Robotic Handling Apparatus Vertical Pivot Narrow Aisle
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Solution Overview
Problem
Vertical articulated robots with six degrees of freedom are unsuitable for narrow environments like Very Narrow Aisle (VNA) or Very Narrow Shelf (VNS) spaces due to their size, weight, and complexity, which leads to interference with storage structures and increased costs.
Innovation Solution
A robotic handling apparatus with a vertical motion mechanism and arm members that pivot about vertical axes, allowing for efficient article transfer without overlapping with the vertical motion mechanism, enabling operation in narrow spaces by maintaining arm members and the end effector on the side of the vertical motion mechanism, reducing interference and torque requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If vertical articulated robots with six degrees of freedom are used, then the robot can provide six degrees of freedom and accommodate multiple types of payloads, but the robot requires large open spaces and interferes with storage structures in narrow environments
Solution Approach 1:
The patent transitions from traditional horizontal articulation to vertical articulation, changing the dimension in which the robot operates. The robot arm pivots about a vertical axis rather than horizontal axes, allowing the robot to function effectively in narrow spaces by utilizing vertical motion to achieve the same operational versatility.
Solution Approach 2:
The robot system is divided into modular components including a base, vertical arm member, and end effector that can independently pivot and move. This segmentation allows each component to be optimized for narrow space operation while maintaining the overall system's ability to handle multiple payload types.
2Adaptability or versatility
If vertical articulated robots are used in narrow spaces, then the robot can operate in constrained environments, but the complexity of the robot structure increases leading to interference with storage structures
Solution Approach 1:
The patent extracts the horizontal articulation components from the robot design and replaces them with vertical articulation. By removing the complex horizontal pivot mechanisms and replacing them with a simpler vertical pivot about a single axis, the overall structural complexity is reduced while maintaining operational capability in narrow spaces.
3Ease of operation
If traditional robot arm configuration is used, then the robot can provide full range of motion, but the arm members overlap with the vertical motion mechanism causing interference
Solution Approach 1:
The robot arm members are configured to move in a vertical plane rather than overlapping horizontally with the vertical motion mechanism. By changing the dimension of arm movement from horizontal to vertical, the patent eliminates interference between the arm members and the vertical motion mechanism while maintaining full range of motion capability.
Data Source
AI summary
A robotic handling apparatus includes a vertical motion mechanism and a first arm member connected to the vertical motion mechanism. The first arm member is movable in a vertical direction by the vertical motion mechanism. The robotic handling apparatus includes a second arm member connected to the vertical motion mechanism via the first arm member, and a first drive unit configured to drive the second arm member to pivot about a first axis. An end effector is connected to the second arm to transfer an article from a first position to a second position by the motion of the vertical motion mechanism, first arm member, and second arm member, the first arm member being mounted to a side of the vertical motion mechanism relative to the vertical direction.