Suction Nozzle Moment Control for Swing-Free Object Pickup
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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 taken out by suction, they often swing and risk falling due to the inclined shelf boards, leading to potential drops.
Innovation Solution
An actuator apparatus with a suction nozzle that acquires and compares moments applied when sucking and taking out objects, controlling the taking-out operation to prevent excessive swinging by adjusting the suction position and pressure, ensuring stable object removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If objects are taken out by suction from packed state on inclined shelves, then the taking-out operation can be performed, but the objects swing and risk falling
Solution Approach 1:
The system performs preliminary actions by measuring the moment applied to the suction nozzle before completing the taking-out operation. The moment measurement is used to predict potential swinging, and the suction nozzle position is adjusted in advance to prevent excessive swinging and object drops, ensuring reliable object removal from packed states on inclined shelves.
Solution Approach 2:
The system implements feedback control by continuously measuring the moment applied to the suction nozzle during the taking-out operation. The measured moment information is fed back to adjust the suction nozzle position and suction force, enabling real-time correction of object swinging and preventing object drops while maintaining productive taking-out operations.
2Ease of operation
If suction is applied to hold objects, then objects can be removed from packed states, but excessive swinging occurs causing objects to fall
Solution Approach 1:
The system replaces direct mechanical control of suction force with moment-based control. Instead of directly controlling suction pressure, the system measures the moment applied to the suction nozzle and uses this information to indirectly control the suction force, substituting a mechanical control approach with a more sophisticated measurement and control strategy that prevents excessive swinging.
Solution Approach 2:
The system changes the control parameter from direct suction pressure control to moment-based control. By measuring and responding to the moment applied to the suction nozzle, the system dynamically adjusts the suction parameters to maintain optimal holding force while preventing excessive swinging and object drops during the taking-out operation.
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 solution effectively prevents object drops by controlling the taking-out operation based on moment differences, allowing for safe and stable removal of objects from packed states on inclined shelves.
Implementation Method 1
an actuator equipped with one suction nozzle holds an object by suction with a nozzle
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 1E~2A
AI summary
When one of the objects (93) placed on a placement board (89) is sucked and held by a suction nozzle (205) and is taken out by an actuator (201) under the control of an operation control unit (100), a first acquisition unit (105) acquires a difference ΔM between a first moment M1 applied to the suction nozzle and a second moment M2 applied to the suction nozzle when the object is taken out by the suction nozzle by a first taking-out movement distance. The operation control unit performs control, based on the acquired difference between the moments, whether the taking-out operation is to be further continued.