment of the invention. The device for removing defective objects 4 comprises the lifting device 2 with format unit 210 and double-lift column 260 according to the first preferred embodiment of the invention, a gripping device 8 which includes the gripping tool 1 according to the first preferred embodiment of the invention, and a transport device 80, which is, for example, a SCARA robot. The double-lift column 260 is arranged, as described above, largely under a plate 40, while the format unit 210, the gripping tool 1, and the parts of the transport device 80 which carry the gripping tool 1, as well as a conveyor belt device 32, which is not part of the invention and is implemented as a belt in this embodiment, are arranged on the plate 40.The format unit 210 is arranged below the conveyor belt device 32, which provides access from below to the objects transported in magazines containing objects 3. These magazines containing objects 3 are positioned on the conveyor belt device 32 and are transported by it in an X-direction. In this illustration, the gripping tool 1 is arranged above a gripping position 5, while predetermined objects in a magazine containing objects 3, which is positioned above the lifting device 2, are lifted by the lifting device 2 so that they can be gripped by the gripping tool 1. For maintenance purposes, the conveyor belt device 32 can be folded or moved forward, preferably in a Y-direction, so that the lifting device 2, and in particular the format unit 210, is freely accessible.In such a maintenance configuration, the format unit 210 can be decoupled from the double lifting column 260, serviced, reinstalled, and / or replaced with another format unit 210. For example, if the format unit 210 has been replaced or if containers of a different type are to be lifted, the position of the format unit 210 can be adjusted in a vertical direction, i.e., a Z-direction, using the outer lifting column 280. For this purpose, the outer lifting column 280 raises or lowers the format unit 210. Preferably, the inner lifting column 270 is moved synchronously in the process.When the format unit 210 is aligned, raising and lowering the inner lifting column 270, as described above, results in a corresponding raising and lowering of a lifting plate 206 inside the format unit 210. This lifting plate also raises electromagnetic lifting devices 208 inside the format unit 210, so that the lifting elements 20 are actuated when this actuation is effected by electromagnetic lifting devices 208. Furthermore, Fig. 21 shows a chute 6*, the opening of which is located below a discharge position 6 and which directs the removed defective objects, discharged above the discharge position 6, into a collection cart 9. In the first preferred embodiment of the invention shown here, the gripping tool 1, as shown in Figs. 1 to 6B, has a smaller gripping capacity than the number of lifting elements 20 provided on the lifting device 2, as shown in Figs. 12 to 16.This can result in multiple gripping operations being required, particularly to grasp all the objects to be lifted. It should be noted that, advantageously, the gripping capacity of a gripping tool and the number of lifting elements of a lifting device can be coordinated and adapted to the number of objects in a magazine. This makes it possible to grip all lifted objects simultaneously, even if all lifting elements are actuated and the corresponding objects are lifted at the same time. Specifically, the number of lifting elements can equal the number of objects in the magazine, and the gripping capacity of the gripping tool can be adapted to this total number of objects, so that all objects in the magazine can be lifted and gripped together. For example, the gripping capacity and the number of lifting elements can be tailored to 120 or 160 objects in the magazine.

[0103] Figures 22A and 22B show top views of a device for removing defective objects 4 according to the embodiments of the invention and to illustrate the process of removing defective objects. The device for removing defective objects 4 comprises a lifting device 2 and a gripping device 8, which includes the gripping tool 1 and a transport device 80, which is, for example, a SCARA robot. The lifting device 2 is arranged below a conveyor belt device 32, which is not part of the invention and is implemented here as a belt conveyor, providing access from below to the objects, which are transported in magazines containing objects 3. These magazines containing objects 3 are positioned on the conveyor belt device 32 and are transported by it in an X-direction.In this illustration, the gripping tool 1 is arranged above a gripping position 5, while predetermined objects in a magazine containing objects 3, which is positioned above the lifting device 2, are lifted by the lifting device 2 so that they can be gripped by the gripping tool 1. Fig. 22B shows a top view of this device for removing defective objects 4. The lifted objects have been gripped and removed from the magazine containing objects 3 by lifting the gripping tool 1 from the transport device 80 after gripping the objects and positioning it above a discharge position 6.

[0104] Fig. 23 shows a top view of the device for removing defective objects 4 according to a further embodiment of the invention. This illustration is based on Fig. 22B and adds features that are typically included in the further preferred embodiment. The lifting device 2 has been offset in a Y-direction to a maintenance position 7 by means of an offset device. In this maintenance position 7, the lifting device 2 is no longer positioned under the conveyor belt device 32 and is accessible for maintenance work. The offset device is not shown for clarity.

Claims

Claims 1. Gripping tool (1) for simultaneously gripping at least one object selected from a plurality of objects arranged in a grid in a magazine, characterized by - at least one first gripping element (10a) with at least one first free space (102a) and at least one second gripping element (10b) with at least one second free space (102b), wherein the gripping elements (10a, 10b) are positioned relative to each other such that the at least one first free space (102a) and the at least one second free space (102b) are aligned correspondingly to each other in order to accommodate at least one object therein, - an actuator (130) which is configured to move at least one of the gripping elements (10a, 10b) relative to another of the gripping elements (10b, 10a) between a clamping position in which at least one object is gripped by clamping engagement between the first gripping element (10a) and the second gripping element (10b), and a release position in which the at least one object is released.

2. Gripping tool (1) for simultaneously gripping at least one object according to claim 1, characterized in that - the first gripping element (10a) comprises at least one plate-shaped first gripping plate (100a) with at least one first free space (102a), wherein at least one first free space (102a) is formed by a recess of the first gripping plate (100a), and - the second gripping element (10b) comprises at least one plate-shaped second gripping plate (100b) with at least one second free space (102b), wherein at least one second free space (102b) is formed by a recess in the second gripping plate (100b).

3. Gripping tool (1) for simultaneously gripping at least one object according to claim 2, characterized in that the gripping elements (10a, 10b) comprise several gripping plates (100a, 100b) which are positioned parallel and horizontally one above the other.

4. Gripping tool (1) for simultaneously gripping at least one object according to one of the preceding claims, characterized in that - two first gripping elements (10a) are positioned one above the other in such a way that a second gripping element (10b) can be positioned or / and is positioned between the two first gripping elements (10a), wherein the two first gripping elements (10a) and the second gripping element (10b) are movable relative to each other, wherein - in particular the two first gripping elements (10a) are immovable relative to each other, preferably are firmly connected to each other.

5. Gripping tool (1) for simultaneously gripping at least one object according to one of the preceding claims, characterized in that - a first gripping element (10a) has at least one, in particular a plurality of, first struts (104a), and - a second gripping element (10b) has at least one, in particular a plurality of, second struts (104b), and - at least one free space (102a, 102b) of at least one gripping element (10a, 10b) is arranged adjacent to a strut (104b, 104b) of the gripping element (10a, 10b).

6. Gripping tool (1) for simultaneously gripping at least one object according to claim 5, characterized in that - at least one first free space (102a) such that it forms a plurality of first clamping recesses (105a) in an adjacent first strut (104a) extends that the first strut (104a) has a rack-like shape, wherein the first clamping recesses (105a) are evenly spaced apart from each other.

7. Gripping tool (1) for simultaneously gripping at least one object according to claim 5, characterized in that - at least a second free space (102b) extends into a plurality of second clamping recesses (105b) in an adjacent second strut (104b), wherein the second clamping recesses (105b) each comprise a tolerance compensation unit (106), which in particular comprises two webs (106*) which are preferably integral with the second strut (104b) and are further preferably made of the same material as the second strut (104b), wherein the second clamping recesses (105b) are spaced equally apart from each other.

8. Gripping tool (1) for simultaneously gripping at least one object according to claims 6 and 7, characterized in that - each of the first clamping recesses (105a) of a first strut (104a) and a second clamping recess (105b) of the second clamping recesses (105b) of a second strut (104b) are associated with each other and are positioned along the respective strut (104a, 104b) such that the first clamping recess (105a) and the second clamping recess (105b) are opposite each other and together produce a clamping effect in a clamping position of the gripping elements (10a, 10b), wherein the first strut (104a) and second strut (104b) are each adjacent to a first free space (102a) and a second free space (102b), which are aligned correspondingly to each other.

9. Gripping tool (1) for simultaneously gripping at least one object according to one of the preceding claims, characterized in that - the gripping elements (10a, 10b) are configured to be moved by the actuator (130), in particular by a parallel gripper, in particular to be moved approximately linearly, wherein optionally - the gripping elements (10a, 10b) are attached to shafts (14), in particular to two shafts (14) each, which are each assigned to the first and the second gripping element (10a, 10b).

10. Lifting device (2) for individually lifting defective objects from a magazine containing objects, wherein the lifting device (2) comprises at least one lifting element (20) which is configured to contact and lift objects, characterized in that - the lifting device (2) comprises at least one electromagnetic lifting device (208) which is configured to actuate the lifting element (20).

11. Lifting device (2) according to claim 10, characterized in that - the lifting device (2) comprises a lifting plate (206) which is configured to lift the electromagnetic lifting device (208) in particular approximately vertically, so that the lifting element (20) is actuated when the electromagnetic lifting device (208) effects this actuating, wherein in particular - the lifting plate (206) has an opening for each lifting element (20) which is assigned to the respective lifting element (20), and - the lifting element (20) is in particular approximately vertically displaceable through the respective opening of the lifting plate (206), so that in particular when the electromagnetic lifting device (208) does not actuate the lifting element (20) and the electromagnetic lifting device (208) is raised by the lifting plate (206), the lifting element (20) is displaced in relation to the lifting plate (206).

12. Lifting device (2) according to one of claims 10 or 11, characterized in that - the lifting device (2) comprises a format plate (204) which has an opening for each lifting element (20) which is assigned to the respective lifting element (20), and - the lifting element (20) is guided in a manner that allows it to be moved approximately vertically through the respective opening of the format plate (204), so that, in particular, when the lifting element (20) is actuated, the lifting element (20) is moved in relation to the format plate (204).

13. Lifting device (2) according to claims 11 and 12, characterized in that - the format plate (204) is arranged vertically above the lifting plate (206), spaced away from it and parallel to it, and / or - the format plate (204) and the lifting plate (206) each have an opening for each lifting element (20), wherein the respective openings correspond to each other and are arranged vertically above one another, so that the lifting element (20) is guided in a manner that allows displacement in an approximately vertical direction through both of its associated openings.

14. Lifting device (2) according to one of claims 10 to 13, characterized in that - the electromagnetic lifting device (208) comprises an electromagnet which is configured to interact electromagnetically with the lifting element (20), in particular to couple and decouple electromagnetically with the lifting element (20).

15. Lifting device (2) according to one of claims 10 to 14, characterized in that - the electromagnetic lifting device (208) has a through-hole through which the corresponding lifting element (20) is slidably guided and which, if a lifting plate (206) according to claim 11 is provided, is preferably arranged approximately collinearly with a corresponding opening of the lifting plate (206) for the corresponding lifting element (20).

16. Lifting device (2) according to one of claims 10 to 15, characterized in that - the lifting element (20) comprises a plunger (21), and - the lifting element (20) has an interaction section (202) which is configured to interact electromagnetically with the electromagnetic lifting device (208), in particular to couple and decouple electromagnetically with the electromagnetic lifting device (208), and for this purpose comprises in particular magnetic or magnetizable components, wherein the interaction section (202) is in particular arranged at a lower end of the lifting element (20), and / or in particular comprises an approximately cylindrical interaction cylinder or an approximately plate-shaped interaction plate, wherein the interaction cylinder or the interaction plate preferably represents or comprises the magnetic or magnetizable component, and - the lifting element (20) at an upper end of the plunger (21) comprises a receptacle (200) which is designed to receive objects, wherein the receptacle (200) is in particular directed approximately upwards, preferably in an approximately fork-shaped form or / and similar to a cutout from a cylindrical shell or / and is opened in an approximately funnel-like manner, and which is in particular designed to be removed from the lifting element (20) and attached to the lifting element (20).

17. Lifting device (2) according to one of claims 10 to 16, characterized in that - each consisting of an electromagnetic lifting device (208) and a lifting element (20) forms a lifting unit (221), - the lifting device (2) comprises a format unit (210) which comprises a plurality of lifting units (221), wherein the plurality of lifting units (221) are arranged relative to each other such that the positions of the lifting elements (20) correspond to the positions of objects arranged in a grid pattern in a magazine, wherein the format unit (210) optionally comprises a lifting plate (206) and / or a format plate (204) according to any one of claims 11 to 13, and - wherein the format unit (210) can be attached to the lifting device (2) in such a way as to be screwed on or by means of a bayonet fitting The attachment is such that it can be detached from the lifting device (2) and can again be attached to the lifting device (2).

18. Lifting device (2) according to claim 17, further comprising a double lifting column (260) with an inner lifting column (270) which is configured to raise and lower the lifting plate (206) and an outer lifting column (280) which is configured to raise and lower the format unit (210).

19. Lifting device (2) according to claim 18, characterized in that the format unit (210) comprises at least two coupling elements (230, 240), in particular an inner coupling base (240) and an outer coupling base (230), which can be coupled accordingly to an inner coupling element (271) of the inner lifting column (270) and an outer coupling element (281) of the outer lifting column (280).

20. Device for removing defective objects (4), comprising: - a gripping device (8), and - a lifting device (2) comprising the gripping device (8): - a transport device (80), in particular a gripping robot, and - a gripping tool (1) which is carried by the transport device (80), - wherein the gripping tool (1) is configured to grasp and release objects, and the transport device (80) is configured to transport the gripping tool (1) between a gripping position (5) and a release position (6), and wherein the lifting device (2) comprises at least one lifting element (20) configured to contact and lift objects, characterized by, - the gripping tool (1) according to one of claims 1 to 9, or / and - the lifting device (2) according to any one of claims 10 to 19.

21. Device for removing defective objects (4) according to claim 20, characterized in that the transport device (80) of the gripping device (8) is configured to raise and lower the gripping tool (1) approximately vertically.

22. Method for operating a device for removing defective objects (4) according to one of claims 20 or 21, comprising: - obtaining position information about defective objects in a magazine containing objects (3), wherein the defective objects were identified among objects arranged in a grid pattern in the magazine, in particular arranged in a plurality of grids in the magazine, - positioning the magazine containing objects (3), for example by means of a conveyor belt device (32) on which the magazine is transported, above the lifting device (2) according to one of claims 10 to 19, such that the objects arranged in a grid pattern in the magazine and the lifting device (2) are operationally aligned with each other, - a sampling sequence, including: • a positioning of the gripping tool (1) according to one of claims 1 to 9 over a gripping position (5) which is associated with at least a part of the objects arranged in a grid pattern in the magazine, • lifting the defective objects whose position in the magazine is associated with the gripping position (5) using the lifting device (2), • optionally lowering the gripping tool (1) to the height of the gripping position (5), • grasping raised bad objects using the grasping tool (1), • removal of gripped defective objects from the magazine by lifting the gripping tool (1), • optionally, positioning the gripping tool (1) above a drop-off position (6), and • letting go of distant harmful objects.

23. Method according to claim 22, comprising multiple removal sequences, wherein, when the objects are arranged in a plurality of grids in the magazine, the gripping tool (1) is positioned over a different gripping position (5) in each removal sequence, wherein each gripping position (5) is associated with one grid from the plurality of grids and thus with a different part of the objects arranged in a grid in the magazine.

Images