Telescopic Conveyance Robot Control to Avoid Resonant Vibration
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Solution Overview
Problem
Conveyance robots with telescopic portions face stability issues due to varying natural frequencies with extension, as existing solutions do not effectively manage vibration when the robot is not connected to a movement surface.
Innovation Solution
A control device and method that estimates the natural frequency of the conveyance robot based on the extension of its telescopic portion and controls the drive mechanism to ensure the natural frequency does not match the angular frequency of the vibration generating portion, using a weight sensor to measure the conveyance object's weight and adjusting the drive mechanism's operation to maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the telescopic portion is extended to increase the height of the conveyance robot, then the robot can reach higher positions and perform more versatile operations, but the natural frequency of the robot changes causing vibration and instability
Solution Approach 1:
The control device dynamically adjusts the drive mechanism's operating parameters based on the current extension length of the telescopic portion. By making the control system adaptive to changing robot configuration, the system maintains stability across different heights without requiring physical structural changes
Solution Approach 2:
The control device changes the operating parameters of the drive mechanism according to the telescopic portion's extension state. By modifying control parameters dynamically, the system compensates for natural frequency changes and prevents vibration at different extension lengths
2Productivity
If the drive mechanism operates at higher speeds to improve productivity, then the conveyance robot can move faster and complete tasks more efficiently, but resonance occurs when the operating frequency matches the natural frequency
Solution Approach 1:
The control device continuously monitors the operating conditions and adjusts the drive mechanism to avoid resonance frequencies. By implementing feedback control, the system can detect approaching resonance conditions and modify operation to maintain reliability while preserving productivity
Solution Approach 2:
The control device calculates and determines appropriate operating parameters in advance based on the current extension length, before resonance occurs. This preliminary adjustment of control parameters prevents resonance from developing while allowing high-speed operation
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
Enables the conveyance robot to operate stably across varying extensions of the telescopic portion by controlling the drive mechanism to prevent resonance, improving stability and operability.
Implementation Method 1
a weight acquisition unit configured to acquire a measurement result of a weight of a conveyance object
Implementation Method 2
controlling a drive mechanism of the conveyance robot such that a natural frequency of the conveyance robot and an angular frequency of a vibration generating portion when the conveyance robot operates do not match
Data Source
AI summary
A control device for a conveyance robot including a telescopic portion which is extensible in a height direction is provided. The control device includes an estimation unit configured to estimate a natural frequency of the conveyance robot according to an amount of extension of the telescopic portion and a control unit configured to control a drive mechanism of the conveyance robot such that the natural frequency of the conveyance robot and an angular frequency of a vibration generating portion when the conveyance robot operates do not match.