Dual-Grip Case Transfer for Dust-Tolerant Warehouse Picking

The patent combines two different gripping mechanisms - vacuum-actuated suction cups/pads and friction-based grippers with pivotable fingers - into a single automated robotic end effector. The vacuum mechanism provides initial case engagement and lifting, while the friction-based friction gripper with pivotable fingers provides supplemental gripping force and stability. This combination ensures reliable case handling even when vacuum grip is compromised by dust or coating on case surfaces, as the friction mechanism can compensate for lost vacuum adhesion.

Instead of attempting to grip cases from the front or top where dust and coating create problems, the patent inverts the approach by using a friction-based gripper with pivotable fingers that can engage the lateral sides of cases. The pivotable fingers can rotate to wrap around and grip the case from the side, accessing surfaces that are otherwise obscured in tightly packed storage configurations. This side-access approach allows automation to interface with cases even when they are stored with minimal clearance between adjacent cases.

The patent employs pivotable fingers in the friction-based gripper that can dynamically rotate and adjust their position to accommodate cases of varying sizes and shapes. The pivotable mechanism allows the fingers to adapt to different case geometries, providing reliable gripping across diverse product types. This dynamic adaptability is achieved through simple rotational joints that allow the fingers to pivot into the optimal gripping position, maintaining reliability without requiring complex adjustable mechanisms for each individual case dimension.