Transfer Robot Control Apparatus Shaft Load Balancing
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Solution Overview
Problem
Transfer robots experience significant loads on specific shafts during movement due to inertia and air resistance, leading to potential detachment of the transfer target and increased motor power requirements, which can result in larger and more costly robots.
Innovation Solution
A control apparatus that adjusts the inclination angle of the leading shaft and vertical velocity of the hand portion to balance moments caused by inertia and gravity, while reducing the normal velocity component to minimize air resistance, thereby reducing loads on the shaft and preventing target detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the transfer robot moves the transfer target at high velocity, then productivity is improved, but a large load is applied to the leading shaft due to inertia and air resistance
Solution Approach 1:
The control apparatus tilts the arm portion in the traveling direction to generate a gravitational moment that counteracts the inertial moment. By adjusting the inclination angle, the gravity force component acts as a counterweight to balance the inertial load on the leading shaft during acceleration and deceleration phases.
Solution Approach 2:
The control apparatus dynamically changes the inclination angle parameter of the arm portion based on the motion state (acceleration, deceleration, constant velocity). This parameter adjustment allows the gravitational moment to vary and counterbalance the inertial moment under different operating conditions, reducing the peak load on the leading shaft.
2Force
If the arm portion is tilted to balance inertia and gravity moments, then the load on the leading shaft is reduced, but the control complexity increases
Solution Approach 1:
The control apparatus uses feedback from the motion state (acceleration, velocity) to automatically adjust the inclination angle. The control system continuously monitors the motion parameters and modifies the arm tilt angle in real-time to maintain optimal balance between gravitational and inertial moments, simplifying the control process despite the added degree of freedom.
3Force
If the normal velocity component is reduced to minimize air resistance, then the load on the leading shaft is reduced, but the transfer efficiency may be affected
Solution Approach 1:
The control apparatus optimizes the velocity vector by adjusting the normal velocity component parameter. By reducing the normal velocity component (perpendicular to the transfer target surface) while maintaining or increasing the tangential velocity component (parallel to the transfer target surface), the system minimizes air resistance and its moment on the leading shaft while preserving transfer efficiency through optimized motion trajectory.
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 configuration effectively reduces the moments applied to the leading shaft, prevents target detachment, and allows for the use of lower-power motors, minimizing robot size and cost while maintaining efficient transfer operations.
Implementation Method 1
a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other
Implementation Method 2
when the transfer robot is moving a transfer target, air resistance acts on the transfer target in association with the movement, as a result of which a load according to the air resistance is also applied to the shaft on the leading end side
Implementation Method 3
a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other
Data Source
AI summary
In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.