Robotic Fruit Handling with Fixed Fill Station and Punnet Storage
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Solution Overview
Problem
Existing robotic fruit and vegetable picking systems face inefficiencies in cycle time due to the robotic arm's extensive movement and handling of picked items, which can be minimized by delivering items directly to a fixed filling location and utilizing a storage system for further handling.
Innovation Solution
A robotic picking system where picked items are delivered directly to a fixed filling location within a storage system, which then moves them to container locations, reducing the distance traveled by the picking arm and minimizing direct handling, and incorporating modular storage systems and mass sensors for quality control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robotic picking arm delivers picked items directly to multiple punnets, then the filling operation is completed, but the cycle time increases due to extensive movement and handling
Solution Approach 1:
The system divides the picking operation into two independent segments: (1) the robotic picking arm delivers items to a fixed filling location, and (2) a separate robotic storage system handles the movement of filled containers. This segmentation allows each system to specialize in its function, reducing overall cycle time and complexity.
Solution Approach 2:
A fixed filling location acts as an intermediary between the picking arm and the storage system. The picking arm only needs to deliver to this fixed point, while the storage system's robotic arm handles all subsequent movement to various container locations, eliminating the need for the picking arm to travel extensively.
2Adaptability or versatility
If the picking arm travels a long distance to deliver items to multiple container locations, then all containers can be filled, but the size and torque requirements of the picking arm increase
Solution Approach 1:
The system separates the functions of item delivery and container positioning. The picking arm only performs the simple task of delivering to a fixed filling location, while the storage system's robotic arm handles the complex movements to various container locations, reducing the torque requirements of the picking arm.
Solution Approach 2:
The fixed filling location serves as an intermediary that decouples the picking arm from the need to reach multiple container locations. The storage system acts as a mediator that transfers items from the fixed filling location to various containers, allowing the picking arm to remain compact with lower torque requirements.
3Ease of operation
If the picking arm handles all movement and delivery operations, then direct control over item placement is maintained, but the complexity and size of the picking system increase
Solution Approach 1:
The system segments the handling functions between two specialized robotic systems: the picking arm for selective item acquisition and the storage system for organized distribution. This segmentation reduces the complexity of each individual system while maintaining overall control and coordination.
Data Source
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AI summary
In general terms, the present invention provides a storage system for a fruit or vegetable picking system, in which picked fruit or vegetables are delivered to a fixed filling location of the storage system, and then moved, by a robotic handling mechanism of the storage system, to one of many container locations where filled containers (punnets) are temporarily stored.