Gripper for a sorting device and method for operating a sorting device

Abstract

The invention relates to a gripper for a sorting device for depositing small items and a method for operating a sorting device comprising a gripper according to the invention. The use of known grippers requires the removal of small items from a curved shelf floor. The gripper according to the invention simplifies the removal and comprises a shelf (10) extending in a first horizontal direction (X-direction) and a second horizontal direction (Y-direction) with at least one end section (70) with a removal end face (71), wherein the shelf (10) and the end section (70) define an upper loading face (11); a transport device (20) arranged on the shelf (10) for moving small items and at least one sensor device arranged in the at least one end section (70) with a detection region DBx, wherein the sensor device is arranged along a vertical Z-axis such that the detection region DBx covers a vertically extending space DB1-DBn in front of the removal end face (71).

Description

TECHNICAL FIELD

[0001] The invention relates to a gripper for a sorting device and a method for operating a sorting device comprising a gripper according to the invention, the sorting device having horizontal shelf floors for depositing small items, in particular pharmaceutical packages and nutritional supplement packages. BACKGROUND

[0002] In modern sorting devices, as they are frequently used in pharmacies, a large number of different and differently sized pharmaceutical packages or, respectively, nutritional supplement packages are deposited chaotically and position-optimally on elongated horizontal shelf floors. These shelf floors, together with shelf side panels, form a plurality of shelf compartments, wherein each shelf compartment or, respectively, each shelf floor has a large number of small items deposited thereon.

[0003] In position-optimized depositing, small items, such as pharmaceutical packages and nutritional supplement packages, are deposited on the shelf floors such that each unit area of the shelf floor can have as many small items deposited thereon as possible, which means that as little free space as possible remains on the shelf floor. In contrast, what is not taken into account in the usual position-optimized chaotic depositing is that the small items are deposited in the sorting device such that the weight distribution between the individual shelf floors is even. As a result, it is entirely possible that a large number of relatively "heavy" small items are deposited on one shelf floor. Shelf floors are usually composed of thin material having a smooth surface. In sorting devices, as they are used in pharmacies, shelf floors made of glass are frequently used. Depending on the width of the shelf compartments and the occupancy, it can happen that the shelf floor, in particular in the middle of the shelf compartment, is curved, as a result of which the small items deposited on the curved shelf floor, as well as the shelf floor itself, are not arranged in the Z-position in which they are "expected" to be. Depending on the degree of curvature, the shelf floor and the small items arranged thereon are "lower", which corresponds to a lower Z-position.

[0004] In order to be able to dispatch the packages, in particular for pharmaceutical packages and nutritional supplement packages and, generally, for small items, from the sorting device as quickly as possible, the shelf floor on which the packages are deposited is assigned a position at which the gripper approaches when a package is to be dispatched from the shelf floor or, respectively, shelf compartment. When the package is dispatched, it is gripped by the transport device and moved onto the loading table of the gripper. In order to be able to carry out this process as much as possible without the package remaining in the necessary gap between the loading and unloading end faces of the gripper and the corresponding end face of the shelf floor, the moving gripper is moved such that the surface of the loading table and the surface of the shelf floor are in approximately the same Z-position (assuming that the shelf floor is not curved).

[0005] If the package is to be moved from the shelf floor to the table, it is unproblematic if the Z-position of the table surface of the gripper is slightly below the Z-position of the surface of the shelf floor. Conversely, it is unproblematic if the shelf floor is arranged in a slightly lower Z-position if the package is to be moved from the table of the gripper to the shelf floor.

[0006] But if a large number of relatively heavy packages are deposited on the shelf floor, it can happen that the shelf floor is bent in such a way that in the case of a movement of a package from the shelf floor to the table, the current or real Z-position of the surface of the shelf floor is significantly below the Z-position of the surface of the table of the gripper. If a package is attempted to be moved from the shelf floor to the gripper in this case, the package will come to rest on the front edge of the table, which in this case protrudes significantly above the surface of the shelf floor. Without an adjustment of the gripper in terms of the Z-position, it is not possible to move the package to the table with the known gripper. However, an adjustment of the Z-position is only possible with the known gripper if the package is adjusted as a result of a failed outfeed. SUMMARY

[0007] It is an object of the present application to provide a gripper with which a false orientation between a shelf floor and the gripper can be determined before an infeed or outfeed movement is carried out. It is also an object of the present application to provide a method for operating a sorting device comprising a corresponding gripper.

[0008] According to the application, this object is achieved by a gripper for a sorting device having a horizontal shelf floor for depositing small items. The gripper according to the application comprises a table extending in a first horizontal direction (X-direction) and a second horizontal direction (Y-direction) orthogonal to the first horizontal direction, the table having at least one end section with an outfeed and infeed end face, wherein the table and the end section define an upper loading face, a transport device arranged on the table and movable in the first horizontal direction for moving small items from the horizontal shelf floor onto the table, and at least one sensor device coupled with a control device and arranged in the at least one end section, the sensor device being assigned a detection region DBx, wherein the sensor device is arranged in a vertical Z-direction such that the detection region DBx covers a vertically extending space DB1-DBn in front of the outfeed end face and wherein the control device is designed in such a way that an orientation of the gripper relative to the horizontal shelf floor can be determined by evaluation of the sensor device.

[0009] By equipping a gripper common for sorting devices with at least one sensor device, wherein the sensor device has a plurality of detection regions DBx extending along the Z-axis in at least one end section, it is possible to determine before the in- or outfeed of the small items from the shelf floor to the placement table or from the placement table to the shelf floor whether the orientation of the gripper on the corresponding shelf floor is such that only a deviation exists between the loading surface of the placement table and the loading surface of the shelf floor which does not affect the movement of the small items. By evaluating the plurality of detection regions it is possible to determine exactly which of the detection regions the shelf floor extends into. It is possible, for example, to use a plurality of vertically offset sensor units SEx as sensor device, each of which has its "own" detection region. For this purpose it is possible, for example, to use a sensor with a laser diode which, in addition, comprises a receiving lens with which it is possible to capture the part of the laser light which is reflected or scattered from the surface of the shelf floor. By using a plurality of vertically offset sensor units with the detection regions attached thereto it is possible to determine the relative position of the shelf floor with respect to the gripper.

[0010] Alternatively, it is possible, for example, to use a matrix sensor with a plurality of sensor units each of which is assigned a detection region. The term sensor device should also include a camera whose images are divided by the control device into a plurality of "artificial" detection regions in order to determine the orientation.

[0011] Thus, with the gripper according to the application it is not a matter of determining the positioning with reference to a position-fixed identification of the intended position, but rather with reference to a position which can vary, namely the vertical position of the shelf floor which is assigned to the intended position. According to the application, for this purpose it is necessary to arrange the sensor device in the end section of the outfeed end surface of the placement table, because only in this way is it possible to determine by evaluating the detection regions whether the gripper is optimally oriented. If the orientation is determined with reference to a position-fixed identification, as is known from the prior art, it is not possible to compensate for possible curvatures of the shelf floor; it is therefore essential to be able to determine the positioning with respect to the shelf floor.

[0012] Depending on the number of detection regions and, if necessary, on their height, it is possible, for example, to consider that only for the case in which the shelf floor is determined, for example, in the second detection region from above, is it possible to move the item of goods without error from the loading surface of the shelf floor onto the loading surface of the placement table. If the shelf floor is determined, for example, in a detection region which lies below the "ideal" detection region, this means that the shelf floor is curved and does not guarantee the error-free movement of the item of goods onto the placement table. In such a case the gripper is lowered by the corresponding Z-distance and the outfeed is then carried out.

[0013] Thus, with the gripper according to the application, which has a sensor device comprising a plurality of detection regions in at least one end region of the gripper, it is possible to determine before the storage and removal of the small items of goods whether this process can be carried out without errors or whether a possible deviation between the loading surface of the shelf floor and the loading surface of the placement table can be eliminated by a calibration of the Z-position of the gripper. Such a deviation does not, however, always cause an interference - when moving small items of goods onto the shelf floor, the surface of the shelf floor can be arranged slightly below the loading surface of the placement table, so that this does not interfere with the movement of the package from the placement table onto the shelf floor. The placement table is arranged slightly lower than the shelf floor, so that this does not cause an interference when moving the package onto the placement table.

[0014] Unlike in the known grippers, the storage and removal is not first attempted and the gripper position is corrected if the storage and removal is incorrect, but the possible deviation is immediately recognized and corrected if necessary. Due to the immediate recognition of the deviation directly after reaching the position at which the gripper should be, the gripper according to the application makes it possible to store and remove small items of goods more quickly and with fewer errors.

[0015] The application is also advantageous in that known grippers can be adjusted cost-effectively and with little effort by adding a correspondingly designed sensor device. The application can be applied to grippers which store and remove small items of goods only via an end region, but also to grippers in which the placement table has two end regions for the storage and removal. In the latter case, it is meaningful, but not necessarily necessary, to provide a sensor device in both end regions. In the following, only one sensor device is discussed, but the corresponding explanations also apply when two sensor devices are installed.

[0016] It is not critical for the application which transport device is used in the gripper according to the application to move the small items of goods. It is thus possible, for example, to use a transport device which grips the small items of goods from behind and then pulls them from the shelf floor onto the placement table of the gripper. In a preferred embodiment which is kept structurally simple, it is provided that the transport device comprises two clamping jaws which are arranged in an elongate manner on the placement table and extend in the X direction with their inner faces facing each other, wherein, in addition, at least one of the clamping jaws is movable at least partially segmentally in the second horizontal direction. Alternatively, at least one of the clamping jaws is additionally pivotable.

[0017] In order to be able to quickly and simply reset the functioning of the gripper in the event of a malfunction of the sensor device, it is provided in a preferred embodiment of the gripper that the sensor device is designed as a sensor assembly which can be removed from the placement table.

[0018] The clamps are usually positioned on the shelf floor such that the small items to be picked out or put in are arranged centrally with respect to the future placement point on the loading surface or shelf floor. For this reason, it is provided in the preferred embodiment that the sensor unit is arranged in the third of the way in the Y-direction between the end sections. Particularly preferred for particularly wide clamps / shelf floors is that the sensor unit is arranged in the middle third (i.e. centrally on the longitudinal axis of the loading surface or Y-axis) in the Y-direction. Thereby it is ensured that an "average" offset (if present) is always measured between the surface of the shelf floor and the loading surface of the loading surface by means of the sensor unit. It is also conceivable for very wide clamps to distribute a plurality of sensor units over the entire width (in the Y-direction).

[0019] For the case in which only the shelf floor curvature is determined with the sensor device, i.e. only the shelf floor "below" the expected position is taken into account, it is sufficient for the detection region to extend below the loading surface plane of the loading surface. According to the method embodiment described more precisely hereinafter, it is also conceivable to adjust the assigned position of the shelf floor in the Z-position if a curvature of the shelf floor is found. In this way it is possible to optimally approach the assigned position of the shelf floor on the next pick-out and put-in without subsequent calibration with respect to the Z-position.

[0020] The pick-out of small items (or, if necessary, the manual removal of one or more small items) can also cause the degree of curvature of the shelf floor to decrease, which means that the Z-position of the shelf floor again approaches the initial Z-position. If the method for operating the sorting device is run for the adjustment of the assigned position to the predetermined shelf floor, it is provided in the preferred embodiment of the clamp that the sensor device is arranged such that at least one detection region DBx extends vertically over the loading surface.

[0021] The object is also achieved by a method for operating a sorting device. The sorting device used to carry out the method comprises a plurality of horizontal shelf floors, at least one clamp displaceable in front of the horizontal shelf floors, wherein the clamp comprises: a transport device for the in- and pick-out of small items to or from the shelf floors; a loading surface extending in a first horizontal direction and in a second horizontal direction orthogonal to the first horizontal direction, having at least one end section with a pick-out end face, wherein the loading surface and the at least one end section define an upper loading surface; and at least one sensor device assigned a detection region DBx coupled to a control device and arranged in the at least one end section, wherein the sensor device is arranged such that the detection region DBx covers a space extending vertically in front of the pick-out end face.

[0022] According to the application, the gripper is moved to the intended position SPx assigned to the shelf floor. On this intended shelf floor, small items can be arranged which are to be moved onto the placement table. Alternatively, the placement table can be arranged with small items which are to be moved onto the intended shelf floor. As already explained above, due to possible curvatures of the shelf floor, it can occur that the loading surface of the placement table is not level with the loading surface of the shelf floor in the intended position, so that it cannot be ensured that the small items can be moved from the shelf floor onto the placement table by means of the transport device, since due to the curvature of the shelf floor an edge can be formed which hinders the movement.

[0023] Therefore, according to the application, the current orientation of the gripper with respect to the intended shelf floor RBx is determined before the small items are moved, more specifically by verifying in which detection region or which detection regions the presence of the shelf floor is recognized. Based on the recognition of the presence of the shelf floor in which detection regions, it is determined whether the current orientation of the gripper on the intended shelf floor with respect to the Z-position, wherein this position corresponds to the intended position SPx, corresponds to the intended orientation. This means that it is determined whether the loading surface of the placement table is aligned with the loading surface of the shelf floor so that the small items can be moved without error. How this is done in particular is explained in the detailed description of the preferred embodiment of the method.

[0024] As soon as it is determined that the current orientation of the gripper with respect to the Z-position does not correspond to the intended orientation, which means that the Z-position of the loading surface of the shelf floor is above or below the Z-position of the loading surface of the placement table, the gripper is moved in the Z-direction corresponding to the negative or positive offset between the current orientation AA and the intended orientation VA.

[0025] For the case that the shelf floor is curved due to the occupation by small items, this means that, when determining whether the current orientation of the gripper on the intended shelf floor with respect to the Z-position corresponds to the intended orientation, a "negative offset" is found, so that the gripper is moved in the Z-direction "downwards" by the determined negative offset in order to align the gripper on the curved shelf floor. As soon as this has occurred, the small items can be removed (in this case). The "negative offset" represents an offset downwards or upwards, depending on the marking or numbering of the Z-axis. Typically, the lowest Z-position corresponds here to the 0-position.

[0026] With the method according to the application it is possible to determine, before moving a small item from or to a shelf floor, whether such a movement can be carried out without error. This determination can be carried out quickly, so that, in the event of an offset which cannot be accounted for as a tolerance, the gripper can be quickly repositioned. But in order to avoid repositioning of the gripper to a large extent (and in the case of the assumption that the removal of only one small item does not have a critical effect on the bending of the shelf floor), it is provided in a preferred embodiment of the method that, in the event of an offset between the current orientation AA and the predetermined orientation VA, the position Spx which should be assumed with respect to the predetermined shelf floor RBx is adjusted in accordance with the negative offset or the positive offset. In such a case, if the same shelf floor is approached again, the gripper is displaced to the adjusted position Spx which should be assumed in the same way, wherein the result of the determination or the verification that the current orientation of the gripper on the predetermined shelf floor is in correspondence with the predetermined orientation with reference to the Z-position is positive.

[0027] In principle, a bending of the shelf floor is not desired, since this leads to an increased risk of errors in the removal and the deposit. Depending on the material of the shelf floor, a long-term bending also leads to a material damage of the shelf floor or the shelf floor remains bent. In a preferred embodiment according to the application, it is therefore provided that, in the event of a negative offset between the current orientation AA and the predetermined orientation VA, the predetermined shelf floor RBx is marked as a shelf floor to be emptied. When the sorting device is not operated in normal operation, the shelf floor marked as a shelf floor to be emptied can be removed or emptied in order to cope with the bending of the shelf floor.

[0028] A bending of the shelf floor not only impedes the barrier-free removal of small items, but also reduces the maximum deposit height at the deposit place below the predetermined shelf floor. In a preferred embodiment of the method, in the event of an offset between the current orientation AA and the predetermined orientation AA, this offset is used to adjust the maximum deposit height of the shelf floor which is located below the shelf floor currently approached.

[0029] The width of the shelf floor (in the Y-direction) is generally such that there are a large number of deposit places per shelf floor. A bending not only affects a partial area of the shelf floor, but usually also all deposit places on each shelf floor, with the deposit places in the middle being affected more. In order to minimize the distance to be traveled on the shelf floor to the position which should be approached "with an offset", it is provided in a preferred embodiment that, in the event of an offset between the current orientation AA and the predetermined orientation VA, the entire predetermined shelf floor RBx is traversed in the Y-direction with the gripper and the offset between the current orientation AA and the predetermined orientation VA is determined for all deposit places which are assigned to the predetermined shelf floor RBx and the positions which should be assumed in relation to the deposit places are adjusted accordingly.

[0030] In an alternative embodiment it is provided that, in case of an offset between the current orientation AA and the predetermined orientation VA, the offset is determined by calculation and the assigned position of all storage positions of the rack floor is adjusted accordingly, based on the offset. Although the determination by calculation is not as accurate as the aforementioned traversal of the rack floor in Y-direction, it saves time and is particularly meaningful when the sorting device is in operation and a cross could interfere with the outfeed and infeed.

[0031] In another preferred embodiment it is also provided that the determined offset between the current orientation and the predetermined orientation is used to adjust the maximum infeed height on all storage positions of the rack floor located below the predetermined rack floor. BRIEF DESCRIPTION OF DRAWINGS

[0032] In the following, preferred embodiments of a clamp according to the application and preferred embodiments of a method according to the application are described with reference to the drawings, in which

[0033] Figure 1a and 1b a perspective view of a preferred embodiment of a clamp according to the application is shown,

[0034] Figure 2a and 2b a detail view of an end section of a loading platform of a clamp according to the application is shown, wherein Figure 2a a perspective view is shown Figure 2b a front view is shown,

[0035] Figure 3 a perspective view of a clamp according to the application without housing of the moving mechanism of the transport device and the loading platform is shown,

[0036] Figure 4a and 4b a detail view of the moving mechanism of the transport device of a preferred embodiment is shown, wherein Figure 4a a top view is shown Figure 4b a bottom view is shown,

[0037] Figure 5a and 5b the orientation of the clamp on a rack floor that is not curved is illustrated, wherein Figure 5a a side view is shown Figure 5b a front view is shown,

[0038] Figure 6a and 6b the orientation of the clamp on a curved rack floor is illustrated, wherein Figure 6a a side view is shown Figure 6b a front view is shown,

[0039] Figures 7a-7cDifferent in- and out-feed scenarios are schematically shown, according to which preferred embodiments of the method according to the application are demonstrated, and

[0040] Figure 8 A flow chart of a preferred embodiment of the method according to the application is shown. DETAILED DESCRIPTION

[0041] Figure 1a and 1b Two perspective views of a preferred embodiment of the clamp 1 according to the application are shown, in which Figure 1a A top perspective view is shown, while Figure 1b A bottom perspective view is shown. The clamp 1 according to the application is part of an (not drawn) operating device for a sorting installation and comprises a resting table 10 with an end section 70 and a transport device 20, which in this embodiment mainly comprises two clamp jaws 20a, 20b with opposite clamping planes 21a, 21b. The clamp jaws 20a, 20b have at their free ends sections 22a, which are coated with a non-slip material.

[0042] The resting table 10 has at the free ends of the clamp jaws an end section 70 with an out-feed end face 71, wherein the end section 70 in this embodiment is designed as a separate assembly and comprises a sensor device with a plurality of sensor units, which is designed as a sensor assembly 80. The sensor assembly 80 is arranged below the loading surface 11 defined by the resting table and the end section. With the sensor assembly it is possible to determine the orientation of the clamp on the (not drawn) shelf floor, which will be described in more detail in the following figures.

[0043] The resting table extends in a first horizontal direction (X-direction) and in a second horizontal direction (Y-direction) orthogonal to the first horizontal direction, wherein the X-direction corresponds to the in- and out-feed direction, which means that the out-feed end face is an end face in the X-direction. The sensor assembly 80 in the shown embodiment is arranged exactly on the longitudinal axis of the resting table (corresponding to the X-direction). Such an exact arrangement on the longitudinal axis is not mandatory, but is particularly preferred. In other embodiments it can also be sufficient to be arranged in the middle third section 14 (with respect to the Y-direction) or completely outside of it, but at least in the middle third section is preferred. The specific choice of the arrangement mainly depends on the (X-direction) width of the clamp and the maximum expected curvature of the shelf floor, which in turn depends on the material, thickness and tensioned width of the shelf floor between the two supports.

[0044] The end section comprises an infeed and outfeed face 71. In the shown embodiment the end section is designed as a detachable assembly, alternatively the "end section" can merely indicate a section of the loading table. The loading table comprises an elongated opening in the middle which extends in the infeed and outfeed direction, i.e. the first horizontal direction X. In the opening a push slide element 12 is arranged which has a widened push slide head 13. The push slide element 12 can be moved in the elongated opening in the infeed and outfeed direction or first horizontal direction.

[0045] In the shown embodiment opposite the end section a gripper jaw traction arrangement 30 is arranged to which the gripper jaws 20a, 20b are connected and which comprises a mechanism for displacing and oscillating the gripper jaws. In the upper section the gripper jaw traction arrangement 30 comprises a drive unit 50 with two drives 51, 52 and the associated transmission mechanisms 53, 54. By means of the two drives the gripper jaws are displaced and oscillated in the shown embodiment as described in more detail with reference to the following figures. On the gripper jaw traction arrangement an optical detection device 2 is arranged with which different aspects can be monitored during the infeed and outfeed.

[0046] The gripper jaw traction arrangement 30 and all its electronic components are connected to a control device 4 which in the shown embodiment is arranged below the stationary arm 3. The stationary arm 3 itself is fixed on the loading table or the base structure of the loading table by means of a rotary joint.

[0047] For infeeding and outfeeding the packages the gripper jaw traction arrangement 30 has to be moved in the first horizontal direction (X-direction) or infeed and outfeed direction. For this purpose in the shown embodiment a drive 60 is arranged below the loading table. The drive is coupled by means of a transmission mechanism with linear drives 61a, 62a by means of which the gripper jaw traction arrangement is moved in the X-direction. Below the loading table a drive 7 is also arranged which drives the push slide element 12.

[0048] Figure 2a and 2b A detail view of an end section of a loading table of a gripper according to the invention is shown, wherein Figure 2a A perspective view is shown Figure 2b A front view is shown. In Figure 2a and 2b It can be discerned more precisely in that in the end section 70 which is designed as a separate component a sensor assembly 80 is arranged and how it is arranged below the loading face 11. In Figure 2b It can be discerned in that in the shown embodiment the sensor assembly 80 comprises six sensor units SE1-SE6.

[0049] Figure 3An oblique view of the jaw pulling arrangement 30 of a preferred embodiment of the gripper is shown, in which the two jaws 20a, 20b are swung for gripping. The jaw pulling arrangement 30 comprises frame structures 31, 32, 33a, 33b, wherein the front member 31 encloses the jaws (and the not shown rest table). At the lower end of the member 31, the active parts 62, 62b ("slider") of a linear drive are fixed, with which the jaw pulling arrangement 30 can be moved in the first horizontal direction. These members are described as "active", since they move together with the jaw pulling arrangement in the first horizontal direction along the corresponding fixed parts (which are rotated for moving the active parts). The fixed parts 61a, 61b (see Figure 1a , 1b ) can likewise be moved themselves in order to move the active parts, for example in such a way that they are rotated, wherein in this rotational movement the active parts are moved along the longitudinal axis of the fixed parts, while the inactive parts are positionally fixed with respect to their position in the gripper. In alternative embodiments, it is conceivable, for example, to design the fixed parts as toothed belts formed between the longitudinal ends of the gripper and to cooperate with corresponding guide wheels in order to move the active parts.

[0050] As can be seen from Figure 4a , two guides 35, 36, a first guide 35 and a second guide 36, extend parallel to each other in the second horizontal direction Y and spaced apart from each other in the first horizontal direction X between the lateral frame structure members 33a, 33b, wherein the first guide faces the free end of the jaws. On each of the guides 35, 36, two jaw carriages 40a, 40b; 41a, 41b are arranged; two first jaw carriages 40a, 40b on the first guide 35 and two second jaw carriages 41a, 41b on the second guide 36. In the drawn embodiment of the gripper according to the application, the segments of the jaw carriages enclose the protrusion of the guides 35, 36, so that the jaw carriages lie partially on the protrusion.

[0051] It can be discerned in Figure 4a and 4b that the jaw carriages 40a, 40b; 41a, 41b are connected with drive elements 45a, 45b; 46a, 46b, which are designed as racks in the shown embodiment. The drive elements 45a, 45b attached to the first guide 35 or the corresponding first jaw carriages 40a, 40b and the corresponding drive elements 46a, 46b attached to the second guide 36 are oriented with reference to the tooth elements of the racks so that the tooth elements are opposite and form an overlap region at their free ends. In the middle of the overlap region of the drive elements or the racks, respectively, a drive gear 55, 56 is arranged, which is driven by a motor 50, 51, respectively, via a gear mechanism 52, 53, respectively. Figure 4a and 4bThe transmission mechanisms 53, 54 are coupled to the drives 51, 52 (not shown). The distance between the jaw slides 40a, 40b; 41a, 41b of the guides and the corresponding drive gears is the same, so that the drive gears are arranged exactly centrally between the two jaw slides, so that the movement of the drive gears causes a synchronous movement of the jaw slides. Thus, the jaw slides move synchronously towards or away from each other when the drive gears are rotated, wherein the corresponding applies to the jaw slides belonging to both guides 35, 36.

[0052] The jaw slides of the first guide can thus be moved simultaneously or separately with respect to the jaw slides of the second guide, so that there is a great flexibility in the movement of the jaw slides. The jaw slides of the first or second guide can move synchronously, or only the jaw slides belonging to the first or second guide can move. In this way, it is possible to displace the jaws fixed on the jaw slides in parallel or with a swing already taking place without adjusting the angle (by moving the jaw slides of both guides simultaneously), or to swing the jaws when only the jaw slides of one guide are moved.

[0053] As already implemented, the jaws 20a, 20b are coupled with the jaw traction arrangement 30. This coupling can be resolved in Figure 4b In the shown embodiment, the jaws 20a, 20b are connected with the jaw slides 40a, 40b of the first guide 35 via the rotary joints 23a, 43a; 23b, 43b, respectively, and with the jaw slides 41a, 41b of the second guide 36 via the slot guides 24a, 25a, 44a; 24b, 25b, 44b, respectively. In alternative embodiments, the rotary joints can also be arranged at the jaw slides belonging to the second guide, then in this case for the shown combination the slot guides need to be arranged at the jaw slides belonging to the first guide 35.

[0054] However, the use of the rotary joint / slot guide combination is not mandatory. Although the jaws have to be held on the corresponding jaw slides at at least one guide by means of a rotary joint or swing joint, the use of a slot guide is not mandatory. In this way, for example, it can be considered in alternative embodiments to move the jaws with the jaw slides against a return force, and the return force moves the jaws back when the jaw slides return.

[0055] Figure 5a and 5b The orientation of the clamp on the uncurved shelf floor is illustrated, wherein Figure 5a a side view is shown while Figure 5b a front view is shown. As Figure 5aAs can be discerned from the diagram, the loading surface 6 of the shelf bottom 5 is "appropriately" aligned with the loading surface 11 of the shelf 10, allowing small items to be easily moved from or to the shelf bottom. In the schematic view shown, the shelf bottom only extends into the detection area DB1, which is interpreted in the orientation process as meaning that no clamping adjustment is required in the Z-axis or Z-direction (vertical axis). Figure 5b The corresponding front view is shown, in which the fixture is viewed from the "rear" of the shelf bottom. It can be discerned that the shelf bottom 5 and the loading surfaces 6 and 11 of the shelf 10 are flush with each other or at substantially the same Z-position.

[0056] Figure 6a and 6b The situation shown is different—the bottom surface 5 of the shelf is bent, and in the detection area DB1-DBn, or 81, it is not only within the detection area DB1, but also... Figure 6a (In the middle) The bottom surface of the shelf was also detected within the detection area DB2, indicating the necessity of bending and correcting the Z-position of the clamp. Based on Figure 6b In the front view, it is repeated Figure 6a The diagram is schematic, but it can be more clearly seen how bending has an effect—the loading surface 6 of the shelf bottom 5 is no longer flush with the loading surface 11 of the shelf 10, but is instead positioned in the area in front of sensor units SE3 and SE4. An assessment of the sensor units / detection areas in this situation indicates that the clamps must be shifted "down" in the Z-direction approximately corresponding to the height of the two detection areas to remove small items from the warehouse.

[0057] Figures 7a-7c The schematic map illustrates different inbound and outbound scenarios. Figures 7a-7c The fixture, schematically partially indicated, includes five sensor units SE1-SE5, each with a corresponding detection area DB1-DB5. The sensor units are oriented such that the detection area extends slightly upwards, not parallel to the loading surface 11. This causes the detection area DB1 to cover the area above the loading surface 11. Figure 7a In the scenario described, the shelf bottom surface is not bent, and the clamp is ideally aligned with it. Due to the orientation of the detection area, this means that the shelf bottom surface is detected only within the detection area DB2. This is considered "no offset" during the orientation determination process (provided, of course, that the control unit has a corresponding predetermined standard—in alternative implementations, this could also represent bending).

[0058] Figure 7bIn the presence of a bend, after the clamp has been moved into the home position, the shelf floor is detected in the detection area DB3, whereby it is determined that the clamp is not ideally aligned with the shelf floor, which means that there is a negative offset from the home position. The result of this is that the clamp is displaced from the home position Z(O) to an adjusted Z-position Z(-1). As soon as the clamp reaches this Z-position, the shelf floor is detected again in the detection area DB2 - whereby the orientation is ideal - and the small item can be removed.

[0059] Figure 7c The scenario after the home position has been adjusted after detection of a bend is shown (for example as a reaction to the scenario according to Figure 7b In the course of determining the orientation, it is found that the shelf floor is detected in the detection area DB1, which means that in the described embodiment the Z-position of the clamp is lower than the Z-position of the shelf floor, for example because the last removal removed a certain weight, so that the degree of bending is reduced. If such a case is detected, the clamp is displaced from the position Z(O) to the position Z(+1) and this new Z-position is saved as the new home position of the clamp for the relevant shelf floor.

[0060] Figure 8 A flowchart of a preferred embodiment of the method according to the application is shown. First, in step 100, the clamp is moved to a predetermined home position Spx in front of a predetermined shelf floor RBx. On this predetermined shelf floor RBx the small item to be removed is arranged, which must first be moved onto the loading table of the clamp for this purpose. Which shelf floor the small item is arranged on is determined on the basis of a query to a database. As soon as the relevant shelf floor has been determined, its current home position is determined and the clamp is displaced.

[0061] As soon as the clamp has reached the home position, the current orientation of the clamp with reference to the predetermined shelf floor RBx is determined in step 110 by verifying in which detection area or areas DBx the presence of the shelf floor is detected (for this see the discussion in Figures 7a-7c ). Subsequently, in step 120 it is determined whether the current orientation of the clamp with reference to the Z-position on the shelf floor RBx corresponds to the predetermined orientation (for this see also the discussion in Figures 7a-7c ). If this is the case (no bend is present or the home position is adapted to the bend), the small item is moved onto the loading table of the clamp in step 200 - how this specifically takes place depends on the specific design of the transport device of the clamp, but this is not critical to the application.

[0062] If this is not the case, i.e. there is a bend or a decrease in the degree of bending and the adjusted in-place position is not correct, the gripper is shifted in the Z-direction corresponding to the negative or positive offset between the current orientation AA and the predetermined orientation VA in step 300 and is subsequently discharged (step 200). Finally, the in-place position Spx relative to the predetermined shelf bottom surface RBx is adjusted according to the negative or positive offset in step 310.

Claims

1. Gripper (1) for a sorting installation, the sorting installation comprising a horizontal shelf floor (5) for storing small items, the gripper having a table (10) extending in a first horizontal direction and in a second horizontal direction orthogonal to the first horizontal direction, the table having at least one end section (70) with a delivery end face (71), wherein the table (10) and the end section (70) define an upper loading face (11), a transport device (20) arranged on the table (10) and movable in the first horizontal direction for moving small items from the horizontal shelf floor onto the table (10), and at least one sensor device coupled with a control device (4) and arranged in at least one of the end sections (70), the sensor device being assigned a detection region DBx, wherein the sensor device is arranged along a vertical Z-axis such that the detection region DBx covers a vertically extending space DB1-DBn in front of the delivery end face (71) and wherein the control device (4) is designed such that an orientation of the gripper (1) on the horizontal shelf floor (5) can be determined by evaluation of the sensor device. The transport device (20) comprises two clamping jaws (20a, 20b) arranged on the table (10) in an elongated stretch, extending in the first horizontal direction, with inner faces (21a, 21b) facing each other, wherein additionally at least one of the clamping jaws is movable at least partially sectionally in the second horizontal direction. The sensor device is designed as a sensor assembly (80) which can be detached from the table (10). With reference to the second horizontal direction, the sensor device is arranged in a third of the end section (70) in the middle.

2. Gripper (1) for a sorting device comprising horizontal shelf floors (5) for depositing small items, according to claim 1, characterized in that, The sensor device is arranged centrally in the third of the end section in the middle.

3. Gripper (1) for a sorting device comprising horizontal shelf floors (5) for depositing small items, according to claim 1 or 2, characterized in that, The sensor device is arranged such that at least one detection region DB1 extends vertically over the loading face (11).

4. Gripper (1) for a sorting device comprising horizontal shelf floors for depositing small items, according to claim 1 or 2, characterized in that, 7. Method for operating a sorting installation, the sorting installation comprising a plurality of horizontal shelf floors (5), at least one gripper (1) displaceable in front of the horizontal shelf floors (5), wherein the gripper (1) comprises a transport device for in- and / or out-feeding small items onto the shelf floors (5), a table (10) extending in a first horizontal direction and in a second horizontal direction orthogonal to the first horizontal direction, the table having at least one end section (70) with a delivery end face (71), wherein the table (10) and the end section (70) define an upper loading face (11), and at least one sensor device coupled with a control device (4) and arranged in at least one of the end sections (70), the sensor device being assigned a detection region DBx, wherein the sensor device is arranged such that the detection region DBx covers a vertically extending space (81) in front of the delivery end face (71), wherein the control device (4) is designed such that an orientation of the gripper (1) on the horizontal shelf floor (5) can be determined by evaluation of the sensor device.

5. Gripper (1) for a sorting device comprising horizontal shelf floors for depositing small items, according to claim 4, characterized in that, ​ 6. Gripper (1) for a sorting device comprising horizontal shelf floors for depositing small items, according to claim 1 or 2, characterized in that, ​ ​ ​ ​ ​ ​ ​ moving the gripper (1) into a predetermined should-be position SPx in front of a predetermined rack bottom surface RBx, determining the current orientation of the gripper (1) with respect to the predetermined rack bottom surface RBx by verifying in which detection region or regions DBx the presence of the rack bottom surface is recognized, verifying whether the current orientation of the gripper (1) on the predetermined rack bottom surface RBx corresponds to a predetermined orientation with respect to the Z-position, and, as soon as a negative result is verified, shifting the gripper (1) in the Z-direction corresponding to a negative or positive deviation between the current orientation AA and the predetermined orientation VA.

8. The method for operating a sorting apparatus according to claim 7, characterized in that, adjusting the should-be position SPx with respect to the predetermined rack bottom surface RBx in accordance with the deviation between the current orientation AA and the predetermined orientation VA.

9. The method for operating a sorting device according to claim 7 or 8, characterized in that, in the event of a deviation between the current orientation AA and the predetermined orientation VA, using the deviation to adjust the maximum infeed height of the rack bottom surfaces below the predetermined rack bottom surface.

10. The method for operating a sorting device according to claim 7 or 8, characterized in that, in the event of a deviation between the current orientation AA and the predetermined orientation VA, traversing the entire predetermined rack bottom surface RBx in the Y-direction with the gripper and determining the deviation between the current orientation AA and the predetermined orientation for all storage positions assigned to the predetermined rack bottom surface RBx and adjusting the should-be positions assigned to the storage positions accordingly.

11. The method for operating a sorting apparatus according to claim 7, characterized in that, in the event of a deviation between the current orientation AA and the predetermined orientation VA, determining the deviation by calculation for all storage positions of the rack bottom surface on the basis of the deviation and adjusting the should-be positions assigned to the storage positions accordingly.

12. The method for operating a sorting apparatus according to claim 7, characterized in that, using the deviation determined between the current orientation and the predetermined orientation to adjust the maximum infeed height on all storage positions of the rack bottom surfaces below the predetermined rack bottom surface.

13. The method for operating a sorting device according to claim 11 or 12, characterized in that, ​

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