Gripper for picking device and method for operating a picking device having this gripper

A method for operating a picking device, the method comprising:

• moving a gripper to a specified target position in front of a specified shelf of a plurality of horizontal shelves, the gripper comprising:
• a transport device for storing and dispensing small piece goods on or from the shelves;
• a drop table extending in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction and having at least one end portion with a dispensing end face, the drop table and the end portion defining an upper support surface;
• and
• at least one sensor device coupled to a control device and arranged in the at least one end portion having detection regions associated therewith, wherein the sensor device is arranged in such a way that the detection regions cover a vertically extending space in front of the dispensing end face;
• determining a current alignment of the gripper in relation to the specified shelf by checking in which detection regions the presence of the shelf is recognized;
• determining whether the current alignment of the gripper on the specified shelf in relation to a vertical position corresponds to a specified alignment;
• and
• moving the gripper in a vertical direction according to a negative or positive deviation between the current alignment and the specified alignment when the current alignment is determined not to be in the specified alignment.