Remote Control System for Demolition Robot Arm
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing remote-controlled working machines with manoeuvrable arms face challenges in achieving precise parallel guidance of tools due to variations in tool weight and hydraulic fluid viscosity, making it difficult to maintain accurate motion control, especially during industrial operations that require high precision.
Innovation Solution
The control system allows switching between manual and automatic operation modes, with automatic mode using software to synchronize the arm's motion along predetermined courses, and includes electrohydraulic control adjustments based on tool weight and fluid viscosity, enabling precise linear motion along horizontal and vertical axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual control is used to operate the manoeuvrable arm, then the operator has direct control over tool positioning, but it is impossible to achieve completely parallel guidance of the tool along a linear course due to variations in tool weight and hydraulic fluid viscosity
Solution Approach 1:
The patent replaces manual mechanical control with an automated control system that uses sensors to detect the actual position and orientation of the tool, compares it with the desired parallel guidance trajectory, and automatically adjusts the hydraulic cylinder operations to compensate for variations in tool weight and fluid viscosity, achieving precise parallel guidance without manual intervention
Solution Approach 2:
The patent implements a feedback control system where sensors continuously monitor the tool's position and orientation, and this information is fed back to the control unit which adjusts the hydraulic cylinder operations in real-time to maintain precise parallel guidance along the desired linear course, compensating for disturbances caused by tool weight variations and fluid viscosity changes
2Adaptability or versatility
If different tools with varying weights are attached to the manoeuvrable arm, then the machine can perform diverse tasks, but the motion precision and parallel guidance capability deteriorate
Solution Approach 1:
The patent implements a dynamic control system that automatically adapts to different tool weights by using sensors to detect the actual motion characteristics and continuously adjusting the hydraulic cylinder operations in real-time, allowing the system to maintain precise parallel guidance capability regardless of which tool is attached to the manoeuvrable arm
Solution Approach 2:
The patent changes the control parameters dynamically based on the detected tool characteristics and operating conditions, adjusting the hydraulic flow rates and cylinder operation timing to compensate for variations in tool weight and maintain consistent motion precision across different tool configurations
3Temperature
If hydraulic fluid viscosity varies with temperature, then the hydraulic system can operate in different environmental conditions, but the motion control precision and responsiveness worsen
Solution Approach 1:
The patent uses sensors to detect the actual position and motion characteristics of the tool, and the control unit adjusts the hydraulic cylinder operations in real-time to compensate for viscosity variations caused by temperature changes, maintaining precise motion control across different operating temperatures
Solution Approach 2:
The patent dynamically adjusts hydraulic system parameters such as flow rates and pressure based on detected temperature conditions and resulting viscosity changes, modifying the control characteristics to maintain consistent motion precision across varying environmental temperatures
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
This solution enhances the working machine's ease of use and flexibility by allowing precise parallel guidance of tools, reducing operator workload and improving operational efficiency, especially in demanding industrial tasks.
Implementation Method 1
The working machine is equipped with a hydraulic pump with which the operating means of the machine for the manoeuvrable arm is driven by hydraulic fluid that is supplied by the pump
Implementation Method 2
Between each operating means and the pump there is placed a control valve that controls the hydraulic fluid from the pump to the operating means such that the displaceable arm of the working machine can be manoeuvred in the desired manner
Data Source
Figure 1A~1C
Figure 2
Figure 3
AI summary
The invention concerns a control system for a remote-controlled working machine (1) equipped with a manoeuvrable arm (10), in particular a demolition robot for demolition work, that is intended to carry at the free end of its arm a tool (14, 16), whereby the control system comprises a control unit (4) intended for the remote control of the working machine, whereby an operator (3) is in connection, either by cable or wirelessly, with a control computer (25) that is a component of a hydraulic control circuit (22) for the working machine, and which control unit includes a pair of control sticks (4a, 4b) and associated buttons and knobs that through their influence allow the working machine to be switched into different functional or working modes, whereby the manoeuvrable arm can be caused to carry out desired motions through a number of operating means (31, 32, 33, 34) that are driven hydraulically, that are arranged at the manoeuvrable arm, and that can be influenced by means of the said control sticks (4a, 4b). For an improved efficiency and ease of use, the working machine (1) can be switched through the control unit (4) between two different working modes, including: a first mode for manual operation in which the operator (3) controls the motion of the manoeuvrable arm (10) through direct influence of the relevant control sticks (4a, 4b) of the control unit (4), and a second mode for semi-automatic or fully automatic operation in which the operator (3), on influence of any one of the control sticks (4a, 4b), causes the manoeuvrable arm to move following a predetermined course through the synchronised control of at least two of the operating means (31, 32) of the manoeuvrable arm following a valve control curve (26a, 26b) for each one of these and stored as software in the control computer (25).