Gripper for an automated manipulator and method for operation of the gripper

Abstract

A manipulator gripper in particular for palletizing and/or depalletizing bundles by means of a robot, has a tool flange for connection to a manipulator; a clamp stop and a counter-stop. Both extend along a lowering axis. A support base extends toward the counter-stop in an insertion plane. The counter-stop and/or the clamp stop can be shifted toward the insertion plane of the support base along the lowering axis, relative to the tool flange.

1 . A gripper for an automated manipulator for palletizing or depalletizing bundles, comprising:
 a gripper assembly having a tool flange configured for connection to an automated manipulator;   a support base movable by said gripper assembly toward and away from a bundle, said support base comprising engagement elements configured to engage and disengage said bundle, said engagement elements defining an engagement plane located at a distance from said tool flange;   a stop and a counter-stop mounted on said gripper assembly relative to said support base to brace said bundle therebetween during engagement or disengagement of said bundle by said engagement elements; and   said gripper assembly comprising a mechanism that interconnects said stop and said counter-stop and said support base and configured to selectively change respective distances between said stop and said counter-stop, and said insertion plane, in a direction substantially normal to said insertion plane.   
   
   
       2 . A gripper as claimed in  claim 1  wherein said gripper assembly comprises a shifter mechanism connected to at least one of said clamp stop and said counter-stop that changes a distance between said clamp stop and said counter-stop substantially parallel to said insertion plane. 
   
   
       3 . A gripper as claimed in  claim 2  wherein said shifting mechanism is connected to said clamp stop and is configured to displace said clamp stop relative to said counter-stop along said direction substantially parallel to said insertion plane. 
   
   
       4 . A gripper as claimed in  claim 1  wherein said support base comprises a support base flange connecting said support base to said gripper assembly that proceeds substantially perpendicular to said insertion elements in said insertion plane. 
   
   
       5 . A gripper as claimed in  claim 1  wherein each of said clamp stop, said counter-stop and said support base has a shape selected from the group consisting of plates and forks. 
   
   
       6 . A gripper as claimed in  claim 1  wherein said mechanism is selected from the group consisting of pneumatically operated mechanisms, hydraulically operated mechanisms, electro-magnetically operated mechanisms, and electromotor operated mechanisms. 
   
   
       7 . A gripper as claimed in  claim 1  wherein said tool flange is configured for rotationally movable connection thereof to said automated manipulator. 
   
   
       8 . A gripper as claimed in  claim 1  comprising a sensor arrangement configured to detect a position of at least said insertion plane relative to said bundle. 
   
   
       9 . A method for operating an automated manipulator for palletizing or depalletizing bundles, comprising a gripper assembly having a tool flange configured for connection to an automated manipulator, a support base movable by said gripper assembly toward and away from a bundle, said support base comprising engagement elements configured to engage and disengage said bundle, said engagement elements defining an engagement plane located at a distance from said tool flange, and a stop and a counter-stop mounted on said gripper assembly relative to said support base to brace said bundle therebetween during engagement or disengagement of said bundle by said engagement elements, said method comprising the steps of:
 providing said gripper assembly with a mechanism that interconnects said stop and said counter-stop and said support base; and   operating said mechanism to selectively change respective distances between said stop and said counter-stop, and said insertion plane, in a direction substantially normal to said insertion plane.   
   
   
       10 . A method as claimed in  claim 9  comprising providing said gripper assembly with a shifter mechanism connected to at least one of said clamp stop and said counter-stop, and operating said shifter mechanism to change a distance between said clamp stop and said counter-stop substantially parallel to said insertion plane. 
   
   
       11 . A method as claimed in  claim 10  comprising connecting said shifting mechanism to said clamp stop, and operating said shifting mechanism to displace said clamp stop relative to said counter-stop along said direction substantially parallel to said insertion plane. 
   
   
       12 . A method as claimed in  claim 9  comprising providing said support base with a support base flange that connects said support base to said gripper assembly, and orienting said support base flange substantially perpendicular to said insertion elements in said insertion plane. 
   
   
       13 . A method as claimed in  claim 9  comprising providing each of said clamp stop, said counter-stop and said support base with a shape selected from the group consisting of plates and forks. 
   
   
       14 . A method as claimed in  claim 9  comprising selecting said mechanism from the group consisting of pneumatically operated mechanisms, hydraulically operated mechanisms, electro-magnetically operated mechanisms, and electromotor operated mechanisms. 
   
   
       15 . A method as claimed in  claim 9  comprising configuring said tool flange to produce a rotationally movable connection thereof to said automated manipulator. 
   
   
       16 . A method as claimed in  claim 9  comprising, with a sensor arrangement, detecting a position of at least said insertion plane relative to said bundle.