Patent Publication Number: US-2023147682-A1

Title: Attachment interface, automated storage system, and gripper

Description:
FIELD 
     The present disclosure relates to devices for receiving, storing, and dispensing items as well as to methods for producing such devices or components thereof. In particular, the present disclosure relates to automated systems for storing articles, individually or in orderly arrangement, in warehouses or magazines. 
     BACKGROUND 
     With commerce moving ever more deeply and broadly online, the parcelled delivery of goods to the consumer has become the subject of great development. Typically, the item purchased online is delivered to the residence or place of employment of the consumer according to the order details. There are, however, problems associated with timing the receipt and delivery of the purchased item between the courier and the consumer. It is very common that the consumer is not available for receipt upon feasible delivery time or vice versa. The same problem is prevalent also in inter-consumer transactions. Several solutions have therefore been developed for storing the items in decentralized automated magazines that the items are delivered to and where item may be retrieved by the recipient at a convenient point in time. Such automated magazines are commonly provided with sophisticated user interfaces and backend systems that ensure that the person retrieving the parcel is duly notified of the availability of the parcel and that the person is entitled to access the parcel. 
     Conventional automated storage systems require relatively complex and precise componentry to work, including sophisticated sensors, machine vision, etc. to manipulate the containers used to hold the items inside the enclosure. It is therefore a challenge to design an automated storage system that can be made and maintained with relatively simple components that are suitable for mass production and servicing all around the world with a varying degree of expertise in robotic apparatuses. 
     SUMMARY 
     The invention is defined by the features of the independent claims. Some specific embodiments are defined in the dependent claims. 
     According to a first aspect of the present disclosure, there is provided a gripper for a robot of an automated storage system. The gripper is configured for selective gripping of a container and has a body configured for engagement of a top end of the container. The gripper has a slide lock which is provided to the body and configured to selectively secure the gripper to the top end of the container. The slide lock is configured to be inserted to a gripping space which is defined by a casing, a rim, and skirt of the container. The slide lock may be moved between a released configuration, in which the slide lock is disengaged from the tab, and a locked secured configuration, in which the slide lock is engaged to the tab. 
     According to a second aspect of the present disclosure, there is provided an attachment interface for attaching a container to a suspender of a shelfless support structure of an automated storage system. The shelfless support structure comprises a plurality of suspenders configured to be attached to and inside of an enclosure of the storage system in a mutually superposed configuration. The attachment interface has a gripping space which is defined by a casing, rim, and skirt of the container. The attachment interface also has a lip which is configured to be inserted to the gripping space of the container. The lip extends from a top end of a body of the suspender above and towards one side thereof. Each suspender comprises a plurality of notches provided to the lip for accommodating respective skirts of the plurality of containers. Each suspender comprises a shoulder for engaging casings of the plurality of containers. The shoulder extends from the bottom end of the body below and towards said one side thereof. 
     According to a third aspect of the present disclosure, there is provided an automated storage system with an enclosure a user interface provided to the enclosure and comprising selectively openable opening for the deposit and retrieval of items, a shelfless support structure as described above contained in the enclosure for storing a plurality of such containers, a plurality of containers as described above housed on the support structure for storing the items, and a robot provided to the inside of the enclosure for moving the containers between the port and the support structure, wherein the robot comprises an articulated arm and a gripper as described above disposed at a distal end of the articulated. 
     Various embodiments of the first, second, or third aspect may comprise one or more features from the following itemized list:
         the skirt comprises a tab extending in the same direction as the skirt;   the dimension in which the skirt extends from the rim varies along the skirt;   the container is generally prismatic;   at least one such tab is provided on each side of the container;   wherein the rim and skirt extend around the entire top end of the casing;   the container is symmetrical about two mutually orthogonal symmetry axes extending across the container, when viewed along the center axis;   the base is planar, whereby the imaginary center axis is a normal of the base;   the skirt extends from the rim parallel to the center axis;   the suspender comprises a plurality of notches provided to the lip for accommodating respective skirts of the plurality of containers;   the locking mechanism comprises a slide lock which is provided movably to the body and configured to be inserted under a and skirt of the container and manipulated between a released configuration, in which the lock is disengaged from a tab on the skirt of the container, and a locked secured configuration, in which the lock is engaged to the tab;   the slide lock is configured to slide along one side of the container;   the gripper has a shape of a general C shape and is configured to engage three sides of the generally prismatic container;   the body of the gripper comprises a transversal piece, which comprises the slide lock, for engaging one side of the generally prismatic container, and two longitudinal pieces, which extend from opposing ends of the transversal piece for engaging two respectively opposing sides of the generally prismatic container;   the automated storage system comprises a vertically extending track and a carrier provided movably to the track, wherein the arm is attached at a proximal end to the carrier;   the enclosure has a quadrilateral cross-section;   the user interface is provided on a first side of the enclosure, the robot is provided on a second side of the enclosure opposing the first side, wherein a first such support structure is provided on a third side of the enclosure,   a second such support structure is provided on a fourth side of the enclosure opposing the third side.       

     Considerable benefits are gained with aid of the novel construction of the module. By providing a gripping space under a rim-skirt edge of the container, the container may be engaged with a very simple robotic gripper, one the one hand, and by an equally simple shelfless support structure on the other hand. Accordingly, an automated storage system may be provided with relatively simple components that are suitable for mass production and servicing thus making the system relatively robust. 
     Further benefits are gained with particular embodiments which are described in greater detail here after. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the following certain exemplary embodiments are described with reference to the accompanying drawings, in which: 
         FIG.  1    illustrates a perspective view of an automated storage system in accordance with at least some embodiments; 
         FIG.  2    illustrates a perspective sectioned view of the automated storage system of  FIG.  1   ; 
         FIG.  3    illustrates a detail view of the user interface of the automated storage system of  FIG.  2    from inside the enclosure; 
         FIG.  4    illustrates a detail view of the user interface of the automated storage system of  FIG.  2    from outside the enclosure; 
         FIG.  5 A  illustrates a perspective isolation view of the gripper of  FIG.  2    approaching a container being held by a suspender; 
         FIG.  5 B  illustrates a perspective isolation view of the gripper of  FIG.  5 A  in engagement with the container; 
         FIG.  5 C  illustrates a perspective isolation view of the gripper of  FIG.  5 A  locked to with the container, and 
         FIG.  6    illustrates a partially sectioned side elevation view of the gripper of  FIG.  5 C . 
     
    
    
     EMBODIMENTS 
     In the present context, the various pieces of an exemplary automated storage system are discussed with reference to three Cartesian dimension, namely a first Cartesian dimension X, a second Cartesian dimension Y, and a third Cartesian dimension Z. In layman terms, the first dimension X may be understood as the width of a given piece, i.e. the extension of the piece between lateral sides. The second dimension Y may be understood as the height of the piece. The third dimension Z may be understood as the depth of the piece. These expressions are used interchangeably throughout this specification. 
       FIG.  1    illustrates an automated storage system  100  in accordance with at least some embodiments of the present invention. The storage system  100  is a stand-alone apparatus that is constructed to receive and dispense parcels based on inputs from a user through a user interface  120  and to store the parcels inside an enclosure  110 . The user interface  120  includes a selectively openable opening for the deposit and retrieval of items and a human-machine-interface, such as a touch-pad, or a machine-machine-interface, such as a data channel, e.g. NFC, Bluetooth, etc., for communication with a terminal device of the user. The enclosure  110  is generally prismatic and clad with a façade. The façade may take the form a layer of protective substance, such as paint or a rubber-based sealant, or constructional elements, such as panels. In the example of  FIG.  1    the façade includes a host of profiles attached to the enclosure  110 . The profiles have an undulating outer surface for improved strength. The profiles are preferably made from a weather-resistant material such as aluminium or an alloy including aluminium, particularly anodized aluminium. The automated storage system  100  may also host other componentry, such as displays  130 , antennas (not illustrated in the drawings), public service announcement equipment (not illustrated in the drawings), etc. 
       FIG.  2    reveals the inside of the enclosure  110 . The enclosure  110  includes a shell  111  which is clad by the afore-mentioned façade  112 . The enclosure  110  houses a shelfless support structure  140  for supporting a plurality of containers  150 , a large number of containers  150  for storing a respective large number of individual items, a robot  160 , and the user interface  120 . The enclosure  110  also houses a host of other auxiliary componentry, such as power units, control circuits, etc. 
     In the illustrated example the enclosure  110  features a generally prismatic shell  111  with four lateral sides, a bottom side, and a top side. The user interface  120  is provided on one lateral side of the enclosure  110 . The robot  160  is provided to run on a vertically extending track  161 , which is provided on an opposing lateral side in respect to the user interface  120 . The track  161  features a linear guide rail that guides a robot  160  up and down the inner space of the enclosure via a carrier  163 . The robot  160  features an arm  162  which is articulated such to provide reach into and between all storage positions on the support structure  140 . For this purpose the proximal end of the arm  162 , which is attached to the carrier  163 , may include an articulated joint. The exemplary arm  162  of the embodiment of  FIG.  2    features three articulating joints and six axes. A gripper  164  is provided to the distal end of the arm  162  to selectively grab, hold, and release a container  150 . The details of the gripper  164  are discussed in here after. 
     The shelfless support structure  140  features suspenders  141  provided on top of each other on a third or a third and fourth lateral side of the enclosure, e.g. on both sides in respect to the user interface  120 . The suspenders  141  take the form of a simple profile which is designed to cooperate with the enclosure  150  to suspend the enclosure from a bordering rim of the enclosure in contrast to conventional shelves that support the enclosures from below. The details of the suspenders  141  are discussed in here after. 
       FIGS.  2  to  4    show the construction of the user interface  120 . The user interface  120  features a frame  121  which is fitted into a receptive opening in the enclosure  110 . The frame  121  has a profile which extends through the shell  111  and façade  112  and provides for a lipped recess for a selectively closable opening and an input and output (i/o in short) device  124 . The i/o device  124  may feature a touch screen or other interactive terminal for communication with the user. The user may command the system by entering the details of the stored item for retrieval or depositing purposes. Alternatively or additionally the data i/o device  124  may feature a data interface, such as NFC, Bluetooth, WIFI, etc., for communication with a terminal device of the user for the same purposes. The opening may be selectively opened and closed by a hatch  123 . The hatch mechanism includes a slide mechanism  122  that carries the hatch  123 . The slide mechanism  122  may simply take the form of a track for holding the hatch  123 , which may be a planar plate, in a sliding fashion. The hatch  123  may be manipulated between an open and closed state with an extender  125  which holds the distal end of the hatch  123  and which is adapted to be moved along the track of the slide mechanism. By moving the extender  125  between a bottom and top position, the hatch  123  is moved respectively between a closed state, in which the hatch  123  closes the opening of the user interface  120 , and an open state, in which the hatch  123  clears the opening. The slide mechanism  122  is preferably tilted into the enclosure so that the hatch  123  is slid on the inside of the shell  111  above or below the opening of the user interface  120 . 
       FIG.  2    shows the user interface  120  with the hatch  123  in the open state and the extender  125  removed for the sake of simplicity.  FIG.  3    shows the user interface  120  with the hatch  123  opened and with a container  150  pressed against the user interface by aligning the rim of the container with the opening of the user interface  120 . The arm of the robot has been omitted from  FIG.  3    which shows the container  150  in engagement with the gripper  164  of the omitted robot  160 . As becomes apparent, the gripper  164  is designed to stay engaged to the container  150  during loading and unloading of the container  150  through the user interface  120 . To facilitate that, the hatch  123  is configured to slide past the rim of the container  150  whereas the gripper  164  is configured to grip the container  150  from a side such to leave the plane of the top rim of the container  150  unoccupied. Accordingly, the user interface  120  is particularly convenient to use. Firstly, the backward tilt angle promotes ensuring that the item is placed on the bottom of the enclosure  150  to mitigate the risk of the item being caught in the slide mechanism, i.e. under the hatch  123 , during closing. Secondly, by matching the rim of the opening of the user interface  120  with the rim of the container  150 , the inner volume of the container  150  may be varied by varying the depth of the container, whereby the same gripper may be used  164  to manipulate containers  150  of various sizes. The inward tilt angle in the slide mechanism allows for such variance in container depth. One may readily appreciate the possibility of replacing the container  150  shown in  FIG.  3    with a container having the same footprint and thus rim dimensions but a larger depth (not shown in the FIGURES). 
     Turning now to  FIGS.  5 A to  5 C  that show the details of the gripper  164  and container  150 . Let us first study the container  150 . As shown in the FIGURES, the enclosure  150  exhibits a generally prismatic shape. The base  151  of the enclosure  150  is quadrilateral, specifically quadrangular, but naturally other shapes are also foreseeable. A casing  152  extends from the base  151  from all four sides. The casing  152  includes four side walls that are oriented in a right angle in respect to the base  151 . The base  151  extends across an area a center point and an imaginary center axis that extends through the center point. The casing  152  therefore extends from the base  151  in a direction having a component that is parallel to the center axis. It is preferred that the casing  152  extends in a direction that is very close to parallel in respect to the center axis. While slight deviations from the parallel extension are possible, the prismatic shape is preferred for volumetric efficiency. The casing  152  may in other words have a slight draft for promoting detachment from a mold, if the enclosure  150  is a cast product. A suitable draft angle may be in the range of one to five degrees, particularly three degrees. It is, however, to be noted that the component of the extension that is parallel to the center axis is dominant. While the side walls of the casing  152  are preferably planar, curved, rounded, chamfered, or otherwise modified shapes are also foreseen. The container  150  may also be produced from a sheet of metal, such as stainless steel or an aluminum alloy, which is cut to form, bent to form the container shape, and then laser welded shut along the seams. 
     The top end of the casing  152  that is at the opposing end of the bottom end, which is attached to the base  151 , delimits the opening providing access into the inner volume of the container  150 . The top end includes a rim  153 . The rim  153  extends outward from the top end, i.e. away from the center axis of the container  150 . The rim  153  need not extend perpendicularly in respect to the center axis as long as the extension includes a component of extension that is perpendicular in respect to the center axis. The container  150  further features a skirt  154  which extends from the rim  153 . The purpose of the skirt  154  is to create a gripping space  156  under the rim  153  so as to hold on to a suspender  141  of the support structure  140 . On the other hand, the skirt  154  has a tab  155  extending along the skirt  154  for providing a locking action in respect to the gripper  164 . The skirt  154  faces the bottom of the container  150  meaning that it extends in a direction which has a dominant component parallel to the center axis of the container  150 . According to the illustrated embodiment the skirt  145  extends parallel to the casing  152 , i.e. in a right angle in respect to the rim  153 . Accordingly, the skirt  154  forms a peripheral gripping space with the casing  152  and the rim  153 . As mentioned, the skirt  145  includes at least one tab  155 . The tab  155  is an increased section of extension, whereby the dimension in which the skirt  154  extends from the rim  153  varies along the skirt  154 . The skirt may include one or several such tabs on one or several sides of the container  150 . According to the illustrated example, there is one tab  155  located on each side of the container  150 , whereby the orientation of the container  150  may be changed within the automated storage system. 
       FIGS.  5 A to  5 C and  6    show the container  150  being suspended by a suspender  141  of the support structure  140 . The suspender  141  is preferably a simple profile that is attached to the inner surface of the shell  111  of the enclosure  110 . The profile is designed to allow for permanent attachment to the shell  111  and repetitively removable attachment to the container  150 . To facilitate the permanent attachment, the profile features a body  142  which extends laterally across the suspender  141  and which is placed centrally along the vertical extension of the suspender  141 . The body  142  is preferably planar. To facilitate the removable attachment to the container  150 , the suspender  141  features a vertically extending lip  145  placed above the body  142  in the vertical dimension and displaced on one side thereof in the depth dimension to provide a gap between the lip  145  and the shell  111  of the enclosure  110  that supports the suspender  141 . The gap is large enough to account for the thickness of the skirt  154 . The terminal end of the lip  145  is preferably rounded to promote smooth engagement with the container  150 . The lip  145  is designed to enter into the gripping space  156  and to support the container  150  from the rim  153 . The inner surface of the skirt  154  rests against the lip  145 . There is a transition  147  between the body  142  and the lip  145  connecting the two diagonally. For the sake of keeping the container  150  in an upright orientation during storage, the suspender  141  preferably includes a shoulder  143  placed below the body  142  in the vertical dimension and displaced on said one side thereof in the depth dimension to support the casing  152  of the container  150  during storage. The shoulder  143  is pronounced from the body  142  enough to account for the depth of the rim  153  of the container  150 . The suspender  141  further includes notches provided along the lip  145  to receive the skirt  154  of the containers  150 . The notches  148  are dimensioned to facilitate the skirts  154  of two adjacent containers  150  being placed side-to-side on the suspender  141  with a small clearance between the two. 
       FIGS.  5 A to  5 C  show the container being approached by, engaged with, and locked to the gripper  164  of the robot  160 . The gripper  164  has a shape of a general C shape and is configured to engage three sides of the generally prismatic container  150 . The gripper  164  has a body  165  which is designed to form a connection between the robot arm  162 , the container  150 , and the actuating elements of the gripper  164 . The body  165  has a transversally extending piece  165   b  which is aligned with the side of the container  150  which opposes the suspender  141 . The transversally extending piece  165   c  is designed to engage with the bottom edge of the skirt  154  for supporting the container  150 . Connected to the transversally extending piece  165   b  is a connector  165   a  with an attachment interface to the arm  162  of the robot and a proximity switch for sensing the presence of the container  150  through engagement with the casing  152 . A slide lock  166  is connected to the body  165  in a sliding manner. The slide lock  166  has two opposing slides  166   a ,  166   b  motivated by actuators  167  to be slid in respect to the body between an open state shown in  FIG.  5 B  and a closed state shown in  FIG.  5 C . In the open state the slides  166   a ,  166   b  are spaced apart to allow the introduction of the slides  166   a ,  166   b  into the gripping space  156 . In the closed state the slides  166   a ,  166   b  are in proximity with each other to grip the tab  155  from the sides and to extend behind the tab  155  in the gripping space  156 . For this purpose the slides  166   a ,  166   b  of the slide lock  166  have claws  166   c  that selectively grab the tab  155 . The body  165  is shaped to facilitate the sliding movement by including the necessary sliding guides for the slides  166   a ,  166   b . Indeed, the slide mechanism  166  of the gripper  164  is configured to slide along the skirt  154  of the enclosure  150 . 
     To further secure the gripper  164  to the container  150  the gripper  164  may include parts that engage the container  150  also from the lateral sides in addition to the side opposing the suspender  141 . Accordingly the body  165  has two longitudinally extending pieces  166   c  on both sides of the transversally extending piece  166   b . The longitudinally extending pieces  166   c  are designed to engage with the bottom edge of the skirt  154  at the sides of the container  150  for support. Connected to the body  165  is a brace  169  for engaging the rim  153  of the container  150 , i.e. the top edge thereof. The brace  169  is designed to slide over and along the rim  153  so as to carefully align the gripper  164  with the container  150  during approach and engagement. The brace  169  has a two L-shaped frames  169   a ,  169   b  connected to the opposing longitudinal pieces  166   c  and to the transversal piece  166   b  of the body  165  with legs  169   c  that flank the skirt  154  of the container  150 . The leading edge of the brace  169  is preferably relieved for smooth contacts with the container  150 . 
     The gripper  164  may also include a support finger  168  provided to the longitudinal pieces  166   c . The support fingers  168  together with the frames  169   a ,  169   b  provide support container  150  during lifting and by preventing the container  150  from tipping over, if the container  150  has a center of gravity far from the body  165  due to uneven loading. The support fingers  166   c  emphasize the fact that the gripper has a shape resembling the letter C when viewed from above. 
     The described attachment interface between the container  150 , suspender  141 , and the robot  160  provides for a simple and convenient way of manipulating a large number of containers in an automated storage system  100 . Upon deposit of an item into the system  100 , the user summons a container  120  to the user interface  120  by entering a respective command through the i/o device  124 . The robot  160  is run to a vacant container  150  ( FIG.  5 A ) into engagement with the container  150  such that the body  165  is engaged with the skirt  154  and with the rim  153  fitted under the brace  169  ( FIG.  5 B ). The slide lock  166  is then manipulated into a closed state, wherein the slides  166   a ,  166   b  grip the tab  155  of the skirt  154  ( FIG.  5 C ). 
     With the container  150  secured to the gripper  164 , the robot  160  lifts the container  150  off the suspender  141  enough for the skirt  154  to clear off notches  148 . The container  150  is then transported by the robot  160  to the user interface  120 , where the rim  153  of the container  150  is aligned with the closed opening of the user interface  120 . With the container  150  in place, the hatch  123  is opened by running the extender  125  to the extended position along the track of the slide mechanism  122  ( FIGS.  3  and  4   ). 
     After the user has inserted the item to be stored into the container  150 , he gives a command through the i/o device  124  to confirm that the item is ready for storage. The hatch  123  closes by running the extender  125  to the retreated position along the track of the slide mechanism  122 . Afterwards, the robot  160  returns the container to the same suspender  141  or to another vacant position on the support structure  140 . The robot  160  then positions the container  150  above the vacant position, aligns the skirt  154  with the receptive notches  148 , and lowers the container  150  into place. The slide lock  166  is then opened by sliding the slides  166   a ,  166   b  away from one another, whereby the slide lock  166  is cleared from the tab  155 . The gripper  164  is then retracted from the container  150 , where after the robot  160  may be run to a waiting position or to serve another deposit or retrieval process. 
     It is to be understood that the embodiments of the invention disclosed are not limited to the particular structures, process steps, or materials disclosed herein, but are extended to equivalents thereof as would be recognized by those ordinarily skilled in the relevant arts. It should also be understood that terminology employed herein is used for the purpose of describing particular embodiments only and is not intended to be limiting. 
     Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. 
     As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no individual member of such list should be construed as a de facto equivalent of any other member of the same list solely based on their presentation in a common group without indications to the contrary. In addition, various embodiments and example of the present invention may be referred to herein along with alternatives for the various components thereof. It is understood that such embodiments, examples, and alternatives are not to be construed as de facto equivalents of one another, but are to be considered as separate and autonomous representations of the present invention. 
     Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. 
     While the forgoing examples are illustrative of the principles of the present invention in one or more particular applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and details of implementation can be made without the exercise of inventive faculty, and without departing from the principles and concepts of the invention. Accordingly, it is not intended that the invention be limited, except as by the claims set forth below. 
     The verbs “to comprise” and “to include” are used in this document as open limitations that neither exclude nor require the existence of also un-recited features. The features recited in depending claims are mutually freely combinable unless otherwise explicitly stated. Furthermore, it is to be understood that the use of “a” or “an”, i.e. a singular form, throughout this document does not exclude a plurality. 
     
       
         
           
               
            
               
                   
               
               
                 REFERENCE SIGNS LIST 
               
            
           
           
               
               
               
               
               
            
               
                   
                 No 
                 Feature 
                 No 
                 Feature 
               
               
                   
                   
               
               
                   
                 100 
                 automated storage system 
                 147 
                 transition 
               
               
                   
                 110 
                 enclosure 
                 148 
                 notch for skirt 
               
               
                   
                 111 
                 shell 
                 150 
                 container 
               
               
                   
                 112 
                 facade 
                 151 
                 base 
               
               
                   
                 120 
                 user interface 
                 152 
                 casing 
               
               
                   
                 121 
                 frame 
                 153 
                 rim 
               
               
                   
                 122 
                 slide mechanism 
                 154 
                 skirt 
               
               
                   
                 123 
                 hatch 
                 155 
                 tab 
               
               
                   
                 124 
                 i/o device 
                 156 
                 gripping space 
               
               
                   
                 125 
                 extender 
                 160 
                 robot 
               
               
                   
                 130 
                 display 
                 161 
                 track 
               
               
                   
                 140 
                 support structure 
                 162 
                 arm 
               
               
                   
                 141 
                 suspender 
                 163 
                 carrier 
               
               
                   
                 142 
                 body 
                 164 
                 gripper 
               
               
                   
                 143 
                 shoulder 
                 165 
                 body 
               
               
                   
                 144 
                 leg 
                 165a 
                 connector 
               
               
                   
                 145 
                 lip 
                 165b 
                 transversal piece 
               
               
                   
                 146 
                 transition 
                 165c 
                 longitudinal piece 
               
               
                   
                 166 
                 slide lock 
                 169 
                 brace 
               
               
                   
                 166a 
                 slide 
                 169a 
                 frame 
               
               
                   
                 166b 
                 slide 
                 169b 
                 frame 
               
               
                   
                 167 
                 actuator 
                 169c 
                 leg 
               
               
                   
                 168 
                 support finger