Patent Description:
In spirit industry, wooden barrels (casks) are used as aging barrels to age wine, distilled spirits such as whiskey and brandy, rum or beer. Beverages aged in wooden barrels take on some of the compounds in the barrel, such as vanillin or wood tannins. For some beverages, in particular whiskey, aging is wooden barrels is mandatory in order to be recognized as a special spirit drink. In the EU, for instance, before a spirit drink is recognized as whiskey and allowed to bear a corresponding label, a maturation of the final distillate for at least three years in wooden barrels not exceeding <NUM> litres capacity is required.

Barrels can be used multiple times for maturing beverages. However, since in the USA special laws require use of new barrels for several popular types of whiskey, oftentimes whiskey made elsewhere is aged in used barrels that previously contained American whiskey (usually bourbon whiskey). Used barrels are thus shipped from the USA to distillers around the world to be reused. Generally, for air, road and sea transport, the barrels are stored in standard shipping containers, which have to be unloaded and inspected at the distilleries before they are filled with new raw spirit.

Thus, a significant challenge for the whiskey industry is the loading and unloading of barrels both empty and full for shipment, storage and distribution. The common approach to this is to load and unloaded the barrels manually. This cumbersome process is not only time-consuming and personnel-intensive, but also often associated with a high accident risk. Therefore, automation of this process is highly desirable.

However, since the barrels have a defined size that does not correspond nicely to the defined size of a shipping container, each batch is loaded slightly differently into a shipping container. Furthermore, since the barrels are to be loaded as tightly as possible within the shipping container in order to minimize shipping costs, there is only small room to manoeuvre within the container for unloading the barrels. Thus, it is difficult to use standard automation equipment for the unloading process.

Furthermore, since the barrels are handmade and could already been used several times, they can deviate considerably from a defined standard with regard to size and condition. Therefore, when handling of theses barrels is to be automated, these variations have to be taken into account.

<CIT> discloses a system for loading and unloading cylindrical shaped barrels from a transport container.

Manut-LM, "Aide à la manutention dans le secteur des vins & spiritueux", (<NUM>), URL: https://www. com/sites/default/files/<NUM>-<NUM>/fiche%20secteur%20vins%20et%20spiritueux. pdf, discloses a vacuum gripper configured to engage a wooden barrel from above to lift it up vertically.

<NPL> and also <CIT> disclose a mechanical barrel gripper attached to a forklift, the gripper being configured to reach around a wooden barrel for lifting.

It is thus an object of the present disclosure to provide an apparatus and method, which facilitate automation of the barrel handling, in particular loading and unloading of the barrels from a shipping container. Further, it is an object to provide means, which allow handling of the barrels in a simple, safe and fast manner. Yet further, it is an object to provide means for handling barrels automatically regardless of any restriction implied due to the condition of the barrels or their means of transportation.

According to an aspect of the present disclosure, there is provided an industrial robot for unloading vertically stacked elongated containers, in particular wooden barrels, from enclosing boundaries such as a shipping container according to appended claim <NUM>.

According to a further aspect, there is provided a corresponding method according to claim <NUM>.

It is thus an idea to provide an industrial robot with a gripper in order to facilitate automation of handling of elongated containers such as wooden barrels. Taking into account the general shape of such a container, the gripper is designed to engage the container only from a front side without the need of reaching around the container. Thereby, even if barrels of a defined shape are tightly stacked within a confined space, such as a shipping container, the gripper can handle them, since the gripper does not need to reach around the barrel for lifting it.

In particular, the gripper as part of an unloading device allows automation of an unloading process, where barrels are accessible only from one side. Thus, unloading of shipping container, which can only be opened on one side, by an automated or semi-automated machine becomes feasible. Thereby, an unloading process can be simplified and accelerated. Preferably, a worker only needs to open the shipping container while handling of the barrels is done assisted by a machine equipped with an apparatus according to the present disclosure. As a result, workers are less burdened and the risk of an accident causing personal injury is reduced.

By engaging the container to be lifted only from a front side during a picking operation, the actual dimension of the container becomes less relevant. The gripper is thus more tolerant towards changes in the actual size of the barrels and can thus be used more flexible for different types of barrels or barrels of different conditions.

A support structure that does not extend beyond the dimension of the elongated container <NUM> during the picking operation supports during a subsequent moving operation. The support structure only engages the container after the picking operation, once the container has been lifted up and moved away from the enclosing boundaries.

In a preferred refinement, the outer dimension of the end of arm tooling in the direction perpendicular to the elongated direction is smaller than <NUM>, in particular smaller than <NUM>. Assuming that a standard barrel has a diameter between <NUM> and <NUM>, a gripper having an outer dimension of less than <NUM> is preferred. The gripper can thus approach a container to be lifted from the front side without colliding with any sidewalls of a storage container in which the barrels may be stored.

In a further refinement, the end of arm tooling comprises a first gripping member and a second gripping member configured to engage the smooth surface for lifting the elongated container, wherein the first gripping member and the second gripping member only engage on the front surface of the convex outer surface. In the context of this disclosure, "smooth surface" is to be understood as the unmodified surface of the elongated container. In other words, the elongated container has no protruding elements, which can be engaged for lifting the elongated container. The refinement thus contributes to a simplified handling of the containers, in which the containers do not have to be specially prepared to be handled by the apparatus.

In a further refinement, the end of arm tooling further comprises a connecting member for connecting the first gripping member and the second gripping member to the industrial robot.

In a further refinement, the end of arm tooling is a mechanical gripper. A mechanical gripper can be implemented in a simple and robust manner and is usually less maintenance-intensive than other types of grippers.

In a further refinement a first and a second gripping member form a mechanical clamping, wherein at least the first gripping member is movable with respect to the second gripping member. A mechanical clamping can be realized with only a few moving parts and in a particular simple manner. The refinement thus further contributes to a cost effective design of an overall load and unloading system.

In a further refinement, an element of the first gripping member and/or the second gripping member comprises a jagged contour for engaging the outer surface of the elongated container. The jagged contour ensures a particularly good hold on the smooth surface, in particular if the surface is made from wood. Furthermore, with the help of the jagged contour the gripper can easily adjust to variation is the outer dimension of the elongated container.

In a further refinement, the end of arm tooling is a pneumatic vacuum gripper. A pneumatic vacuum gripper can act directly on an object based on the force of an air pressure supplied to the gripper. A pneumatic vacuum gripper is thus able to attach itself to an object without relying on friction or form closure. Thereby, a pneumatic vacuum gripper is particularly suitable for engaging a smooth surface without protruding elements.

In a further refinement the end of arm tooling comprises a first and a second vacuum gripper as a first and a second gripping member, in particular the first and second vacuum gripper being large area vacuum grippers. With two vacuum grippers, the pneumatic vacuum gripper can attach itself on two positions on the front surface of the elongated container. Thereby, a secure hold can be guaranteed. In addition, the use of large-area vacuum grippers can compensate for irregularities on the outer surface, e.g. unevenness caused by hoops.

In a further refinement, the end of arm tooling comprises at least three vacuum grippers for lifting the container. Using three or more grippers allows a smaller dimensioning of the individual grippers. This is in particular advantageous if vacuum grippers with integrated vacuum generation means are being used. Furthermore, using multiple grippers improves safety, since a container can still be hold if one of the grippers should fail.

In a further refinement, the end of arm tooling is configured to lift a weight between <NUM>-<NUM>, in particular <NUM>. Since a standard barrel weighs about <NUM>-<NUM>, the apparatus is configured to lift such a weight without additional support.

In a further refinement, a weight of the end of arm tooling is less or equal to <NUM>. In order to be used on a standard robot, a weight of the tooling of less than <NUM> is advantageous, so that a standard robot can be used without additional adjustments. The possibility of using standard robots makes the implementation of a loading or unloading system particularly cost effective.

Further advantages will become apparent from the description and the enclosed drawing.

It goes without saying that the features mentioned before and those that will be explained hereinafter may not only be used in the particularly given combination but also in other combinations or alone without leaving the scope of the present invention.

<FIG> shows a simplified perspective view of an elongated container <NUM> for handling of which the gripper according to this disclosure has been specifically designed. With reference to <FIG>, the general dimension of such a container will be described in the following.

The elongated container <NUM> can be a barrel or cask made from wooden staves, which can optionally be bounded by surrounding, wood or metal hoops <NUM>. Such containers are used, for instance, as aging barrels to mature beverages such as wine, distilled spirits (whiskey, brandy), rum, beer or the like.

The elongated container <NUM> has a convex shape with a bulge <NUM> at the centre, commonly called bilge. The unique shape facilitates manual handling and moving of the elongated container <NUM>, particularly by rolling the container on its side and changing directions with little friction by slightly tiling the container.

Accordingly, the shape of the elongated container <NUM> can be defined as a convex shape with a circular top surface <NUM>, a circular bottom surface <NUM> parallel to the top surface <NUM>, and a convex outer surface <NUM> which connects the top surface <NUM> and the bottom surface <NUM> forming the bulge <NUM> at a centre portion between the top surface <NUM> and the bottom surface <NUM>.

The top and bottom surface <NUM>, <NUM> have the same dimension and are simply referred to as heads or headers. The direction perpendicular to the heads defines the elongated direction <NUM> of the container <NUM>.

Further, a centre width <NUM> of the container <NUM> is defined by the width of a cross section parallel to the top and bottom surface at the centre portion. The centre width <NUM> thus corresponds essentially to the diameter of the bulge <NUM>. Due to the convex shape a diameter of the top surface <NUM> and a diameter of the bottom surface <NUM> is small than the centre width <NUM>. In other words, the centre width <NUM> is wider than the width of a cross section parallel thereto at a top surface side and a bottom surface side. Accordingly, the bulge forms the widest part of the container <NUM>.

The raw material of the container <NUM> can be wood, in particular rough oak wood such as Quercus alba, Quercus robur or Quercus petraea (also known as American oak or French oak). Further, the container can comprise hoops <NUM> that surround the container and hold the wood staves together. The hoops <NUM> are formed as metal bands usually made of galvanized iron. The hoops <NUM> are optionally and their position on the barrel may vary depending on the type and origin of the barrel. For instance, an American barrel may feature six hoops, while a French barrel features eight hoops. Generally, a barrel comprises at least one hoop at the top surface side and one hoop at the bottom surface side, called head or chime hoop. The remaining hoops are distributed over the convex outer surface <NUM>, wherein the bulge <NUM> generally comprises a bunghole <NUM> for filling and thus remains free of hoops.

Particularly, when used as aging barrels, handmade barrels are used which naturally can vary in size. Thus, even if "standardized" barrels are used, their outer dimension may vary. Further, since wood is a natural product and aging barrels are reused multiple times, the quality of the used material may change over time. The gripper, which is disclosed herein, has thus to be able to adjust to these circumstances. Accordingly, the gripper is designed for handling containers that can vary to a defined extent in size and quality.

The gripper according to the present disclosure is designed to handle elongated containers with a weight between <NUM> to <NUM>, in particular <NUM>. Furthermore, the gripper is designed to handle elongated containers having a height between <NUM>-<NUM> and a centre width between <NUM>-<NUM>. A diameter of the top surface and the bottom surface can be between <NUM> to <NUM>. In addition, the gripper is designed to handle the elongated containers regardless of hoops surrounding the convex outer surface. In particular, the gripper does not rely on any mounting support such as mounting brackets, openings, notches etc. to engage the container for lifting.

With reference to <FIG>, a general description of a gripper according to the present disclosure is given, before specific exemplary embodiments are described with reference to <FIG> and <FIG>. Throughout the drawings, the same reference signs denote the same parts, which are described herein only once.

<FIG> shows a gripper according to the present disclosure schematically. The gripper in its entirety is denoted with reference numeral <NUM>.

The gripper <NUM> is design to handle a specific elongated container <NUM> as described above. Further, the gripper <NUM> is designed to handle the specific container under specific conditions and constrains, which will be outlined with reference to <FIG>.

<FIG> shows a typical application for the gripper <NUM>. In particular, <FIG> shows a side view and a top view of a shipping container in which barrels as described above are stored for road and sea transport. In the shown example, the barrels are stacked into stacks of three barrels each and pushed into the container as tight as possible. Usually, due to the fixed width of the container and the defined width of the barrels, the barrels will not be arranged in ordered rows within the container and thus each batch will look differently. The stacking and the arrangement within the confined space requires special unloading means.

In particular, a gripper for unloading is not able reach around the elongated containers, since the elongated containers are too close to each other and too close to a sidewall of a shipping container. The gripper according to the present disclosure is thus configured such that an outer dimension D of the gripper in a direction perpendicular to the elongated direction <NUM> of the elongated container does not extend beyond the centre width <NUM> of the elongated container <NUM> in a pick operation (<FIG>). The pick operation includes here approaching and gripping of the elongated container <NUM> for lifting.

In other words, the outer dimension D of the gripper <NUM> in a direction perpendicular to the elongated direction <NUM> is smaller than the centre width <NUM> of the elongated container <NUM>. In particular, the outer dimension D of the gripper in a direction perpendicular to the elongated direction is smaller than <NUM>, preferably smaller than <NUM>. Thereby, in becomes possible to engage the containers only from one side.

The gripper <NUM> is thus designed to engage the smooth outer surface <NUM> of the container. That is, the gripping member <NUM> is configured to engage the outer surface <NUM> without engaging in or with any particular mounting means arranged on the container <NUM>. Accordingly, the gripper <NUM> establishes an operative connection with the outer surface <NUM> alone, to pick up a raw barrel, which has not been specially prepared for lifting.

Furthermore, the gripper <NUM> is configured to engage a front side of the elongated container. The front side is defined as one half of the outer surface <NUM> (front surface 6a), when the elongated container is sliced along a centre plane C intersecting the centres of the circular top and bottom surface <NUM>, <NUM>. Thus, when viewed from the side, the gripper <NUM> engages only the visible side of the convex outer surface of the elongated container. In other words, at a picking position, the gripper <NUM> is attached to the outer surface <NUM> of the elongated container only at the front surface 6a.

Preferably, the gripper <NUM> is designed as a detachable unit, which can be arranged on a lifting device such as a robot or a forklift. In particular, the gripper <NUM> can be an end of arm tooling (EOAT) of a robot. The weight of the gripper <NUM> is preferably less than or equal to <NUM> in order to function as EOAT of a standard robot. In a particular preferred embodiment, the gripper <NUM> operates as a detachable unit on an autonomously operating lifting device to perform an unloading operation of a standard shipping container autonomously.

<FIG> shows a first exemplary embodiment of a gripper not according to the invention. In this embodiment, the gripper <NUM> is a pneumatic vacuum gripper.

In this embodiment, the gripper <NUM> comprises a first gripping member <NUM> and a second gripping member <NUM> for engaging the outer surface <NUM> of the elongated container <NUM>. The first gripping member <NUM> is a first vacuum gripper and the second gripping member <NUM> is a second vacuum gripper.

A vacuum gripper <NUM> is device that utilizes a vacuum flow to attach itself to an object. In particular, a vacuum gripper utilizes a difference between an atmospheric pressure (equal to the weight of the air above your head) and a negative pressure (also referred to as "vacuum") to provide the ability to perform actions such as lifting, holding, moving, and so on. The vacuum gripper <NUM> can be equipped with integrated vacuum generation means. That is, a pump for generating the vacuum flow can be integrated into the vacuum gripper <NUM>. Alternatively, vacuum generation means can also be provided separately form the vacuum gripper <NUM>.

The vacuum gripper <NUM> can be a large area vacuum gripper. A large area vacuum gripper is vacuum gripper having a suction mat <NUM>, which distributes the vacuum flow over a defined area. The mat <NUM> can be made of a technical foam with different pitch holes and thickness. Alternatively, a vacuum gripper <NUM> can be equipped with a plurality of individual suction cups in order to provide a holding area of a defined size.

Large area vacuum grippers are particularly suitable for uneven or heterogeneous surfaces. Thereby, different surface qualities can be account for and unevenness can be compensated, for instance, unevenness created on the outer surface of barrel by surrounding hoops <NUM>.

In <FIG>, the gripper <NUM> comprises a first gripping member <NUM> and a second gripping member <NUM> which are connected to a common holding structure <NUM>. The holding structure <NUM> comprises in this embodiment two tubes <NUM>, which in pick position extend along the elongated direction <NUM> of the elongated container <NUM>. On each tube <NUM> a cross clamp <NUM> is attached holding a small pipe <NUM> with a ball joint <NUM> at the end. The first and the second gripping member <NUM>, <NUM> are mounted on the ball joint <NUM> and bend corresponding to the expected convex outer surface <NUM> of the elongated container <NUM>. The first and the second gripping member <NUM>, <NUM> can be mounted with play on the ball joints <NUM> to be adjustable to variances in the shape of the elongated container <NUM>.

The tubes <NUM> are joint together by a connecting member <NUM>, which is designed here in shape of a plate. The connecting member <NUM> serves for flange mounting the gripper <NUM> to a lifting device such as a robot or forklift (not shown here).

<FIG> shows the gripper <NUM> in pick position in which the gripper <NUM> is attached to the elongated container <NUM>. In this embodiment, the first gripping member <NUM> and the second gripping member <NUM> are mounted in parallel in a direction perpendicular to the elongated direction <NUM>. The first gripping member <NUM> and the second gripping member <NUM> are the outermost elements of the gripper <NUM> in the direction perpendicular to the elongated direction <NUM> and thus define the outer dimension D of the gripper <NUM> in this direction. As can be seen from <FIG>, the outer dimension D is smaller than the centre width <NUM> of the elongated container <NUM>. Accordingly, the gripper <NUM> is capable of performing a picking operation only from a front side 6a of the container <NUM> without extending beyond the container <NUM>.

It shall be noted that a pneumatic vacuum gripper is not limited to the depicted design. Other holding structures are conceivable as long as an outer dimension of the gripper in a direction perpendicular to the elongated direction does not extend beyond the outer dimension of the elongated container in that direction. However, the tube design as shown here allows for a lightweight design on which the gripping members can easily be mounted and adjusted using the ball joints.

<FIG> shows a preferred variant according to the invention of the exemplary embodiment of <FIG>. In addition to the first and second gripping member <NUM>, <NUM>, the gripper <NUM> according to <FIG> further includes a third and a fourth gripping member <NUM>, <NUM>. The third and fourth gripping member <NUM>, <NUM> are designed identically to the first and second gripping member <NUM>, <NUM>. Accordingly, the third and fourth gripping member <NUM>, <NUM> are also vacuum grippers <NUM>, which are attached to the common holding structure <NUM>. The third and fourth gripping member <NUM>, <NUM> are arranged shifted along the elongated direction <NUM> parallel to the first and second gripping member <NUM>, <NUM>.

The third and fourth gripping member <NUM>, <NUM> can extend to the same extent from the holding structure <NUM> than the first and the second gripping member <NUM>, <NUM>. In particular, they do not extend further than the outer dimension in a direction perpendicular to the elongated direction <NUM> defined by the first and the second gripping member <NUM>, <NUM>, and if, at least not beyond the centre width <NUM> of the elongated container <NUM>.

In a preferred embodiment, the connecting element <NUM> forms a central element of the gripper <NUM>, from which the gripping members <NUM>, <NUM>, <NUM>, <NUM> are equally spaced. Accordingly, in pick position, the central element is arranged at the bulge <NUM> of the container <NUM> and the first and the second gripper element <NUM>, <NUM> are attached on a lower part of the container <NUM> and the third and fourth gripper <NUM>, <NUM> are attached on upper part of the container <NUM> corresponding to the symmetry of the container <NUM>. Gripping members arranged in the lower and in the upper part of the container <NUM> have the advantage that the container <NUM> can not only be lifted vertically, but also rotated horizontally. Accordingly, the gripper <NUM> is able to pick up containers <NUM> from a vertical and bring them into a horizontal position.

In addition, the equipment with four grippers <NUM>, <NUM>, <NUM>, <NUM> allows a smaller dimensioning of the individual grippers. This is in particular advantageous if vacuum grippers <NUM> with integrated vacuum generation means are being used. Furthermore, using multiple grippers improves safety, since a container <NUM> can still be hold if one of the grippers should fail.

<FIG> shows a further preferred variant according to the invention of the exemplary embodiment of <FIG>. In addition to the third and fourth gripping member <NUM>, <NUM>, the gripper <NUM> comprises at least one support member for securing the elongated container <NUM> during a moving operation. The embodiment according to <FIG> comprises a first supporting member 36a and a second supporting member 36b, which are both arranged on the common holding structure <NUM> using similar means as for the gripping members <NUM>, <NUM>, <NUM>, <NUM>.

The first support member 36a is arranged on a top part of the holding structure <NUM> and comprises a clamp element <NUM> movable between a first position and a second position. During a picking operation, the clamp element <NUM> is in the first position away from the elongated container <NUM>. After the picking operation and before a subsequent moving operation the clamp element <NUM> is moved from the first position into the second position. In the second position (as shown in <FIG>), the clamp element <NUM> engages the elongated container <NUM> in addition to the gripping members <NUM>, <NUM>, <NUM>, <NUM> and secures the container <NUM> during a moving operation.

In particular, during the moving operation the support members 36a, 36b reach around the front surface 6a to engage the container <NUM> and to provide additional support. In the embodiment according to <FIG>, the first support member 36a reaches around a top boarder (chime) of the elongated container <NUM> and engages the top surface <NUM>. Accordingly, the support member is able to extend beyond the front surface 6a and thus the outer dimension of the elongated container <NUM> during a moving operation, while during the picking operation the support member is in a position (first position) in which it does not extend beyond the outer dimension of the container <NUM>.

The second support member 36b according to <FIG> is arranged on a bottom part of the holding structure <NUM> and is designed in the same way as the first support member 36a. Instead of engaging the top surface <NUM>, the second support member 36b engages the bottom surface <NUM> of the elongated container <NUM> during a moving operation. Thereby, according to the preferred embodiment of <FIG>, the elongated container <NUM> is supported on the top side and the bottom side of the elongated container <NUM> allowing a firm support during movement.

It shall be noted that the support members 36a, 36b as disclosed in <FIG> only represent examples how the container <NUM> can be further support during a moving operation. Other support structures are conceivable. However, it is essential for any support structure that it does not extend beyond the dimension of the elongated container <NUM> during the picking operation, so that the container <NUM> can be picked up under the above-described imposed conditions. Accordingly, the support structure can only engage the container after the picking operation, once the container has been lifted up and moved away from any enclosing boundaries.

<FIG> shows the preferred gripper according to <FIG> from a different perspective and without the container. The same reference signs denote the same parts as in <FIG>, <FIG> and <FIG> and an additional description is thus omitted.

<FIG> shows a second exemplary embodiment of a gripper <NUM> according to the present disclosure. In this embodiment, the gripper <NUM> is a mechanical gripper.

The gripper <NUM> comprises a first gripping member <NUM> and a second gripping member <NUM> for engaging the outer surface of the elongated container <NUM>. The first and second gripping member <NUM>, <NUM> form a mechanical clamping and at least one gripping member is movable with respect to the other gripping member.

The first and second gripping member <NUM>, <NUM> are arranged on a profile <NUM> which is a connecting member <NUM> for connecting the first gripping member <NUM> and the second gripping member <NUM> to a lifting device. On the profile <NUM>, the first and second gripping member <NUM>, <NUM> can be moved from an open clamping position into a closed clamping position. During a pick operation, the gripper <NUM> approaches a container in the open clamping position and picks up the container by moving the gripping members <NUM>, <NUM> into the closed clamping position.

The outer dimension of the gripper <NUM> in a direction perpendicular to the elongated direction <NUM> is defined by the profile <NUM> and the gripping members <NUM>, <NUM> in the open clamping position. The outer dimension is smaller than the central width of the elongated container that is to be lifted. In particular, the outer dimension of the gripper <NUM> in a direction perpendicular to the elongated direction <NUM> is less than <NUM>, preferably less than <NUM>. Thereby, lifting of a container under the conditions described above becomes feasible.

In the embodiment according to <FIG>, the profile <NUM> is a straight profile on which the first and the second gripping member <NUM>, <NUM> are movably arranged. Here, the first and second gripping member <NUM>, <NUM> are movable laterally in opposite direction in order to move from the open clamping position into the closed clamping position. For moving the gripping members <NUM>, <NUM>, the gripper <NUM> can comprise pneumatic cylinders <NUM> arranged on the profile <NUM> and attached to gripping members <NUM>, <NUM>.

The first and second gripping member <NUM>, <NUM> can have at least partially a jagged contour <NUM> for engaging the outer surface of the elongated container. Furthermore, a section having the jagged contour can be a curved section in order to correspond to the convex shape of the elongated container. Furthermore, additional support elements <NUM> can be arranged on the profile <NUM> for providing additional support for picking up and moving the container. The additional support elements <NUM> can also have a jagged contour similar to the first and second gripping member <NUM>, <NUM>. Furthermore, the additional support elements <NUM> can be arranged rigidly on the profile <NUM> or moveably to assist the first and second gripping member <NUM>, <NUM> during a moving operation.

The gripper <NUM> including the first and second gripping member <NUM>, <NUM> and the profile <NUM> can be formed by a lightweight steel frame in order to provide sufficient stability, yet without exceeding a maximum weight of <NUM>. Preferably, the frame does not extend beyond the dimension of the elongated containers, which are to be lifted. Preferred dimensions are illustrated with reference to <FIG>.

<FIG> shows the gripper of <FIG> in a top and a side view. The first and second gripping member are in the open clamping position. In this position, the gripper <NUM> is U-shaped with the first and second gripping member <NUM>, <NUM> being arranged perpendicular to profile <NUM>. The profile extends in a longitudinal direction, which is, when the gripper is in picking position, perpendicular to the elongated direction <NUM> of the container. In the embodiment according to <FIG> und <FIG>, the length of the profile (L) defines the outer dimension of the gripper <NUM>. The length L is smaller than a centre width of the elongated container. In this preferred embodiment, the length L of the profile is <NUM>.

The first and second gripping member <NUM>, <NUM> each comprise a flat side panel <NUM>, which can be moved along the profile <NUM> by the pneumatic cylinders <NUM>. On the side panel <NUM> claws <NUM> of the same material as the side panel <NUM> extend perpendicular from the side panel <NUM>. The claws <NUM> can have a curved and jagged contour <NUM> for engaging the convex outer surface of the elongated container. Both the side panel <NUM> and the claws <NUM> can have cutouts <NUM> in order to reduce the overall weight of the gripper <NUM>. A length T from a flange <NUM> to the tips of the gripping members is here <NUM>. A height H of the gripper is here <NUM> and thus considerable small than the height of the elongated container, which is to be lifted.

It shall be noted that the mechanical gripper as shown in <FIG> and <FIG> represents only one example of a mechanical gripper. Other embodiments having different clamping mechanisms are conceivable, as long as an outer dimension of the gripper remains less than the central width of the elongated container. In particular, additional supporting elements as described with reference to the pneumatic vacuum gripper are conceivable, which provide additional support during a moving operation of the elongated container and thus after picking up the container with the gripping members.

The gripper, mechanical and pneumatic, as described above can be flanged to a lifting device. Preferably, the lifting device is an industrial robot, such as a KR120 from Kuka. In this case, the gripper is designed as an end of arm tooling device (EOAT), wherein a maximal distance from the flange (which is the connecting member) to the elongated container is preferably less than <NUM>. Furthermore, the gripper can be designed such that a maximal distance from the flange to a centre point of the elongated container is less than <NUM>. Thereby, a robot of the type mentioned before is capable of lifting an elongated container between <NUM> to <NUM>, when the EOAT (the gripper) weights less than <NUM>.

Claim 1:
Industrial robot for unloading vertically stacked elongated containers (<NUM>), in particular wooden barrels, from enclosing boundaries such as a shipping container, each elongated container (<NUM>) having a convex shape with a circular top surface (<NUM>), a circular bottom surface (<NUM>) parallel to the top surface (<NUM>), and a convex outer surface (<NUM>) which connects the top surface (<NUM>) and the bottom surface (<NUM>) forming a bulge (<NUM>) at a centre portion of the elongated container (<NUM>) between the top surface (<NUM>) and the bottom surface (<NUM>), the bulge (<NUM>) defining a centre width (<NUM>) of the elongated container (<NUM>), the convex outer surface (<NUM>) being a smooth surface comprising a front surface (6a) and a back surface (6b) defined by a centre plane (C) intersecting a centre point of each of the top surface (<NUM>) and the bottom surface (<NUM>), the front surface (6a) defining a front side of the elongated container (<NUM>),
wherein the industrial robot is configured to perform a pick operation from the front side of the elongated container, the pick operation including approaching and gripping the elongated container (<NUM>) from the front side with an end of arm tooling (<NUM>) having, during the pick operation, an outer dimension (D) in a direction perpendicular to an elongated direction (<NUM>) defined by the elongated container (<NUM>) which is smaller than the centre width (<NUM>) of the elongated container (<NUM>),
characterized in that the end of arm tooling (<NUM>) further comprises a support structure (36a; 36b) which does not extend beyond the dimension of the elongated container (<NUM>) during the pick operation and which is configured to engage the elongated container (<NUM>) only after the picking operation, once the elongated container (<NUM>) has been lifted and moved away from the enclosing boundaries.