Autonomous Mobile double arm robot disclosed by Hi

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Hitachi has developed an autonomous mobile dual arm robot that implements sorting and packing operations in warehouses handling a variety of commodities, and has made it public in Adidas business offices of Hitachi fixed and mobile logistics, a subsidiary of the group. The goal is to put it into actual use in the factories of its subsidiaries in 2-3 years and put it on the market in 5 years. The background is that with the expansion of mail order market and the diversification of customer demand, multi variety and small quantity warehouses tend to increase. The robot will be responsible for the sorting and packing operation previously carried out by people. After finding the designated commodities from the shelves of commodities in the huge warehouse, it will be transported and loaded into the test status box at the same time

the robot published this time is equipped with two telescopic lifting platforms on the self-propelled trolley unmanned carrier (AGV) with rotating platform, and a 6-axis industrial manipulator manufactured by Seiko Epson is installed on the two lifting platforms. The lifting table can make the two mechanical arms move up and down independently. The front ends of the two mechanical arms are equipped with different end actuators. The right hand is equipped with a two finger gripper made by robotiq in Canada and an adsorption gripper made by Pisco in Japan. The left hand is equipped with an adsorption gripper made by SCHMALZ in Germany

each arm has a camera for commodity identification and a distance image sensor. Use your left hand to suck the box containing the PET bottle out of the shelf, and then immediately use the two fingers of your right hand to grasp the bottle cap of the PET bottle, take it out, put it into another box, and complete a series of similar actions. In addition, two hand coordination operation can be carried out naturally. For example, when the left hand sucks the shoe box and pulls it out, the right hand supports the side of the shoe box, which could not be supported by a mechanical arm. It is said to be able to operate goods weighing up to 1kg and 30cm long

from the perspective of the automatic sorting and packing system that has been put into actual use, there are single function robots with commodity sorting mechanism and mobile mechanism, but such robots do not have the ability to make the sorting and mobile operations linked uniformly. The reason is that when the trolley, lifting platform and mechanical arm are linked, the communication and calculation between machines become huge, resulting in slow action. In order to solve this problem, the robot has reduced the communication between the machines to the minimum, and defined the appropriate time for the robot to act in advance. Therefore, compared with the robot made by Hitachi, the time from the stop state to take out the container is reduced from 7 seconds to 3 seconds. If we take into account the time spent in the previous manual search for shelves, the robot will achieve the same speed as the manual operation

use the camera installed on the mechanical arm to identify the goods 1m before the trolley reaches the shelf where the goods are stored. After the mechanical arm recognizes the general position of the goods, it moves the clamping claw to the front of the goods at the predetermined stop position of the trolley, and sends corresponding instructions to the lifting table at the same time. After the trolley stops, it will immediately feed back the deviation from the predetermined position to the mechanical arm to correct the clamping jaw position. In addition, in order to operate in case of slight position deviation between the two mechanical arms, the allowable range of position deviation between the mechanical arms is input in advance, so as to reduce the traffic required for trajectory planning and complete linkage

Hitachi has been committed to the development of industrial robots such as arc welding since the 1960s. In the 2000s, it developed the human robot emiew, which has a long history in robot development. In addition, in terms of logistics handling system, the company launched intelligent carry, a logistics handling system using slam, in 2009. In 2014, the company listed another unmanned truck, racrew, which lifted the shelves for handling. At present, 20 trucks are used in the warehouse of Hitachi logistics

in August 2015, Hitachi published the technology that can move accurately even when the shelf placement changes and there is no mark on the floor. This technology divides the layout drawing of the unmanned moving vehicle into fixed areas such as warehouse walls and columns and shelves, or requires high technology to manage the board maintenance area. During operation, the positions of the columns and shelves measured by the distance sensor can be compared with the placement drawing. After confirming the position of the car, only the shelf placement information in the mobile area can be updated, so as to grasp the environmental changes in real time. The robot released this time also adopts this technology, and the distance sensor uses the range finder made by Beiyang Electric Machinery Co., Ltd

Hitachi said that in order to put the robot into practical use this time, it will promote the small and lightweight design in the future and introduce safety measures to prevent accidents when people enter the warehouse. We will enable the robot to pick up commodities whose shapes will change, such as clothes, and at the same time meet the demand for efficient packing of various commodities (Xuanlong Kimura, researcher of the basic research center of the research and Development Department of Hitachi Manufacturing Institute). (Keiko nagchang, Nikkei Robotics)

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