# US 12,759,808 B2 · Gripper for order-picking apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,808 B2 - Document ID: US12759808B2 - Status: Granted - Kind: B2 - Application number: 18/025,754 - Filed: 2021-08-24 - Published: 2023-11-02 - Granted: 2026-10-13 - Earliest claimed: 2020-09-22 - Assignees: Becton Dickinson Rowa Germany GmbH - Applicants: Becton Dickinson Rowa Germany GmbH - Inventors: Dietmar Gross - Web page: https://patentgrep.com/patent/US12759808B2 ## CPC - B65G 47/90: Devices for picking-up and depositing articles or materials - B25J 15/0028: {with movable, e.g. pivoting gripping jaw surfaces} - B25J 15/0253: {comprising parallel grippers} - B65G 61/00: Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - 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}) ## Abstract A gripper by means of which small articles, in particular pharmaceutical packs and food-supplement packs, are introduced into, and removed from, an order-picking apparatus. The gripper comprises a set-down table which extends in first and second horizontal directions and two gripping jaws, which are arranged above the set-down table and are fastened on a gripping-jaw-guide arrangement, wherein at least one of the gripping jaws has an at least partially elastic longitudinal guide with a free end portion and a fastening end portion and also has a gripping-jaw tendon element, and wherein a first end portion of the gripping-jaw tendon element is fastened at the free end portion and a second end portion of the gripping-jaw tendon element is coupled to a pulling means, arranged at the fastening end portion, such that the gripping-jaw tendon element can be moved in the first direction. ## Claims ### Claim 1 A gripper for storing and retrieving small piece goods into or from a picking apparatus, comprising: a delivery table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction and having at least one storage and retrieval end face; and a gripping jaw guide arrangement having two elongate gripping jaws arranged above the delivery table, extending in the first direction, the gripping jaw guide arrangement being movable in the first direction, and at least one of the gripping jaws being movable in the second direction, wherein at least one of the gripping jaws has an at least partially elastic longitudinal guide with a free end portion facing away from the gripping jaw guide arrangement, and an opposite fastening end portion, as well as a gripping jaw cord which extends in an untensioned state in parallel along a portion of the elastic longitudinal guide, wherein a first end portion of the gripping jaw cord is fastened to the free end portion of the elastic longitudinal guide, and a second end portion of the gripping jaw cord is coupled to a traction means arranged on the fastening end portion in such a manner that the gripping jaw cord can be moved in the first direction, wherein a movement of the gripping jaw cord in the first direction causes a movement of the free end portion of the elastic longitudinal guide in the second direction. ### Claim 2 (depends on 1) The gripper of claim 1, wherein at least one gripping jaw cord is arranged between an elastic longitudinal guide and an opposite gripping jaw, such that a pulling movement exerted on the gripping jaw cord by the traction means assigned to the gripping jaw cord moves the free end portion of the gripping jaw towards the opposite gripping jaw. ### Claim 3 (depends on 1) The gripper of claim 1, characterized in that wherein the gripper has two traction means and both gripping jaws have an elastic longitudinal guide and a gripping jaw cord, the gripping jaw cords being arranged between the elastic longitudinal guides so that a pulling movement exerted on the gripping jaw cords by the traction means moves the free end portions of the gripping jaws toward each other. ### Claim 4 (depends on 1) The gripper of claim 1, wherein a traction means is designed as a lever device with a force arm and with a rotary axle, the rotary axle having an eccentric circular attachment which engages in an opening at the second end portion of a gripping jaw cord. ### Claim 5 (depends on 4) The gripper of claim 4, wherein each of the free ends of the force arm of the traction means in each case engages in an elongated hole of a traction means actuating device which can be moved in the first direction. ### Claim 6 A gripper for storing and retrieving small piece goods comprising: a delivery table; a gripping jaw guide arrangement comprising two elongate gripping jaws disposed above the delivery table and extending in a first direction of the delivery table; and at least one of the gripping jaws comprising: an at least partially elastic longitudinal guide with a free end portion facing away from the gripping jaw guide arrangement and an opposite fastening end portion; and a gripping jaw cord configured to extend in an untensioned state in parallel along a portion of the elastic longitudinal guide. ### Claim 7 (depends on 6) The gripper of claim 6, wherein the gripping jaw guide arrangement is configured to be movable in the first direction. ### Claim 8 (depends on 6) The gripper of claim 6, wherein at least one of the gripping jaws is configured to be movable in a second direction. ### Claim 9 (depends on 6) The gripper of claim 6, wherein a first end portion of the gripping jaw cord is fastened to the free end portion of the elastic longitudinal guide. ### Claim 10 (depends on 9) The gripper of claim 9, wherein a second end portion of the gripping jaw cord is coupled to a traction device disposed on the fastening end portion. ### Claim 11 (depends on 10) The gripper of claim 10, wherein the traction device is configured so that the gripping jaw cord can be moved in the first direction. ### Claim 12 (depends on 11) The gripper of claim 11, wherein movement of the gripping jaw cord in the first direction is configured to cause a movement of the free end portion of the elastic longitudinal guide in the second direction. ### Claim 13 (depends on 10) The gripper of claim 10, wherein at least one gripping jaw cord is disposed between an elastic longitudinal guide and an opposite gripping jaw. ### Claim 14 (depends on 13) The gripper of claim 13, wherein a pulling movement exerted on the gripping jaw cord by the traction device is configured to move the free end portion of the gripping jaw towards the opposite gripping jaw. ### Claim 15 (depends on 6) The gripper of claim 6, further comprising: two traction devices, wherein each gripping jaw comprises: an elastic longitudinal guide; and a gripping jaw cord. ### Claim 16 (depends on 15) The gripper of claim 15, wherein each traction device is configured to pull one of the gripping jaw cords to pull an attached gripping jaw towards the other gripping jaw. ### Claim 17 (depends on 10) The gripper of claim 10, wherein the traction device comprises: a lever having a force arm; and a rotary axle. ### Claim 18 (depends on 17) The gripper of claim 17, wherein the rotary axle comprises an eccentric circular attachment configured to engage in an opening at a second end portion of the gripping jaw cord. ### Claim 19 (depends on 17) The gripper of claim 17, further comprising: a traction actuating device. ### Claim 20 (depends on 19) The gripper of claim 19, wherein a portion of the force arm is disposed within an elongated hole of the traction actuating device and the force arm is moveable in the first direction.