DE19821187A1 - Forceps-type gripper device - Google Patents

Abstract

Forceps-like gripper device for gripping a soft good article to be moved by means of this, in particular for a picking device for picking soft good articles, the gripper device being mechanically movable by means of an external movement mechanism and having two legs between which a section of the article can be picked up, whereby both legs are movably supported and can be moved between a working position engaging the article and a non-working position by means of a movement means.

Description

The invention relates to a gripper-like gripper device for gripping one tels of these soft goods to be moved, especially for a commission Picking device for picking soft goods.

The automatic handling of soft good items, i.e. items that are not in fixed Packaging or the like is generally prepared large Problem. Especially in the area of mail order, where large mail order houses several thousand such articles every day as part of order picking processes to compile customer orders have to be moved, these problems are evident. A computer controlled picking device for picking soft goods that have an automatic transport this article enables, is described in patent application 196 39 049. At the device disclosed there are those to be moved depending on the order Softgood items stacked on top of each other in corresponding shots. Every up an automatically movable output means is assigned, which upper attacks the respective article, grabs it and lifts it out. It can this output means can be designed as a pincer-like gripper.

The invention is based on the problem of a pliers-like gripping device specify which - for example when used in the from the above Patent application known picking device - a secure gripping of the Softgood article enables.

To solve this problem, a pincer-type gripper is according to the invention direction provided by an external movement mechanism ma is quickly movable and has two legs, between which a section of the article is recordable, both legs are movably supported and between a job position encompassing the article and a non-job position tion are movable by means of a moving means.

By means of this gripper device according to the invention, in which case both legs are movable, a secure gripping of the, for example, sealed in foil  possible garment. Due to the flexible storage of both legs is the movement distance or the gripper distance that the legs between the Do not work position and the work position, almost double as in an embodiment of a gripper device in which only one Leg is movable. This means that a we of the film or the article considerably larger section can be used, so that with the fiction moderate gripper device is ensured that an empty gripping or only a part wise attack that may cause the raised article to fall off leads, is advantageously avoided. According to the invention, both legs can be mounted around a common axis, or around each separate essentially parallel axes.

It has also proven to be particularly expedient if according to the invention the two legs via an articulated connection, in particular an articulated joint rods coupled to one another in motion and by means of the common, on the Articulated joint attacking moving means are movable. As a result of Forced coupling is therefore advantageously mandatory for both legs together emotional. The use of the articulation also advantageously enables the Ver only one means of movement. According to the invention, this can be a tire Matic, electrical or electromagnetic means, for example a Train-pressure cylinder, which is connected to the articulation via its push rod takes hold. It goes without saying that it is also designed in the form of a diving magnet ten or an electric motor or the like possible.

As described, it is a central task of the grippers according to the invention direction to ensure the safe and sufficient attack on the article. Around According to the invention, the grippers can provide further security here be designed in this direction, or means designed in this way may be provided, that in connection with a possibly external investigation device section of the gripped article located between the legs is telbar. According to this configuration according to the invention, additional an opportunity to investigate the given, purely mechanical advantages specified that allows a concrete article attack to be checked. According to ei  A first alternative of the invention can have one or both on both legs several contact means can be provided, which when touched by the between the legs located articles are electrically connectable to each other and a Circuit can be closed, according to the invention the legs wholly or partially se can consist of insulating material, or at least partially with iso material and the contact means or contact means in isolated areas Chen the legs are arranged. These contact means can for example be short conductor track sections or the like. This invention design uses the given, albeit low, conductivity of the gripped article to in this way by closing the circuit within which the Kon A sufficient signal can be given to the clock means. Alternatively for this purpose the means can also be an optical sensor means according to the invention, for example in the form of a retro-reflective sensor attached to one leg in the case of a correct term between the people article located reflects measured light for signal generation. It can too the means are a weight detection device, in particular re in the form of a strain gauge, with the gripper device raised due to the gripped article hanging on the gripper device is more applicable. If the article is not gripped, there will be no or a corresponding empty space given signal.

In addition to the appropriate design of the gripper device or the arrangement Appropriate means for recording the correct item grip should be furthermore also be guaranteed that already when positioning the gripper Direction regarding the article ensures that a correct attack position at all has been reached or assumed. To this end can the gripper device according to the invention at least one sensor element to detect the positional relationship of the gripper device to the top Articles can be assigned, wherein the sensor element or elements according to the invention as pushbuttons or touch switches arranged in this way on the gripper device can be formed that a necessary to control the operation of sufficient positioning that enables the attack on the article can be given. By means of these sensor elements, in particular the touch or touch scarf  The position of the gripper device relative to the overhead article can be advantageous can be determined, expediently with sufficient positioning appropriate signal is given. The gripper operation is then advantageously carried out in Dependence of the detection result, d. that is, the corresponding move means is only activated when the positioning signal will give. In the event that this positioning signal is not present, also no gripping. Either the positioning process becomes like repeated, or an error message is output, because then, for example Either there are no more articles, or the articles For example, they have slipped so that they are no longer in the grip area of the gripper direction. According to the invention, two can be used in parallel or in series switched key or touch switch may be provided, these purpose can be switched moderately in such a way that a current when actuated circle is opened or closed. As an alternative to using touch or Touch switches can also do the sensor element or elements as optical senso relemente be formed.

That with suitable connection devices to an external supply facility tion provided movement means can according to the invention on the gripper device be integrated. According to an expedient development of the invention can be provided that a mounting receptacle for a bearing shaft external movement mechanism is provided to in this way for example the integration of the gripper device in the from the aforementioned To allow patent application known picking device. Here the mounting receptacle can be arranged substantially in the middle and on directions for setting the fastening position of the gripper device on the La be provided. In this way it is possible to determine the relative location of the Gripper device with respect to the plane in which the articles are arranged place, that is, in the end it is possible, the gripper device around the Lagerwel slightly twist the axis and fix it in the desired position. This can be done, for example, by means of appropriate screw connections or the like. It has proven to be particularly useful if the According to the invention, the gripper device supports the legs with respect to the  Fastening mount in the manner of a rocker mounted chassis, wherein in this embodiment of the invention, the legs on the abge lowered end and the one or more push buttons or touch switches on the other end of the chassis are arranged. This configuration is advantageous in this regard that first attack the legs on the article and to operate the touch or Touch switch the gripper device must be lowered further until that the switch bearing end touches down. This can be used to ensure that the legs are pressed sufficiently firmly onto the article. Due the arrangement in the manner of a seesaw is made after the end of the removal gangs at the same time ensured that a position is taken again, in which the legs form the lowest point of the facility. In the event that The gripper device is not positioned completely above the article, but instead is laterally offset, so that the key or touch switch carrying end laterally offset next to the article and consequently not when lowering can be pressed on the article for the purpose of actuation, according to the invention be provided that the mounting receptacle is a fixed actuation is assigned part for the button or touch switch to which the or the push buttons or touch switches on the legs attacking the article be pressed. So if the gripper device is positioned sufficiently, be advantageous due to the pivoting of the "gripper rocker" also mandatory Switch on the actuating part, which is, for example, plate-shaped can be pressed and operated. It can be advantageous between that Chassis and the actuating part can be connected to a spring element, so that Chassis is pushed back into the starting position. After all, they can Leg according to the invention to improve the attack and adhesion to Items with a rubber cover.

To further improve the hold of the article on the gripper device, can according to the invention at least one provided in the region of the legs Suction means can be provided, by means of which the article or its packaging can be sucked in before or during gripping. This means that the article or the packaging is not only gripped by means of the legs, but also additionally still held by means of the suction medium, so it is a combined fixation ge  give. The suction means can be arranged such that it is on the article or its packaging attacks directly, the suction means expediently an elastic suction cup, especially made of rubber, which is movable and is compressible and can be designed in the manner of a proboscis.

Especially in the case of somewhat tighter packaging, for example somewhat thicker films it is appropriate to ensure that in any case regardless of the actual Gripper mechanism a packaging section in the area between the Leg is brought. In order to make this possible according to the invention Absorbent before closing the legs closer to the article to be moved stand as the legs themselves, with the legs in during closing a lower position with respect to the suction means can be brought. So this is a literally sucking in or pulling the film section into the area between allows the thighs so that they actually the packaging can grab. For this purpose, the absorbent can be placed between the legs arranged and be encompassed by these, for which purpose expediently everyone Leg has two spaced apart extensions, which during closing the legs past the suction means arranged in between are feasible. To avoid the absorbent during the transport of the article to have to operate in the direction of the funding, especially then is not absolutely necessary if it is essentially for pulling in a Verpac kungs section between the legs is arranged according to the invention a sensor, in particular in the form of a key switch, which is operable with closed legs and thus with gripped article, and when actuated, the suction means can be switched off.

In addition to the gripper device itself, the invention further relates to a commission Picking device for picking soft goods, when stacking stacked soft goods using one or more pliers-like grippers directions are graspable and removable on the upper side, wherein according to the invention Gripper device (s) can be designed as described. It is possible that any tray or slot, of which the A large number of picking devices arranged side by side and one above the other  has, several gripping devices are assigned, which is expedient can be arranged side by side and / or one behind the other. This makes it possible Lich, also large items such as a mattress, large items of clothing or to be able to grip and transport the same safely. It can fiction according to the gripper devices of a receiving compartment or receiving shaft be movable essentially synchronously, alternatively, each gripper device can device depending on a signal from a sensor element for detecting the La relationship of the gripper device to the upper article can be actuated.

Further advantages, features and details of the invention result from the The exemplary embodiments described below and on the basis of the drawing These show:

Fig. 1 is a side view of a gripping device of a first exporting approximate shape with located in the non-operating position legs,

Fig. 2, the gripper device of Fig. 1 in working position, located closed arms,

Fig. 3 is a side view of a gripping device of a second form with exporting approximately located in the non-operating position legs,

Fig. 4, the gripper device of Fig. 3 with closed arms,

Fig. 5 is a perspective view of the gripper device of Fig. 3, 4,

Fig. 6 is a side view of a gripping device of a third exporting approximately form with suction means with open legs,

Fig. 7, the gripper device of Fig. 6 with closed legs, and

Fig. 8 is a view of a picking device.

Fig. 1 shows a gripper device 1 , at one end of which two legs 2 , 3 are movably mounted about a common pivot axis 4 . The legs are covered with rubber pads 5 , 6 to improve the attack on the respective article ver. To move the two legs 5 , 6 from the open position shown in FIG. 1 to the closed position shown in FIG. 2, a mechanical joint 7 is provided, here in the form of a linkage. The articulated connection comprises a plurality of articulated levers 8 , 9 , 10 which are connected to one another in an articulated manner, the lever 10 designed as a toggle lever being movable about a fixed pivot axis 11 . At the rear end 12 of the leg 2 , a bearing section 13 is provided, on which an actuating means 14 in the form of a pneumatic pull-pressure cylinder 15 is articulated with its push rod 16 on the pivot axis 17 . The movement means 14 is mounted on the chassis 18 of the gripper device 1 in a somewhat movable manner on a mounting web 19 , as shown in FIGS . 1 and 2. To close the two legs 2 , 3 , the movement means 15 is pneumatically actuated accordingly, whereby the push rod ge 16 is extended. This has the consequence that the free end 12 of the leg 2 is shifted from Fig. 1 to the left, the other end accordingly about the pivot axis 4 to the right. Due to the articulated connection 7 caused by the coupling is simultaneously with the movement of the lever 8 , 9 , 10 of the leg 3 moves to the left, in the working position shown in Fig. 2, in which then in the event of an attack on the article nor sometimes an article section is located between the legs.

A bearing receptacle 20 is also shown, through which a bearing shaft runs, which serves as an external movement mechanism for the gripper device. By means of this movement mechanism, it is possible to move the gripper device up and down accordingly, on the one hand to lower it onto the respective article and on the other hand to lift the gripped article. In the area of the bearing receptacle 20 there is also a base part 21 which extends to the rear end of the chassis 18 . This is spring loaded bezüg Lich of the upper chassis 18 by means of a spring 22 . The bottom part 21 serves to counteract the contact arm 23 of a pushbutton switch 24 , which is arranged on a side wall of the chassis 18 . This key switch 24 is used to detect the correct position of the gripper device 1 with respect to the article to be lifted. If the contact is closed, that is, the pushbutton switch 24 is actuated, this means that the gripper device 1 is positioned correctly and a correct attack on the article is possible. The mode of operation is only such that initially the legs 2 , 3 attack the article. Due to their Bearing the entire chassis 18 of the fixed base part with respect mounted 21 around the axis 25 on which the chassis 18 and the fixed base part 21 in the manner of a rocker another with respect to, swung, so to speak in the direction of the bottom part 21 is lowered, as shown in . 2 shows. This causes the contact arm 23 to be pressed and the key switch 24 to be actuated.

A second embodiment of a gripper device 26 according to the invention, FIGS. 3-5. This also consists of two legs 27 , 28 , which are also provided with corresponding rubber pads 29 , 30 . Here, too, both legs 27 , 28 are movable about a common pivot axis 31 and compulsorily movement-coupled via a common joint connection 32 . In this embodiment, the articulation 32 is slightly different. This comprises two levers 33 , 34 , the lever 33 being mounted on the upper end 35 of the leg 27 via a pivot axis 36 , and the lever 34 being supported on an inwardly drawn bearing section 37 of the leg 28 in the pivot axis 38 . The two levers 33 , 34 are in turn connected to each other on a common pivot axis 39 , on which also the push rod 40 of the trained as a pneumatic train-pressure cylinder 41 loading means 42 engages. The method of operation is similar to that described in FIGS. 1, 2, that is, when the movement means 42 is actuated, the two legs 27 , 28 are guided towards one another. In this embodiment, however, the push rod 40 performs a purely linear movement, ie a movable mounting of the movement means 42 is not necessary here. The further structure regarding the bearing mounting, as well as the design and arrangement of the chassis 43 and the bottom part 44 , which are also mounted here in the manner of a rocker about the pivot axis 45 be movable to one another, corresponds in this respect to the embodiment according to FIGS. 1 and 2.

Finally, FIG. 5 shows a perspective view of the gripper device 26 of FIGS . 3, 4. The exact structure of the articulated connection can be seen in particular from this. As can be seen, the levers 33 , 34 are each provided twice and connected to one another with corresponding connecting sections. It is also shown that the legs 27 , 28 (the same applies to the legs 2 , 3 ) do not extend continuously over the entire width of the device, but are designed in the manner of relatively narrow extensions.

FIGS. 6 and 7 show a second embodiment of a gripper device 46 which is similar in construction of the gripper device 1 of FIG. 1. In addition, however, a suction means 47 in the form of a rubber suction lip 48 is provided, which is connected to a pump or the like, not shown. The suction means 47 is arranged in this way, cf. Fig. 6 that it can be placed on the article in front of the legs and its packaging, for example a film, can suck. The suction means 47 is in the area between the legs, which - cf. Fig. 5 - consist of two lateral extensions, arranged and can be encompassed by them. The arrangement or configuration is such that, cf. Fig. 7, the two legs brought by the gripping movement in such a position that the that the suction means 47 is quasi drawn between the legs or is and therefore the corresponding film section is pulled up. The film section is literally drawn between the leg sections so that they can grip it securely. The suction means 47 or its associated pump can be actuated by means of a button switch, not shown, such that, for example, when the suction means is drawn in, the pump is automatically switched off as a result of the button actuation, so that it is therefore no longer operated during the article transport.

Finally, Fig. 8 shows a view of a picking device according to the invention. This consists of several individual receiving compartments 49 . Each receiving compartment 49 is assigned two gripper devices 50 in the example shown, which are shown here side by side. Likewise, the Grei fer devices 50 can also be arranged one behind the other or side by side and one behind the other, depending on the size of the article to be transported.

The gripper devices 50 are expediently actuated synchronously. Of course, each receiving tray 49, only a single Grei be associated fereinrichtung.

Claims (33)

1. Plier-like gripper device for gripping a soft good article to be moved by means of the latter, in particular for a picking device for picking soft good articles, the gripper device being mechanically movable by means of an external movement mechanism, and two legs ( 2 , 3 , 27 , 28 ) has between which a portion of the article can be received, both legs ( 2 , 3 , 27 , 28 ) being movably mounted and being movable between a working position engaging the article and a non-working position by means of a movement means ( 14 , 42 ). 2. Gripper device according to claim 1, characterized in that both legs ( 2 , 3 , 27 , 28 ) about a common axis ( 4 , 31 ) or about separate, mutually parallel axes are pivoted gela gert. 3. Gripper device according to claim 1 or 2, characterized in that the two legs ( 2 , 3 , 27 , 28 ) via a hinge connection ( 7 , 32 ), in particular a joint linkage with each other motionally coupled and by means of the common, acting on the hinge connection Bewe tion means ( 14 , 42 ) are movable. 4. Gripper device according to one of the preceding claims, characterized characterized in that the gripper device is designed in such a way, or that such trained means are provided that in connection with a if necessary, an external investigation facility between the Legs located section of the gripped article can be determined. 5. Gripper device according to claim 4, characterized in that at one or more contact means are provided for the legs, which when touched by the article located between the legs with are electrically connectable and a circuit can be closed.   6. Gripper device according to claim 5, characterized in that the Legs consist entirely or partially of insulating material, or are at least partially covered with insulating material, the or the contact means are arranged on insulated areas of the legs. 7. Gripper device according to claim 4, characterized in that the Means is an optical sensor means. 8. Gripper device according to claim 4, characterized in that the Means a weight detection device, in particular in the form of a Strain gauge that is when the gripper device is raised due to the gripped and hanging on the gripper device can be actuated. 9. Gripper device according to one of the preceding claims, characterized characterized in that you have at least one sensor element for detection the positional relationship of the gripper device to the article above is ordered. 10. Gripper device according to claim 9, characterized in that the sensor element or sensors are designed as on the gripper device ( 1 , 26 ) so arranged key or touch switch ( 24 ) that a signal necessary for controlling the operation with sufficient, the attack positioning that enables the article. 11. Gripper device according to claim 10, characterized in that two Key switches or touch switches connected in parallel or in series hen are. 12. Gripper device according to claim 11, characterized in that the one or more touch or touch switches ( 24 ) are switched such that a circuit is opened or closed when they are actuated. 13. Gripper device according to claim 9, characterized in that the Sensor element is designed as an optical sensor element. 14. Gripper device according to one of the preceding claims, characterized in that the movement means ( 14 , 42 ) which moves the legs be a pneumatic, electrical or electromagnetic means. 15. Gripper device according to claim 14, characterized in that the movement means provided with suitable connection devices to an external supply device ( 14 , 42 ) on the gripper device ( 1 , 26 ) is inte grated. 16. Gripper device according to one of the preceding claims, characterized in that a fastening receptacle ( 20 ) is provided for a bearing shaft of the external movement mechanism. 17. Gripper device according to claim 16, characterized in that the fastening receptacle ( 20 ) is arranged substantially in the center and a directions are provided for adjusting the fastening position of the gripper device on the bearing shaft. 18. Gripper device according to one of the preceding claims, characterized in that it has a leg ( 2 , 3 , 27 , 28 ) carrying, bezüg Lich the mounting receptacle ( 20 ) in the manner of a rocker mounted chassis ( 18 , 43 ). 19. Gripper device according to claim 18, characterized in that the legs ( 2 , 3 , 27 , 28 ) at the lowered end and the one or more push buttons or touch switches ( 24 ) at the other end of the chassis ( 18 , 43 ) are net angeord. 20. Gripper device according to claim 17 and claim 19, characterized in that the mounting receptacle ( 20 ) is a fixed actuation supply part ( 21 , 44 ) for the key or touch switch ( 24 ) to which the key or keys is assigned - Or touch switch ( 24 ) with legs ( 2 , 3 , 27 , 28 ) attacking the article. 21. Gripper device according to claim 20, characterized in that between the chassis ( 18 ) and the actuating part ( 21 ) a spring element ( 22 ) is connected. 22. Gripper device according to one of the preceding claims, characterized in that the legs ( 2 , 3 , 27 , 28 ) are provided with a rubber coating ( 5 , 6 , 29 , 30 ). 23. Gripping device according to one of the preceding claims, characterized by at least one suction means ( 47 ) provided in the region of the legs, by means of which the article or its packaging can be sucked in before or during gripping. 24. Gripper device according to claim 23, characterized in that the suction means ( 47 ) is arranged such that it directly engages the article or its packaging. 25. Gripper device according to claim 23 or 24, characterized in that the suction means ( 47 ) a preferably on the article or the packaging attack attacking elastic suction device ( 48 ), in particular made of rubber. 26. Gripper device according to one of claims 23 to 25, characterized in that the suction means ( 47 ) before closing the legs is closer to the article to be moved than the legs themselves, and that the legs during closing in a with respect to the suction means ( 47 ) lower position can be brought. 27. Gripper device according to one of claims 23 to 26, characterized in that the suction means ( 47 ) is arranged between the legs and can be gripped by these. 28. Gripper device according to claim 27, characterized in that each leg has two spaced apart projections, which can be passed during the closing of the legs on the intermediate Saugmit tel ( 47 ). 29. Gripper device according to one of claims 23 to 28, characterized in that a sensor, in particular in the form of a push-button switch is easily seen, which can be actuated with closed legs and thus with a gripped article, and upon its actuation the suction means ( 47 ) is switchable. 30. Picking device for picking soft goods, at the stacked soft good item using one or more pliers-like gripper devices can be gripped and removed from the top are characterized in that the gripper device (s) according to a of claims 1 to 29 are formed. 31. Order picking device according to claim 30, which has a plurality of separate receiving compartments or receiving shafts in which the articles are located, characterized in that several receiving devices ( 50 ) are assigned to each receiving compartment ( 49 ) or receiving slot. 32. Picking device according to claim 31, characterized in that the gripper devices ( 50 ) are arranged side by side and / or one behind the other. 33. Order picking device according to claim 31 or 32, characterized in that the gripper means ( 50 ) of a receiving compartment or receiving shaft can be actuated essentially synchronously, or that each gripper means ( 50 ) can be actuated depending on the signal of a sensor element for detecting the positional relationship.