Gripper for a picking device and method for operating a picking device

Abstract

The present invention relates to a gripper for a picking device for storing piece goods, and to a method for operating a picking device with a gripper according to the invention. To optimise storage, the gripper comprises a storage table (10) extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction, a transport device (30) arranged above the storage table (10) and movable in the first horizontal direction for moving piece goods onto the storage table (10) of the gripper and at least one weighing device (100, 200, 300) for determining the weight of at least one piece good arranged on the gripper (1). In the method according to the invention, the gripper is moved to a target position of a storage device (420, 430), at least one piece good is moved onto the storage table (10) by a transport device (30) of the gripper (1), and an actual weight of the at least one piece good moved onto the storage table (10) is determined using the at least one weighing device (100, 200, 300) and transmitted to the control device (370).

Description

[0001] Gripper for order picking device and method for

[0002] Operating a picking device

[0003] The present invention relates to a gripper for a picking device for storing piece goods and to a method for operating a picking device with a gripper according to the invention.

[0004] Order picking devices have long been used for the chaotic storage of pharmaceutical packages, nutritional supplement packages, and similar piece goods. The order picking device comprises an operating device with a gripper, which is used to take piece goods from a storage facility and move them to a storage location. In classic chaotic storage, piece goods in the order picking device are not stored in fixed, predefined storage locations, but rather on shelves where a suitable storage location is available, for example. The storage location is determined solely by the space required for each piece of goods. This can avoid unnecessary empty volume and significantly increase the number of piece goods stored per floor space.

[0005] To store, for example, a pharmaceutical package, it is identified using known methods of piece goods storage, measured if necessary, and placed in a predetermined storage area of ​​a storage device of the order-picking device. The pharmaceutical package is then moved into an access area of ​​a gripper, such as that known from EP 3 431 421 A1, of a control device within the order-picking device, picked up by the gripper, and moved to the storage location determined by a control device.Depending in particular on the width of a shelf and the type of pharmaceutical packages stored on it, the shelf may sag slightly under the weight of the stored pharmaceutical packages. This can cause problems, particularly when removing a pharmaceutical package, as the gripper used for removal is no longer optimally aligned with the shelf. Depending on the extent of the sagging, this may make it impossible to remove a pharmaceutical package.

[0006] If errors occur within the picking device, it is occasionally necessary for operating personnel to enter the device. This can result in the unit load resting on a storage device being moved in such a way that it no longer rests in the position on the storage device "expected" by a control device. If the picking device continues to operate, it may then happen that the unit load "expected" is not picked and stored.

[0007] The object of the present invention is to provide a gripper that offers the possibility of optimizing the storage process for piece goods and avoiding the aforementioned disadvantages. It is also an object of the invention to provide a method for operating a picking device that optimizes storage.

[0008] The problem is solved by a gripper having a support table extending in a first horizontal direction and a second horizontal direction, orthogonal to the first horizontal direction, and a transport device arranged above the support table and movable in the first horizontal direction for moving piece goods onto the support table of the gripper. According to the invention, the gripper comprises at least one weighing device for determining the weight of at least one piece of goods arranged on the gripper.

[0009] Based on the weight data that can be determined using the gripper according to the invention, the storage of this piece of goods can be optimized, for example - the storage location is not determined solely on the basis of space requirements, but the weight of the piece of goods can also be taken into account. This does require that the storage location is only determined when the piece of goods is resting on the gripper, but this is not a problem due to the computing power of modern control devices (the gripper is linked to a control device to which the determined weight is transmitted and which can then determine a storage location). A "heavy" piece of goods can then, for example, be stored in a storage location for heavy piece goods.

[0010] As described above, the piece goods are identified before they are moved into the picking device. It may happen that the target weight of a piece of goods is known based on the identification. The weight determined by the gripper can then be used to verify the piece goods based on their weight, thereby preventing incorrect storage, e.g., due to user-related shifts on the storage device or other operating errors.

[0011] In the gripper according to the invention, it is not important where exactly the at least one weighing device is arranged. In a preferred embodiment, it is provided that the at least one weighing device is arranged in relation to the storage table in such a way that the weight of the piece goods lying on the storage table can be determined with the weighing device. In the simplest case, this means that the weighing device is arranged below the storage table and is mounted accordingly. With a corresponding

[0012] In this embodiment, the weighing device can be integrated into the gripper base body located below the storage table and is protected from damage.

[0013] The gripper's storage table can be one-piece. However, in a preferred embodiment, the storage table is made up of multiple parts, and each storage table section is assigned a weighing device with which the weight of the piece goods lying on the storage table section can be determined. In a corresponding embodiment, with appropriate division of the storage table, a sliding element can be guided through a slot arranged between the storage table sections, with which piece goods can be moved from the storage table. The weight can then be determined in such a way that the total weight (across both weighing devices) is determined. However, if it is ensured that piece goods are arranged separately on each storage table section (this should be known from the arrangement on the storage device or can be determined by a sensor module), the weight for each storage table section can be determined.

[0014] In a preferred embodiment, it is provided that the gripper comprises a fastening arm, with which the gripper can be fastened to a gripper guide, wherein the fastening arm has a support section pointing away from a vertical central axis of the gripper and this support section has a weighing device preferably designed as an expansion strip. In this embodiment, the weighing device is therefore (optionally additionally) arranged on the fastening arm. This has the advantage that no further

[0015] Components must be integrated into the main body of the gripper. It is also conceivable to combine both variants (i.e., a weighing device under the support table and in the support section).

[0016] To increase reliability, a preferred embodiment provides for the at least one weighing device associated with the storage table to comprise two weighing elements. The weighing elements function independently, i.e., each one records the weight of the item resting on it.

[0017] The object is further achieved by a method for operating an order-picking device, said device comprising at least one control device, a storage device and an operating device with a gripper having at least one weighing device for determining a weight of at least one piece of goods arranged on the gripper. According to the invention, the gripper is moved to a target position of a storage device, at least one piece of goods is moved onto the storage table using a transport device of the gripper, and an actual weight of the at least one piece of goods moved onto the storage table is determined using the at least one weighing device and transmitted to the control device.

[0018] The weight transmitted to the control device can be used in various ways to optimize storage. In a preferred embodiment, the transmitted actual weight of the piece goods moved onto the storage table is compared with a target weight, which is known from a prior identification of the piece goods. If a predetermined weight deviation is not exceeded, the transport process is verified. This largely eliminates the possibility of operating errors after identification or displacement on the storage device going unnoticed. If a piece of goods does not have the "expected" weight, it can be assumed that it was not located at the point on the storage belt where the control device expected it.

[0019] In a preferred embodiment, in which the gripper further comprises a sensor module with which the arrangement of piece goods moved onto the storage table can be detected and the storage table is made up of several parts and each storage table part is assigned a weighing device with which the weight of piece goods lying on the storage table part can be determined, the sensor module creates a recording of the piece goods on the storage table and, based on this recording, the exact arrangement of the piece goods is determined and, if piece goods are arranged on each storage table part, the actual weights of the piece goods arranged on the storage table parts are determined and transmitted to the control device.

[0020] Despite the necessary identification of piece goods before they are moved into the picking device, there is no guarantee that the weight data for a piece of goods is always known. It may happen that the target weight of a piece of goods is not available in a corresponding database. In such a case, the control device can be configured to save the actual weight as the target weight.

[0021] In order to avoid the gripper being overloaded in terms of weight, a preferred embodiment provides that the actual weight of the piece goods moved onto the support table is added to a total support weight and, if a limit total support weight is exceeded, the movement of further piece goods onto the gripper is prevented and an unloading of the gripper is initiated.

[0022] In order to avoid damage to the gripper or its movement motors, it can be provided that the gripper is accelerated and braked depending on the total support weight after all the piece goods have been moved onto the storage table.

[0023] If the gripper, in addition to the weighing device of the support table, has a fastening arm with a support section pointing away from a vertical central axis and this support section has a further weighing device preferably designed as an expansion strip, it can be provided in a preferred embodiment that the actual weight of the piece goods moved onto the support table is determined by averaging the actual weights determined by means of the weighing devices of the support table and the fastening arm.

[0024] In the following, preferred embodiments of the gripper according to the invention and of the method according to the invention are described with reference to the drawing, in which

[0025] Figures 1a and 1b show an oblique view and a plan view of a first embodiment of the gripper according to the invention,

[0026] Figures 2a - 2c show an oblique view, a top view and a side view of the first embodiment, with part of the storage table omitted,

[0027] Figures 3 and 4 show detailed views of the first embodiment, with various components omitted,

[0028] Figure 5 shows a detailed view of the lower section of the first embodiment of the gripper according to the invention,

[0029] Figure 6 shows a second embodiment of the gripper according to the invention,

[0030] Figure 7 shows a perspective view of a picking device with a gripper according to the invention, Figures 8a - 8c and 9a, 9b schematically illustrate different stages of a first and second embodiment of the method according to the invention, and

[0031] Figure 10 shows a flow diagram for the first and second embodiment of the method according to the invention.

[0032] Figures 1a and 1b show an oblique view and a plan view of a first embodiment of the gripper 1 according to the invention. The gripper 1 comprises a support table 10 extending in a first horizontal direction (X direction) and a second horizontal direction (Y direction), orthogonal to the first horizontal direction, as well as an end section 11 which, in the embodiment shown, has a curved end face 12. In the embodiment shown, the support table 10 comprises two support table parts 10a, 10b which are separated from one another in the middle by a slot 13. A sliding element 14 is arranged in this slot and can be moved in the first horizontal direction via components not shown in Figures 1a and 1b.

[0033] A transport device 30 is arranged above the storage table 10, which is movable in the first horizontal direction above the storage table and with which piece goods can be moved onto the storage table. In the embodiment shown, the transport device 30 comprises two clamping jaws 20a, 20b, which in the embodiment shown are movable in the second horizontal direction, wherein the components necessary for the movement are described in more detail with reference to a subsequent figure. The transport device 30 further comprises a sensor module 17, with which, for example, the arrangement of piece goods on the storage table 10 or the alignment of the gripper on, for example, a horizontal storage surface can be determined or checked.To determine the arrangement, the sensor module creates a "recording" of the deposited piece goods, which is then analyzed either by the sensor module itself or (usually) by a control device coupled to the sensor module, using image processing software. The control device can be part of the gripper, but it can also be the "central" control device, for example, of a picking device in which the gripper is installed.

[0034] The transport device further comprises a first drive unit 50 (see Fig. 2a - 2c) with a drive 51, with which the sliding element 14 can be moved in the first horizontal direction via components not shown. In addition, the transport device comprises a second drive unit 55 (see Figure 1b), by means of which the transport device 30 itself can be moved in the first horizontal direction. In the embodiment shown, the clamping jaws 20a, 20b comprise mutually parallel, vertical inner surfaces 21a, 21b, which at their end sections facing away from the transport device 30 comprise sections with anti-slip material 22a, 22b.

[0035] Figures 2a - 2c show an oblique view, a top view and a side view of the first embodiment, wherein the storage table part 10a has been omitted in order to show underlying components of the first embodiment of the gripper according to the invention. The gripper comprises a gripper base body 70 which, in the embodiment shown, is formed in one piece and extends in the first horizontal direction below the storage table and in and on which the other components of the gripper are arranged. Two openings 71a are arranged in the gripper base body 70, in which openings a first weighing element 110 and a second weighing element 120 of a first weighing device 100 are arranged. The two weighing elements 110, 120 of the weighing device 100 are connected to each other via a central part which rests on the gripper base body 70 and holds the two weighing elements.In the embodiment shown, the two weighing elements 110, 120 are designed as so-called "platform load cells", whereby the illustrated weighing elements / load cells are optimized for corner load sensitivity, so that no measurement errors occur even if the weighing element is only loaded in one corner. In alternative embodiments, other types of weighing elements can also be used, for example S-shaped load cells or compression force load cells. In the embodiment shown, the two weighing elements 110, 120 are arranged spaced from one another in the first horizontal direction, so that the "front" and "rear" part of the storage table section are optimally covered. The two weighing elements 110, 120 of the first weighing device 100 are connected via lines (not shown) to a control device which processes the signals received from a weighing device.The control device that processes the signals from the weighing device can be part of the gripper and forward the data to a central control device of the order-picking device. Alternatively, the signals from the weighing device 100 can also be forwarded directly to a central control device in the order-picking device.

[0036] In the embodiment shown, a second weighing device corresponding to the first weighing device 100 is arranged below the storage table part 10b, which is constructed correspondingly to the first weighing device 100 and operates accordingly. The arrangement and number of the weighing devices and their precise design are not important for the present invention. The only important thing is that a weighing device is provided with which the weight of piece goods arranged on the gripper (in this embodiment the storage table) can be determined. In the embodiment shown, the weighing devices are arranged directly below the storage table. In the unloaded state, the two storage table parts rest only on the weighing elements of a weighing device.To protect against overloading, a front support surface 91 and a rear support surface 92 are provided; however, when weighing piece goods within the permissible weight range, the support surfaces are not in contact with the storage table parts.

[0037] The gripper base body 70 comprises, in the front section, another central opening with respect to the second horizontal direction, in which a sensor system 90 is arranged, with which the orientation of the gripper relative to, for example, a shelf can be determined. The sensor system can determine the position of the gripper relative to, for example, a shelf via an opening 72 in the gripper base body 70.

[0038] In Figures 2a - 2c, the transport device 30 is shown above the storage table 10. The transport device 30 comprises a covering 36, beneath which a plurality of components are arranged which are responsible for pivoting the clamping jaws 20a, 20b, as will be described in more detail with reference to subsequent figures. In Figure 2a, due to the omission of the storage table part 10a, a guide carriage 33a of the transport device can be seen, which is arranged on a longitudinal guide 34a which extends in the first horizontal direction and thus guides the movement of the transport device 30 in the first horizontal direction (guide carriage 33b and longitudinal guide 34b can be seen in Figures 3 and 5 respectively). How the transport device 30 is moved in the first horizontal direction will be described in more detail with reference to subsequent figures.

[0039] Figures 3 and 4 show detailed views of the first embodiment, wherein in the two detailed views a plurality of different components have been omitted in order to illustrate components located underneath. In both detailed views, for example, the sensor module and the casing along with a plurality of components located underneath have been omitted. A basic framework of the transport device 30 can be seen, with the frame structure 31, wherein the frame structure 31 forms the basis of the transport device 30, on which a plurality of further components are arranged. Part of the transport device 30 is a guide device 40, with which the two clamping jaws 20a, 20b are pivoted, specifically by the guide device 40 being moved relative to the transport device 30 in the first horizontal direction.For this purpose, the transport device 30 comprises a third drive unit 60 with a drive 61 as such, which drives a gear 62 via a shaft, which engages with a rack 43 extending in the first horizontal direction. The combination of gear 62 and rack 43 converts the rotary movement of the shaft of the drive 61 into a linear movement. The movement of the rack 43 moves the guide unit 40 in the first horizontal direction. The guide device 40 comprises two guide rollers 42a, 42b, which engage with longitudinal holes 41a, 41b. These longitudinal holes extend in the second horizontal direction. In the position shown in Figures 3 and 4, in which the two clamping jaws 20a, 20b are arranged parallel to each other and are not pivoted, the longitudinal holes 41a, 41b extend substantially orthogonally to the first horizontal direction.The guide rollers 42a, 42b are coupled to clamping jaw holders 37a, 37b. The clamping jaw holders 37a, 37b are coupled to the transport device at pivot axes (only pivot axis 35a is explicitly shown in Figure 3), wherein the clamping jaw holders are not movable relative to the transport device in the first horizontal direction at these pivot axes, but are only pivotable about these axes. Upon a movement of the guide device 40 in the first horizontal direction towards the "forward", the longitudinal holes 41a, 41b of the guide device are also moved "forward", and this movement takes the guide rollers 42a, 42b "with it", whereby the clamping jaw holders are also moved in the first horizontal direction via the guide rollers.However, since the clamping jaw holders are held by the swivel axes on the transport device, the movement in the first horizontal direction requires a swiveling of the clamping jaw holders (and thus of the clamping jaws).

[0040] The detailed view according to Figure 4 shows a rear view of the first embodiment of the gripper, wherein again a plurality of components have been omitted. In Figure 4 it can be seen that the transport device 30 has a fourth drive unit 65 with a drive 66 as such and a gear 67. The gear 67 engages in two toothed racks 32a, 32b extending in the second horizontal direction, the teeth of which are arranged opposite one another. The toothed racks 32a, 32b are coupled to the clamping jaw holders, so that a rotary movement of the gear 67 is converted into a linear movement of the clamping jaw holders. Due to the arrangement of the racks shown in Figure 4, a rotation of the gear wheel 67 causes the racks to move together outwards or inwards, which is equivalent to an opening or closing (in the second horizontal direction) of the clamping jaws (for gripping a piece of goods).When the clamping jaws move outward or inward, the guide rollers 42a, 42b move in the longitudinal holes 41a, 41b of the guide device, so that the clamping jaws can be pivoted into any desired position and the clamping jaws can be moved in any pivoted position. Figure 4 shows further components for driving the transport device 30 and the sliding element; these components are described in more detail below with reference to Figure 5.

[0041] Figure 5 shows a detailed view of the lower section of the first embodiment of the gripper according to the invention. In this view, all components of the transport device (and thus of the guide device) have been omitted, and only the gripper base body 70 with the components arranged directly thereon is shown. Two toothed belt wheels 52, 57, which are part of the (not shown) first and second drive units, are arranged on the gripper base body 70. The toothed belt wheel 52 (part of the first drive unit) drives a first drive belt 53, which extends on the "left" side in the first horizontal direction. The first drive belt 53 is coupled to the sliding element, such that a rotational movement of the toothed belt wheel 52 of the first drive unit causes a movement of the sliding element 14 in the first horizontal direction along a sliding element guide 16.

[0042] The second toothed belt pulley 57, which is part of the second drive unit, drives a second drive belt 58, which is guided over a plurality of deflection rollers (see deflection rollers 59) on the outer longitudinal sides of the gripper base body and the rear end face of the gripper base body. The second drive belt 58 is coupled to the guide carriages 33a, 33b (only guide carriage 33a is shown in Figure 5; for 33b, see Figure 3), so that a rotational movement of the second toothed belt pulley 57 causes a movement of the transport device 30 in the first horizontal direction.

[0043] Figure 5 also shows the second weighing device 200, which is arranged in an opening 71b of the gripper base body 70. The second weighing device 200 comprises (corresponding to the first weighing device 100) two weighing elements 210, 220, which in the embodiment shown are also designed as platform load cells. In alternative embodiments, the second weighing device can also be designed differently, as long as it is ensured that it can be used to determine the weight of the piece goods lying on the storage table part.

[0044] Figure 6 shows a second embodiment of the gripper according to the invention. While in the first embodiment of the gripper according to the invention the weight of the piece goods is determined by weighing devices arranged directly beneath the support table, in this second embodiment the weight of piece goods resting on the gripper is determined by a weighing device 300 arranged on a support section 2 of a mounting arm 4. The gripper 1 is fastened to a gripper guide (not shown) via its mounting arm 4. The gripper itself is fastened to the support section 2 of the mounting arm 4 via a vertical central axis 3. In this second embodiment the weighing device is designed as a "flexural beam load cell" (or simply a flexural beam) and is also coupled to a control device, corresponding to the first and second weighing devices of the first embodiment.

[0045] Figure 7 shows a perspective view of a

[0046] Order-picking device 400, with which the method according to the invention can be carried out and which, for this purpose, comprises a gripper 1 according to the invention. The order-picking device 400 is described below merely by way of example and for a better understanding of the subsequent detailed description of the method according to the invention. With the order-picking device shown, pharmaceutical packages are stored as piece goods, and the term "pharmaceutical package" (as an example of the term "piece goods") is also used below.

[0047] The order picking device 400 comprises a framework structure 402 to which a plurality of cladding elements 403 are attached. For the sake of clarity, a plurality of cladding elements as well as some elements of the framework structure 402 have been omitted. The order picking device 400 comprises a first row of shelves 410 with a plurality of shelves, each of which has a plurality of shelves 412 arranged one above the other and extending in a horizontal plane, with a plurality of storage locations (wherein only three shelves 412 are shown in Figure 7; further shelves are arranged above, below and next to those shown). The individual shelves 411 of the first row of shelves 410 are formed by shelf walls 413 and a plurality of the aforementioned shelves 412. In the example shown, all front edges (loading edges) of the shelves are arranged in a vertical plane, which makes it easier to store and retrieve piece goods.Simplified movement of medication packages into and out of the shelves. The shelves shown are designed for chaotic storage of medication packages.

[0048] In the order-picking device shown, a second row of shelves 410' is provided opposite the first row of shelves 410, which, however, is only indicated for reasons of clarity; only individual elements of the support structure for this row of shelves and a shelf 412' with a storage shaft 414 for single-type storage are shown. The storage shafts of the order-picking device are intended for the storage of fast-moving items and are not relevant to the present invention.

[0049] The order picking device shown as an example comprises two storage devices 420, 430, which are arranged one above the other and integrated into the first row of shelves 410, so that shelves 412 are provided above and below the two storage devices 420, 430. The storage devices 420, 430 protrude from the front of the order picking device and each comprise a storage area 421, 431 on the protruding part, on which drug packages can be placed for storage. In Figure 7, two drug packages 6 are arranged in the storage area 421 of the upper storage device 420.

[0050] The storage areas 421, 431 are not components as such, but rather special areas of the storage facilities in which pharmaceutical packages are arranged according to the storage specifications. The storage areas can be formed, for example, by markings on a storage facility designed as a belt conveyor. Alternatively, a light barrier can mark a storage area. Finally, it is conceivable that a movable barrier defines a storage area.

[0051] Between the illustrated first row of shelves and the merely indicated second row of shelves, an operating device 450 is provided, which can be moved horizontally and vertically along a guide and has a gripper 1 according to the invention, which has already been described in more detail with reference to the preceding figures. The gripper 1 can be moved along a merely indicated horizontal guide 455 and a vertical guide 456 in an aisle between the two rows of shelves.

[0052] Furthermore, a retrieval device 440 is arranged in the order-picking device, which is designed here as a belt conveyor and is indicated between the second row of shelves and the right-hand outer wall of the order-picking device. Pharmaceutical packages that are moved onto the retrieval device are moved via the retrieval device to a removal area 441 of the retrieval device. The pharmaceutical packages can reach the retrieval device by being moved onto the retrieval device, for example, using the operating device 450, if necessary with the interposition of an auxiliary retrieval path (not shown). In the case of inclined storage shafts (only one such storage shaft 414 is shown in Figure 7), the pharmaceutical packages can be moved onto the retrieval device simply by triggering a triggering device arranged at one end of a storage shaft.In such a case, the pharmaceutical packages simply fall onto the removal device due to gravity.

[0053] In Figure 7, a control device 470 is arranged in the front area of ​​the picking device. This control device is coupled to the operating device, the sensors and sensor systems, and usually to the storage and retrieval devices. A door opening 404 is provided in the center of the front area of ​​the picking device, through which the device can be accessed for maintenance purposes and in the event of a malfunction.

[0054] Figure 7 also symbolically indicates a reading device 480 which can be coupled to the control device 470 via a line 481 or via a wireless connection 482 and with which an identifier EI of a pharmaceutical package can be read out.

[0055] Two embodiments of the method according to the invention are described with reference to Figures 8a-8c, 9a and 9b, and 10. In a step 100, the gripper 1 according to the invention is first moved to a target position at a storage device 420. This is shown in Figures 8a and 9a. In the two embodiments of the method according to the invention described below, the gripper 1 comprises a storage table with two storage table parts 10a, 10b. In a next step 110, piece goods (here two piece goods 6(1) and 6(2)) are moved onto the storage table using clamping jaws 20a, 20b of a transport device 30 of the gripper 1. In the first embodiment of the method according to the invention (Figure 8b), the two piece goods 6(1), 6(2) are arranged one behind the other with respect to the first horizontal direction, and in the second embodiment (Figure 9b) they are arranged next to each other.In a subsequent step 120, the actual weight of the piece goods moved onto the support table is determined using the weighing devices (not shown in these figures) and transmitted to the control device (step 130). The weighing devices simply transmit the determined weight, regardless of how many piece goods are arranged on the support table.

[0056] In the event that more than one piece of goods is moved onto the storage table in one transport movement, the control device requires information about how the piece goods were arranged on the storage device so that, in the case of a gripper with two storage table sections, each with an associated weighing device, a meaningful evaluation of the data supplied by the weighing devices is possible. However, since this information is known, the control device also knows how the piece goods are arranged on the storage table. This means that in the first embodiment, the total weight of the two piece goods 6(1) and 6(2) is determined together with the two weighing devices, whereas in the second embodiment, the individual weight of the piece goods 6(1) and 6(2) can be determined with the weighing devices.

[0057] The determined actual weights can be further processed in different ways, depending on the desired goal. If, for example, the target weight of a piece of goods (or several identical piece goods) is unknown, the control device can save the determined actual weight as the target weight of the piece of goods (step 150, first embodiment) and use it, for example, for later verification. If the control device knows the target weight of one or more piece goods moved onto the delivery table (step 140, second embodiment), the target weight can be compared with the actual weight, and if a predetermined weight deviation is not exceeded, the transport process can be verified, namely to the effect that, based on the weight comparison, the "correct" piece of goods was moved onto the delivery table.

[0058] In both embodiments, it is conceivable to add the actual weight of the piece goods moved onto the deposit table to a total support weight in a step 160 and, if a limit total support weight is exceeded, to prevent the movement of further piece goods onto the gripper and to initiate unloading of the gripper.

[0059] Alternatively or additionally, the determined actual weight of a piece of goods can be used to store it on a shelf of the picking device based on its weight (and space requirements, corresponding to random storage). Furthermore, the determined total support weight can be used as the basis for the movement (especially acceleration and deceleration) of the gripper.

Claims

Patent claims 1. Gripper (1) for an order-picking device for storing piece goods, comprising: a storage table (10) extending in a first horizontal direction and a second horizontal direction, orthogonal to the first horizontal direction, a transport device (30) arranged above the storage table (10) and movable in the first horizontal direction for moving piece goods onto the storage table (10) of the gripper, characterized in that the gripper (1) comprises at least one weighing device (100, 200, 300) for determining the weight of at least one piece of goods arranged on the gripper (1).

2. Gripper (1) for an order-picking device for storing piece goods according to claim 1, characterized in that the at least one weighing device (100, 200) is arranged relative to the storage table (10) in such a way that the weight of piece goods lying on the storage table can be determined with the weighing device (100, 200).

3. Gripper (1) for an order-picking device for storing piece goods according to claim 2, characterized in that the storage table (10) is made up of several parts and each storage table part (10a, 10b) is assigned a weighing device (100, 200) with which the weight of piece goods lying on the storage table part (10a, 10b) can be determined.

4. Gripper (1) for an order-picking device for storing piece goods according to one of claims 1 - 3, characterized in that the gripper (1) comprises a fastening arm (4) with which the gripper can be fastened to a gripper guide, wherein the fastening arm (4) has a support section (2) pointing away from a vertical central axis (3) of the gripper and this support section (2) has a weighing device (300).

5. Gripper (1) for an order-picking device for storing piece goods according to claim 4, characterized in that the weighing device (300) of the support section (2) is designed as a bending rod.

6. Gripper (1) for an order-picking device for storing piece goods according to one of claims 2 - 5, characterized in that the at least one weighing device (100, 200) assigned to the storage table (10) comprises two weighing elements (110, 120; 210, 220).

7. Method for operating an order-picking device with at least one control device (470), a storage device (420, 430) and an operating device (450) with a gripper (1) with at least one weighing device (100, 200, 300) for determining a weight of at least one piece of goods arranged on the gripper (1), wherein the gripper is moved to a desired position of a storage device (420, 430), with a transport device (30) of the gripper (1) at least one piece of goods is moved onto the storage table (10), with the at least one weighing device (100, 200, 300) an actual weight of the at least one piece goods moved onto the storage table (10) is determined and transmitted to the control device (370).

8. A method for operating an order-picking device according to claim 7, characterized in that the transferred actual weight of the piece goods moved onto the storage table is compared with a target weight and, if a predetermined weight deviation is not exceeded, the transport process is verified.

9. A method for operating a picking device according to claim 7, wherein the gripper (1) further comprises a sensor module (17) with which the arrangement of piece goods moved onto the storage table (10) can be detected, and the storage table (10) is made up of several parts, and each storage table part (10a, 10b) is assigned a weighing device (100, 200) with which the weight of piece goods lying on the storage table part (10a, 10b) can be determined, characterized in that the sensor module is used to create a recording of the piece goods on the storage table and, based on this recording, the exact arrangement of the piece goods is determined, and that, if piece goods are arranged on each storage table part (10a, 10b), the actual weights of the piece goods arranged on the storage table parts (10a, 10b) are determined and transmitted to the control device (370).

10. Method for operating an order-picking device according to one of claims 7 - 9, characterized in that the control device (470) stores the actual weight as the target weight in the event that no target weight can be determined for a piece of goods.

11. A method for operating a picking device according to one of claims 7 - 10, characterized in that the actual weight of the piece goods moved onto the support table is added to a total support weight and, if a limit total support weight is exceeded, the movement of further piece goods onto the gripper is prevented and unloading of the gripper is initiated.

12. Method for operating an order-picking device according to one of claims 7 - 11, characterized in that the gripper is accelerated and braked depending on the total support weight after moving all the piece goods onto the storage table.

13. A method for operating an order-picking device according to one of claims 7 - 12, wherein the gripper has a fastening arm (4) with a support section (2) pointing away from a vertical central axis (3), and this support section (2) has a weighing device (300), and at least one further weighing device (100, 200) is assigned to the support table, characterized in that the actual weight of the piece goods moved onto the support table is determined by averaging the actual weight determined by means of the weighing devices (100, 200) of the storage table and the weighing device (300) of the fastening arm (4).

14. Method for operating a picking device according to claim 13, characterized in that the weighing device (300) of the support section (2) is designed as a bending rod.

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