Bin Pulling Control Using Distance Feedback to Prevent Unhooking
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Solution Overview
Problem
Existing goods handling equipment faces issues with bins tilting and disengaging from hooks due to off-center stored goods, leading to unsuccessful transportation.
Innovation Solution
A method involving a bin-pulling machine with a manipulator that measures distance, hooks the bin handle, and adjusts position to maintain a predetermined range, ensuring secure pulling and preventing unhooking through repeated adjustments if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the bin is pulled directly without position adjustment, then the pulling process is simple and fast, but the bin may tilt and disengage from the hook when goods are off-center
Solution Approach 1:
The loading platform is designed to move dynamically between a first position (for pulling bins with off-center goods) and a second position (for pulling bins with centered goods). This dynamic adjustment allows the system to adapt to different bin states, maintaining reliable hook connection while managing complexity through conditional position changes rather than permanent structural modifications
Solution Approach 2:
The system incorporates sensors to detect whether goods are off-center in the bin, providing feedback that triggers the loading platform to adjust to the appropriate position. This feedback mechanism ensures the bin remains properly positioned during pulling, preventing disengagement while automating the complexity management through real-time monitoring and adjustment
2Reliability
If the loading platform is always positioned for off-center goods, then unhooking is prevented, but the pulling speed decreases due to additional positioning adjustments
Solution Approach 1:
The loading platform transitions from a static design to a dynamic one that adjusts position based on real-time detection of goods placement. By moving to the first position only when off-center goods are detected, the system maintains reliability when needed while minimizing unnecessary adjustments that would reduce pulling speed, thus resolving the contradiction between safety and efficiency
Solution Approach 2:
The system changes the positional parameter of the loading platform conditionally based on goods distribution detection. When goods are off-center, the platform position parameter is adjusted to the first position; when goods are centered, it remains at the second position. This parameter change approach ensures reliability for problematic cases while maintaining high speed for normal cases
Data Source
AI summary
Method for controlling cargo handling apparatus to pull cargo away from shelving rack includes: box pulling machine moving to exit/entrance where pre-determined cargo box in shelving rack is located, and manipulator at box pulling machine moving towards box; ranging device starting ranging, and when distance reaches pre-determined value, finger of manipulator being hooked onto handle at outer end of cargo box from bottom to top and dragging cargo box to move outwards, and ranging device monitoring distance; if distance is maintained within a pre-determined range, finger dragging cargo box to preset position of box pulling machine cargo platform, and being separated from handle to complete pulling cargo box; and if distance exceeds pre-determined range to cause unhooking, platform moving downwards to be lower than shelving rack shelf, outer end of cargo box moving downwards under action of its weight, finger moving towards cargo box again, and repeating step S2.