Articulated Work Support Arm for Precise Positioning in Confined Spaces
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Solution Overview
Problem
Conventional work support devices face challenges in effectively supporting work in confined spaces like elevator hoistways while avoiding obstacles, as they often interfere with the work area and struggle to maintain precise control over the workpiece.
Innovation Solution
A work support system comprising a control unit and an arm unit with a grasping mechanism, joint parts, and link parts, equipped with drive units, brake units, and sensors, which allows for precise movement and actuation of the arm unit to support the workpiece without interference, using a combination of manual and automatic modes to ensure safe and accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a workpiece weight is provided at the end part of an arm to balance the workpiece weight, then the arm can support heavy workpieces, but the workpiece weight disturbs the work and interferes with the work area
Solution Approach 1:
The patent extracts the counterweight function from the arm structure by providing a separate counterweight device that can be independently adjusted. This allows the counterweight to be positioned optimally for balancing without being fixed at the arm's end part, thereby reducing interference with the work area while maintaining the ability to support heavy workpieces.
Solution Approach 2:
The patent implements dynamic adjustment capabilities for the counterweight position and magnitude. The counterweight can be dynamically repositioned along the arm structure or adjusted in magnitude based on the specific work requirements, allowing the system to adapt to different work scenarios and minimize interference with the work area while maintaining balance.
2Length of moving object
If the arm unit is designed to reach into confined spaces like elevator hoistways, then it can access difficult-to-reach work areas, but it becomes difficult to avoid obstacles and maintain precise control
Solution Approach 1:
The patent divides the arm unit into multiple articulated segments with independent control. This segmentation allows each segment to be controlled precisely, enabling the arm to navigate complex paths in confined spaces while maintaining overall positioning accuracy. The multi-segment design provides greater flexibility and control compared to a single rigid arm.
Solution Approach 2:
The patent incorporates feedback mechanisms including sensors that monitor the arm's position, speed, and surrounding obstacles in real-time. This feedback is used by the control system to continuously adjust the arm's movement, ensuring precise positioning even when reaching into confined spaces. The feedback loop compensates for disturbances and maintains control accuracy.
3Measurement precision
If the arm unit operates in automatic mode for precise positioning, then positioning accuracy is improved, but the system complexity increases
Solution Approach 1:
The patent implements self-service features where the control system automatically determines optimal movement paths and positioning parameters based on pre-stored work data and real-time sensor feedback. The system can autonomously adjust for disturbances and compensate for errors without requiring complex external intervention, thereby achieving high positioning accuracy while managing system complexity through intelligent automation.
Data Source
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Figure 3A~3B
AI summary
A work support device (10) for assisting handling of an object (T) by a worker (M), comprising: an arm unit (30) including a grasping part (32) with a handle (48), a plurality of joint parts (34), a plurality of link parts (36), a brake unit (41), and a plurality of drive units (40); and a control unit (20) including a state determination unit (50G) configured to determine a state of the arm unit (30), and a brake control unit (50H) configured to control the brake unit (41) to restrict the actuation of the arm unit (30), wherein the control unit (20) is configured to control actuation of the arm unit (30). The worker (M) is intuitively assisted in moving the arm unit (30) and safely performs work, wherein the movement of the arm unit (30) is restricted in accordance with the state of the arm unit (30), e.g. if the joint parts (34) have reached a target angle. Furthermore, obstacles may be sensed as well and collision may be avoided.