Gripper for picking device and method for operating a picking device having this gripper
A gripper for a picking device for storing small piece goods and a method for operating a picking device having a gripper are provided. The gripper simplifies dispensing and includes a drop table extending in first and second horizontal directions, and has at least one end portion having a dispensing end face, wherein the drop table and the end portion define an upper support surface. A transport device for moving small piece goods is arranged above the drop table and sensor device(s) are arranged in the at least one end portion having detection regions associated therewith, the sensor device being arranged along a vertical axis in such a way that the detection regions cover a vertically extending space in front of the dispensing end face.
1. A gripper for small piece goods, the gripper comprising:
a drop table comprising an end portion having a dispensing end face;
a transport device arranged above the drop table and configured for moving small piece goods from a shelf to the drop table, the transport device comprises two elongated gripping jaws arranged above the drop table and having inner surfaces facing each other;
a sensor device having a plurality of detection regions covering a vertically extending space in front of the dispensing end face; and
a clamping jaw guide arrangement, wherein the elongated gripping jaws are coupled to the clamping jaw guide arrangement.
2. The gripper of claim 1 , further comprising a control device configured to determine an alignment of the gripper on a shelf by evaluating the sensor device.
3. The gripper of claim 1 , wherein at least one of the elongated gripping jaws is movable at least in portions towards and away from the other one of the two elongated clamping jaws.
4. The gripper of claim 1 , wherein the elongated gripping jaws are each coupled via a rotary joint to a clamping jaw slide of a first guide.
5. The gripper of claim 4 , wherein the elongated gripping jaws are each coupled via a slot guide to a clamping jaw slide of a second guide.
6. The gripper of claim 1 , wherein the elongated gripping jaws are each coupled to a retractable clamping jaw slide having a restoring force, wherein the restoring force is configured to move the elongated gripping jaw back to a specific position.
7. The gripper of claim 1 , wherein the sensor device comprises a sensor assembly that is releasable from the drop table.
8. The gripper of claim 1 , wherein the sensor device is arranged centrally in the end portion in relation to the vertical direction.
9. The gripper of claim 1 , wherein the sensor device is arranged such that at least one of the plurality of detection regions extends vertically over a support surface of the drop table.
10. The gripper of claim 1 , wherein the sensor device comprises a plurality of sensor units.
11. The gripper of claim 10 , wherein the number of sensor units is the same as the number of detection regions.
12. A method for operating a picking device, the method comprising:
moving a gripper arranged above a drop table to a storage shelf having at least one small piece good;
determining, based on a sensor device having a plurality of detection regions covering a vertical space in front of an end face of the drop table, whether a current alignment of the gripper at the storage shelf in relation to a vertical position corresponds to a specified alignment;
moving the gripper in a vertical direction according to a negative or positive deviation between the current alignment and the specified alignment when the current alignment is determined not to be in the specified alignment; and
wherein if there is a deviation between the current alignment and the specified alignment, one of:
adjusting a target position to the storage shelf on the basis of the deviation;
adjusting a maximum storage height of a shelf below the storage shelf based on the deviation;
traversing the entire storage shelf with the gripper in the vertical direction; and
calculating the deviations for all storage locations on the storage shelf based on this deviation.
13. The method of claim 12 , further comprising:
after traversing the entire storage shelf with the gripper in the vertical direction, for all storage locations assigned to the storage shelf, adjusting target positions assigned to the storage locations accordingly.
14. The method of claim 12 , further comprising:
after calculating the deviations for all storage locations on the storage shelf based on this deviation, adjusting target positions assigned to the storage locations accordingly.
15. A method for operating a picking device, the method comprising:
moving a gripper arranged above a drop table to a storage shelf having at least one small piece good;
determining, based on a sensor device having a plurality of detection regions covering a vertical space in front of an end face of the drop table, whether a current alignment of the gripper at the storage shelf in relation to a vertical position corresponds to a specified alignment;
moving the gripper in a vertical direction according to a negative or positive deviation between the current alignment and the specified alignment when the current alignment is determined not to be in the specified alignment; and
adjusting the maximum storage heights for all storage locations on a shelf below the specified shelf based on the deviations determined between the current alignment and the specified alignment.