Parallel Manipulators with Optical Detection for Multi-Row Handling
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Solution Overview
Problem
Existing handling systems for piece goods face challenges in achieving precise and rapid processing without significant computing and control effort, often resulting in mechanical stress and inaccuracies during layer formation and palletizing.
Innovation Solution
A device and method involving parallel manipulators with optical detection for handling piece goods in multiple rows, using movable optical sensors to provide precise spatial coordinates and control manipulator movements for accurate positioning and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional grouping tables with multiple conveyor belts are used to achieve precise spacing and positioning of piece goods, then positioning accuracy is improved, but device complexity increases significantly
Solution Approach 1:
The patent replaces the complex mechanical system of multiple conveyor belts with a robotic manipulator equipped with optical sensors. The manipulator uses vision guidance to detect piece goods positions and mechanically positions them with high precision, substituting mechanical spacing mechanisms with a combination of optical detection and robotic manipulation.
Solution Approach 2:
The patent introduces an optical sensor system as an intermediary between the piece goods and the manipulator. The sensors detect positions and provide feedback to the control system, which then guides the manipulator's movements, creating an information-mediated control loop that achieves precision without complex mechanical structures.
2Productivity
If multiple independently controllable manipulators are used to handle piece goods from multiple rows, then handling speed and productivity are improved, but control complexity and computing effort increase
Solution Approach 1:
The patent merges the control of multiple manipulators under a single integrated control system that receives coordinated commands. The control system manages the synchronization and coordination of multiple manipulators handling piece goods from different rows, reducing control complexity through unified management rather than independent control systems.
Solution Approach 2:
The patent implements continuous operation where multiple manipulators work simultaneously and continuously to handle piece goods from multiple rows. The system maintains continuous flow of piece goods through coordinated manipulation, avoiding interruptions and maximizing productivity through sustained simultaneous action.
3Measurement precision
If optical sensors are used to detect piece goods positions for precise manipulation, then measurement precision is improved, but the system requires more sophisticated control algorithms
Solution Approach 1:
The patent implements a feedback control system where optical sensors continuously detect piece goods positions and feed this information back to the control system. The control system uses this feedback to adjust manipulator positions and movements in real-time, achieving high measurement precision through closed-loop control rather than open-loop positioning.
Solution Approach 2:
The patent replaces complex mechanical positioning systems with optical detection and software-based control algorithms. The optical sensors provide precise measurement, and the control algorithms process this data to guide manipulator movements, substituting mechanical precision mechanisms with sensor-based measurement and computational control.
4Productivity
If piece goods are conveyed with abrupt changes in speed and direction on traditional conveyors, then layer formation is achieved, but mechanical stress on piece goods increases causing damage
Solution Approach 1:
The patent replaces traditional mechanical conveyor systems that cause abrupt speed and direction changes with a robotic manipulator system. The manipulator gently grasps and moves piece goods with controlled, smooth motions, eliminating the mechanical shocks and stresses inherent in conveyor-based transfer systems.
Solution Approach 2:
The patent implements dynamic, adaptive manipulation where the manipulator adjusts its motion in real-time based on detected piece goods positions and characteristics. The system uses smooth, controlled movements with variable speeds and accelerations, avoiding abrupt changes that cause mechanical stress, while maintaining efficient layer formation through optimized motion paths.
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 high-speed, precise, and reliable handling of piece goods with minimal computational effort, reducing mechanical stress and ensuring consistent positioning accuracy.
Implementation Method 1
at least one optical detection device for detecting spatial coordinates and/or position and/or outline data of at least one piece goods of the at least three rows moved in the transport direction
Data Source
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AI summary
The invention relates to an apparatus (10) and a method for handling articles moved in at least three parallel rows. The apparatus (10) comprises at least two manipulators (5), which are controllable and movable independently of one another, for articles, and at least three transport devices (3) which are arranged parallel to one another and via which the moved articles are transportable in a transporting direction (TR) to acquisition regions (4) of the at least two manipulators (5). Furthermore, the acquisition regions (4) of the at least two manipulators (5) are assigned at least three parallel horizontal conveying devices (6) that each adjoin the transport devices (3) in an aligned manner and transport the articles that pass into the acquisition regions (4), and are rotated and/or displaced there by means of the manipulators (5), in the transport direction (TR). In addition, at least one optical acquisition device (40) assigned to the acquisition regions (4) and/or the movement spaces of the at least two manipulators (5) are provided, said optical acquisition device (40) being set up and equipped to obtain spatial coordinates and/or position and/or contour data of at least one article, moved in the transport direction (TR), of the at least three transport devices (3). On the basis of the obtained data, at least the manipulators (5) and/or the at least three transport devices (3) arranged parallel to one another and/or the at least three parallel horizontal conveying devices (6) and/or further conveying components of the apparatus (10) are calibrated and/or controlled.