# US 11,897,120 B2 · Gripper for picking device and method for operating a picking device having this gripper > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,120 B2 - Document ID: US11897120B2 - Status: Granted - Kind: B2 - Application number: 17/128,811 - Filed: 2020-12-21 - Published: 2022-06-23 - Granted: 2024-02-13 - Earliest claimed: 2020-12-21 - Assignees: Becton Dickinson Rowa Germany GmbH - Applicants: Becton Dickinson Rowa Germany GmbH - Inventors: Christoph Hellenbrand - Web page: https://patentgrep.com/patent/US11897120B2 ## CPC - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B25J 15/0206: {comprising articulated grippers} - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/1679: {characterised by the tasks executed} - B25J 13/088: {with position, velocity or acceleration sensors} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 17/02: Wrist joints - B25J 19/021: {Optical sensing devices} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - G05B 2219/45045: Maintenance, automatic storage and retrieval system - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A gripper for a picking device for storing small piece goods and a method for operating a picking device having a gripper are provided. The gripper simplifies dispensing and includes a drop table extending in first and second horizontal directions, and has at least one end portion having a dispensing end face, wherein the drop table and the end portion define an upper support surface. A transport device for moving small piece goods is arranged above the drop table and sensor device(s) are arranged in the at least one end portion having detection regions associated therewith, the sensor device being arranged along a vertical axis in such a way that the detection regions cover a vertically extending space in front of the dispensing end face. ## Claims ### Claim 1 A gripper for a picking device having horizontal shelves for storing small piece goods, 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 comprising an end portion having a dispensing end face, wherein the drop table and the end portion define an upper support surface; a transport device arranged above the drop table and movable in the first horizontal direction, the transport device configured for moving small piece goods from a horizontal shelf to the drop table; a control device; and a sensor device coupled to the control device, the sensor device arranged in the end portion, the end portion having a plurality of detection regions associated therewith, wherein the sensor device is arranged along a vertical axis in such a way that the plurality of detection regions cover a vertically extending space in front of the dispensing end face, and wherein the control device is configured to determine the alignment of the gripper on a horizontal shelf by evaluating the sensor device. ### Claim 2 (depends on 1) The gripper of claim 1, wherein the transport device comprises two elongated gripping jaws arranged above the drop table and extending in the first horizontal direction, the two elongated gripping having inner surfaces facing each other. ### Claim 3 (depends on 2) The gripper of claim 2, wherein at least one of the elongated gripping jaws is movable at least in portions in the second horizontal direction. ### Claim 4 (depends on 2) The gripper of claim 2, further comprising a clamping jaw guide arrangement, wherein the elongated gripping jaws are coupled to the clamping jaw guide arrangement. ### Claim 5 (depends on 4) The gripper of claim 4, wherein the elongated gripping jaws are each coupled via a rotary joint to a clamping jaw slide of a first guide. ### Claim 6 (depends on 5) The gripper of claim 5, wherein the elongated gripping jaws are each coupled via a slot guide to a clamping jaw slide of a second guide. ### Claim 7 (depends on 2) The gripper of claim 2, wherein the elongated gripping jaws are each coupled to a retractable clamping jaw slide having a restoring force, wherein the restoring force is configured to move the elongated gripping jaw back to a specific position. ### Claim 8 (depends on 1) The gripper of claim 1, wherein the sensor device comprises a sensor assembly that is releasable from the drop table. ### Claim 9 (depends on 1) The gripper of claim 1, wherein the sensor device is arranged centrally in the end portion in relation to the vertical direction. ### Claim 10 (depends on 1) The gripper of claim 1, wherein the sensor device is arranged such that at least one of the plurality of detection regions extends vertically over the support surface. ### Claim 11 (depends on 1) The gripper of claim 1, wherein the sensor device comprises a plurality of sensor units. ### Claim 12 (depends on 11) The gripper of claim 11, wherein the number of sensor units is the same as the number of detection regions. ### Claim 13 A method for operating a picking device, the method comprising: moving a gripper to a specified target position in front of a specified shelf of a plurality of horizontal shelves, the gripper comprising: a transport device for storing and dispensing small piece goods on or from the shelves; a drop table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction and having at least one end portion with a dispensing end face, the drop table and the end portion defining an upper support surface; and at least one sensor device coupled to a control device and arranged in the at least one end portion having detection regions associated therewith, wherein the sensor device is arranged in such a way that the detection regions cover a vertically extending space in front of the dispensing end face; determining a current alignment of the gripper in relation to the specified shelf by checking in which detection regions the presence of the shelf is recognized; determining whether the current alignment of the gripper on the specified shelf in relation to a vertical position corresponds to a specified alignment; and moving the gripper in a vertical direction according to a negative or positive deviation between the current alignment and the specified alignment when the current alignment is determined not to be in the specified alignment. ### Claim 14 (depends on 13) The method of claim 13, further comprising: wherein if there is a deviation between the current alignment and the specified alignment, adjusting the target position to a specified shelf on the basis of the deviation. ### Claim 15 (depends on 14) The method of claim 14, further comprising: wherein if there is a negative deviation between the current alignment and the specified alignment, marking the specified shelf as the shelf to be relocated. ### Claim 16 (depends on 13) The method of claim 13, further comprising: wherein if there is a deviation between the current alignment and the specified alignment, adjusting a maximum storage height of a shelf below the specified shelf based on the deviation. ### Claim 17 (depends on 13) The method of claim 13, further comprising: wherein if there is a deviation between the current alignment and the specified alignment, traversing the entire specified shelf with the gripper in the vertical direction. ### Claim 18 (depends on 17) The method of claim 17, further comprising: for all storage locations assigned to the specified shelf, adjusting the target positions assigned to the storage locations accordingly. ### Claim 19 (depends on 13) The method of claim 13, further comprising: wherein if there is a deviation between the current alignment and the specified alignment, calculating the deviations for all storage locations on the shelf based on this deviation; and adjusting the target positions assigned to the storage locations accordingly. ### Claim 20 (depends on 13) The method of claim 13, further comprising: adjusting the maximum storage heights for all storage locations on the shelf below the specified shelf based on the deviations determined between the current alignment and the specified alignment.