Handling Arm Control Device Using Dynamic Oscillation Thresholds
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Solution Overview
Problem
Existing control devices for handling devices in molding machines waste cycle time by using fixed time thresholds to determine when oscillations of the handling arm have subsided, leading to unnecessary waiting and potential damage during object handling.
Innovation Solution
A control device that uses dynamic parameters, such as oscillation values or calculated curves, to determine when the waiting phase ends, allowing for precise timing of the handling phase based on the actual oscillation behavior of the handling arm, thereby reducing cycle time and preventing object misalignment or damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed time threshold is used to determine when oscillations have subsided, then the control device is simple to implement, but cycle time is wasted due to unnecessary waiting
Solution Approach 1:
The patent applies dynamics by replacing the static fixed time threshold with a dynamic threshold value that adapts to the actual oscillation behavior of the handling arm. The threshold is determined based on the dynamic parameter (oscillation value) measured during the waiting phase, allowing the system to automatically adjust when the handling arm has sufficiently stabilized, thereby eliminating unnecessary waiting time while maintaining implementation simplicity.
2Productivity
If the handling arm moves faster to reduce production time, then productivity increases, but oscillation movements increase causing potential damage
Solution Approach 1:
The patent implements feedback by continuously measuring the dynamic parameter (oscillation value) of the handling arm during the waiting phase and using this information to determine when the threshold is reached. This closed-loop approach allows the system to tolerate faster movements that generate oscillations while automatically detecting when stability is achieved, preventing damage through real-time monitoring rather than relying solely on fixed time delays.
3Device complexity
If a fixed time threshold is used for the waiting phase, then the control algorithm is simple, but handling precision is compromised due to premature actuation
Solution Approach 1:
The patent applies parameter changes by determining the threshold value dynamically based on the measured oscillation characteristics rather than using a fixed time parameter. The threshold is calculated from the dynamic parameter (oscillation value) during the waiting phase, allowing the control algorithm to adapt to varying oscillation intensities and durations, thereby ensuring precise handling actuation timing without significantly increasing algorithmic complexity.
Data Source
AI summary
A control device for a handling device includes a storage medium, a processing unit, an output for outputting signals, and an input for receiving signals from the handling device. A waiting phase is conducted before an actuation of an end-of-arm tool mounted to an end-of-arm of a handling arm. The signals received by the input represent a dynamic parameter of the end-of-arm and a threshold value corresponds to a specific dynamic parameter of the end-of-arm stored in the storage medium. The signals received by the input can be compared with the threshold value by a comparison unit of the control device, and an end of the waiting phase can be determined when reaching the threshold value. Depending on a curve of the dynamic parameter, the threshold value can be determined and the end of the waiting phase can be determined when reaching the threshold value.