Handling Device Arm Balancing Actuator Control
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Solution Overview
Problem
Existing handling devices for moving objects in space require additional effort from operators to overcome inertia, leading to potential fatigue and imprecise movements due to unpredictable and large balancing actuator delays.
Innovation Solution
A handling device with a separate auxiliary actuator and control unit that assists the mechanical arm during initial movement, allowing the operator to shift objects precisely without additional effort by providing real-time support and precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a pneumatic control is inserted in the holding unit to vary the static condition of the balancing actuator, then the initial movement of the object is promoted, but unforeseeable delays occur and movement precision deteriorates
Solution Approach 1:
The system is divided into two independent actuation paths: a manual pushing mechanism for initiating movement and an electronic control system for maintaining balance. This segmentation allows the balancing actuator to remain static during manual pushing, eliminating delays and precision loss while still providing ease of operation.
Solution Approach 2:
A force sensor acts as an intermediary between the operator's manual push and the balancing actuator. The sensor detects the pushing force and triggers the balancing actuator to engage only after the object has been successfully initiated into motion, thereby avoiding interference with the manual pushing phase and maintaining movement precision.
2Ease of operation
If the balancing actuator is continuously varied to promote movement, then the object moves more easily, but imprecision in restoring initial balancing conditions occurs
Solution Approach 1:
The balancing actuator operates in periodic cycles: remaining static during manual pushing to ensure precision, then activating briefly to maintain balance during object movement, and finally returning to static position to restore initial balancing conditions. This periodic operation eliminates continuous variation and its associated imprecision.
Solution Approach 2:
A force sensor provides feedback about the object's movement state to the control unit. Based on this feedback, the control unit precisely controls when the balancing actuator should engage or disengage, ensuring that initial balancing conditions are accurately restored without continuous variation.
3Speed
If the operator applies additional force to overcome inertia, then the object can be moved, but operator fatigue increases over time
Solution Approach 1:
The system provides a preliminary pushing assistance mechanism that reduces the initial force required to overcome inertia. The force sensor detects when the object is ready to move and the balancing actuator pre-positioned provides immediate support, reducing the operator's effort burden from the very beginning of the movement action.
Solution Approach 2:
The balancing actuator with force sensor control creates a self-service system where the device automatically detects movement needs and provides balancing support without requiring the operator to continuously apply additional force. The system serves itself by monitoring its own state and adjusting accordingly, reducing operator fatigue.
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
The handling device enables precise and effortless movement of objects in space with increased responsiveness, reducing operator fatigue and improving movement accuracy by providing independent support to the arm, thus minimizing the operator's effort.
Implementation Method 1
at least one balancing actuator (preferably pneumatic) connected between the supporting base and the arm and designed to balance the weight at least of the loading portion along a line of movement
Data Source
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AI summary
A handling device (1) for objects to be moved in space, comprising a balancing actuator (11) connected between a supporting base (2) and an arm (5) and designed to balance the weight at least of a loading portion (8) connected to the arm (5) in such a way as to keep the loading portion (8) suspended in space. The handling device (1) also comprises movement aid means (14) acting on the mechanical arm (5) and designed to move the mechanical arm (5) relative to the base along a line of movement (6). Said handling device (1) also comprises a control unit (16) which can be operated by the operator and is operatively connected to the movement aid means (14) for operating said movement aid means (14) on command.