Cargo Transfer Timing Control to Prevent Robot Arm Interference
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Solution Overview
Problem
Existing cargo handling systems face inefficiencies in transferring articles due to potential interference between the robot arm and transfer device, which can lead to reduced operational efficiency and increased risk of damage when components are downsized.
Innovation Solution
A cargo handling apparatus equipped with a control device that determines the start timing of operations based on interference measurements, using a combination of sensors to assess the position and size of articles and control the robot arm's movements to avoid interference, allowing for parallel execution of tasks and optimizing the transfer process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the robot arm and transfer device are downsized to reduce system size, then device footprint is reduced, but interference risk between components increases
Solution Approach 1:
The control device determines the start timing of the first operation in advance by checking whether the robot arm will interfere with the transfer device or second article. This preliminary interference check prevents conflicts before they occur, allowing the system to be downsized without increasing reliability risks.
Solution Approach 2:
The control device continuously monitors the operational state and uses this feedback to adjust the start timing of operations. By base determination on real-time conditions, the system maintains reliable operation despite compact dimensions that increase interference potential.
2Speed
If the robot arm operates without interference control, then operational speed is maintained, but interference with transfer device or articles occurs
Solution Approach 1:
The control device determines start timing in advance by assessing potential interference conditions. This allows the robot arm to operate at high speed when safe, while preventing interference through proactive timing control rather than reactive slowing.
Solution Approach 2:
The operational speed and start timing are dynamically adjusted based on real-time interference assessment. The system transitions between different operational states (full speed, reduced speed, or paused) depending on the detected conditions, optimizing both speed and safety.
3Productivity
If the start timing is not controlled based on interference determination, then productivity is reduced due to unnecessary waiting, but interference prevention capability is lost
Solution Approach 1:
The control device uses feedback from interference determination to dynamically set the start timing. This ensures that operations begin at the optimal moment - early enough to maintain high productivity, but only when interference conditions are confirmed absent, thus preventing conflicts while maximizing efficiency.
Solution Approach 2:
By determining start timing in advance based on predicted interference conditions, the system avoids both premature operations (which would cause interference) and unnecessary delays (which would reduce productivity). This preliminary assessment enables precise timing control.
Data Source
AI summary
According to one embodiment, a cargo handling apparatus includes a hand, a robot arm, a transfer device, a measurement device, and a control device. The hand holds an article. The robot arm moves the hand. The transfer device is arranged with the robot arm, and transfers the article. The measurement device measures a position and a size of the article. The control device performs a first operation of transferring the article to the transfer device by using the hand and the robot arm, and a second operation of transferring the transferred article by using the transfer device. The control device determines whether or not the robot arm will interfere with the transfer device or a second article on the transfer device when performing the first operation for a first article. The control device controls a start timing of the first operation according to a determination result of the interference.