Dual Holding Unit Rotation for Randomly Oriented Article Picking

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Solution Overview

Problem

Existing picking robots with multiple holding units face challenges in efficiently handling articles of varying dimensions and weights placed in random orientations, requiring improved mechanisms for switching and orienting holding units to adapt to diverse objects.

Innovation Solution

A holding device with a support member, first and second holding units, and a controller that rotates and controls the units to switch between them and adjust orientations, using a combination of rotation drive mechanisms and motors to facilitate efficient handling of objects.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple holding units are used to handle various articles, then the adaptability is improved, but the device complexity increases

Engineering Contradiction:

Improveability to handle various articlesVSAvoidnumber of holding units

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent combines multiple holding units (first holding unit with holding portion and second holding unit with suction portion) into a single integrated robot hand structure, allowing them to share common support members, drive mechanisms, and control systems. This merging approach enables the robot to handle various articles with different characteristics while avoiding the complexity of completely separate holding devices.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robot hand is designed with multiple holding units that can be switched between to handle different types of articles. The first holding unit with its holding portion is suitable for certain article types, while the second holding unit with suction portion is suitable for others. This multi-functional design allows a single device to adapt to various handling requirements without needing entirely separate systems.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If holding units are rotated to switch between them, then the adaptability is improved, but the loss of time during switching increases

Engineering Contradiction:

Improveability to switch holding unitsVSAvoidswitching time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The holding units are pre-positioned and rotatably supported in advance, allowing for quick switching operations. The rotatable support structure enables the units to be positioned in ready states, minimizing the time required to switch between them during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The holding units are designed to be rotatable rather than fixed, allowing dynamic switching between different holding configurations. This dynamic design enables the system to adapt to different article handling requirements by rotating to the appropriate holding unit, improving versatility while maintaining relatively fast switching capability.

Inventive Principle:

Principle #15Dynamics

3Adaptability or versatility

If the orientation of holding units is changed to handle articles in random orientations, then the adaptability is improved, but the device complexity increases

Engineering Contradiction:

Improveability to handle random orientationsVSAvoidorientation control mechanism

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The orientation control functionality is merged into the existing rotatable support structure of the holding units. The same rotational mechanism that allows switching between holding units also enables orientation adjustment, eliminating the need for separate orientation control mechanisms and reducing overall system complexity.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The rotatable support mechanism serves multiple functions: it enables switching between different holding units and simultaneously provides orientation adjustment capability. This multi-functional design allows the system to handle articles in various orientations without requiring additional dedicated orientation control systems.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS12558798B2Holding device and conveying system

Publication Date: 2026.02.24 KK TOSHIBA

AI summary

According to one embodiment, a holding device includes: a support member; a first holding unit having a first holding portion configured to hold a holding object; a second holding unit having a second holding portion configured to hold the holding object; and a controller configured to control an operation of the first holding unit and the second holding unit. The controller is configured to switch which of the first holding unit and the second holding unit is used for holding the holding object, by rotating the first holding unit and the second holding unit in a state where the first holding unit and the second holding unit face different directions, and control to change an orientation with respect to the support member, by rotating at least one of the first holding unit and the second holding unit with respect to the support member.