AU2022209396A1

AU2022209396A1 - Manipulator and storage facility with manipulator

Info

Publication number: AU2022209396A1
Application number: AU2022209396A
Authority: AU
Inventors: Hans-Friedrich Müller; Jens Willach
Original assignee: Gebr Willach GmbH
Current assignee: Gebr Willach GmbH
Priority date: 2021-01-21
Filing date: 2022-01-20
Publication date: 2023-07-27
Also published as: DE102021101200A1; AU2022209396A9; WO2022157262A1; CN116723991A; EP4281390A1

Abstract

A manipulator (1) for a storage facility (100) with at least one storage area (150) on which objects (200) can be arranged in a row, wherein the manipulator (1) can be used to operate an operating side (150a) of the storage area (150), with at least one movable supporting slide (3) having a supporting surface (5) for receiving the objects (200), wherein a gripping apparatus (7) with two elongate clamping jaws (9) is arranged on the supporting slide (3), wherein the clamping jaws (9) are arranged on the supporting surface (5), are movable in a first horizontal direction (A) towards each other or away from each other in order to adapt the distance of the clamping jaws (9) to an object (200) and are movable in a second horizontal direction (B) towards the storage area (150) or away from the latter such that at least one of the objects (200) can be removed by means of the clamping jaws (9) from the storage area (150) and can be conveyed onto the supporting surface (5) or can be conveyed from the supporting surface (5) to the storage area (150) and deposited on the latter, and with a drive apparatus (10) having two drive transmission devices (11), wherein in each case one of the drive transmission devices (11) acts on one of the clamping jaws (9) and drives the particular clamping jaw (9) individually in order to carry out the movement in the second horizontal direction (B).

Description

230847AU RU/AS Gebr. Willach

Manipulator And Storage Facility With Manipulator

The present invention relates to a manipulator for a storage facility having storage surfaces, on which objects can be arranged in a row, as well as to a storage facility with at least one manipulator and storage surfaces, on which objects can be arranged in a row.

It is known that storage surfaces, e.g., channel storage systems with storage channels, are filled using a manipulator. Here, the manipulator moves to the input end of the storage surface and the objects are transferred to the storage locations. Such storage facilities are often used for goods. Particularly suitable for fast-moving goods are inclined shelf cases in which the individual goods are contained in channels separated by lateral boundaries, on an inclined surface. When a lower object is removed, the remaining objects slide down. Usually, similar items are included in each channel. Generally, the items have cuboid packages, with packages of the same format being introduced into a channel whose channel width is matched to the package size. However, such storage surfaces can also store goods of different shapes, e.g. cylinders, and different formats within the same channel.

Further, storage facilities with horizontal storage surfaces are known which are also referred to as shelf storages. The manipulator of such a storage facility comprises a gripping device that extends in order to place an object on a storage surface or to pick it up therefrom.

For storing into the storage facility, the manipulator receives the objects at a transfer station at which the objects are moved automatically or manually onto the surface of the manipulator by a user. In most cases, this purpose is served by a feed surface from which the objects slide onto the supporting surface of the manipulator or from which the manipulator takes the objects by means of the gripping device.

The known storage facilities are, e.g., storage automats as they are used in pharmacies to store medication packages.

Such a storage automat is known from EP 2 165 950 Al. The manipulator comprises a gripping device having a gripper with two clamping jaws. The clamping jaws are fastened to a frame and, for taking an object, are displaced with the frame towards the object until the object is arranged between the clamping jaws. Thereafter, the clamping jaws are moved towards each other until they are in contact with the object. By pivoting the clamping jaws in the horizontal plane, a gripping movement is carried out and the object is clamped between the clamping jaws. The drives for the individual movements are all arranged on the frame, so that the drives are moved along when the frame is moved, and thus a relatively great weight must be moved. Therefore, at least a part of the drives must be of a relatively powerful design. In addition, due to the great weight to be moved, the accuracy of the movement of the frame, and thus of the clamping jaws, is comparatively low or a greater structural effort must made to obtain a high accuracy. The frame must be designed relatively sturdy to carry the drives, whereby the own weight of the frame is further increased.

Therefore, it is an object of the present invention to provide a manipulator for a storage facility with storage surfaces for storing objects, in which the gripping device ahs an improved structure with respect to weight, as well as storage facility including such a manipulator.

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

The storage facility according to the invention is defined by the features of claim 18.

The manipulator according to the invention for a storage facility with at least one storage surface on which objects can be arranged in a row comprises at least one displaceable supporting slide with a supporting surface for receiving the objects, wherein an operating side of the storage surface can be operated via the manipulator. A gripping device with two elongate clamping jaws is arranged at the supporting slide, the clamping jaws being arranged on the supporting surface and being movable towards each other or away from each other in a first horizontal direction to adjust the distance between the clamping jaws to an object. Furthermore, the clamping jaws are movable in a second horizontal direction towards the storage surface or away therefrom, so that, by the clamping jaws, at least one of the objects can be taken from the storage surface and be transported onto the supporting surface or be transported from the supporting surface onto the storage surface and be placed thereon. The manipulator according to the invention is characterized by a drive device with two drive transmission means, a respective one of the drive transmission means engaging one of the clamping jaws and individually drives the respective clamping jaw in the second horizontal direction to perform the movement.

The invention thus provides that only the clamping jaws are moved in the second horizontal direction towards the storage surface or away therefrom, so that the drive device and the drive transmission means can remain stationary for that movement. In this manner, the weight to be moved can be kept very low. Since the two drive transmission means directly engage the clamping jaws, the driving movement can be transmitted directly to the clamping jaws, so that the device related effort can be kept low. Since the clamping jaws are driven individually in the second horizontal direction and thus only a low weight must be moved, the corresponding drive for this movement can be designed with comparatively low power.

By means of the manipulator according to the invention, the objects on the storage surface of a storage facility can either be arranged on the storage surface in a horizontal direction side by side in a row, seen from the point of view of the manipulator, or, also from the point of view of the manipulator, be arranged one behind the other in a row. By means of the clamping jaws, it is also possible to simultaneously grip or transport a plurality of objects, e.g. objects of the same size.

To operate the storage surface, the supporting slide of a manipulator according to the invention is moved to the operating side of the storage surface. To this end, at least the supporting slide of the manipulator is movable in at least two spatial directions and, preferably, also pivotable about a vertical axis. To remove an object from the storage surface, the clamping jaws are driven in the second horizontal direction until they are located above the storage surface on either side of the object. Subsequently, the clamping jaws are moved towards each other in the first horizontal direction to grip the object. Thereafter, the clamping jaws are moved away from the storage surface in the second horizontal direction, so that they pull the object onto the supporting surface of the supporting slide. In its initial position, the second horizontal direction corresponds to the longitudinal direction of the clamping jaws.

Preferably, it is provided that the drive means can be moved towards each other or away from each other, whereby the drive transmission means move the clamping jaws in the first horizontal direction. In other words, the movement of the clamping jaws in the first horizontal direction is also cased by the drive transmission means so that they perform a corresponding movement together with the clamping jaws.

Within the framework of the invention, it is provided in particular that the first horizontal direction extends orthogonal to the second horizontal direction.

Because the drive transmission means cause the movement in the first horizontal direction, it can also be achieved that no drive motor has to be moved along with this movement, so that the same can, e.g., remain stationary and only drives the drive transmission means.

In a particularly preferred embodiment of the invention, it is provided that the drive transmission means each comprise a holder on which a respective one of the clamping jaws is supported for translation, the holders being pivotable in a horizontal plane, and an angle between the clamping jaws being changeable by the pivoting movement. Besides the movement in the first and the second horizontal direction, the clamping jaws can thus also be pivoted toward each other, whereby a gripping movement can be caused. For example, with this pivoting movement, the distal ends of the clamping jaws can be moved towards each other so that upon engaging an object, only a small surface at the end of the clamping jaws is in contact with the object and an advantageous pressing force is exerted on the object. Thereby, the object can be transported in a stable manner using the clamping jaws.

Due to the translational support of the clamping jaws on the holder, the clamping jaws can be moved in the second horizontal direction in an advantageous manner. The support of the clamping jaws on the holder is moved along as the holders are pivoted in the longitudinal plane, so that the clamping jaws are still movable in their longitudinal direction when in a pivoted position. Due to the structure of the holders according to the invention with the supported clamping jaws, with the holders being pivoted, the pivoting movement of the clamping jaws can be enabled in a structurally simple manner, each drive transmission means driving the corresponding holder, and thus the clamping jaw, individually. Thereby, the pivoting movement requires only a low weight to be moved, i.e., the weight of the holder and the clamping jaw, so that the drive necessary for the pivot movement can be provided with low power.

Within the framework of the invention, the clamping jaws are each individually driven in the different directions. However, this does not mean that the movements of the clamping jaws occur successively, for example, but the movement of the clamping jaws occurs synchronously due to corresponding control.

It is preferably provided that the drive device has a first drive motor which drives the drive transmission means towards or away from each other. In other words, the first drive motor drives the clamping jaws in the first horizontal direction by means of the drive transmission means.

It can be provided that the drive transmission means are each arranged on or at a threaded spindle, the first drive motor rotationally driving the threaded spindle, whereby the respective drive transmission means is movable along the corresponding threaded spindle. By means of the threaded spindles, the drive transmission means can advantageously be moved towards or away from each other, whereby a synchronous movement of the drive transmission means can be achieved in a simple manner by a corresponding design of the threaded spindles.

Preferably, the threaded spindles can be driven in opposite directions, with the first drive motor driving one of the threaded spindles in rotation and this threaded spindle transmitting the drive movement to the other of the threaded spindles. In this way, a counter-rotating drive can be achieved in a structurally simple manner, in which, for example, the drive movement is transmitted from one threaded spindle to the other threaded spindle by means of two gear wheels. Furthermore, it can be achieved in a simple manner that the threaded spindles are moved with the same rotational speed (but in opposite directions), for example by using gears with identical diameters to transmit the drive movement.

In a preferred embodiment of the invention, it is provided that the drive device comprises a second drive motor driving the clamping jaws in the second horizontal direction by means of the drive transmission means. Thus, it may be provided that the clamping jaws comprise a common drive motor for driving in the second horizontal direction, which motor causes the driving movement of the clamping jaws. By providing a common second drive motor, a synchronous movement of the clamping jaws in the second horizontal direction can be provided in a particularly simple manner. The drive transmission means can, for example, transmit the drive movement to the clamping jaws by means of corresponding gears.

Preferably, it is provided that the clamping jaws each comprise a toothed rack and the drive transmission means each include a pinion, wherein the pinion of a transmission means engages the toothed rack of the corresponding clamping jaw and the drive movement of the second drive motor can be transmitted to the respective clamping jaw via the pinion. In this way, the translatory displacement of the clamping jaw can be performed in a particularly simple manner. The toothed rack can, for example, be arranged on the upper or lower side of the clamping jaw.

Here, it is preferably provided that the drive device has a drive shaft, the drive transmission means being mounted on the drive shaft so as to be movable in translation in the longitudinal direction of the drive shaft, the drive shaft being driven in rotation by the second drive motor and the drive shaft transmitting the drive movement of the second drive motor to the pinion. According to the invention, it is thus provided that the drive shaft of the drive device performs a dual function, namely, on the one hand, the mounting of the drive transmission means so that they are mounted movably in the longitudinal direction of the drive shaft and, on the other hand, the transmission of the drive movement from the second drive motor to the pinion. The translatory mounting of the drive transmission means on the drive shaft allows in an advantageous manner the movement of the drive transmission means towards or away from each other, caused for example by the threaded spindles, to be carried out. At the same time, the load on the threaded spindles can be relieved, since a large part of the weight of the drive transmission means is supported by the drive shaft. Of course, it is also possible for the drive transmission means to be mounted on the support carriage by means of a separate bearing device and thus to be independent of the drive shaft.

Preferably, the drive transmission means each have a toothed belt drive that transmits the rotational drive movement of the drive shaft to the respective pinion. Using the toothed belt drive, the rotational drive movement of the drive shaft can be transmitted to a pinion in a simple manner. In addition, the toothed belt drive offers a certain elasticity so that even when the drive shaft is stationary, the pinion can be rotated within a small angular range about its axis of rotation and thus has a certain amount of play. This play is advantageous when one of the jaws is pivoted by means of the holder, since there is then a slight tilting between the pinion and the rack engaged by the pinion. The play provided by the toothed belt operation allows the pinion to perform a small rotational movement about the pinion axis, which facilitates the tilting. In addition, the pinion and rack teeth can be matched to each other such that the teeth have a play for tilting.

The rack can be made of a plastic material, for example. The pinion can also be made of a plastic material or of metal, for example brass. By selecting the appropriate material, wear on the rack and/or pinion, in particular due to canting during the pivoting movement of the jaws, can be kept to a minimum.

In the framework of the invention, the transmission of a drive movement, for example from one of the drive motors to the clamping jaw, does not necessarily mean that a direct transmission of the movement occurs, but the movement can also occur indirectly by means of intermediate links.

In a preferred embodiment of the invention, it is provided that the drive transmission means each comprise a locking device which holds the respective holder in a home position, the drive transmission means each comprising a spring device which, in the home position of the holders, exert a biasing force on the respective clamping jaw, with a force component directed towards the respective other clamping jaw, the locking device being releasable via a release device so that the spring device pivots the holder by means of the biasing force. In other words, driving the holder from the home position to a pivoted position is effected by means of the pretensioning force of the corresponding spring device. In order to keep the holders in the home position, the locking device is provided, which thus also prevents the pretensioning force of the spring device from unintentionally pivoting the corresponding holder and thus the clamping jaw.

It can be provided that the release device is an electromagnet. By means of the electromagnet, the locking device can be released advantageously and very quickly. In addition, the electromagnet can be used to release the locking device with a low energy input, for example by only briefly energizing the electromagnet to move a retainer of the release device by means of magnetic force. When the locking device is released, the retainer is moved by means of the spring device so that the electromagnet can be switched off shortly after the release. In order to move the retainer to its initial position, the release device may, for example, comprise a spring.

In the manipulator according to the invention, it can be provided that by a movement of the drive transmission means towards each other, the clamping jaws can be pressed against an object or against each other in a pivoted state of the holders, whereby the spring device can be pretensioned and the holders can be moved to the home positions. By pressing the clamping jaws against an object or against each other, the clamping jaws can thus be moved to their home position against the pretensioning force of the spring device. Here, it may be provided that the locking device snaps into place when the home position is reached in order to retain the holder in the home position. When designing the manipulator according to the invention, the pretensioning force of the spring should be selected such that, with the clamping jaws pivoted, an object to be transported can advantageously be held between the clamping jaws without, when the object is transported, the clamping jaws being pivoted in the direction of the home position against the spring force of the spring device until they are locked. The complete return of the clamping jaws to the home position is only achieved by applying a further force by means of the drive transmission means. When an item is removed, for example, the dimensions of the item may be known so that the distance between the clamping jaws is adapted to the dimensions of the item by means of the drive transmission means. The clamping jaws are then moved in the second horizontal direction until the object is located between the clamping jaws. By releasing the locking device, a gripping movement of the clamping jaws is caused, with the object being clamped between the clamping jaws. The clamping force is provided by the spring device. The objects can be supported on the storage surface with a relatively small distance between them. This can be achieved by extending the clamping jaws at a relatively small distance from the object to be removed, with only a small amount of space being required for the gripping movement. By means of the manipulator according to the invention, storage surfaces can thus be equipped with high utilization of space.

By providing a drive transmission means comprising a spring device and a locking device, via which the holder and thus the clamping jaw can be pivoted, a separate drive motor for the pivoting movement of the clamping jaw can further be omitted, since the necessary drive energy can be provided by means of the first drive motor and can be temporarily stored in the spring device. The first drive motor moves the drive transmission means towards each other and, by pressing the clamping jaws against an object or against each other, the drive force is transmitted to the spring device and, after reaching the home position and by locking, is temporarily stored in the form of the pretensioning force.

Preferably, a slider is provided between the clamping jaws, which is displaceable in the second horizontal direction. By means of the slider, objects arranged on the supporting surface of the supporting slide can be displaced in the second horizontal direction. For depositing one or more objects on a storage surface, the clamping jaws are displaced in the second horizontal direction at a distance from each other adapted to the dimension of the object or objects to be deposited, until the distal ends are located above the corresponding storage surface. The object(s) is/are subsequently moved in the second horizontal direction by means of the slider and pushed onto the storage surface, with the clamping jaws forming a lateral guide for the objects.

Preferably, a sensor is arranged next to each of the clamping jaws, for example on the holders, with one of the sensors determining the retracted end position of one of the clamping jaws and the other sensor determining the extended end position of the other clamping jaw. It is understood that two sensors can also be arranged next to each of the clamping jaws, each of which determines the retracted end position and the extended end position. In the case of synchronously driven clamping jaws, however, one sensor is sufficient in each case, since the retracted state can be determined at one clamping jaw, from which it can be concluded that the other clamping jaw is also in the end position due to the synchronous movement, and the extended state can be sensed at the other clamping jaw. The sensors can be, for example, optical sensors that detect a recess in the corresponding clamping jaw.

The manipulator according to the invention enables in particular a very flat design of the supporting slide, since the latter must, for example, accommodate and carry a small number of drive motors which, moreover, also have to provide only a comparatively low power.

The invention further relates to a storage facility having a plurality of horizontally arranged storage surfaces, each having at least one operating side, and having at least one manipulator according to the invention.

In the following, the invention is described in more detail with reference to the following figures.

In the drawings:

Fig. 1 is a schematic perspective view of a storage facility according to the invention with storage surfaces and manipulator,

Fig. 2 is a schematic perspective view of the supporting slide of one of the manipulators according to the invention,

Fig. 3 is a schematic representation of the supporting slide of Fig. 2 without housing,

Fig. 4 is a schematic detailed representation of the spindles for driving the drive transmission means of the manipulator according to the invention,

Fig. 5 is a schematic detailed representation of the drive shaft for transmitting the drive movement to the pinions for driving the clamping jaws,

Figs. 6a and 6b are schematic illustrations of the pivoting movement of the holders and thus of the clamping jaws, and

Fig. 7 is a schematic detailed representation of the drive transmission means with spring device and locking device.

In Figure 1, a section of a storage facility 100 according to the invention is shown schematically in a perspective view.

The storage facility 100, for example a pharmacy storage facility, comprises a manipulator 1 and a plurality of horizontally arranged storage surfaces 150. Objects 200, for example medicine packages, can be stored in a row on the storage surfaces 150.

The manipulator 1 comprises a support carriage 3 arranged on a movable frame 2. By means of the movable frame 2, the support carriage 3 can be moved in at least two spatial directions as well as pivoted about a vertical axis. The frame 2 can be moved parallel to a operating side 150a of the storage surfaces 150. In Figure 1, this direction is designated as the x-direction. Furthermore, the supporting slide 3 can be adjusted in height to reach the different storage surfaces 150. In Figure 1, this direction is the z-direction. About an axis extending in the z-direction, i.e. vertically, the supporting slide 3 can be swiveled, for example, in order to serve further storage surfaces or to reach a discharge point for the objects 200.

By means of the supporting slide 3 of the manipulator 1, the individual storage surfaces 150 can be operated at the operating side 150a. The supporting slide 3 has a supporting surface 5 on which one or more objects 200 can be placed for transport. By means of the carrier carriage 3, objects 200 deposited on the supporting surface 5 can be transported to and deposited on the storage surfaces 150, or objects 200 can be removed from the storage surface and deposited on the supporting surface 5. For removing, depositing or conveying the objects 200, the supporting slide 3 has a gripping device 7.

In Figures 2 and 3, the supporting slide 3 of a manipulator 1 according to the invention is shown schematically in a perspective view with and without the housing. The directional indications used below refer to the position of the manipulator shown in Figure 1, i.e. that it is aligned to operate the operating side 150a of the storage surfaces 150.

The gripping device 7 has two elongated clamping jaws 9 and a drive device 10 for driving the clamping jaws 9. The clamping jaws 9 are each mounted for translational movement on a drive transmission means 11. By means of the drive transmission means 11, the clamping jaws 9 can be moved in various horizontal directions. The drive transmission means 11 can be moved towards and away from each other in a first horizontal direction A, whereby the clamping jaws 9 can also be moved towards and away from each other. The first horizontal direction A corresponds to the x-direction of Figure 1. By moving the clamping jaws in the first horizontal direction A, the distance between the clamping jaws can be adapted to an object 200 so that it can be gripped in an advantageous manner.

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

In each case, a drive transmission means 11 engages one of the clamping jaws 9 so that they are driven individually in the first and second horizontal directions A, B by the corresponding drive transmission means 11. In particular, when the clamping jaws 9 are moved in the second horizontal direction B, such an arrangement has the advantage that only the clamping jaws are moved and not, as in the prior art, the holders and drives of the clamping jaws are moved along in a complex manner for the movement of the clamping jaws.

A camera 13 is arranged above the supporting surface 5, which takes a picture of a part of the supporting surface 5, the clamping jaws 9 and the area in front of the supporting slide 3, in order to be able to capture the transport of objects 200.

Furthermore, a slider 15 is arranged in the area of the supporting surface 5, which is displaceable in the second horizontal direction B and can, for example, displace an object, which is arranged on the supporting surface 5, on the supporting surface 5 in order to arrange it advantageously between the clamping jaws 9 or can also support a depositing operation by pushing an object 200.

As can be seen from Figure 3, the slider 15 is driven by a sliding drive 17 in the form of a drive motor.

The support slide 3 further comprises a first drive motor 19 which drives the drive transmission means 11 in the first horizontal direction. The rotational drive movement of the first drive motor 19 is transmitted via a belt drive 21 to a drive mechanism for the drive transmission means 11, which is shown in Figure 4 (rotated by 1800 with respect to Figure 3).

The drive movement is transmitted to a first threaded spindle 23, which is connected to one of the drive transmission means 11. The rotational movement of the first threaded spindle 23 moves the corresponding drive transmission means 11 in the first horizontal direction A. At the end 23b of the first threaded spindle 23 remote from a drive side 23a engaged by the belt drive 21, the first threaded spindle 23 has a first gear 23c cooperating with a gear 25a of a second threaded spindle 25. The rotational movement of the first threaded spindle 23 is thus transmitted to the second threaded spindle 25, thereby creating a counter- rotational movement. The other drive transmission means 11 is arranged on the second threaded spindle 25. The other drive transmission means 11 is moved in the first horizontal direction A via the rotational movement of the second threaded spindle 25.

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

The drive apparatus 10 further includes a second drive motor 27 which rotationally drives a drive shaft 29, seen best in Figure 5. Motion is transmitted from the drive motor 27 to the drive shaft 29 via a belt drive (not illustrated). On the drive shaft 29, the drive transmission means 11 are mounted for translational movement. Thus, the first and second gear spindles 23, 25 are relieved and a large part of the weight of the drive transmission devices 11 and the clamping jaws 9 is supported by the drive shaft 29. The drive transmission devices 11 are translationally supported in the longitudinal direction of the drive shaft 29, so that a support is provided for the movement of the drive transmission devices 11 in the first horizontal direction A.

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

By the construction of the drive device 10 according to the invention, in which drive movement of the second drive motor 27 is transmitted to the pinion 33 via the drive shaft 29 of the toothed belt drive 31, it can be achieved that for the movement of the clamping jaw 9 in the second horizontal direction B, only the clamping jaw 9 is moved, so that during this movement, the second drive motor 27 can remain stationary in the support slide 3. As a result, only a relatively low power is required for the movement of the clamping jaws 9, so that the second drive motor 27 can have a correspondingly small design.

As can be seen from Figures 6a and 6b, the clamping jaws 9 can be pivot-ed relative to one another in a horizontal plane. For this purpose, the drive transmission means 11 are pivoted in the horizontal plane so that the clamping jaws 9 can be pivoted by means of the drive transmission means 11 from a home position, in which the clamping jaws 9 are parallel to one another (shown in Figure 6a), to a pivoted position (shown in Figure 6b).

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

The pivoting mechanism is shown in Figure 7. Figure 7 shows a top view of the drive transmission devices 11, with clamping jaws 9 arranged thereon. In Figure 7, the left clamping jaw 9, see in top view, is shown in a pivoted state and the right clamping jaw 9, seen in top view of Figure 7, is shown in its home position.

The clamping jaws 9 are each arranged on a holder 35. The translational supporting of the clamping jaws 9 in the longitudinal direction of the clamping jaws 9 also takes place on the holder 35. As can be seen from Figure 7, the holders 35 can each be pivoted in the horizontal plane.

To cause the pivoting movements of the holder 35 and thus of the clamping jaws 9, the drive transmission devices 11 each have a spring device 37 which, by means of its pretensioning force, presses the respective holder 35 from the home position to the pivoted position. A locking device 39 is provided to hold the holder 35 in the home position. The locking device 39 can be released via a release device 41, so that the spring device 37 can press the holder 35 and thus the clamping jaws 9 in the direction of the pivoted position. The release device 41 may be an electromagnet. The same attracts a retainer 43 by magnetic force, so that the locking device 39 is released and the holder 35 can be pivoted freely. The advantage of providing an electromagnet is that it only has to be energized for a short period of time until the locking device 39 is released. The return of the retainer 43 to re-lock the locking device 39 can be effected by means of a spring 45.

The spring device 37 is designed such that when the drive transmission means 11 are moved towards each other so that the clamping jaws 9 clamp an object 200, a sufficient clamping force of the clamping jaws 9 can be generated without causing any or an excessive deflection of the spring device 37 and thus a locking of the locking device 39. In other words, when the clamping jaws 9 clamp an object 200 to be transported for transportation, the clamping jaws 9 remain in the pivoted state to the greatest extent possible and are not fully pushed in the direction of the home position. In order to move the clamping jaws 9 back from the pivoted position to the home position, the clamping jaws 9 can be pressed against each other so that the clamping jaws are pivoted back in the direction of the home position against the biasing force of the spring device 37. When the home position is reached, the locking device 39 snaps in and holds the clamping jaws 9 in the home position. The drive energy required for pivoting the clamping jaws into the home position and for preloading the spring device 37 is provided by means of the first drive motor 19, so that the drive energy can be temporarily stored in the spring device.

Furthermore, sensors not shown may be arranged on the holders 35, which register the retracted end position of the clamping jaws 9, as shown in Figure 2, or an extended position, as shown for example in Figures 6a, 6b. For this purpose, a sensor can be arranged next to one of the clamping jaws, which determines the retracted end position, and a sensor can be arranged on the other clamping jaw 9, which determines the extended end position. Since the drive shaft 29 drives both clamping jaws 9 synchronously, it is sufficient if only one sensor is arranged next to each of the clamping jaws 9, so that the synchronous movement ensures that when one of the end positions of a clamping jaw 9 is reached, the other clamping jaw 9 has also reached the corresponding end position. The sensors can, for example, be optical sensors that sense a recess in the corresponding clamping jaw 9.

Claims

1. Manipulator (1) for a storage facility (100) with at least one storage surface (150) on which objects (200) can be arranged in a row, wherein an operating side (150a) of the storage surface (150) can be operated via the manipulator (1),

comprising at least one movable supporting slide (3) with a supporting surface (5) for receiving the objects (200), wherein a gripping device (7) with two elongated clamping jaws (9) is arranged on the supporting slide (3), wherein the clamping jaws (9) are arranged on the supporting surface (5), are movable in a first horizontal direction (A) towards or away from each other for adapting the distance of the clamping jaws (9) to an object (200), and are movable in a second horizontal direction (B) towards or away from the storage surface (150), so that by means of the clamping jaws (9) at least one of the objects (200) can be removed from the storage surface (150) and conveyed onto the supporting surface (5) or can be conveyed from the supporting surface (5) onto the storage surface (150) and deposited thereon,

characterized by

a drive device (10) with two drive transmission devices (11), wherein in each case one of the drive transmission devices (11) engages one of the clamping jaws (9) and drives the respective clamping jaw (9) individually for carrying out the movement in the second horizontal direction (B).

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

3. Manipulator according to claim 1 or 2, characterized in that the drive transmission devices (11) each comprise a holder (35) on which, respectively, one of the clamping jaws (9) is mounted so as to be translationally displaceable, wherein the holders (35) can be pivoted in a horizontal plane, and wherein an angle between the clamping jaws (9) can be varied via the pivoting movements.

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

5. Manipulator according to claim 4, characterized in that the drive transmission devices (11) are each arranged on or at a threaded spindle (23,25), wherein the first drive motor (19) rotationally drives the threaded spindles (23,25), whereby the respective drive transmission device (11) is movable along the corresponding threaded spindle (23,25).

6. Manipulator according to claim 5, characterized in that the threaded spindles (23,25) are adapted to be driven in opposite directions, wherein the first drive motor (19) rotationally drives one of the threaded spindles (23,25) and the threaded spindle (23,25) transmits the drive movement to the other of the threaded spindles (23,25).

7. Manipulator according to any one of claims 1 to 6, characterized in that the drive device (10) comprises a second drive motor (27) which drives the clamping jaws (9) in the second horizontal direction (B) by means of the drive transmission means (11).

8. Manipulator according to claim 7, characterized in that the clamping jaws (9) each have a toothed rack and the drive transmission devices (11) each have a pinion (33), the pinion (33) of a drive transmission de-vice (11) engaging in the toothed rack of the corresponding clamping jaw (9) and the drive movement of the second drive motor (27) being transmittable to the respective clamping jaw (9) via the pinion (33).

9. Manipulator according to claim 8, characterized in that the drive device (10) comprises a drive shaft (29), wherein the drive transmission means (11) are mounted on the drive shaft (29) so as to be movable in translation in the longitudinal direction of the drive shaft (29), wherein the drive shaft (29) is driven in rotation by the second drive motor (27) and the drive shaft (29) transmits the drive movement of the second drive motor (27) to the pinion (33).

10. Manipulator according to claim 9, characterized in that the drive transmission means (11) each comprise a toothed belt drive (31) which transmits the rotational drive movement of the drive shaft (29) to the respective pinion (33).

11. Manipulator according to any one of claims 3 to 10, characterized in that the drive transmission means (11) each have a locking device (39) which holds the respective holder (35) in a basic position, the drive transmission devices (11) each having a spring device (37) which, in the home position of the holders (35), exert a prestressing force with a force component directed towards the respective other clamping jaw (9) on the respective clamping jaw (9), the locking device (39) being releasable via a release device (41), so that the spring device (37) pivots the holder (35) by means of the prestressing force.

12. Manipulator according to claim 11, characterized in that the release device (41) is an electromagnet.

13. Manipulator according to claim 11 or 12, characterized in that by a movement of the drive transmission means (11) towards each other, the clamping jaws (9) in the pivoted state of the holders (35) can be pressed against an object or against each other, whereby the spring device (37) can be pretensioned and the holders (35) can be moved into the home position.

14. Manipulator according to one of the claims 1 to 13, characterized in that a slider (15) is arranged between the clamping jaws (9), which is displaceable in the second horizontal direction (B).

15. Manipulator according to any one of claims 1 to 14, characterized in that next to at least one of the clamping jaws (9) a sensor is arranged for determining the end positions of the clamping jaw (9) during the movement in the second horizontal direction (B).

16. Manipulator according to claim 15, characterized in that a sensor is arranged next to each of the clamping jaws (9), one of the sensors determining the retracted end position of one of the clamping jaws (9) and the other sensor determining the extended end position of the other clamping jaw (9).

17. Manipulator according to any one of claims 8 to 16, characterized in that the racks are made of a plastic material.

18. Storage facility (100) having a plurality of horizontally arranged storage surfaces (150), each having at least one operating side (150a), and having at least one manipulator (1) according to any one of claims 1 to 17.