Hook-and-Finger Bin Robots for Multi-Bin Stack Retrieval
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Solution Overview
Problem
Existing automated storage systems are limited to removing one bin at a time, requiring sequential removal of upper bins to access lower ones, leading to inefficiency and maintenance challenges, and are prone to system failures.
Innovation Solution
A robot with a movable support and gripping elements, such as hooks or fingers, that can slide vertically around bins, engaging with lugs on the bins to lift a stack in a single operation, ensuring reliability and reduced maintenance needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a platform suspended by cables with gripping clips is used to pick up bins, then the bin at the top of the stack can be picked up, but only one bin can be removed from a storage column at a time
Solution Approach 1:
The gripping mechanism is divided into multiple independent gripping elements (first gripping element and second gripping element) that can simultaneously engage with different bins in the stack, allowing multiple bins to be gripped and removed in a single operation
Solution Approach 2:
The invention transitions from a single-point gripping approach to a multi-point gripping approach by extending the gripping mechanism vertically to engage with multiple bins at different heights simultaneously, effectively adding a vertical dimension to the gripping operation
2Productivity
If a tube-shaped frame is used to lift a stack of bins, then multiple bins can be picked up in one operation, but the frame height corresponds to the maximum stack height which restricts its use
Solution Approach 1:
The gripping mechanism is designed with movable and adjustable components that allow the distance between gripping elements to be dynamically changed, enabling the same mechanism to adapt to different bin stack heights and warehouse configurations
Solution Approach 2:
The frame is segmented into adjustable sections with independently positionable gripping elements, allowing the overall height and gripping positions to be customized for different warehouse height requirements while maintaining the capability to lift multiple bins
3Productivity
If clamp frame or arm techniques with hydraulic, pneumatic or electrical control systems are used, then multiple bins can be picked up, but there is a risk of system failure requiring intervention
Solution Approach 1:
The gripping mechanism utilizes the weight of the bins themselves and simple mechanical linkages to automatically engage and secure the bins, eliminating the need for external hydraulic, pneumatic, or electrical control systems that could fail
Solution Approach 2:
Complex control systems (hydraulic, pneumatic, electrical) are replaced with a purely mechanical gripping system that uses leverage, friction, and gravitational forces to achieve reliable bin pickup without susceptible control components
4Productivity
If clamp frame or arm techniques are used to pick up multiple bins, then productivity is improved, but the system is complex to implement and requires significant maintenance
Solution Approach 1:
The invention extracts and eliminates the complex control systems, sensors, and actuation mechanisms from the gripping mechanism, retaining only the essential mechanical components needed for bin engagement and lifting
Solution Approach 2:
Instead of using active control systems to grip bins, the design allows bins to passively engage the gripping elements through their own weight and positioning, inverting the traditional active-passive relationship
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient, reliable, and low-maintenance retrieval of multiple bins simultaneously, improving operational efficiency and adaptability to varying bin heights.
Implementation Method 1
The movable member is engaged in the locking housing of the lower bin of the stack when the frame is at the bottom of the stack
Implementation Method 2
a substantially upwardly facing tilted portion for pushing the lower end of said movable member outwards from said bin
Data Source
AI summary
An automatic product storage and retrieval system including: a bin storage facility having a plurality of storage columns arranged in a grid and configured to receive a vertical stack of bins; and at least one robot having a gripping and lifting element for gripping and lifting at least one bin and a mobile support configured to slide vertically around the bins. The gripping and lifting element includes at least one hook mounted so as to pivot with respect to the support or a finger guided in translation in a horizontal slide cooperating with one or more return springs. The bins have at least one lug with a locking housing for the hook substantially turned downwards and a tilted portion substantially turned upwards enabling a free end of the hook or of the bin to be pushed back towards the outside of the bin when the support moves downwards.