Robot Arm Transfer Timing Control to Avoid Cargo Handling Interference
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing cargo handling systems face inefficiencies due to potential interference between the robot arm and the transfer device during parallel operations, particularly when the system is downsized with the transfer device positioned below the robot arm.
Innovation Solution
A control device determines the start timing of the first operation based on interference detection, adjusting the timing to avoid collisions by measuring article positions and controlling the robot arm's movement accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the transfer device is positioned below the robot arm to downsize the system, then the system size is reduced, but interference occurs between the robot arm and transfer device during parallel operations
Solution Approach 1:
The transfer device is designed to be movable in the vertical direction rather than fixed, allowing its position to be dynamically adjusted. This enables the transfer device to move out of the robot arm's operational path during cargo handling operations, eliminating interference while maintaining the compact below-positioning configuration for size reduction
2Productivity
If the robot arm and transfer device operate in parallel simultaneously, then cargo handling efficiency is improved, but interference and collisions may occur
Solution Approach 1:
A control device monitors the operational states of both the robot arm and transfer device, detecting their positions and movement status in real-time. Based on this feedback information, the control device coordinates their operations to enable parallel execution when safe, while preventing interference by adjusting timing or positions when conflict is detected
Solution Approach 2:
The transfer device's vertical movability allows it to dynamically change its position during operations. When parallel operation is needed, it remains at the lower position for efficient cargo transfer. When interference risk is detected, it moves vertically to clear the robot arm's path, enabling reliable parallel operations
Data Source
Figure 1
Figure 2A~2C
Figure 3A~3B
AI summary
According to one embodiment, a cargo handling apparatus (100) includes a hand (120), a robot arm (130), a transfer device (C), a measurement device (140), and a control device (190). The hand (120) holds an article (A). The robot arm (130) moves the hand (120). The transfer device (C) is arranged with the robot arm (130), and transfers the article (A). The measurement device (140) measures a position and a size of the article (A). The control device (190) performs a first operation of transferring the article (A) to the transfer device (C) by using the hand (120) and the robot arm (130), and a second operation of transferring the transferred article (A) by using the transfer device (C). The control device (190) determines whether or not the robot arm (130) will interfere with the transfer device (C) or a second article (A2) on the transfer device (C) when performing the first operation for a first article (A1). The control device (190) controls a start timing of the first operation according to a determination result of the interference.