Transfer Arm Drive System for Autonomous Transport Vehicles
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Solution Overview
Problem
Current storage and retrieval systems in warehouses face challenges in efficiently controlling the transfer arms of automated transport vehicles for picking and placing case units to storage locations or conveyor locations, requiring a simplified drive system to manage variable sizes and combinations of items.
Innovation Solution
The system employs autonomous transport vehicles with transfer arms equipped with fingers that can move independently, driven by a stepper motor-based drive unit, and an inertial sensor to detect tilt, allowing precise control and interaction with multilevel vertical conveyors and storage shelves, enabling efficient transfer of case units between storage spaces and conveyors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If automated transport vehicles use complex drive systems to handle variable sizes and combinations of items, then handling capability is improved, but device complexity increases
Solution Approach 1:
The transfer arm is divided into multiple independently controllable fingers that can move separately. Each finger can be positioned and controlled independently to accommodate different item sizes and shapes, providing versatile handling capability while using a relatively simple drive mechanism for each finger segment
Solution Approach 2:
The fingers of the transfer arm are designed to be dynamically adjustable, allowing them to move from a retracted position to an extended position and adjust their individual positions. This dynamic capability enables the same drive system to handle variable sizes and combinations of items without requiring multiple complex fixed configurations
2Ease of operation
If transfer arms use simplified drive systems for easier control, then ease of operation is improved, but manufacturing precision may deteriorate
Solution Approach 1:
The system incorporates sensors that detect the position of the transfer arm and fingers, providing feedback to the control system. This feedback mechanism allows the simplified drive system to achieve precise positioning by continuously monitoring and adjusting finger positions based on detected location, maintaining manufacturing precision while keeping the drive system simple and easy to control
3Measurement precision
If multiple sensors are used to detect finger position for precise control, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The system uses a single type of sensor (optical sensor) that serves multiple functions: detecting the position of multiple fingers, determining the extension state of the transfer arm, and providing feedback for control. This universal sensor approach achieves high measurement precision without increasing device complexity through the use of diverse sensor types
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
This solution enables efficient and precise handling of case units of varying sizes and combinations, improving the operational efficiency of storage and retrieval processes by allowing random accessibility to storage spaces and ensuring safe transfer without vertical or horizontal partitioning.
Implementation Method 1
an inertial sensor to detect tilt
Implementation Method 2
driven by a stepper motor-based drive unit
Data Source
AI summary
An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.