Picking Gripper Sensor Layout for Shelf Alignment Correction
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Solution Overview
Problem
Existing grippers for picking devices struggle to accurately determine and correct misalignments between shelves and the gripper, leading to potential errors in storing or dispensing small piece goods, especially when shelves are deflected due to uneven weight distribution.
Innovation Solution
The gripper is equipped with a sensor device featuring multiple detection regions along the vertical axis, allowing for precise alignment determination before storage or dispensing operations. This sensor system enables the gripper to adjust its Z-position accordingly to ensure proper alignment and prevent errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the gripper uses a simple alignment detection method, then the device complexity is reduced, but the measurement precision of alignment determination deteriorates
Solution Approach 1:
The sensor device is divided into multiple detection regions (first detection region, second detection region, third detection region) arranged vertically. Each region independently detects alignment in its specific zone, allowing precise measurement of vertical misalignments without requiring a single complex omnidirectional sensor.
Solution Approach 2:
The sensor device acts as an intermediary between the gripper and the shelf, detecting alignment status and transmitting this information to the control device. This intermediary measurement system enables precise alignment determination without direct complex mechanical interaction between the gripper and shelf.
2Measurement precision
If the gripper equips multiple detection regions vertically, then the measurement precision of alignment is improved, but the device complexity increases
Solution Approach 1:
The sensor device performs multiple functions: it detects alignment in different vertical zones, determines overall gripper-shelf alignment, and provides data for both detection and correction operations. This multi-functional design justifies the added complexity by consolidating multiple detection capabilities into a single integrated device.
3Reliability
If the gripper performs alignment correction movements, then the reliability of storage and dispensing operations is improved, but the productivity is reduced due to additional movement time
Solution Approach 1:
The system performs alignment detection before storage or dispensing operations. By detecting misalignment in advance and correcting it beforehand, the system ensures reliable operations without requiring re-attempts or corrections during the main operational phases, thus minimizing overall time loss.
Solution Approach 2:
The sensor device provides real-time feedback on alignment status to the control device. This feedback loop enables the system to make informed decisions about whether correction movements are needed, optimizing the balance between reliability and productivity by only correcting when necessary.
Data Source
AI summary
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.