A gripper 100 for manipulation of a storage container comprising a gripper housing (fig 6c 117), a pair of gripper arms (figure 6f 111a and 111b) with a cooperating shape held in the housing and a movable rotatable actuator 111 means held in a channel between the pair of gripper arms. The actuator moves the arms between open and closed positions. Preferably the inner surface of each gripper arm comprises a cam surface. The cam surface may be at least partially curved or spiralled. If the surface is spiralled the channels may spiral in the same rotational direction. Preferably each of the pair of gripper arms is the same. A load handling device using the described gripper is disclosed. A method for the use of a gripper is described. A storage and retrieval system comprising at least one load handling device comprising one or more grippers is also disclosed.
Gripper
2022-02-23
Patent
Electronic Resource
English