Modular Cargo Handling Apparatus for Low-Ceiling Spaces
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Solution Overview
Problem
The increasing demand for efficient cargo handling in vertically limited spaces, such as those with low ceilings, is hindered by the size constraints of Cartesian and articulated-arm robots, which require additional articulations to navigate and pick up objects from intermediate shelves, leading to larger robot sizes and operational inefficiencies.
Innovation Solution
A cargo handling apparatus with a modular framework featuring multiple movement mechanisms and a holding unit that allows for independent vertical and horizontal movement, enabling the use of a conveyor to load and convey objects while minimizing the overall size of the apparatus, and incorporating an image sensor for detecting object positions to enhance versatility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If Cartesian robots or articulated-arm robots are used for cargo handling, then high-speed and effective cargo handling operations can be achieved, but the robot size increases and they cannot operate in vertically limited spaces
Solution Approach 1:
The cargo handling apparatus is divided into multiple independent movement mechanisms: a first movement mechanism for vertical movement, a second movement mechanism for horizontal movement on a first horizontal plane, a third movement mechanism for vertical movement below, and a fourth movement mechanism for horizontal movement on a second horizontal plane. This segmentation allows each mechanism to be compact while achieving comprehensive cargo handling capability.
Solution Approach 2:
The apparatus utilizes multiple horizontal planes (first horizontal plane and second horizontal plane) to organize movement mechanisms, effectively using vertical space dimensionally. This allows the system to achieve three-dimensional cargo handling coverage without requiring a large single-volume robot structure.
2Adaptability or versatility
If additional articulations are added to navigate and pick up objects from intermediate shelves, then the robot can access more locations, but the robot size increases
Solution Approach 1:
The apparatus separates navigation and object handling functions into distinct movement mechanisms. The first and third movement mechanisms handle vertical positioning, while the second and fourth movement mechanisms handle horizontal positioning on different planes. This segmentation eliminates the need for complex articulated arms while achieving access to intermediate shelves and various cargo locations.
Solution Approach 2:
The holding unit acts as an intermediary between the movement mechanisms and the cargo. It is connected to the second movement mechanism and can be precisely positioned by the coordinated action of all four movement mechanisms, enabling the system to access objects on intermediate shelves without requiring the holding unit itself to be part of a large articulated structure.
3Volume of moving object
If a modular framework with multiple movement mechanisms is used, then the apparatus size is minimized, but the device complexity increases
Solution Approach 1:
The holding unit and conveyor are integrated into a unified system where the holding unit is connected to the second movement mechanism and the conveyor is connected to the fourth movement mechanism. This merging allows coordinated movement and cargo transfer without requiring separate complex control systems for each component.
Solution Approach 2:
Each movement mechanism serves multiple functions: the first and third movement mechanisms provide vertical positioning for both the holding unit and conveyor, while the second and fourth movement mechanisms provide horizontal positioning on different planes. This multi-functionality reduces the need for additional specialized mechanisms.
Data Source
AI summary
According to one embodiment, a cargo handling apparatus includes a first mechanism, a second mechanism, a holding unit, a third mechanism, a fourth mechanism and a conveyor. The first mechanism is movable in a first direction. The second mechanism is connected to the first mechanism and is movable on a first horizontal plane intersecting the first direction. The holding unit is connected to the second mechanism and holds an object to be picked up. The third mechanism is arranged below the first mechanism, the second mechanism and the holding unit, and is movable in the first direction. The fourth mechanism is connected to the third mechanism and is movable on a second horizontal plane opposed to the first horizontal plane. The conveyor is connected to the fourth mechanism, and loads and conveys the object held by the holding unit.