Multi-Arm Dishwashing Robot for Space-Constrained Dishrooms
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Solution Overview
Problem
Commercial dishwashing tasks in space-constrained environments pose challenges due to the need for minimal physical modifications, handling of large and heavy cookware, achieving high throughput, and manipulating stacked or occluded tableware, while ensuring efficient loading and unloading of dishwashers.
Innovation Solution
An adaptable robotic apparatus with multiple robotic arms mounted on vertical poles and horizontal rails, capable of coordinating their motion to handle various types of tableware, including scraping, rinsing, and stacking, while integrating cameras and sensors for navigation and safety, and utilizing interchangeable finger attachments for diverse grasping needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a large standalone robotic system is used to perform commercial dishwashing tasks, then automation capability is improved, but space requirements increase and integration into existing dish rooms becomes difficult
Solution Approach 1:
The robotic system is divided into multiple independent robotic arms (typically three arms) that can be mounted on existing vertical poles in the dish room. Each arm performs specific tasks such as scraping, rinsing, and stacking, allowing the system to achieve high automation without requiring a single large standalone robot that would consume excessive space.
2Force
If the robotic system is designed to handle large and heavy cookware items, then handling capability is improved, but system complexity and structural requirements increase
Solution Approach 1:
The system uses multiple specialized robotic arms instead of a single complex robot. Each arm is optimized for specific tasks (scraping, rinsing, stacking) and can be independently controlled, reducing the complexity of any single component while collectively achieving the capability to handle heavy cookware through coordinated operation.
Solution Approach 2:
The robotic arms are designed with interchangeable end effectors and adjustable configurations that allow them to perform multiple functions. The same arm can be used for scraping, rinsing, and stacking different types of tableware, reducing overall system complexity while maintaining versatility in handling various cookware items.
3Productivity
If the robotic system is designed for high speed and throughput to wash hundreds to thousands of tableware per hour, then productivity is improved, but system complexity and operational requirements increase
Solution Approach 1:
The dishwashing process is segmented into multiple parallel operations performed by different robotic arms simultaneously. While one arm scrapes tableware, another rinses it, and a third stacks it. This parallelization enables high throughput without requiring any single component to be overly complex, as each arm performs a relatively simple specialized function.
Solution Approach 2:
The system maintains continuous operation by having robotic arms work in an optimized sequence without idle time. Tableware moves continuously through the scraping, rinsing, and stacking stages, and the arms reposition themselves efficiently between tasks. This continuous workflow achieves high productivity while keeping individual arm operations simple and repeatable.
4Adaptability or versatility
If the robotic system is designed to manipulate stacked or occluded tableware in arbitrary configurations, then adaptability is improved, but control complexity and sensing requirements increase
Solution Approach 1:
The system performs preliminary scanning and planning of tableware configurations using sensors before manipulation begins. The robotic arms are positioned and programmed in advance to handle stacked or occluded items in optimal sequences, reducing the complexity of real-time control during actual manipulation while maintaining high adaptability to various configurations.
Data Source
AI summary
A robotic apparatus is proposed that automatically loads and/or unloads a dishwasher. One embodiment includes two or more robotic arms that work together to load dirty tableware into a dishwasher. The same robotic arms, or one or more different robotic arms, can be used to automatically remove clean tableware from the dishwasher after a washing cycle and place (or stack) the clean tableware in appropriate locations.