Patent ID: 6607344
Filing Date: 2003-08-19
Classification: B65G

Abstract:
An adapter for holding a cartridge, comprising:an adapter housing, adapted to be attached to a robotic picker; at least one gripper finger adapted to hold the cartridge; at least one actuation point for actuating said at least one gripper finger; and a mechanism in association with the at least one actuation point, wherein if the at least one gripper finger is holding the cartridge and the at least one actuation point is actuated, the mechanism causes the at least one gripper finger to release the cartridge, and if the at least one gripper finger is not holding the cartridge and the at least one actuation point is actuated, the mechanism causes the at least one gripper finger to grasp the cartridge, wherein the mechanism includes: a gripper cam having at least one grip cam surface and at least one ungrip cam surface; at least one gripper cam follower, wherein if the at least one gripper finger is holding the cartridge, the at least one gripper cam follower follows the at least one ungrip cam surface, and if the at least one gripper finger is not holding the cartridge, the at least one gripper cam follower follows the at least one grip cam surface; and a shifter plate in association with the gripper cam, wherein when the adapter housing is retracted by the robotic nicker, the shifter plate moves the gripper cam so that the gripper cam followers follow one of the at least one grip cam surface and the at least one ungrip cam surface; wherein if the at least one gripper finger is holding the cartridge and the adapter housing is retracted by the robotic picker, the shifter plate moves in a first direction, and if the at least one gripper finger is not holding the cartridge and the adapter housing is retracted by the robotic picker, the shifter plate moves in a second direction.