Two-Level Lifting Structure for Stable Container-Handling Vehicles
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Solution Overview
Problem
Robotic container-handling vehicles in automated storage and retrieval systems lack stability, particularly during acceleration and deceleration.
Innovation Solution
The implementation of a robotic container-handling vehicle equipped with a first lifting device beneath a second lifting device, which allows for the adjustment of the gripping device's position and distribution of weight, including operational equipment below the lifting devices to lower the center of mass, thereby increasing stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the robotic vehicle uses a conventional single-level lifting structure, then the device complexity is low, but the stability during acceleration and deceleration is poor
Solution Approach 1:
The lifting structure is divided into two independent levels: a first lifting device and a second lifting device. The first lifting device supports operational equipment and can be positioned independently from the second lifting device that holds the gripping device. This segmentation allows separate optimization of each level's function and position, enabling the operational equipment to be placed at a lower center of mass while maintaining the gripping device's operational reach.
Solution Approach 2:
The patent transitions from a single-level lifting mechanism to a two-level vertical structure. The first lifting device operates at a lower vertical position to support operational equipment, while the second lifting device operates at a higher vertical position to hold the gripping device. This dimensional separation in the vertical axis allows simultaneous optimization of both stability (through lower center of mass) and functional reach.
2Stability of the object's composition
If the operational equipment is positioned above the lifting devices, then the ease of operation is improved, but the center of mass is raised reducing stability
Solution Approach 1:
The operational equipment is segregated from the gripping device onto a separate first lifting device. This segmentation allows the operational equipment to be positioned independently at a lower height that optimizes the center of mass, while the gripping device remains on the second lifting device at a height suitable for container engagement operations.
Solution Approach 2:
The first lifting device acts as an intermediary platform that supports the operational equipment at an optimized vertical position. This intermediary structure enables the operational equipment to be positioned at a height that improves stability without compromising the functionality of the gripping device on the second lifting device.
3Adaptability or versatility
If the gripping device is fixed at a single retracted position, then the device complexity is low, but the adaptability to multiple container sizes is limited
Solution Approach 1:
The first lifting device provides dynamic vertical adjustment capability for the operational equipment. By allowing the operational equipment to be raised and lowered independently, the system can adapt its configuration for different container sizes and types, optimizing the center of mass position and operational reach for each specific task.
Solution Approach 2:
The two-level lifting structure creates a universal platform that can accommodate multiple container sizes and configurations. The independent vertical positioning of operational equipment on the first lifting device, combined with the gripping device on the second lifting device, enables the robotic vehicle to handle diverse container types effectively.
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
The disclosure relates to a robotic container-handling vehicle for an automated storage and retrieval system, comprising: a first lifting device; a second lifting device supported by the first lifting device; and a gripping device for lifting a storage container, the gripping device coupled to the second lifting device.