Posture Control Device for Round Pipe Processing
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Solution Overview
Problem
Conventional tip tool guide apparatuses face challenges in maintaining the desired posture of a processing unit relative to a round pipe due to insufficient rigidity, leading to potential process failures when pressed against the pipe's inner peripheral surface, as they bend or twist under reaction forces.
Innovation Solution
A posture control method and device that utilize multiple distance measuring units arranged in a rectangular configuration to measure and control the gap distance between the processing unit and the pipe surface, allowing for precise rotational adjustments about the roll, pitch, and yaw axes to maintain the desired posture without increasing rigidity, by dividing the surface into virtual partitioned areas and using these measurements to control the unit's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the rigidity of the tip tool guide apparatus is increased to withstand reaction forces, then the posture stability is improved, but the device complexity and design difficulty increase due to space constraints in the water chamber
Solution Approach 1:
The patent employs distance measuring units to continuously monitor the gap between the tip tool and pipe inner surface, feeding this information back to the control unit. The control unit adjusts manipulator positions based on this feedback to maintain stable posture without requiring increased structural rigidity. This resolves the contradiction by achieving posture stability through active control rather than passive structural reinforcement.
Solution Approach 2:
The patent replaces the mechanical approach of increasing structural rigidity with a control-based approach using distance measurement and active adjustment. Instead of making the apparatus physically stiffer (mechanical solution), the system uses sensors and control algorithms to maintain posture stability, substituting mechanical reinforcement with intelligent control.
2Ease of operation
If the tip tool guide apparatus is designed to fit within the water chamber space, then the ease of operation is improved, but the rigidity is reduced making it susceptible to bending and twisting under reaction forces
Solution Approach 1:
The patent transforms the static rigidity requirement into a dynamic control problem. Rather than designing a rigid structure that resists deformation, the system allows the manipulator to dynamically adjust its position based on real-time distance measurements. This enables the apparatus to maintain operational stability within space constraints while compensating for flexibility through active control.
Solution Approach 2:
The patent changes the control parameters by introducing distance measurements from multiple sensing units. By monitoring gap distances dynamically and adjusting manipulator positions accordingly, the system maintains effective rigidity and posture stability without requiring increased structural strength, thus preserving ease of operation within the water chamber.
3Measurement precision
If multiple distance measuring units are arranged in a rectangular configuration, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The patent segments the measurement function by placing multiple distance measuring units at different positions (rectangular configuration) on the manipulator. Each unit measures gap distance independently, providing comprehensive spatial information. This segmentation enables precise determination of tip tool posture and orientation, achieving high measurement precision while keeping each individual sensing unit relatively simple.
Data Source
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AI summary
A posture control method controls a posture of a processing unit by measuring a distance between the processing unit and a process surface of a round pipe to be processed by the processing unit, using four distance measuring units. The method controls a posture about a pitch axis based on a difference obtained by subtracting a second measurement distance from a first measurement distance, and a difference obtained by subtracting a fourth measurement distance from a third measurement distance, controls a posture about a yaw axis based on a difference obtained by subtracting the third measurement distance from the first measurement distance, and a difference obtained by subtracting the fourth measurement distance from the second measurement distance, and controls a posture about a roll axis based on a difference between a first total distance obtained by adding the second measurement distance and the third measurement distance, and a second total distance obtained by adding the first measurement distance and the fourth measurement distance.