Holding Tool Pivot-Rotation Control for Machine Contact Avoidance
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Solution Overview
Problem
In work machines equipped with rotating and pivoting devices for holding tools, there is a risk of components held by the tool coming into contact with the machine itself, leading to potential damage or operational issues.
Innovation Solution
A work machine with a control device that manages the operation of rotating and pivoting devices to adjust the attitude and position of the holding tool, ensuring that components are safely moved and positioned to avoid contact with the machine's structure, by pivoting the holding tool from a downward to a sideways attitude and rotating it to a target angle after picking up a component, while controlling the operation of these devices to prevent contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the holding tool is rotated and pivoted to various attitudes for component handling, then the versatility and functionality of the work machine is improved, but the risk of component contact with machine portions increases
Solution Approach 1:
The control device performs preliminary calculation to determine whether component contact will occur during rotation or pivoting operations. Before executing the movement, the system evaluates the component's position, size, and the rotation/pivoting parameters to predict potential contact scenarios, allowing preventive control actions to be taken in advance
Solution Approach 2:
The control device continuously monitors the holding tool's position and attitude during rotation and pivoting operations. When it detects that the tool attitude may cause component contact with machine portions, the control device provides feedback to adjust the operation parameters or stop the movement, preventing harmful contact
Data Source
AI summary
A work machine including a work head including a holding tool to pick up and hold a component, a rotating device to rotate the holding tool about an axis of the holding tool, a pivoting device 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 to move the work head; and a control device to control operation of the work head and the moving device, the control device including an operation control section to 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.