Pharmacy Picking Gripper With Vertical Shelf Alignment Sensing
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Solution Overview
Problem
In picking devices used in pharmacies, the chaotic and space-optimized storage of pharmaceutical and food supplement packages on horizontal shelves often leads to shelf deflection, causing misalignment between the gripper and the shelves, which can result in failed dispensing or storage operations due to uneven weight distribution and lack of real-time alignment detection.
Innovation Solution
A gripper with a drop table and a sensor device featuring multiple detection regions along the vertical axis, allowing for precise alignment determination before storage or dispensing, enabling the gripper to adjust its position to match the shelf's alignment and prevent misalignment issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If chaotic and space-optimized storage is used on horizontal shelves, then storage capacity is improved, but shelf deflection occurs causing misalignment between gripper and shelves
Solution Approach 1:
The sensor device performs preliminary detection of shelf alignment in multiple vertical detection regions before the gripper attempts to pick or place packages. This advance detection allows the system to identify misalignment caused by shelf deflection beforehand, enabling corrective positioning of the gripper to maintain proper alignment despite the chaotic storage arrangement
Solution Approach 2:
The system uses sensor feedback from multiple detection regions to continuously monitor shelf position and provide real-time information about alignment status. This feedback loop enables the control system to adjust gripper positioning dynamically, compensating for shelf deflection and maintaining precise alignment during storage and dispensing operations
2Measurement precision
If multiple sensors are arranged along vertical axis to detect alignment, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The sensor device is segmented into multiple independent detection regions arranged along the vertical axis, each capable of detecting shelf position at different heights. This segmentation allows precise measurement of vertical misalignment caused by shelf deflection while keeping each individual sensor relatively simple in design
Solution Approach 2:
The multi-region sensor device serves multiple functions: it detects shelf alignment, determines deflection magnitude, and provides information for gripper positioning adjustments. This multi-functionality consolidates several detection capabilities into a single integrated device, reducing overall system complexity despite the increased measurement precision
3Reliability
If gripper position is adjusted in real-time to correct alignment, then operational reliability is improved, but operation time increases
Solution Approach 1:
The system performs preliminary alignment detection using the sensor device before the gripper attempts to interact with packages. By detecting and correcting alignment issues in advance, the system ensures reliable operation on the first attempt, avoiding repeated failures and the time loss associated with multiple correction cycles
Solution Approach 2:
The system replaces manual alignment adjustment with automated sensor-based detection and control. The sensor device automatically identifies misalignment and the control system automatically adjusts gripper positioning, eliminating the need for manual intervention and reducing the time required for alignment correction while improving reliability
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.