A chuck apparatus includes a first rotating shaft provided with a first gripping member, a second rotating shaft provided with a second gripping member, and a power transmission mechanism configured to convert reciprocating movement of a piston unit into rotational movement of the first rotating shaft and the second rotating shaft. The first rotating shaft and the second rotating shaft are arranged side by side in a direction of displacement of the piston unit.

A gripper mechanism for gripping a load, the gripper mechanism including a body, a first actuator mechanism attached to the body and configured to linearly move a first gripping device; and a second actuator mechanism attached to the body and configured to rotate a second gripping device. A translation of the first gripping device and a rotation of the second gripping device result in gripping the load.

Embodiments relate to a cart assembly having a lower deck, an upper deck, and a gantry. The lower deck has designated areas for empty containers and for filled containers. The gantry includes a gripper system configured to grab at least one container from the empty-container staging area and transport it to a receiving site, where a crop harvesting apparatus deposits a crop in the container. Once the container is filled, the gantry moves the filled container so as to position it within a filled-container staging area of the lower deck. The gripper system then releases the container. The process is continued while the cart assembly is transported throughout a crop harvesting facility to harvest crops.

A gripper includes a lead screw, a first gripping jaw and a second gripping jaw. The lead screw includes a spiral portion having at least one first spiral track and at least one second spiral track with opposite helical directions. A portion of a coverage of the first spiral track overlaps a portion of a coverage of the second spiral track along a length of the spiral portion. The first gripping jaw has a first pin extending into the first spiral track, and the second gripping jaw has a second pin extending into the second spiral track. When the spiral portion rotates, the first spiral track drives the first pin to allow a first linear movement of the first gripping jaw, and the second spiral track drives the second pin to allow a second linear movement of the second gripping jaw opposite to the first linear movement.

A method for operating a gripper includes determining a first transport attachment of a plurality of transport attachments to use for moving a piece good and determining whether the first transport attachment is fixed in a first gripping jaw of the gripper, wherein the gripper includes 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. Grippers and transport systems are also provided.

Methods of assembling a controller for a commissioning device are provided. A method includes extending a delivery table in a first horizontal direction, the delivery table having a storage end and a retrieval end, disposing two elongated clamping jaws above the delivery table, extending, in a second horizontal direction perpendicular to the first horizontal direction, a first guide and a second guide that are parallel and spaced from one another in the first horizontal direction, coupling at least four clamping jaw carriages to the first and second guides, wherein at least two clamping jaw carriages separated from one another in the first horizontal direction are coupled to a single clamping jaw, respectively, and coupling at least four drive elements to a clamping jaw drive unit.

A grasping hand includes a grasping section, a motor configured to generate a driving force for moving the grasping section, and a transmitting mechanism including a first member and a second member configured to transmit the driving force to the grasping section. The first member is supported by a shaft member and moves along the shaft member to move the second member. The second member moves in a direction parallel to the shaft member to move the grasping section. A pressure sensor is provided between the first member and the second member.

A controller for a commissioning device for storing piece goods such as medicinal packages is provided. The controller includes a delivery table that extends in a first direction, two elongated clamping jaws disposed above the delivery table, the jaws having clamping surfaces that face one another, and a clamping jaw guide apparatus with a frame structure, at least one first and one second guide which are separated from one another in the first direction and extend in a second direction, and at least four clamping jaw carriages which are coupled to the guides and driven in the second direction. Two clamping jaw carriages each are associated with a guide and at least two clamping jaw carriages separated from one another in the first direction are coupled to one clamping jaw, respectively.

The present invention provides an underactuated mechanical finger capable of linear motion with compensatory displacement, a mechanical gripper and a robot containing such finger. The proximal phalanx of the finger includes a cam fixed on a linkage. Upon actuation, the linkage rotates the cam, which then drives a cam follower, which then drives an extensible part in the distal phalanx to extend the length of the finger, and therefore compensate the finger's height loss that would otherwise occur in the absence of the extensible part.

A gripping mechanism is attached to a mobile body to grip and convey a transportation article. The gripping mechanism includes a pinion provided to be rotatable about a rotation axis, and a first arm and a second arm disposed with the rotation axis being the center to be separated from the rotation axis by the same distance to grip the transportation article. When the pinion rotates in a predetermined direction, the first arm and the second arm move toward the rotation axis.