Multi-Robot Load Ratio Control for Safe Operation Sequencing
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Solution Overview
Problem
Existing mechanical equipment control systems are limited in improving the operability of mechanical equipment, as they primarily focus on avoiding excessive load states in single drive axes, failing to optimize the functional potential of multiple mechanical apparatuses.
Innovation Solution
A mechanical equipment control system that includes a load ratio detector, an integration controller, and automatic and manual adjusters, which detect load ratios across multiple motors, adjust operation sequences, and optimize load ratios to maximize the functional potential of mechanical equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional excessive load protection methods are used for single drive axes, then motor safety is improved, but overall equipment operability and functional potential remain underutilized
Solution Approach 1:
The control system segments the monitoring and control functions for each drive axis independently, allowing individual load ratio detection and adjustment for each motor while maintaining overall system coordination. This enables safety protection at the component level without compromising overall equipment productivity.
Solution Approach 2:
The system merges multiple single-axis protection functions into a unified multi-axis control system that simultaneously monitors and adjusts load ratios across all drive axes, optimizing the functional potential of the entire mechanical equipment while maintaining individual motor safety.
2Reliability
If load ratios are strictly limited to rated values, then motor protection is improved, but the functional potential and operational flexibility of mechanical equipment are restricted
Solution Approach 1:
The control system dynamically adjusts load ratios based on real-time detection and predetermined adjustment rules, allowing operational flexibility to vary within safe limits rather than maintaining fixed rated values. This enables the system to adapt to different operational conditions while protecting motors from excessive loads.
Solution Approach 2:
The system changes operational parameters (load ratios) within a permissible range defined by adjustment rules, allowing the mechanical equipment to operate flexibly across different conditions while ensuring motor protection through predetermined safety boundaries.
3Productivity
If operation sequences are optimized to maximize functional potential, then equipment productivity is improved, but risk of excessive load states increases
Solution Approach 1:
The control system continuously detects load ratios during operation and provides feedback to adjust operation sequences in real-time. This feedback mechanism allows the system to maximize productivity through optimized sequencing while preventing excessive load states by automatically adjusting operations when load limits are approached.
Solution Approach 2:
The system applies predetermined adjustment rules in advance to modify operation sequences before excessive load conditions occur. By proactively adjusting load ratios and operation timing based on predicted conditions, the system optimizes productivity while preventing harmful excessive load states.
Data Source
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AI summary
[Object] To improve operability of mechanical equipment. [Means of Realizing the Object] A mechanical equipment control system 1 includes a plurality of robots 2 to 5, which are drivingly controlled by the motors 14. the mechanical equipment control system 1 includes a load ratio detector 35, which detects load ratios of all the motors 14; a manipulator 21, which receives a setting input of a predetermined operation parameter input into the mechanical equipment control system 1; and an integration controller 6, which controls the plurality of robots 2 to 5 based on the setting input of the predetermined operation parameter while maintaining allowable load states of the load ratios. The robots 2 to 5 each include a servo amplifier 13, which controls the driving of the motor 14; and internal sensors 36 and external sensors 40, which detect state data of at least one of the motor 14 and the servo amplifier 13. The load ratio detector 35 calculates, as the load ratio, a motion margin of at least one of the motor 14 and the servo amplifier 13 based on the state data that has been detected.