Dual-Arm Delivery Robot Layout for Handling Small Articles
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Solution Overview
Problem
Conventional self-propelled robots face difficulties in conveying small articles due to the distance between the pair of robotic arms at the base-end side, making it challenging to handle items smaller than this distance.
Innovation Solution
The self-propelled robot features a pair of robotic arms with base-end parts that are pivotable on a horizontal axis and coupled to a swivelable base part, allowing the arms to oppose each other via a joint, enabling flexible movement and easy conveyance of small articles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the base-end parts of the robotic arms are coupled to the base part with a fixed distance, then the structural stability is improved, but the ability to convey small articles deteriorates
Solution Approach 1:
The patent makes the distance between the base-end parts of the robotic arms adjustable rather than fixed. The distance adjustment mechanism allows the system to dynamically change its configuration based on the size of the article being conveyed, thereby resolving the contradiction between structural stability and adaptability to different article sizes.
Solution Approach 2:
The patent changes the parameter of the distance between base-end parts from a fixed value to an adjustable variable. By enabling this parameter to be modified according to the article size, the system maintains structural stability while gaining the versatility to handle both large and small articles effectively.
2Length of moving object
If the distance between the pair of first links is large, then the robotic arms can handle larger articles, but the ability to convey small articles deteriorates
Solution Approach 1:
The patent enables the distance between the first links to be dynamically adjusted based on the size of the article being conveyed. This dynamic adjustment capability allows the robotic arms to maintain optimal spacing for both large and small articles, resolving the contradiction between handling capability for different sizes.
Solution Approach 2:
The patent designs the robotic arm system with universal adaptability through adjustable link distances, allowing the same system to effectively handle a wide range of article sizes from small to large, thereby achieving multi-functionality and resolving the size-specific limitation.
3Adaptability or versatility
If the robotic arms are positioned close to each other, then small articles can be conveyed, but the structural stability deteriorates
Solution Approach 1:
The patent implements dynamic adjustment of the robotic arm configuration, allowing the system to position arms close together for small articles while maintaining overall structural stability through the adjustable base mechanism and outrigger support system that compensates for reduced arm spacing.
Data Source
AI summary
A self-propelled robot includes a travel cart, a base part provided to an upper part of the travel cart and swivelable on a first rotation axis extending vertically, and a pair of robotic arms coupled to the base part at base-end parts, respectively. Each of the pair of robotic arms has a first link and a second link coupled at a base-end part to a tip-end part of the first link via a joint part. Base-end parts of the pair of first links are coupled to the base part so that the base-end parts are coaxially pivotable on a second rotation axis extending horizontally, and the base-end parts oppose to each other via the base part. The base-end parts of the pair of second links are coupled to side parts of the tip-end parts of the corresponding first links, on the opposing sides of the pair of first links.