Power Assist Device Robot Arm Control Synchronization
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Solution Overview
Problem
Existing power assist devices fail to prevent workpieces from contacting counter workpieces due to vibrations caused by abrupt stops or starts, leading to issues like adhesive adhesion and insufficient bonding during tasks such as fitting windshields to automobile bodies.
Innovation Solution
A power assist device with a method of controlling the robot arm's drive to synchronize with the counter workpiece's motion, stopping the drive for a predetermined time during changes in the conveyor's state, and resuming it based on operator intention or vibration subsidence to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the conveyor is brought to an immediate stop in the event of emergency, then the emergency stop response time is reduced, but the impact force increases causing workpiece vibration and contact with counter workpiece
Solution Approach 1:
The control device detects the emergency stop signal and immediately stops the drive of the robot arm before the conveyor completes its stop. This preliminary action prevents the robot arm from continuing to move during the conveyor's deceleration and stop process, eliminating the harmful impact and vibration that would otherwise occur when the conveyor abruptly stops.
2Productivity
If the robot arm continues to move during conveyor stop, then the productivity is maintained, but the workpiece contacts with counter workpiece due to vibration
Solution Approach 1:
The control device receives feedback signals from the conveyor's motion state (moving or stopped) and adjusts the robot arm's drive accordingly. When the conveyor is moving, the robot arm operates normally to maintain productivity. When the conveyor stops or changes state, the control device immediately stops the robot arm's drive, preventing positioning errors and contact with counter workpiece due to vibration.
3Reliability
If the drive is stopped for a predetermined time, then the vibration is reduced preventing contact, but the work efficiency decreases
Solution Approach 1:
The control device dynamically adjusts the robot arm's drive state based on the conveyor's real-time motion status. Instead of a fixed stop duration, the system continuously monitors whether the conveyor is moving or stopped and adjusts the robot arm's operation accordingly. This dynamic approach prevents unnecessary stoppages when the conveyor is moving, maintaining work efficiency, while ensuring the robot arm stops when the conveyor stops, preventing contact and vibration issues.
Data Source
AI summary
A method of controlling a power assist device that includes an operating handle, a force sensor, a robot arm, an actuator that drives the robot arm, and a conveying portion for conveying the robot arm. When a body in motion, the conveying portion is controlled to move in synchronization with the body, and when the motion of the body is stopped or has resumed, the drive of the robot arm is stopped for a predetermined time, and does not resume until after a predetermined time has elapsed.