Dual Robot Arm Handling for Collision-Free Container Picking
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Solution Overview
Problem
Current handling systems for picking objects from storage containers to transport containers have limited gripping performance, which affects efficiency in moving objects between locations.
Innovation Solution
A handling system with two robot arms, each equipped with an end effector, capable of independent movement and pivoting around a common vertical axis, allowing simultaneous gripping and placement of objects between containers while avoiding collisions and enabling efficient detection and characterization of containers and objects using detection devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a single robot arm is used for picking objects, then the system structure is simple, but the gripping performance and productivity are limited
Solution Approach 1:
The robot system is divided into multiple independent robot arms (first robot arm and second robot arm), each capable of independent operation for picking and placing objects. This segmentation allows parallel processing of multiple objects, significantly improving gripping performance and productivity while maintaining manageable system complexity through modular architecture
Solution Approach 2:
Multiple robot arms are combined to work cooperatively on the same task of object handling. The first and second robot arms operate simultaneously to pick objects from different locations and place them into a common container, merging their capabilities to achieve higher overall productivity than a single robot arm could provide
2Productivity
If multiple robot arms operate simultaneously, then productivity increases, but collision risk between robot arms increases
Solution Approach 1:
The robot arms are equipped with real-time detection devices that dynamically monitor the positions and movement paths of all robot arms. The system continuously adjusts the movement parameters of each robot arm based on real-time spatial information, enabling dynamic collision avoidance while maintaining high-speed parallel operation and maximizing productivity
Solution Approach 2:
Detection devices provide continuous feedback on the positions and states of robot arms and objects. This feedback information is used by the control system to real-time coordinate the movements of multiple robot arms, ensuring they operate in synchronized harmony without colliding, thus maintaining both high productivity and system reliability
3Area of stationary object
If robot arms pivot around a common axis, then space utilization is improved, but the ability to access containers freely is reduced
Solution Approach 1:
The robot arms pivot around a common vertical axis (main axis) to utilize vertical space efficiently, while the detection devices are positioned at different heights and angles to provide multi-dimensional observation coverage. This dimensional arrangement allows the robot arms to access containers from different angular positions without interfering with each other's operation space
4Measurement precision
If detection devices are positioned to characterize containers, then measurement accuracy is improved, but the robot arms' movement freedom is restricted
Solution Approach 1:
Detection devices are positioned in three-dimensional space at multiple locations and angles around the workspace. This spatial distribution allows the robot arms to move freely in the horizontal plane while the detection devices, positioned at different heights and angular positions, maintain unobstructed lines of sight to accurately characterize containers and objects without restricting robot arm movement freedom
Data Source
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AI summary
The invention relates to a method for handling objects (54) using 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 a recognition device (58) for characterizing the source container and the target container, wherein the robot arms are pivoted about the main axis such that each robot arm alternately approaches the source container and the target container, wherein the robot arms pass through a zero position during their movement between the source container and the target container, in which the robot arms are 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 by means of the recognition device, in particular by image capture. The invention also relates to a handling system designed for this purpose.