Apparatus and methods for automated picking of items
A pick device and a picking system for picking a plurality of packages, the pick device including a rotatable housing and gripper arms extending radially from the housing. The picking system includes a plurality of storage tubes adjacent the pick device and a nest moveable with pick device from one tube to another tube.
1. A pick device for transferring packages, comprising:
a plurality of grippers disposed generally circumferentially around a rotatable housing, each gripper comprising a radially slidable gripper arm positioned within guides coupled to the housing and a spring is coupled to the gripper arm and contacts the guides to bias the gripper arm radially outward from the housing; and
means for imparting intermittent rotational motion to the rotatable housing, the means for imparting comprises a rotating cam plate that rotates to move the gripper arms radially outward and inward, the cam plate including an aperture that defines a cam surface,
wherein a proximal end of each gripper arm includes a follower pin in direct contact with the cam surface of the cam plate, the spring being positioned to bias the follower pin of each gripper arm radially outward against the aperture.
2. The pick device of claim 1 , wherein pairs of the grippers are arranged on diametrically opposite sides of the housing.
3. The pick device of claim 1 , wherein the means for imparting comprises a Geneva drive mechanism for successive intermittent positioning of the grippers.
4. The pick device of claim 1 , wherein the distal end of each gripper arm includes a suction cup.
5. The pick device of claim 4 , wherein the distal end of each gripper arm includes a pin for engaging an edge of packages held by the suction cup.
6. The pick device of claim 4 , wherein the gripper arms each further comprise a vacuum passage for providing vacuum pressure to the suction cup.
7. The pick device of claim 1 , wherein the packages are blister packs.
8. A picking system, comprising:
a plurality of storage tubes;
a pick device for accessing packages in the storage tubes, the pick device further comprising a plurality of grippers disposed circumferentially around a rotatable housing, each gripper comprising a radially slidable gripper arm positioned within guides coupled to the housing and a spring is coupled to the gripper arm and contacts the guides to bias the gripper arm radially outward from the housing;
a transfer nest movable with the pick device for receiving packages picked by the pick device; and
a rotating cam plate that rotates to move the gripper arms radially outward and inward, the cam plate including an aperture that defines a cam surface,
wherein a proximal end of each gripper arm includes a follower pin in direct contact with the cam surface of the cam plate, the spring being positioned to bias the follower pin of each gripper arm radially outward against the aperture.
9. The pick device of claim 1 , wherein the gripper arm is positioned within the spring.
10. A pick device for transferring packages, comprising:
a plurality of grippers disposed circumferentially around a rotatable housing, each gripper comprising a radially slidable gripper arm positioned within guides coupled to the housing and a spring is coupled to the gripper arm and contacts the guides to bias the gripper arm radially outward from the housing;
a Geneva drive mechanism for successive intermittent positioning of the grippers; and
a rotating cam plate that rotates to move the gripper arms radially outward and inward, the cam plate including an aperture that defines a cam surface,
wherein a proximal end of each gripper arm includes a follower pin in direct contact with the cam surface of the cam plate, the spring being positioned to bias the follower pin of each gripper arm radially outward against the aperture,
wherein the distal end of each gripper arm includes a suction cup, and
wherein pairs of the grippers are arranged on diametrically opposite sides of the housing.
11. The picking system of claim 8 , wherein pairs of the grippers are arranged on diametrically opposite sides of the housing.
12. The picking system of claim 8 , wherein the transfer nest further comprises a plurality of slots, each slot configured to receive a plurality of packages.
13. The picking system of claim 8 , wherein the rotatable housing further comprises a Geneva drive mechanism for successive intermittent positioning of the grippers.
14. The picking system of claim 8 , further comprising means for imparting intermittent rotational motion to the rotatable housing.
15. The picking system of claim 8 , wherein the distal end of each gripper arm includes a suction cup.
16. The picking system of claim 15 , wherein the distal end of each gripper arm includes a pin for engaging an edge of packages held by the suction cup.
17. The picking system of claim 8 , wherein the gripper arms each further comprise a vacuum passage for providing vacuum pressure to the suction cup.
18. The picking system of claim 8 , wherein the pick device and the transfer nest are movable from a first storage tube to a second storage tube.
19. The picking system of claim 8 , wherein the packages are blister packs.