Walking Machine Control System for Heavy Load Repositioning
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Solution Overview
Problem
Moving extremely heavy loads over small distances is inefficient due to the time-consuming process of disassembly and reassembly, and existing walking machines require manual operation to ensure clearance, increasing the duration of the stepping operation.
Innovation Solution
A control system for walking machines that automates the stepping operation by extending and retracting lifting devices in a controlled manner, using sensors and a computer to adjust the elevation of the load-bearing frame and support feet, allowing for precise positioning and reduced cycle time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual operation is used to ensure clearance during walking cycle, then safety and reliability are improved, but the duration of the stepping operation increases
Solution Approach 1:
The system uses sensors to detect the position of support feet and automatically controls the lifting devices to maintain proper clearance. The apparatus monitors and adjusts its own state without continuous manual intervention, enabling automatic clearance management while maintaining safety standards
Solution Approach 2:
Sensors provide real-time feedback on the position of support feet relative to the ground surface. The control system processes this feedback and automatically adjusts the lifting devices to maintain appropriate clearance, eliminating the need for manual monitoring and adjustment while ensuring safety
2Reliability
If over-extension of lifting devices is used to ensure clearance, then reliability is improved, but the time to complete the stepping operation increases
Solution Approach 1:
The control system pre-calculates and sets the appropriate extension distance for lifting devices based on sensor data before the walking cycle begins. This preliminary positioning ensures proper clearance is maintained throughout the operation without requiring over-extension or repeated adjustments during the cycle
Solution Approach 2:
The system dynamically adjusts the extension of lifting devices based on real-time sensor feedback rather than using fixed over-extension. The control system modifies the lifting device positions adaptively during operation to maintain optimal clearance, reducing unnecessary movement time while ensuring reliability
3Force
If disassembly and reassembly process is used to move heavy loads, then the ability to move extremely heavy loads is improved, but the time required increases significantly
Solution Approach 1:
The walking machine divides the heavy load into multiple segments supported by separate lifting devices and support feet. Each segment can be independently positioned and controlled, allowing the entire heavy load to be moved as a unified structure without actual disassembly, thus maintaining load capacity while reducing repositioning time
Solution Approach 2:
The walking machine acts as an intermediary device between the heavy load and the ground surface. It uses rollers and travel mechanisms to facilitate movement without requiring disassembly of the load itself, enabling the load to be repositioned efficiently while maintaining its structural integrity and weight
Data Source
AI summary
A control system retracts lifting devices to a stored reset height during a reset operation to raise support feet off of a base surface. The control device raises a load to a stored moving height above the base surface during a moving operation. The control system automatically repeats the reset and moving operations using the stored reset and stored moving heights. The control device may receive an adjustment signal identifying anew height of the support feet or load bearing frame above the base surface and uses the new height during subsequent reset or moving operations. The control device may default to a minimum reset height or a minimum moving height when the new height would cause the support feet or load bearing frame to drag on the base surface.