DE102020111231B3 - End effector with stabilizing legs for picking robots, picking robots with such an end effector and method for controlling a picking robot - Google Patents

Abstract

The invention is based on an end effector for a robot, in particular a picking robot (10), with at least one suction gripper with a gripper base body (14) and a suction device (16) arranged on the gripper base body (14) for gripping, lifting and Depositing an object and having at least one stop for supporting and orienting the object in the suction direction (32). It is proposed that the stop comprises at least one stabilizing leg (36) attached to the gripper base body (14) outside the suction cup (16).

Description

The invention relates to an end effector for a picking robot, in particular a picking robot for single item picking, so-called “piece-picking”, with which individual items are removed from source containers and placed in target containers / boxes.

Picking robots with suction grippers are known from the prior art. the DE 102010002317 B4 describes, for example, a system for separating pharmacy articles with several suction grippers arranged on a rotatable gripper carrier. As a rule, only one bellows or teat grips an article.

The gripping position is determined using image processing software from a recording of the article to be gripped, specifically as the geometric center point of a side surface of the article.

However, in the case of articles with an uneven mass distribution, the geometric center does not always correspond to the position of the article's center of gravity and even with a uniform mass distribution the center of mass can be shifted relative to the gripping point due to inaccuracies in the image processing. After lifting, the shifted center of gravity leads to a tilting moment acting on the suction pad, which deforms the suction pad. As a result, it can happen that articles hang at an angle on the suction gripper and / or that articles even fall off the suction gripper. Because of the greater leverage, this effect is more pronounced the longer and elongated the article is.

In order to optimize the packing density in the target container and the further process sequences, precise placement of the article in the target container can be important in certain applications. Furthermore, the trajectories of the picking robot are optimized, the paths being selected as short as possible, provided that the article does not collide with a container edge. Both are made more difficult by articles hanging at an angle.

According to the prior art, suction heads with several suction grippers are generally used in applications that require precise alignment of the gripped object. The suction grippers then often have an inner stop which is formed by ribs or projections within the bellows or suction cup.

From the DE 10 2017 203 468 A1 a Bernoulli suction gripper with radially outer stops is known. Because of the different principle of action, there is no elastic teat there.

Devices with suction cups and two lateral supports are known from the area of demolding tools. the DE 10 2018 205 708 A1 discloses, for example, an apparatus for lifting injection molded parts out of their mold. In this area of application, however, the supports are not supported on the object to be lifted out, but on the shape and are therefore not attached to the same base body as the suction cup or bellows.

The same applies to applications from the automotive industry. the EP 1 418 116 B1 protects, for example, a device for adjusting the gap dimensions of a vehicle.

From the DE 19714873C2 Furthermore, a gripping head with several suction grippers and a flexible support body is known, which adapts to the shape of the object to be gripped and can then be evacuated itself in order to become rigid.

From the DE 20 2014 100 458 U1 an industrial robot is disclosed with support suction cups arranged laterally next to a suction gripper. Further prior art is from DE 10 2018 204 944 A1 , the DE 10 2018 000 161 A1 , the DE 20 2007 105 153 U1 , the EP 2 673 118 B1 and the JP H03-032 586 A known.

The invention is based on the object of providing an end effector which is suitable for order-picking tasks and which can avoid tilting of the gripped article.

The object is achieved by an end effector having the features of claim 1. Advantageous embodiments of the invention emerge from the subclaims.

The invention relates to an end effector for a robot, in particular a picking robot, with at least one suction gripper with a gripper base body and a suction device arranged on the gripper base body for gripping, lifting and depositing an object and with at least one stop for supporting and orienting the object in the suction direction.

It is proposed that the stop comprises at least one stabilizing leg attached to the gripper base body outside the suction cup, the stabilizing leg including at least one leg in which a spring element or spring area is integrated in order to generate elastic properties. By designing the stops as one or more stabilizing legs, ie elongated objects with an essentially constant profile, the stops can be easily adapted to the desired application. Due to the arrangement outside of the suction cup, the Achieved more favorable leverage ratios compared to inner stops.

A particularly good stability with flexible application possibilities can be achieved if the end effector comprises exactly two stabilizing legs, which are fastened to the gripper base body in positions opposite one another in relation to the suction device. In further variants, the end effector can comprise two or more stabilizing legs, which are arranged at an angle deviating from 180 ° to one another, in order to achieve stabilization in several directions.

It is further proposed that the stabilizing legs or the stabilizing leg are or is releasably attached to the gripper base body. This allows the stabilizing legs to be flexibly attached or removed depending on the order picking order. This conversion of the order picking robot can be implemented in a particularly simple manner if the stabilizing legs or the stabilizing leg are or is attached to the gripper base body with a latching connection. An exchange during maintenance work can also be simplified as a result.

According to a further development of the invention, it is proposed that the at least one stabilizing leg have a first area arranged obliquely or orthogonally with respect to the suction direction, a second area arranged parallel to the suction direction and a foot part arranged at the end of the second area with opposite the first and second area includes enlarged cross-sectional area. As a result, the at least one stabilizing leg can act as a spring strut and have a suitable elasticity, by means of which damage in the event of unintentional collisions can be avoided and tolerances, in particular when gripping, can be compensated.

It is also proposed that a stop position of the stop is adjustable in the suction direction. As a result, the stop position can be set depending, for example, on the stroke of the suction cup or bellows and / or depending on the specifications of the article, so that secure gripping is achieved with sufficiently precise orientation.

The suction cup is preferably a bellows suction cup with 1.5 or 2.5 folds, but can also be a flat suction cup or a bellows suction cup with more than 2.5 folds. Due to the larger stroke of the bellows suction device, the article can be pulled up to the stabilizing legs and rest securely. A slight to medium inclination of the article surface in relation to the suction direction can be compensated for by the flexibility of the bellows suction cup.

The adjustment of the stop can in particular take place in that the stop position of the stop in the suction direction can be adjusted by selecting an adjustable fastening position of the stabilizing legs on the gripper base body.

As an alternative or in addition to this, the adjustment of the stop position can take place in that the stop position of the stop can be adjusted in the suction direction by adjusting a length of the stabilizing legs. In particular, at least one of the stabilizing legs can comprise a foot region that can be screwed out or screwed in, which allows a length of the stabilizing leg to be adjusted.

In a particularly advantageous embodiment of the invention, the end effector is a so-called "rotary gripper", in which the gripper base body is arranged on an end effector main body so as to be rotatable about an axis of rotation running perpendicular to the suction direction and on two opposite sides of the Gripper base each includes a suction cup. End effectors of this type can be used particularly flexibly. This flexibility is further increased by providing optional stabilizing legs. The orientation of the suction gripper with respect to the side surface of the article to be gripped, which is required when gripping with stabilizing legs, can be implemented particularly easily with end effectors of this type. In such end effectors, one of the suction cups can also be equipped with stabilizing legs, but the other cannot.

Another aspect of the invention relates to an end effector for a robot, in particular a picking robot, with at least one suction gripper with a gripper main body and a sucker arranged on the gripper main body for gripping, lifting and depositing an object, the gripper main body for assembly means Attaching stabilizing legs to form an end effector according to any one of the preceding claims. The user can then simply equip such an end effector with stabilizing legs of his choice.

Another aspect of the invention relates to such an end effector with at least one pair of stabilizing legs for fastening outside the suction cup on the gripper base body and for forming a stop for supporting and orienting the object in the suction direction.

A further aspect of the invention relates to a system with an end effector of the type described above and with several pairs of stabilizing legs with different lengths and / or different elastic properties that the Users can then select and simply attach and / or remove depending on the application.

Another aspect of the invention relates to a robot, in particular a picking robot, with a camera for capturing an object to be gripped and a controller for controlling the end effector with image processing software, the image processing software being designed to use the image data captured by the camera to determine a gripping position for to determine the suction cup on the surface of the object to be gripped and a longitudinal direction of the object.

It is proposed that the control is designed to orient the gripper base body in the suction direction or by rotating around the suction direction so that a connecting line of the stabilizing legs runs parallel to the longitudinal direction before gripping the object.

Further features and advantages emerge from the following description of the figures. The entire description, the claims and the figures disclose features of the invention in specific exemplary embodiments and combinations. The person skilled in the art will also consider the features individually and combine them into further combinations or sub-combinations in order to adapt the invention as defined in the claims to his needs or to special areas of application.

• 1 einen Kommissionierroboter nach einem ersten Ausführungsbeispiel der Erfindung;
• 2a und 2b einen Greifvorgang eines Artikels mit einem Endeffektor nach dem Stand der Technik;
• 3 einen Endeffektor mit Stabilisierungsbeinen nach dem ersten Ausführungsbeispiel der Erfindung;
• 4a und 4b einen Greifvorgang eines Artikels mit dem Endeffektor nach dem ersten Ausführungsbeispiel der Erfindung;
• 5a und 5b einen Greifvorgang eines Artikels gemäß einem erfindungsgemäßen Verfahren mit einem Endeffektor mit einem Stabilisierungsbein;
• 6 eine schematische Darstellung zur Befestigung von Stabilisierungsbeinen an einem Greifer-Grundkörper eines erfindungsgemäßen Endeffektors;
• 7a - 7c verschiedene Varianten zur Befestigung der Stabilisierungsbeine an dem Greifer-Grundkörper des erfindungsgemäßen Endeffektors;
• 8 ein Endeffektor mit Stabilisierungsbeinen nach einem weiteren Ausführungsbeispiel der Erfindung;
• 9 - 12 verschiedene Varianten der Stabilisierungsbeine für einen erfindungsgemäßen Endeffektor.

Show:

• 1 a picking robot according to a first embodiment of the invention;
• 2a and 2 B a prior art gripping operation of an article with an end effector;
• 3 an end effector with stabilizing legs according to the first embodiment of the invention;
• 4a and 4b a process of gripping an article with the end effector according to the first embodiment of the invention;
• 5a and 5b a gripping process of an article according to a method according to the invention with an end effector with a stabilizing leg;
• 6th a schematic representation of the attachment of stabilizing legs to a gripper base body of an end effector according to the invention;
• 7a - 7c different variants for fastening the stabilizing legs to the gripper base body of the end effector according to the invention;
• 8th an end effector with stabilizing legs according to a further embodiment of the invention;
• 9 - 12th different variants of the stabilizing legs for an end effector according to the invention.

1 shows a picking robot 10 according to a first embodiment of the invention and 3 shows the end effector according to the invention 12th of the picking robot 10 the end 1 in a detailed representation.

The picking robot 10 has an end effector 12th with a suction pad with a gripper base 14th and two opposite one another on the gripper base 14th arranged suction cups 16 for gripping, lifting and putting down an article 18th ( 4a , 4b) . The picking robot 10 includes a mobile base 20th with rollers (not shown) and one on the base 20th mounted gripper arm 22nd leading to a front of the pedestal 20th cantilevered. Behind the gripper arm 22nd is on the pedestal 20th a support arm 24 with a camera designed as a 3D camera 26th attached to the gripper arm 22nd towers above and also to the front of the base 20th cantilevered. In the base 20th is a controller 28 integrated that the gripper arm 22nd and the end effector 12th can control and that of the camera 26th processed image data. Another camera (not shown) can be used to detect the target container 30th be provided.

The picking robot 10 can be set up in front of a conveyor system lane, which can otherwise also be operated by a human picker, and articles for fulfilling specified picking orders 18th Remove from source containers (not shown) and into target containers 30th take off. In practice, the source containers are often provided on a conveyor track that is perpendicular to the conveyor track of the target container 28 runs so that the picking robot 10 the gripper arm 22nd to transfer the article 18th from the source container to the destination container 30th must pivot by 90 °. There can be separate cameras 26th for source and destination containers 30th be provided.

In the exemplary embodiment of the invention, the gripper main body is 14th one perpendicular to the suction direction 32 extending axis of rotation X rotatable on an end effector main body 34 arranged, which in turn around an in 1 vertically extending longitudinal axis Z is rotatable. It encompasses two sides of the gripper base body that are opposite to one another in relation to the axis of rotation 14th one suction cup each 16 to grab an article 18th .

the 2a and 2 B show schematically a tilting of the article 18th after lifting with a prior art end effector. The sucker 16 docks at one of the geometric midpoints 38 corresponding position of the top of the article 18th at ( 2a) . If the center of mass 40 of the article 18th opposite the geometric center 38 is laterally offset, generates the tilting moment in connection with the elasticity of the suction cup 16 an inclination of the article 18th ( 2 B) .

According to the invention, however, the gripper is, as in 3 shown, equipped with two stops, namely with two outside of the suction cup 16 on the gripper body 14th attached stabilizing legs 36 . the 4a and 4b show schematically a lifting of the same article 18th as in 2a and 2 B . with an end effector according to the invention 12th . The sucker 16 docks at a geometric center point 38 the top of the article 18th at ( 4a) . Although the center of mass 40 of the article 18th opposite the geometric center 38 is laterally offset, the tilting moment results in connection with the elasticity of the suction cup 16 does not lead to an oblique position of the article 18th , because the overturning moment on one of the stabilizing legs 36 is supported ( 4b) .

The control 28 of the picking robot 10 is equipped with image processing software, which is based on the data provided by the camera 26th captured image data a gripping position for the vacuum cleaner 16 on the surface of the object or article to be gripped 18th and a longitudinal direction of the object 18th determined.

The control system provides orientation during operation 28 the gripper body before gripping the object 14th by turning around the suction direction 32 so that a line connecting the stabilizing legs 36 runs parallel to the longitudinal direction. In the control 28 a method is therefore implemented that has the steps of determining a gripping position for the suction cup 16 on the surface of the object to be gripped from the image data of a camera and a longitudinal direction of the object and orienting the gripper base body 14th by rotating around the suction direction 32 so that a line connecting the stabilizing legs 36 runs parallel to the longitudinal direction, includes.

the 5a and 5b each show a further embodiment of the end effector according to the invention 12th and the method according to the invention. The end effector 12th includes only one stabilizing leg 36 in one direction from the gripper body 14th sticks out. The control 28 orients the gripper body before gripping the object 14th so that the direction in which the stabilizing leg 36 from the gripper body 14th protrudes, parallel to the longitudinal direction of the article 18th runs. Unlike in the embodiment of FIG 4a and 4b shown sets the control 28 a gripping position 39 for the teat 16 but not the focus 38 of the article but at a point that is offset by an offset in the direction of the stabilizing leg 36 opposite a center point 38 the surface of the article to be gripped 18th is offset. The offset can, for example, be 10-20% of the length of the article, a predetermined offset of e.g. 2-5 cm or depending on the maximum possible offset - i.e. the difference between half the length of the article 18th and the length of the stabilizing leg 36 - be determined. If the center of mass of the article 18th with the center 38 coincides or is shifted by less than the offset with respect to the center of gravity, a tilting moment M arises due to the offset, which is generated by the stabilizing leg 36 is supported. This ensures a stable hold.

6th is a schematic representation of the attachment of stabilizing legs 36 on a gripper body 14th of an end effector according to the invention. While the stabilizing legs 26th in the in 4th illustrated embodiment on the side surfaces of the gripper body 14th are arranged, the stabilizing legs 36 also on one end of the gripper base 14th be attached to which also the suction cup 16 is attached.

The stabilizing legs 36 have a flat, with its longer side perpendicular to the plane of the drawing 4a aligned profile. Starting from the gripper body 14th have the stabilizing legs 36 a first, inclined or orthogonal to the suction direction 32 arranged area 48 , a second, parallel to the suction direction 32 arranged area 50 and one at the end of the second area 50 arranged foot part 52 with opposite the first and the second area 48 , 50 enlarged cross-sectional area. The transverse first area 48 acts like a leaf spring and gives the stabilizing leg 36 an elasticity in the suction direction 32 . Different elasticities can be achieved by choosing the material or the thickness of the profile. A suitable choice of the spring constant depends on the stroke and the holding force of the suction cups 16 away. For articles weighing up to 1 kg, for example, spring constants of less than 10 N / cm are suitable, in particular a range of 2-10 N / cm. The elasticity is particularly important when the articles to be gripped are inclined in the swelling container, so that the gripper has to be rotated about the horizontal axis X in order to ensure that the suction device is properly docked 16 to enable. If the orientation of the gripper main body about the horizontal axis of rotation X is not precise with the orientation of the side surface of the article to be gripped 18th agrees, a rigid stabilizing leg would be 36 against the article 18th bump before the sucker 16 comes into contact with this. This could cause damage of the article 18th lead through elastic stabilizing legs 36 can be avoided.

the 7a - 7c show different variants of such an attachment of the stabilizing legs 36 on the gripper body 14th of the end effector according to the invention 12th .

7a shows schematically a locking connection with which the stabilizing legs 36 Can be removed from the gripper body without tools 14th are attached. The rear ends of the stabilizing legs 36 have a locking lug 42 and can move in a direction parallel to the suction direction 32 running, slit-shaped opening 46 on the gripper body 14th are inserted, on the side facing away from the central axis of the suction pad an opening 44 is provided in which the locking lug 42 snaps into place. To release the locking connection, the user can from the outside through the opening 44 the latch 42 deflect inward and the stabilizing leg 36 pull out. The openings 46 on the gripper body 14th are mounting means for attaching stabilizing legs 36 to form an end effector 12th or the type described above.

the 7b , 7c and 8th show further embodiments of the invention in which a stop position of the stop in the suction direction 32 is adjustable. In order to avoid repetition, the following description of these further exemplary embodiments is essentially limited to differences from the first exemplary embodiment of the invention. Because of the unchanged features, the person skilled in the art is referred to the description of the first exemplary embodiment. The same reference symbols are used for features of the further exemplary embodiments that have the same or similar effect in order to emphasize the similarities.

7b shows schematically a screw connection with which the stabilizing legs 36 detachable on the gripper body 14th are attached. The rear ends of the stabilizing legs 36 will be like in 7a in a direction parallel to the suction direction 32 running, slit-shaped opening 46 on the gripper body 14th inserted, on the side facing away from the central axis of the suction pad an elongated hole 54 is provided in which a screw 56 which can be inserted into a thread at the rear end of the stabilizing leg 36 or one behind the stabilizing leg 36 vertically displaceable body with internal thread (not shown) engages. By moving the screw 56 within the elongated hole 54 the position of the stop can be adjusted.

7c shows schematically another example of a screw connection with which the stabilizing legs 36 detachable on the gripper body 14th are attached. In the example 7c is at the back of the stabilizing legs 36 an elongated hole 58 provided by which a screw 56 that engages in one behind the stabilizing leg 36 arranged internal thread engages.

8th shows an end effector with stabilizing legs according to a further embodiment of the invention. In the in 8th The illustrated embodiment comprises at least one of the stabilizing legs 36 a screw-in or screw-in foot part 52 that is an adjustment of a length of the stabilizing leg 36 permitted. The free end of the stabilizing leg 36 has an angled end area 60 with one axially or in the suction direction 32 aligned threaded hole into which the foot part 52 can be screwed in. The position can be adjusted by a lock nut 62 be fixed.

The end effector according to the invention 12th can be in a set with several pairs of stabilizing legs 36 with different lengths and / or different elastic properties are provided.

9 shows a further embodiment of the invention in a partial sectional view. The sucker of the end effector 12th is in 9 not shown. There is a thread to attach the suction cup 64 in the gripper body 14th intended.

Similar to the exemplary embodiment 7a becomes the stabilizing leg 36 into a slit-shaped opening 46 used and can be provided with a locking lug provided at the free end of a tab 42 snap into one of three openings 44a - 44c. The stop position of the stabilizing leg can be adjusted by the selection of the latching position or the opening 44a-44c 36 can be set.

the 10 - 12th show different stabilizing legs 36 with different elasticity, caused by differently designed spring elements or spring areas in the first, horizontally extending area 48 of the respective support leg 36 Marked are.

In the hardest, in 10 illustrated embodiment is the area 48 straight and flat, so that there is a large spring constant. In the medium hard, in 12th The illustrated embodiment runs the area 48 in an S-shape, so that there is a slightly lower spring constant. In the soft, in 11 The illustrated embodiment runs the area 48 in a meandering shape, so that there is a low spring constant.

List of reference symbols

10

Picking robot

12th

End effector

14th

Gripper body

16

Mammal

18th

items

20th

base

22nd

Gripper arm

24

Beam

26th

camera

28

steering

30th

Target container

32

Suction direction

34

End effector main body

36

Stabilizing legs

38

Focus

40

Center of mass

42

Locking lug

44

breakthrough

46

opening

48

first area

50

second area

52

Foot part

54

Long hole

56

screw

58

Long hole

60

End area

62

Lock nut

64

thread

Claims (23)

End effector for a picking robot (10) with at least one suction gripper with a gripper main body (14) and a suction device (16) arranged on the gripper main body (14) for gripping, lifting and depositing an object and with at least one stop for supporting and Orientation of the object in the suction direction (32), characterized in that the stop comprises at least one stabilizing leg (36) attached to the gripper base body (14) outside the suction cup (16), the stabilizing leg comprising at least one leg to produce elastic properties, in which a spring element or spring area (48) is integrated. End effector after Claim 1 , characterized in that the leg is an area (48) arranged obliquely or orthogonally to the suction direction (32), which acts like a leaf spring and gives the stabilizing leg (36) elasticity in the suction direction (32). End effector after Claim 1 or 2 , characterized in that exactly two stabilizing legs (36) are attached to the gripper base body (14) at positions opposite to one another in relation to the suction device (16). End effector after Claim 1 , 2 or 3 , characterized in that the at least one stabilizing leg (36) is releasably attached to the gripper base body (14). End effector according to one of the preceding claims, characterized in that the at least one stabilizing leg (36) is fastened to the gripper base body (14) with a latching connection. End effector after Claim 5 , characterized in that the latching connection has a plurality of latching positions offset in the suction direction. End effector according to one of the preceding claims, characterized in that the at least one stabilizing leg (36) can be attached to the gripper base body (14) without tools or detached from the gripper base body (14). End effector according to one of the preceding claims, characterized in that the at least one stabilizing leg (36) has a first area (48) arranged transversely or obliquely with respect to the suction direction (32), a second area (50) arranged parallel to the suction direction (32) and a foot part (52) which is arranged at the end of the second region (50) and has a larger cross-sectional area than the first and second regions (48, 50). End effector according to one of the preceding claims, characterized in that a stop position of the stop is adjustable in the suction direction (32). End effector after Claim 9 , characterized in that the stop position of the stop in the suction direction (32) can be adjusted by selecting a fastening position of the stabilizing legs (36) on the gripper base body (14). End effector according to one of the preceding claims, characterized in that the gripper base body (14) can be rotated about an axis of rotation running perpendicular to the suction direction (32) an end effector main body (34) and comprises a suction cup (16) on two opposite sides of the gripper main body (14) with respect to the axis of rotation, at least one of which is equipped with at least one stabilizing leg (36). End effector for a robot, in particular a picking robot (10), with at least one suction gripper with a gripper base body (14) and a suction device (16) arranged on the gripper base body (14) for gripping, lifting and depositing an object, characterized that the gripper base body (14) comprises mounting means for attaching stabilizing legs (36) to form an end effector (12) according to one of the preceding claims. System from an end effector Claim 12 and at least one stabilizing leg (36) for fastening outside of the suction cup (16) on the gripper base body (14) and for forming a stop for supporting and orienting the article (18) by rotation about the suction direction (32). System according to Claim 13 with several interchangeably mountable stabilizing legs (36) with different lengths and / or different elastic properties. System according to Claim 13 , characterized by color coding of the stabilizing legs to identify the elastic properties. System according to one of the Claims 13 - 15th , characterized in that the plurality of stabilizing legs (36) for generating different elastic properties comprise at least one leg, in which different spring elements are integrated. Stabilizing legs for use in a system according to one of the Claims 13 - 16 . Picking robot with an end effector after one of the Claims 1 - 11 or a system according to one of the Claims 12 until 16 . Picking robot after Claim 18 with a camera (26) for capturing an article (18) to be gripped and a controller (28) for controlling the end effector (12) with image processing software, the image processing software being designed to convert the image data captured by the camera (26) into a To determine the gripping position for the suction cup (16) on the surface of the article (18) to be gripped and a longitudinal direction of the article (18), characterized in that the controller (28) is designed to open the gripper base body before gripping the object (14) by rotating around the suction direction (32) so that an expected tilting moment is supported by the at least one stabilizing leg (36). Picking robot after Claim 19 , characterized in that a direction in which the at least one stabilizing leg (36) is oriented runs parallel to the longitudinal direction of the article (18). Method for controlling a picking robot (10) according to Claim 19 or 20th , comprising the steps of: - determining a gripping position for the sucker (16) on the surface of the article (18) to be gripped from the image data of the camera (26) and a longitudinal direction of the article (18) and - orienting the gripper base body (14 ) by rotating about the suction direction (32) so that an expected tilting moment is supported by the at least one stabilizing leg (36). Procedure according to Claim 21 , characterized in that the gripper main body is oriented such that a direction in which the at least one stabilizing leg (36) is oriented runs parallel to the longitudinal direction of the article (18). Procedure according to Claim 21 or 22nd , characterized in that the end effector (12) comprises only one stabilizing leg (36), and that the determined gripping position for the sucker (16) is offset in the direction of the stabilizing leg (36) with respect to a center point of the surface of the article (18) to be gripped is.

Images