Telescopic Picking Mechanism Speed Control for Stable Handling
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Solution Overview
Problem
Handling robots experience collisions and instability when extending telescopic mechanisms to pick or place objects, potentially damaging or destabilizing the objects and carriers.
Innovation Solution
The solution involves controlling the extension and deceleration of the picking and placing mechanism to prevent collisions by maintaining speeds within preset thresholds and using a follower tray to support the object during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the picking and placing mechanism extends at high speed to improve productivity, then the handling efficiency is improved, but collisions and instability occur causing damage to objects and carriers
Solution Approach 1:
The patent implements dynamic speed adjustment of the picking and placing mechanism by introducing multiple speed stages (first speed for initial extension, second speed for later extension). The control mechanism dynamically changes the extension speed based on the extension distance, allowing high speed for most of the行程 to maintain productivity while reducing speed near the target position to prevent collisions and ensure object stability.
2Loss of time
If the picking and placing mechanism extends quickly to reduce processing time, then the handling time is reduced, but collisions occur destabilizing the carrier
Solution Approach 1:
The patent applies preliminary action by pre-planning the speed adjustment strategy based on extension distance thresholds. The control mechanism is configured with preset distance values that trigger speed changes in advance, ensuring that the mechanism reduces speed before reaching critical positions where collisions could destabilize the carrier, thus preventing stability issues before they occur.
3Productivity
If the extension speed is increased to improve operational efficiency, then the picking and placing speed is improved, but collisions damage the target object
Solution Approach 1:
The patent uses dynamic speed control where the extension speed is adjusted based on real-time extension distance. The mechanism operates at high first speed for the majority of the extension行程 to maintain productivity, then automatically reduces to lower second speed when approaching the target position, effectively balancing high picking and placing speed with collision prevention to avoid object damage.
Data Source
AI summary
An object handling method is applied to an object picking device. The object picking device includes a base and a picking and placing mechanism. The picking and placing mechanism is extendable or retractable relative to the base. The picking and placing mechanism is configured to exert a force on a target object to carry the target object when picking up or returning the target object. The object handling method includes: accelerating the picking and placing mechanism to a first speed; extending the picking and placing mechanism outward from the base at the first speed; decelerating the picking and placing mechanism in a case that an extension distance of the picking and placing mechanism is greater than or equal to a preset distance; and stopping extending the picking and placing mechanism when it is determined that the picking and placing mechanism has reached a target cargo position.