Multi-Hand Pallet Loading Path Planning to Prevent Robot Contact
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Solution Overview
Problem
Existing loading and unloading apparatuses with multiple robot hands struggle to improve operation speed while preventing contact between robot hands, leading to inefficiencies in palletizing and depalletizing operations, especially when trying to maintain the order of production for finished products and the order of arrival for supply parts.
Innovation Solution
A loading and unloading apparatus that uses a determining unit to calculate the movement path of one robot hand based on the access position of another, allowing for sequential and non-overlapping access to a pallet, thereby preventing contact and enhancing operation speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robot hands are used to perform loading and unloading operations on the same pallet simultaneously, then the operation speed is improved, but the risk of contact between robot hands increases
Solution Approach 1:
The system performs preliminary planning of movement paths for multiple robot hands before execution. The path planning unit calculates trajectories in advance, considering the positions and operations of all robot hands, to ensure that their paths do not intersect or conflict during simultaneous operations on the same pallet.
Solution Approach 2:
A control unit acts as an intermediary between multiple robot hands, coordinating their movements and operations. This central control mechanism manages the timing and paths of each robot hand to enable simultaneous operations while preventing contact through centralized coordination.
2Reliability
If one robot hand waits for the other to complete its operation before starting, then contact between robot hands is prevented, but the operation speed is not significantly increased
Solution Approach 1:
The system enables continuous operation of multiple robot hands by coordinating their movements so that both hands can work simultaneously on different portions of the pallet. This eliminates idle waiting time and maintains continuous productive action from both robot hands throughout the operation cycle.
Solution Approach 2:
Movement paths for both robot hands are planned in advance to allow simultaneous operation. The path planning unit calculates trajectories that enable both hands to access their respective work areas without conflict, eliminating the need for sequential waiting and improving overall operation speed.
Data Source
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AI summary
There is provided a loading and unloading apparatus for performing loading and unloading of workpieces with respect to access positions on a pallet, including a plurality of hands which sequentially access the access positions on the palette, the plurality of hands including a first and a second hand. Further, the loading and unloading apparatus includes a managing unit which maintains an access position of the first hand, and a determining unit which determines a movement path of the second hand based on the access position of the first hand.