US 12,246,929 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 Jan. 18, 2024, as Appl. No. 18/416,605.
Application 18/416,605 is a continuation of application No. 17/116,721, filed on Dec. 9, 2020, granted, now 11,912,511.
Prior Publication US 2024/0158181 A1, May 16, 2024
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 method for operating a gripper, the method comprising:
determining a first transport attachment of a plurality of transport attachments to use for moving a piece good;
determining whether the first transport attachment is fixed in a first gripping jaw of the gripper, the gripper comprising:
a drop table having at least one storage and dispensing end face;
the first gripping jaw and a second gripping jaw each arranged above the drop table and fastened to a gripping jaw guide arrangement, wherein the first gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
a transport attachment of the plurality of transport attachments with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that the transport attachment is releasably fixed at the end portion of the first gripping jaw.
 
11. A gripper comprising:
a drop table having at least one storage and dispensing end face;
a first gripping jaw and a second gripping jaw each arranged above the drop table and fastened to a gripping jaw guide arrangement, wherein the first gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
a transport attachment with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that the transport attachment is releasably fixed at the end portion of the first gripping jaw.
 
19. A transport system for a picking device for storing and dispensing piece goods of various shapes or surface properties, the transport system comprising:
a plurality of transport attachments with different contact surfaces;
a storage device configured to store the plurality of transport attachments; and
a gripper comprising:
a drop table having at least one storage and dispensing end face;
a first gripping jaw and a second gripping jaw each arranged above the drop table and fastened to a gripping jaw guide arrangement, wherein the first gripping jaw has a gripper coupler at an end portion opposite the gripping jaw guide arrangement; and
a transport attachment of the plurality of transport attachments with an attachment coupler, wherein the gripper coupler and the attachment coupler interact with one another so that the transport attachment is releasably fixed at the end portion of the first gripping jaw.