Article Transferrer Vibration Control via Moving Average

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing article transferrers experience vibration issues during advancement and retraction operations, which can delay subsequent operations and adversely affect the articles being transferred.

Innovation Solution

An article transferrer with a controller that adjusts the advancement-retraction driver's commands based on a moving average of reference command values, reducing the change in acceleration (jerk) and thereby minimizing vibration.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the advancement-retraction driver operates with stepwise acceleration changes based on reference command patterns, then the holder can be advanced and retracted efficiently, but the holder and article experience vibration due to acceleration changes

Engineering Contradiction:

Improveadvancement and retraction efficiencyVSAvoidvibration of holder and article

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary smoothing of the command values using moving average processing before executing the advancement and retraction operation. This preliminary action modifies the reference command pattern to reduce abrupt acceleration changes, thereby preventing vibration before it occurs during the holder's movement

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The invention changes the parameter of acceleration by applying moving average processing to the command values, which smooths out abrupt changes in acceleration. This parameter modification reduces the jerk (rate of change of acceleration) acting on the holder and article, thereby reducing vibration while maintaining the advancement and retraction functionality

Inventive Principle:

Principle #35Parameter changes

2Device complexity

If the controller uses reference command patterns with stepwise acceleration changes, then the control system remains simple, but vibration occurs delaying subsequent operations

Engineering Contradiction:

Improvecontrol system complexityVSAvoidtime delay due to vibration

Core Design Contradiction:

Device complexityVSLoss of time

Solution Approach 1:

The moving average processing is performed in advance on the command values before they are sent to the advancement-retraction driver. This preliminary smoothing action prevents vibration-induced delays in subsequent operations without adding complex hardware or control mechanisms

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The moving average processing creates a continuous, smoothed command signal that eliminates abrupt changes in acceleration. This continuous action ensures smooth operation of the holder throughout the advancement and retraction process, preventing vibration and associated time delays while maintaining simple control system architecture

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS20250033893A1Article Transferrer

Publication Date: 2025.01.30 DAIFUKU CO LTD

AI summary

An article transferrer includes a holder that holds an article, an advancement-retraction driver that advances and retracts the holder, and a controller that controls the advancement-retraction driver. The controller controls the advancement-retraction driver based on an output command value in an advancement and retraction operation of advancing or retracting the holder by the advancement-retraction driver. The output command value is determined based on a reference command pattern being a time-varying pattern of command values indicating positions, speed, or acceleration which time-varying pattern involves a stepwise acceleration change over time. The output command value is a moving average, within a predetermined period, of the command values indicated by the reference command pattern.