Dual-Arm Robot Handling with Zero-Position Container Detection
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Solution Overview
Problem
Current handling systems face inefficiencies in gripping and moving multiple objects between storage and transport containers, particularly in warehouse settings, due to limitations in pick performance and the need for precise object handling and monitoring.
Innovation Solution
A handling system comprising two robot arms with Scara kinematics, each equipped with an end effector, that pivot about a common vertical axis, allowing simultaneous and independent movement between source and target containers, with integrated identification devices for container and object detection, enabling synchronized and efficient object transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single robot arm is used for gripping and moving objects, then the device complexity is low, but the productivity is limited due to sequential handling
Solution Approach 1:
The patent combines multiple robot arms (first and second robot arms) into a single handling system that operates cooperatively. Both robot arms are integrated with common control and share a workspace, enabling parallel object handling operations that increase productivity while maintaining coordinated simplicity through unified system architecture
2Reliability
If robot arms move independently between containers, then the ease of operation is high, but collisions may occur reducing reliability
Solution Approach 1:
The system implements real-time feedback control where the control unit continuously monitors the positions and movement states of both robot arms, and adjusts their trajectories dynamically based on detected conditions. This feedback mechanism enables collision avoidance while maintaining flexible and easy operation through adaptive path planning
3Ease of operation
If containers are arranged for easy robot access, then the ease of operation is improved, but the ability to freely access containers by identification devices is reduced
Solution Approach 1:
The patent positions identification devices (cameras) in a vertical dimension above the containers, while robot arms operate in the horizontal plane. This dimensional separation allows containers to be arranged optimally for robot access in the horizontal workspace, while identification devices maintain unobstructed vertical viewing angles for detecting container positions and orientations from above
Data Source
AI summary
The invention relates to a method for handling objects (54) by means of a handling system (10) comprising a robot (12) with a first robot arm (20-1) and a second robot arm (20-2), a source container (52), a target container (56), and an identification device (58) for characterizing the source container and the target container, wherein the robot arms are pivoted about the main axis in such a way that each robot arm alternately approaches the source container and the target container, wherein the robot arms, during their movement between the source container and the target container, pass through a zero position in which the robot arms are located neither above the source container nor above the target container, wherein, when the robot arms are in the zero position, the source container and/or the target container is characterized, in particular visually detected, by means of the identification device. The invention also relates to a handling system designed for this purpose.