US 11,912,511 B2
Gripper and transport system for a picking device
Dietmar Gross, Kelberg (DE); Stephan Brokonier, Neroth (DE); and Heinrich Paul Martini, Brachtendorf (DE)
Assigned to BECTON DICKINSON ROWA GERMANY GMBH, Kelberg (DE)
Filed by Becton Dickinson Rowa Germany GmbH, Kelberg (DE)
Filed on Dec. 9, 2020, as Appl. No. 17/116,721.
Prior Publication US 2022/0176572 A1, Jun. 9, 2022
Int. Cl. B65G 47/90 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B25J 15/04 (2006.01)
CPC B65G 47/90 (2013.01) [B25J 9/1612 (2013.01); B25J 15/0061 (2013.01); B25J 15/0441 (2013.01); B65G 47/905 (2013.01); B65G 47/907 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gripper for a transport system of a picking device having horizontal storage surfaces for storing and dispensing small piece goods of different shapes and/or surface properties, the gripper comprising:
a drop table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction, the drop table having at least one storage and dispensing end face;
two elongated gripping jaws arranged above the drop table extending in the first horizontal direction and fastened to a gripping jaw guide arrangement, wherein at least one elongated gripping jaw is movable in the second horizontal direction, and wherein at least one elongated gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
at least one transport attachment with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that a transport attachment is releasably fixed at the end portion of the at least one elongated gripping jaw with the gripper coupler.
 
13. A transport system for a picking device for storing and dispensing small piece goods of various shapes or surface properties, the transport system comprising:
a gripper comprising:
a drop table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction, the drop table having at least one storage and dispensing end face;
two elongated gripping jaws arranged above the drop table extending in the first horizontal direction and fastened to a gripping jaw guide arrangement, wherein at least one elongated gripping jaw is movable in the second horizontal direction, and wherein at least one elongated gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
at least one transport attachment with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that a transport attachment is releasably fixed at the end portion of the at least one elongated gripping jaw with the gripper coupler;
a plurality of transport attachments with different contact surfaces; and
a storage device having a plurality of storage floors configured to receive the plurality of transport attachments.
 
20. A method for operating a transport system, the method comprising:
analyzing characteristics of a small piece good to be transported;
determining which type of transport attachment of a plurality of transport attachments with different contact surfaces to use for moving the small piece good;
selecting the determined transport attachment;
checking whether the selected transport attachment is fixed in at least one of two elongated gripping jaws of a gripper comprising:
a drop table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction, the drop table having at least one storage and dispensing end face;
the two elongated gripping jaws arranged above the drop table extending in the first horizontal direction and fastened to a gripping jaw guide arrangement, wherein at least one elongated gripping jaw is movable in the second horizontal direction, and wherein at least one elongated gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
at least one transport attachment with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that a transport attachment is releasably fixed at the end portion of the at least one elongated gripping jaw with the gripper coupler; and
when the selected transport attachment is determined not to be fixed in at least one of the gripping jaws of the gripper:
placing a transport attachment currently fixed to a first gripping jaw on a storage floor of a storage device having a plurality of storage floors configured to receive the plurality of transport attachments;
retrieving the selected transport attachment from the storage device; and
fixing the selected transport attachment on the first gripping jaw.