Patent Description:
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.

<CIT> discloses a gripper for a robot of an automated storage system.

According to a first aspect of the present disclosure, there is provided a gripper for a robot of an automated storage system. The gripper features a solitary fork, which comprises a body with two opposing ends. The fork also features two prongs fixed to the opposing two ends of the body. The fork further includes an elevated lip, which extends from the body between the prongs. The first prong, the second prong and the lip each comprise an engaging edge. The engaging edges form a trilateral gripping interface. The gripper comprises no moving parts. The engaging edges are aligned with each other and extend beyond the body in a height dimension. The trilateral gripping interface is configured to occupy a gripping space formed under a rim of a prismatic container.

According to a second aspect of the present disclosure, there is provided an automated storage system having an enclosure and a plurality of containers contained in the enclosure for storing the items. Each one of the containers has a base, which extends across an area that has a center point and an imaginary center axis extending through the center point. Each one of the containers has a casing with a bottom end connected to the base and a top end opposing the bottom end and defining an opening for accessing the container. The casing extends from the base in a direction having a component parallel to the center axis. Each one of the containers has a rim, which extends from the second end of the casing away from the center axis. Each one of the containers also has a bottom-facing skirt, which extends from the rim. A gripping space is formed between the casing, rim, and skirt of the container. A shelfless support structure is contained in the enclosure for storing a plurality of containers. The shelfless support structure has a plurality suspenders. Each one of the suspenders has a body having a height in a first Cartesian dimension, which is defined between a top end and a bottom end and a width in a second Cartesian dimension. Each one of the suspenders has a lip for introduction to respective gripping spaces of the plurality of containers. The lip extends from the top end of the body above and towards one side thereof. Each one of the suspenders has a plurality of notches provided to the lip for accommodating respective skirts of the plurality of containers. A robot is provided to the inside of the enclosure for moving the containers between the port and the support structure. The robot has an articulated arm with a distal end. The system also comprises a gripper according to the first aspect disposed at the distal end of the articulated arm of the robot for gripping one of the plurality of containers by the gripping space.

Various embodiments of the first or second aspect may comprise one feature or more than one feature from the following itemized list:.

Considerable benefits are gained with aid of the novel proposition. A relatively simple gripper may be constructed for gripping a container from a gripping space that is formed under a skirt edge of the container. On the other hand an equally simple shelfless support structure may be used to house the container. 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.

In the following certain exemplary embodiments are described with reference to the accompanying drawings, in which:.

In the present context, the various pieces of an exemplary automated storage system are discussed with reference to two dimension systems. In the first dimension system features of a gripper are discussed with reference to three Cartesian dimensions, namely a longitudinal dimension L, a transversal dimension T, and a height dimension H (<FIG>). In the second dimension system features of a suspender are discussed with reference three Cartesian dimensions, namely a first Cartesian dimension X, a second Cartesian dimension Y, and a third Cartesian dimension Z. In the present discussion the transversal dimension T and the first Cartesian dimension X are interchangeable. So are the height dimension H and the second dimension Y as well as longitudinal dimension L and third dimension Z, respectively.

In the present context, the expression "solid fork" relates to a gripper fork which includes no mechanical moving or manipulated parts, such as latches, for selectively gripping a container.

<FIG> illustrates an automated storage system <NUM> in accordance with at least some embodiments of the present invention. The storage system <NUM> is a stand-alone apparatus that is constructed to receive and dispense parcels based on inputs from a user through a user interface <NUM> and to store the parcels inside an enclosure <NUM>. The user interface <NUM> includes a selectively openable opening <NUM> for the deposit and retrieval of items and a human-machine-interface <NUM>, 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 <NUM> 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> the façade includes a host of profiles attached to the enclosure <NUM>. 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 <NUM> may also host other componentry, such as displays <NUM>, antennas (not illustrated in the drawings), public service announcement equipment (not illustrated in the drawings), etc. The enclosure <NUM> may be installed on a footing <NUM>, such as a concrete slab.

<FIG> reveals the inside of the enclosure <NUM>. The enclosure <NUM> includes a shell, which is clad by the afore-mentioned façade. The enclosure <NUM> houses a shelfless support structure <NUM> for supporting a plurality of containers <NUM>, preferably a large number of containers <NUM> for storing a respective large number of individual items, a robot <NUM>, and the user interface <NUM>. The enclosure <NUM> also houses a host of other auxiliary componentry, such as power units, control circuits, etc..

In the illustrated example the enclosure <NUM> features a generally prismatic shell with four lateral sides, a bottom side, and a top side. The user interface <NUM> is provided on one lateral side of the enclosure <NUM>. The robot <NUM> is provided to run on a vertically extending track <NUM>, which is provided on an opposing lateral side in respect to the user interface <NUM>. The track <NUM> features a linear guide rail that guides a robot <NUM> up and down the inner space of the enclosure via a carrier <NUM>. The robot <NUM> features an arm <NUM>, which is articulated such to provide reach into and between all storage positions on the support structure <NUM>. For this purpose the proximal end of the arm <NUM>, which is attached to the carrier <NUM>, may include an articulated joint. The exemplary arm <NUM> of the embodiment of <FIG> features three articulating joints and six axes. A gripper <NUM> is provided to the distal end of the arm <NUM> to selectively grab, hold, and release a container <NUM>. The details of the gripper <NUM> are discussed in here after.

The shelfless support structure <NUM> features suspenders <NUM> 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 <NUM>. The suspenders <NUM> take the form of a simple profile, which is designed to cooperate with the enclosure <NUM> to suspend the enclosure <NUM> from a bordering rim of the enclosure in contrast to conventional shelves that support the enclosures from below. The details of the suspenders <NUM> are discussed in here after.

<FIG> also shows the construction of the user interface <NUM>. The user interface <NUM> features a frame, which is fitted into a receptive opening in the enclosure <NUM>. The frame has a profile, which extends through the shell and façade and provides for a lipped recess for a selectively closable opening and an input and output (i/o in short) device <NUM>. The i/o device <NUM> 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 <NUM> 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 <NUM>. The hatch mechanism includes a slide mechanism that carries the hatch. The slide mechanism <NUM> may simply take the form of a track for holding the hatch <NUM>, which may be a planar plate, in a sliding fashion. The hatch <NUM> may be manipulated between an open and closed state with an extender which holds the distal end of the hatch <NUM> and which is adapted to be moved along the track of the slide mechanism. By moving the extender between a bottom and top position, the hatch <NUM> is moved respectively between a closed state, in which the hatch <NUM> closes the opening of the user interface <NUM>, and an open state, in which the hatch <NUM> clears the opening. The slide mechanism is preferably tilted into the enclosure so that the hatch <NUM> is slid on the inside of the shell <NUM> above or below the opening of the user interface <NUM>. The hatch <NUM> is housed in profile <NUM>, against which the containers <NUM> are pressed for deposit or retrieval of items. The profile <NUM> may include a relatively soft seal for improving the contact between the profile <NUM> and the rim of the container <NUM>.

As will become apparent form these FIGURES, the gripper <NUM> is designed to stay engaged to the container <NUM> during loading and unloading of the container <NUM> through the user interface <NUM>. To facilitate that, the hatch <NUM> is configured to slide past the rim of the container <NUM>, whereas the gripper <NUM> is configured to grip the container <NUM> from a side such to leave the plane of the top rim of the container <NUM> unoccupied. Accordingly, the user interface <NUM> is particularly convenient to use. Firstly, the backward tilt angle of the profile <NUM> promotes ensuring that the item is placed on the bottom of the enclosure <NUM> to mitigate the risk of the item being caught in the slide mechanism, i.e. under the hatch <NUM>, during closing. Secondly, by matching the profile <NUM> of the opening of the user interface <NUM> with the rim of the container <NUM>, the inner volume of the container <NUM> may be varied by varying the depth of the container, whereby the same gripper may be used <NUM> to manipulate containers <NUM> 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 <NUM> shown in <FIG> with a container having the same footprint and thus rim dimensions but a larger depth (not shown in the FIGURES).

Turning now to <FIG>, wherein <FIG> shows the gripper <NUM> in isolation and <FIG> show the interaction between the gripper <NUM> and the container <NUM> as well as the interaction between the container <NUM> and the suspender <NUM>. The arm of the robot has been omitted from <FIG> for the sake of clarity.

Let us first study the container <NUM>. As shown in the FIGURES, the enclosure <NUM> exhibits a generally prismatic shape. The base <NUM> of the enclosure <NUM> is quadrilateral, specifically quadrangular, but naturally other shapes are also foreseeable. A casing <NUM> extends from the base <NUM> from all four sides. The casing <NUM> includes four side walls that are oriented in a right angle in respect to the base <NUM>. The base <NUM> extends across an area a center point and an imaginary center axis that extends through the center point. The casing <NUM> therefore extends from the base <NUM> in a direction having a component that is parallel to the center axis. It is preferred that the casing <NUM> 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 <NUM> may in other words have a slight draft for promoting detachment from a mold, if the enclosure <NUM> 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 <NUM> are preferably planar, curved, rounded, chamfered, or otherwise modified shapes are also foreseen. The container <NUM> 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 base <NUM> is planar, whereby the imaginary center axis is a normal of the base <NUM>.

The container <NUM> is symmetrical about two mutually orthogonal symmetry axes extending across the container <NUM> when viewed along the center axis.

The top end of the casing <NUM> that is at the opposing end of the bottom end, which is attached to the base <NUM>, delimits the opening providing access into the inner volume of the container <NUM>. The top end includes a rim <NUM>. The rim <NUM> extends outward from the top end, i.e. away from the center axis of the container <NUM>. The rim <NUM> 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 <NUM> further features a skirt <NUM> which extends from the rim <NUM>. The purpose of the skirt <NUM> is to create a gripping space <NUM> under the rim <NUM> so as to hold on to a suspender <NUM> of the support structure <NUM>. The skirt <NUM> faces the bottom of the container <NUM> meaning that it extends in a direction which has a dominant component parallel to the center axis of the container <NUM>. According to the illustrated embodiment the skirt <NUM> extends parallel to the casing <NUM>, i.e. in a right angle in respect to the rim <NUM>. Accordingly, the skirt <NUM> forms a peripheral gripping space with the casing <NUM> and the rim <NUM>.

<FIG> show the container <NUM> being suspended by a suspender <NUM> of the support structure <NUM>. The suspender <NUM> is preferably a simple profile that is attached to the inner surface of the shell <NUM> of the enclosure <NUM>. The profile is designed to allow for permanent attachment to the shell <NUM> and repetitively removable attachment to the container <NUM>. To facilitate the permanent attachment, the profile features a body <NUM> which extends laterally across the suspender <NUM> and which is placed centrally along the vertical extension of the suspender <NUM>. The body <NUM> is preferably planar.

To facilitate the removable attachment to the container <NUM>, the suspender <NUM> features a vertically extending lip <NUM> placed above the body <NUM> in the vertical dimension and displaced on one side thereof in the depth dimension to provide a gap between the lip <NUM> and the shell <NUM> of the enclosure <NUM> that supports the suspender <NUM>. The gap is large enough to account for the thickness of the skirt <NUM>. The terminal end of the lip <NUM> is preferably rounded to promote smooth engagement with the container <NUM>. The lip <NUM> is designed to enter into the gripping space <NUM> and to support the container <NUM> from the rim <NUM>. The inner surface of the skirt <NUM> rests against the lip <NUM>.

There is a transition <NUM> between the body <NUM> and the lip <NUM> connecting the two diagonally.

For the sake of keeping the container <NUM> in an upright orientation during storage, the suspender <NUM> preferably includes a shoulder <NUM> placed below the body <NUM> in the vertical dimension and displaced on said one side thereof in the depth dimension to support the casing <NUM> of the container <NUM> during storage. The shoulder <NUM> is pronounced from the body <NUM> enough to account for the depth of the rim <NUM> of the container <NUM>.

The suspender <NUM> further includes notches <NUM> provided along the lip <NUM> to receive the skirt <NUM> of the containers <NUM>. The notches <NUM> are dimensioned to facilitate the skirts <NUM> of two adjacent containers <NUM> being placed side-to-side on the suspender <NUM> with a small clearance between the two.

<FIG> show the container <NUM> being approached by, engaged with, and locked to the gripper <NUM> of the robot <NUM>. <FIG> shows the container <NUM> being lifted of or lowered onto the suspender <NUM> by the gripper <NUM>.

The gripper <NUM> has a shape of a general C shape and is configured to engage three sides of the generally prismatic container <NUM>. The gripper <NUM> has a body <NUM> which is designed to form a connection between the robot arm <NUM>, the container <NUM>, and the actuating elements of the gripper <NUM>. The body <NUM> is a transversally extending piece which is aligned with the side of the container <NUM> that opposes the suspender <NUM>. The body <NUM> comprises an elevated lip <NUM>, which is designed to engage with the bottom edge of the skirt <NUM> for supporting the container <NUM>.

Connected to a first transversal end <NUM> of the body <NUM> is a first prong <NUM>, which, in turn, extends there from along the longitudinal dimension L. Correspondingly, a second prong <NUM> extends from a second transversal end <NUM> of the body <NUM> generally parallel to the first prong <NUM>. The first prong <NUM> and/or the second prong <NUM> extend orthogonally in respect to the body <NUM>. In the present context the expression orthogonal may be understood to include <NUM> degrees plus minus <NUM> degrees. The purpose of the prongs <NUM>, <NUM> is to be inserted into respective gripping spaces <NUM> on opposing sides of the container <NUM>. Accordingly, the top edges of the prongs <NUM>, <NUM> feature engaging edges <NUM>, <NUM> that are designed to fluently engage and disengage the gripping space. The engaging edges <NUM>, <NUM> may, for example, comprise a chamfer, rounding, or an otherwise relieved shape or shapes to facilitate engagement and disengagement. The lip <NUM> preferably includes a similar engaging edge <NUM> which is aligned with the engaging edges <NUM>, <NUM> of the prongs <NUM>, <NUM> in the height dimension H.

To facilitate the attachment of the body <NUM> to the prongs <NUM>, <NUM>, flanges are provided to the first and second end <NUM>, <NUM> of the body <NUM>, through which flanges the body <NUM> is attached to the prongs <NUM>, <NUM> with affixers, such as bolts, rivets, etc..

The distance between the prongs <NUM>, <NUM> defines the width of the gripper <NUM> in the transversal dimension T. The prongs <NUM>, <NUM> extend between mutually opposing leading ends <NUM>, <NUM> and trailing ends <NUM>, <NUM>. The extension of the prongs <NUM>, <NUM> defines the depth of the gripper <NUM> in the longitudinal dimension L. The dimensions of the gripper <NUM> are matched with those of the container <NUM> so as to create a container space <NUM> between the body <NUM> (or lip <NUM>) and prongs <NUM>, <NUM> for receiving the container <NUM> there to. In other words, the casing <NUM> of the container <NUM> fits into the container space <NUM>.

The lip <NUM> is provided to the body <NUM> to extend therefrom in the height dimension H. The lip <NUM> extends in the transversal dimension T between the prongs <NUM>, <NUM>. The purpose of the lip <NUM> is to be inserted into the gripping space <NUM> of the container <NUM> on a side, which is between the sides that accommodate the prongs <NUM>, <NUM> and which opposes the side that engages the suspender <NUM>.

The trailing ends <NUM>, <NUM> of the prongs <NUM>, <NUM> include recessed portions <NUM>, <NUM> for receiving the skirt <NUM> of the container <NUM>. Basically the recessed portions <NUM>, <NUM> may be provided with simple cutouts to reduce the height of the trailing ends <NUM>, <NUM> of the prongs <NUM>, <NUM>.

Gaps, particularly a first transversal gap <NUM> and a second transversal gap <NUM>, may be left between the lip <NUM> and the first prong <NUM> and between the lip <NUM> and the second prong <NUM>, respectively. The purpose of the gaps is to receive the skirt of an asymmetrical container with a narrowed rear end (not illustrated).

An attachment interface <NUM> is provided to the body <NUM> on the rear side, i.e. the side opposing the container space <NUM>, for attachment to the robot <NUM>. The attachment interface <NUM> may be any commercially available coupler to known robotic arms.

As can be seen, gripping of the container <NUM> with the gripper <NUM> requires no moving parts for securing the container <NUM> to the gripper <NUM>. To grab a container <NUM>, the gripper <NUM> is brought into the proximity of the container (<FIG>) with the prongs <NUM>, <NUM> aligned with the opposing sides of container <NUM> and the engaging edges <NUM>, <NUM>, <NUM> below the skirt <NUM>. With the prongs <NUM>, <NUM> flanking the container <NUM>, the gripper <NUM> is moved in the longitudinal dimension towards the suspender <NUM> until the lip <NUM> is aligned with the gripping space <NUM> (<FIG>). A small upwards movement will slip the engaging edges <NUM>, <NUM>, <NUM> into the respective gripping spaces <NUM>, whereby the skirt <NUM> is accommodated by the recessed portions <NUM>, <NUM> (<FIG>).

Once gripped, the container <NUM> may be removed from or suspended to the suspender <NUM> by lifting the skirt <NUM> of the lip <NUM> of the suspender <NUM>. The approach to and departure from the suspender <NUM> may involve a slight tilting of the container <NUM> shown in <FIG>.

The described attachment interface between the container <NUM>, suspender <NUM>, and the robot <NUM> provides for a simple and convenient way of manipulating a large number of containers in an automated storage system <NUM>. Upon deposit of an item into the system <NUM>, the user summons a container <NUM> to the user interface <NUM> by entering a respective command through the i/o device <NUM>. The robot <NUM> is run to a vacant container <NUM> (FIGURE 5A) into engagement with the container <NUM> such that the engaging edges <NUM>, <NUM>, <NUM> are inserted into the gripping space <NUM>.

With the container <NUM> secured to the gripper <NUM>, the robot <NUM> lifts the container <NUM> off the suspender <NUM> enough for the skirt <NUM> to clear off notches <NUM>. The container <NUM> is then transported by the robot <NUM> to the user interface <NUM>, where the rim <NUM> of the container <NUM> is aligned with the profile <NUM> of the user interface <NUM>. With the container <NUM> in place, the hatch <NUM> is opened.

After the user has inserted the item to be stored into the container <NUM>, he gives a command through the i/o device <NUM> to confirm that the item is ready for storage. The hatch <NUM> closes. Afterwards, the robot <NUM> returns the container to the same suspender <NUM> or to another vacant position on the support structure <NUM>. The robot <NUM> then positions the container <NUM> above the vacant position, aligns the skirt <NUM> with the receptive notches <NUM>, and lowers the container <NUM> into place. The gripper <NUM> is then retracted from the container <NUM>, where after the robot <NUM> may be run to a waiting position or to serve another deposit or retrieval process.

The embodiment shown in <FIG> features a gripper <NUM> with the prongs <NUM>, <NUM> being made from single pieces. In the embodiment of <FIG> the prongs <NUM>, <NUM> and lip <NUM> are made of metal, such as steel, aluminum, aluminum alloy, or a composite, and are replaceable per se with aid of the affixer interface between the prongs <NUM>, <NUM>, lip <NUM>, and the body <NUM>.

<FIG> shows an alternative with replaceable contact members in respect to the prong. Firstly, the prongs <NUM>, <NUM> both comprise a replaceable contact member <NUM> comprising the engaging edge for engaging the container <NUM>. The contact member <NUM> is designed as a replaceable, sacrificial wear item that is preferably optimized for repetitive contact with the container <NUM>. The contact member <NUM> is preferably a polymer piece, particularly of polyethylene. The material may be specifically PE1000 or have a polyoxymethylene (POM) base. Thermoplastic polymers are particularly suitable as foreseeable materials due to excellent wear properties and for providing only a modest amount of friction between the gripper <NUM> and the container <NUM>. Slip is, in fact, preferable between the gripper <NUM> and container <NUM> to facilitate smooth engagement and disengagement. On the other hand, a polymer-based material will reduce the weight and cost of the gripper <NUM> compared to a fully metal construction. Finally, a polymer-based material, such as polyethylene, has the added benefit of being inherently weaker than metal, such as steel or aluminum or aluminum alloy. By constructing the contact member <NUM> of a material that is more prone to wear than the container <NUM> is, reliability of operation of the system may be ensured by replacing the contact members <NUM> on a regular basis instead of replacing the entire fleet of containers <NUM>. Should the gripper <NUM> and container <NUM> collide due to an error, it is preferable to sacrifice the contact member <NUM> of the prong <NUM>, <NUM> compared to the container <NUM> because the integrity of the gripper <NUM> may be monitored more easily than the container <NUM>. According to an advantageous embodiment, the gripper <NUM> is provided with a sensor, such an accelerometer, for sensing impacts.

According to the embodiment shown in <FIG>, both prongs <NUM>, <NUM> feature a replaceable contact member <NUM>. The contact member <NUM> comprises, similarly to the prongs <NUM>, <NUM> shown in <FIG> a leading end <NUM>, a trailing end <NUM>, and an intermediate section <NUM> there between. The intermediate section <NUM> has an upper edge for insertion into the gripping space <NUM> of the container <NUM>.

The embodiment of <FIG> also features a similarly revised lip <NUM> made of a more wearable material than that of the container <NUM>. Indeed, the lip <NUM> at the rear of the gripper may also be made of a polymer material, such as polyethylene or polyoxymethylene.

Claim 1:
A gripper (<NUM>) for a robot (<NUM>) of an automated storage system (<NUM>), comprising a solitary fork which comprises:
- a body (<NUM>) extending between two opposing ends (<NUM>, <NUM>),
- a first prong (<NUM>) and a second prong (<NUM>) fixed to and extending from the respective two opposing ends (<NUM>, <NUM>) of the body, and
- a lip (<NUM>), which extends from the body (<NUM>) between the first prong (<NUM>) and the second prong (<NUM>),
wherein:
- the first prong (<NUM>), the second prong (<NUM>), and the lip (<NUM>) each comprise an engaging edge (<NUM>, <NUM>, <NUM>, <NUM>) and wherein
- the engaging edges (<NUM>, <NUM>, <NUM>, <NUM>) form a trilateral gripping interface, wherein
- the gripper (<NUM>) comprises no moving parts and wherein
- the engaging edges (<NUM>, <NUM>, <NUM>, <NUM>) are aligned with each other and extend beyond the body (<NUM>) in a height dimension (H), wherein the trilateral gripping interface is configured to occupy a gripping space (<NUM>) formed under a rim (<NUM>) of a prismatic container (<NUM>).