Double-Deep ASRS Robot EOAT Concurrent Retrieval
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Solution Overview
Problem
Existing robotic automated storage and retrieval systems (ASRS) are slow and cumbersome when retrieving articles stored double deep in stacked racks, as they require multiple steps and repositioning of articles.
Innovation Solution
A robotic ASRS with an end-of-arm tool (EOAT) featuring a platform and an extendable article manipulator that can concurrently retrieve or store articles from both the front and back positions of double deep storage locations, allowing for efficient rotation and repositioning of articles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional robotic ASRS uses fixed fork extensions to retrieve articles from double deep storage, then the system can access back row articles, but the retrieval process becomes slow and cumbersome requiring multiple steps
Solution Approach 1:
The patent applies dynamics by making the fork extensions movable rather than fixed. The forks can extend and retract dynamically to reach articles at different depths in the storage rack. This allows the robot to adapt the fork length during operation, enabling simultaneous access to both front and back row articles without requiring multiple discrete steps, thereby increasing retrieval speed while managing operational complexity.
Solution Approach 2:
The patent introduces an additional degree of freedom by allowing the fork extensions to move not only horizontally to reach articles but also vertically to grasp articles at different heights. This multi-dimensional movement capability enables the robot to efficiently retrieve articles from double deep storage locations without complex repositioning sequences, resolving the contradiction between retrieval speed and operational complexity.
2Ease of operation
If the robot removes both articles to a stationary location for repositioning, then back row articles can be accessed, but the process time increases significantly
Solution Approach 1:
The patent applies preliminary action by having the robot grasp both the front row article and back row article simultaneously before moving to the discharge location. This preliminary simultaneous grasping action eliminates the need for intermediate repositioning steps that would otherwise be required to access the back row article, thereby reducing retrieval time while maintaining ease of operation.
Solution Approach 2:
The patent ensures continuity of useful action by maintaining the articles in a grasped state during transport from the storage rack to the discharge location. Both articles are moved continuously without intermediate placement or repositioning steps, maximizing the efficiency of each robot movement and minimizing idle time, thus resolving the contradiction between ease of operation and retrieval time.
3Quantity of substance
If the robot front row replaces back row articles, then storage capacity is optimized, but the operation becomes more complex and time-consuming
Solution Approach 1:
The patent applies merging by combining multiple operations into a single coordinated action. The robot simultaneously grasps articles from both front and back rows, transports them together to the discharge location, and performs repositioning operations in a unified sequence. This merging of operations maintains optimal storage capacity utilization while reducing the overall complexity compared to performing separate retrieval and repositioning operations.
Data Source
AI summary
An automated storage and retrieval system and method of storing articles to and retrieving articles from at least one stacked storage rack that is configured to store articles double deep in each storage location with one article at a front position and another article at a back position behind the one article includes a robot having an end of arm tool (EOAT). The EOAT has a platform and an extendable article manipulator. The platform is sized to support at least two articles. The robotic arm selectively positions the end of arm tool to retrieve articles from front and back storage positions of said at least one stacked storage rack and storing at least one of the articles from the platform to a front or back storage position after the robot rotates the EOAT about a generally vertical axis.