Suction Nozzle Moment Feedback for Stable Object Removal
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Solution Overview
Problem
In warehouse environments, objects packed in a single large box with small spaces between them are difficult to handle using multi-fingered hands, and when objects are inclined on shelves, they swing excessively when removed by suction, risking detachment from the suction nozzle.
Innovation Solution
An actuator apparatus with a suction nozzle that acquires and compares moments applied during object suction and removal, controlling the taking-out operation to prevent excessive swinging by adjusting the suction position and pressure, ensuring stable removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If objects are removed from inclined shelves using suction, then the removal operation can be performed, but the objects swing excessively and may detach from the suction nozzle
Solution Approach 1:
The system dynamically adjusts suction pressure parameters based on the detected swing state of the object. When swing is detected through moment comparison, the suction pressure is increased to maintain secure attachment. This parameter adjustment resolves the contradiction by adapting the suction force to counteract the swinging motion caused by the inclined shelf environment.
Solution Approach 2:
The system implements feedback control by continuously monitoring the moment applied to the suction nozzle during object removal. The moment sensor detects changes in the object's swing state, and this information is fed back to the control unit, which adjusts the suction pressure accordingly. This closed-loop feedback mechanism ensures reliable object attachment despite the swinging motion on inclined shelves.
2Reliability
If suction pressure is increased to prevent object detachment, then object attachment reliability improves, but the suction nozzle may damage the object surface or consume excessive energy
Solution Approach 1:
The system dynamically adjusts suction pressure based on the actual swing state of the object rather than maintaining a constantly high pressure. The suction pressure is increased only when and where needed (when swing is detected), and reduced when the object is stable. This dynamic adjustment prevents surface damage from excessive suction pressure while maintaining attachment reliability during swinging motion.
Solution Approach 2:
The suction pressure parameter is changed adaptively based on the moment sensor readings. The control unit increases suction pressure only when the moment change indicates swinging motion, and maintains or reduces pressure when the object is stable. This selective parameter change prevents unnecessary high pressure that could damage the object surface while ensuring adequate attachment during swing events.
3Force
If multi-fingered hands are used to grip objects, then gripping force can be distributed, but objects packed in single large boxes with small spaces cannot be effectively gripped
Solution Approach 1:
The system replaces the mechanical gripping system (multi-fingered hands) with a suction-based holding system. The suction nozzle can access objects in tightly packed boxes where multi-fingered hands cannot reach, while the moment sensor and feedback control provide sufficient holding force to prevent detachment during object removal from inclined shelves.
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
The apparatus effectively prevents object detachment by managing the suction and removal process, ensuring objects are removed without swinging excessively, even from inclined shelves.
Implementation Method 1
an actuator equipped with one suction nozzle holds an object by suction with a nozzle
Data Source
AI summary
An actuator apparatus includes an actuator, a setter, an operation controller, and an acquirer. The operation controller is configured to control the actuator to take out an object from a placement table. The actuator includes a suction nozzle configured to suck and hold the object. The acquirer is configured to acquire a difference between a first moment applied to the suction nozzle and a second moment applied to the suction nozzle when the object is taken out by the suction nozzle by a first taking-out movement distance. The operation controller is configured to control whether or not to further continue taking-out the object, based on the difference between the first moment and the second moment.