Master-Slave Transport System Torque Control
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Solution Overview
Problem
Current transport systems are inadequate for efficiently transporting oversized containers, as they often require single-handset operation, which limits the length of transportable frames and lacks effective torque control for navigating complex routes.
Innovation Solution
A transport system employing a master-slave control method where one handset acts as the master and the other as the slave, with torque regulation allowing for coordinated movement and increased static friction through form-fitting connections, enabling the transport of longer frames and navigating various trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a single handset is used for transport, then the system is simple to operate, but the maximum length of transportable frame is limited
Solution Approach 1:
The transport system is divided into multiple independent handsets (at least two mobile parts with drives), each capable of independent operation but working together in a group to transport frames longer than what a single handset could handle. Each handset maintains its own drive system and control capabilities.
Solution Approach 2:
Multiple handsets are combined to work together as a coordinated group, sharing the load of transporting oversized frames. The handsets operate in synchronization with master-slave control, merging their individual capabilities to achieve transport of frames exceeding twice the length of a single handset.
2Ease of operation
If multiple handsets operate independently, then each handset has operational flexibility, but coordinated movement and torque control for group trips is insufficient
Solution Approach 1:
The control system dynamically switches between independent operation mode and group trip mode with master-slave coordination. During group trips, torque is dynamically regulated based on the driving diagram, with the master handset determining required torque and distributing it to slave handsets according to their position and load conditions.
Solution Approach 2:
The system implements feedback control through torque regulation in both master and slave handsets. The master handset determines the currently required torque from the driving diagram and uses feedback to regulate torque distribution, ensuring synchronized movement and maintaining formation during coordinated transport.
3Stability of the object's composition
If torque is not regulated during group trips, then the control system is simpler, but the transport frame cannot maintain its position relative to mobile parts
Solution Approach 1:
The system regulates torque as a controllable parameter during group trips, adjusting it according to the driving diagram and operational conditions. Torque regulation maintains the transport frame's position relative to mobile parts by controlling the drive forces, while allowing independent operation mode when group trips are not required.
Solution Approach 2:
The master handset determines the currently required torque in advance from the driving diagram before execution, and distributes it to slave handsets as target values. This preliminary torque calculation ensures that all handsets are prepared with the correct torque settings before initiating coordinated movement, maintaining frame stability from the start of the group trip.
4Length of moving object
If handsets are connected for group trips, then longer frames can be transported, but the communication channel requires protection from environmental factors
Solution Approach 1:
The communication channel is nested or routed underneath the transport frame, protecting it from environmental factors such as weather, debris, and physical damage. The communication infrastructure is integrated into the protected space under the frame while still enabling data transmission between master and slave handsets for coordinated operation.
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
Enables the transport of longer frames that would be unmanageable with single-handset systems, maintains frame position through controlled torque, and allows for precise navigation of curves and straight paths, enhancing intralogistic transport capabilities.
Implementation Method 1
a currently required torque is determined in the handset (1) acting as a master, with a first portion of this torque being used as a setpoint for a torque regulation arranged in the handset (1) acting as a master
Implementation Method 2
The transport frame (4) thus remains unchanged in its position relative to the respective mobile part (1) as long as the drive forces directed tangentially to the travel surface are smaller in magnitude than the static friction force of the transport frame (4) on its contact surface with the linear axes of the mobile parts (1)
Data Source
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AI summary
The invention relates to a transport system and a method for operating a transport system, having a first mobile part, a second mobile part, and a transport frame. Bearing rollers for moving the transport frame on a travel surface are arranged on the transport frame. In particular, the mobile part can be moved on the travel surface. Each mobile part has a linear axis, a controller, and respective wheels which are driven by an electric motor. The first mobile part can move underneath the transport frame in a first region of the transport frame, and the second mobile part can move underneath the transport frame in a different second region of the transport frame. The transport frame can be lifted by extending the linear axes of the mobile parts, in particular in such a manner that the bearing rollers of the transport frame lose physical contact with the travel surface: A communication channel is provided between the first and the second mobile part, and the communication channel functions as a transmission channel for data of at least one master/slave control, wherein the first mobile part functions as the master, and the second mobile part functions as the slave.