Dual Transport Robot Orbit Control for Stable Cart Handling
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Solution Overview
Problem
Existing transport systems require modifications or attachments to transport objects, such as turntables, support rods, eyebolts, or grip parts, limiting their ability to transport various types of carts or freight without reloading, especially in logistics where carts of different shapes and sizes are used.
Innovation Solution
A transport system where two transport robots sandwich a transport object, with one robot predicting its orbit and the other pushing from outside to maintain stability and prevent side slipping, allowing for stable transportation without modifications or reloading.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a turntable or support rod is installed on the transport object, then the transport object can be transported by existing systems, but the transport object must be modified and reloading is required
Solution Approach 1:
The invention extracts the support function from the transport object itself and relocates it to the transport robots. Instead of modifying the transport object with turntables or support rods, the robots use their contact parts to provide the necessary support and stabilization externally, eliminating the need for object modification.
Solution Approach 2:
The contact parts of the transport robots act as intermediaries between the robots and the transport object. These contact parts provide the necessary support, friction, and stabilization functions that would otherwise require modifications to the transport object, enabling versatile transport without direct object modification.
2Speed
If a transport robot pushes the transport object in a curve, then the object can be transported, but side slipping occurs reducing stability
Solution Approach 1:
The invention introduces asymmetric positioning of the two transport robots relative to the curved path. The first robot is positioned at the inner side of the curve while the second robot is positioned at the outer side, creating an asymmetric push configuration that generates stabilizing forces against side slipping during curved movement.
Solution Approach 2:
The asymmetric positioning of robots creates counteracting forces that balance the side slip tendency. The robot on the outer side of the curve provides a counterbalancing push that offsets the lateral forces causing side slip, maintaining stability during curved transport.
3Device complexity
If the contact part is fixed on the main body, then the structure is simple, but the robot cannot adapt to different transport object positions
Solution Approach 1:
The contact part is designed to be rotatable relative to the main body, transforming it from a fixed static component to a dynamic adjustable component. This rotation capability allows the contact part to adapt its orientation to different transport object positions and configurations while maintaining a relatively simple overall structure.
Solution Approach 2:
The rotatable contact part can be preliminarily adjusted to the appropriate orientation before contact with the transport object is made. This preliminary positioning ensures optimal contact geometry for different object types and positions, enhancing adaptability without requiring complex real-time adjustment mechanisms.
Data Source
AI summary
A transport system that transports a transport object in a state sandwiching the transport object between two transport robots, wherein the transport robot comprises: a main body; wheels; a drive part(s); a contact part; and a rotation mechanism, and wherein using hardware resources, the following processings are executed, the following processings comprising: predicting an orbit of a first transport robot arranged in front of the transport object; and predicting an orbit of a second transport robot so that the second transport robot pushes the transport object from outside of the orbit of the first transport robot in a curve based on the predicted orbit of the first transport robot, the second transport robot arranged behind the transport object.