Mobile Picking Robot Lift-Tilt Axis Kinematics
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Solution Overview
Problem
Mobile order picking robots face stability issues due to the extended reach of their robot arms, which can impair stability during object retrieval, especially when accessing low or high packages on pallets, and require complex counterweights that increase energy consumption and reduce operational times.
Innovation Solution
A mobile order picking robot with a vertically aligned lifting mast and a horizontally aligned robot arm featuring a lift-tilt axis designed as a four-bar chain, allowing independent lifting and tilting movements of the pick-up tool, enhancing mobility and flexibility during gripping processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot arm is extended to reach low packages on pallets, then the picking capability is improved, but the stability of the robot is impaired
Solution Approach 1:
The patent employs a counterbalanced forklift truck design where a counterweight is positioned to offset the weight of the extended robot arm. This counterbalancing mechanism maintains the robot's stability even when the arm reaches extended positions to access low packages on pallets, resolving the contradiction between picking capability and robot stability.
2Stability of the object's composition
If a stationary counterweight is used to improve stability, then the robot stability is improved, but the device complexity increases
Solution Approach 1:
The patent merges the counterweight system with the lifting mast structure. The counterweight is integrated into the existing mast assembly rather than being a separate component, which simplifies the overall device complexity while maintaining the stability benefits. This combination eliminates the need for additional separate counterweight mechanisms.
3Stability of the object's composition
If the lifting mast is positioned outside the vehicle contour to improve stability, then the robot stability is improved, but the ability to access low packages is reduced
Solution Approach 1:
The patent implements a dynamically adjustable lifting mast that can move both vertically and horizontally. This dynamic positioning capability allows the mast to be positioned outside the vehicle contour for stability during operation, while still being able to reach low packages on pallets through its vertical movement and extended reach capability.
4Adaptability or versatility
If the robot arm is extended to reach high packages on pallets, then the picking capability is improved, but the stability of the robot is impaired
Solution Approach 1:
The counterbalanced forklift truck design with an integrated counterweight system compensates for the weight and moment created by the extended robot arm reaching high packages. This counterbalancing mechanism maintains robot stability even when the arm is extended to access packages at the top of tall pallets.
Data Source
Figure 1
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AI summary
The invention relates to a mobile picking robot for the automatic picking of objects (3) with a vertically oriented lifting mast and a horizontally oriented robot arm (1) mounted thereon so as to be movable in height, with a picking tool (6) for picking up the objects (3). It is proposed that the picking tool be connected to the robot arm (1) via a lifting-tilting axis (2), which enables both a lifting movement independent of the robot arm (1) and a tilting movement of the picking tool (6) about a horizontal axis independent of the robot arm (1).