Holding Tool Motion Control to Avoid Component-Machine Contact
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Solution Overview
Problem
In work machines with rotating and pivoting holding tools, there is a risk of components being contacted by the machine itself, leading to potential damage or malfunction.
Innovation Solution
A work machine equipped with a holding tool, rotating device, pivoting device, imaging device, and control device that uses imaging data to determine if a component will contact the machine, and adjusts the operation of the rotating and pivoting devices to avoid such contact by changing the holding tool's attitude and position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the holding tool rotates and pivots to various attitudes, then the working head can pick up components in different orientations, but the component may contact portions of the work machine causing damage or malfunction
Solution Approach 1:
The control device performs preliminary calculation to determine the component's position and attitude during movement before actual movement occurs. Based on this preliminary analysis, the system pre-adjusts the holding tool's rotation and pivoting angles to ensure the component will not contact any portions of the work machine throughout its movement trajectory to the target position
Solution Approach 2:
The system uses imaging data to acquire real-time information about the component's position and dimensions. This feedback information is fed back to the control device, which continuously monitors and adjusts the holding tool's attitude during movement, modifying rotation and pivoting angles dynamically to prevent contact between the component and machine portions
2Reliability
If the component position and attitude are precisely controlled during movement, then contact with machine portions is avoided, but the control system complexity increases
Solution Approach 1:
The control device integrates multiple functions into a single system: it acquires imaging data, calculates component position and attitude, determines movement trajectories, and controls both rotation and pivoting devices. This multi-functional integration achieves precise component control while avoiding the need for separate complex control systems for each function
Solution Approach 2:
The system uses its own imaging device to acquire data about the component, and its own control device to calculate and adjust the holding tool's attitude. The work machine essentially monitors and controls itself, reducing the need for external complex control systems and achieving reliable component protection through self-contained control functionality
Data Source
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AI summary
A work machine including: a work head including a holding tool configured to pick up and hold a component, a rotating device configured to rotate the holding tool about an axis of the holding tool, a pivoting device configured to pivot the holding tool between a first attitude in which a distal end portion of the holding tool faces downward and a second attitude in which the distal end portion of the holding tool faces sideways; a moving device configured to move the work head; and a control device configured to control operation of the work head and the moving device, the control device including an operation control section configured to, when the working head has moved to a target position after the component has been picked up by the holding tool in the first attitude, cause the holding tool to pivot from the first attitude to the second attitude, and to cause the holding tool to rotate from a holding angle that is a rotation angle when the component was picked up to a target angle, wherein the operationcontrol device is configured to, along with causing the holding tool to pivot from the first attitude to the second attitude, when rotating the holding tool from the holding angle to the target angle, in a case in which the component held by the holding tool will contact a portion of the work machine, perform control of operation of at least one of the rotating device or the pivoting device such that the component held by the holding tool avoids contacting a portion of the work machine.