Working Machine Positional Deviation Correction
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Solution Overview
Problem
In work machines with a two-stage lifting and lowering mechanism, positional deviations in the perpendicular direction occur due to inaccuracies in the extending directions of the lifting and lowering axis lines, making it difficult to accurately control the movement of the working head and eliminate these deviations.
Innovation Solution
A control device that corrects the target moving position of the working head in the perpendicular direction based on positional deviation data associated with the inclinations of both lifting and lowering axis lines, obtained by operating the working device at multiple set positions and calculating the deviations, allowing for precise elimination of positional errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a two-stage lifting and lowering mechanism is used to achieve a wide range of motion, then the working device can operate at locations with significantly different heights, but positional deviation in the perpendicular direction occurs due to inaccuracies in the extending directions of the lifting and lowering axis lines
Solution Approach 1:
The patent applies preliminary action by pre-acquiring positional deviation data through operations at multiple set positions before actual work execution. The control device stores this deviation data and uses it to correct target moving positions in advance, eliminating the need for real-time complex calculations and ensuring positional accuracy while maintaining the two-stage lifting mechanism's wide range of motion capability
2Manufacturing precision
If the working head moves in the perpendicular direction to eliminate positional deviation, then positional accuracy improves, but it becomes difficult to accurately eliminate deviation when considering two different lifting and lowering axis lines
Solution Approach 1:
The control device performs preliminary acquisition of positional deviation data by operating the working device at multiple predetermined set positions. This pre-acquired data is stored and later used to correct target moving positions, simplifying the control process while maintaining high positional accuracy despite the complexity of the two-stage lifting mechanism
Solution Approach 2:
The patent uses copying by creating a database of positional deviation data that replicates the complex relationship between the two lifting and lowering axis lines. Instead of performing complex real-time calculations, the system copies pre-measured deviation patterns and applies them to correct target positions, reducing control complexity while maintaining accuracy
3Manufacturing precision
If positional deviation data is acquired through operations at multiple set positions, then accurate correction of target moving positions becomes possible, but the data acquisition process requires additional time and operations
Solution Approach 1:
The patent applies preliminary action by acquiring positional deviation data in advance during setup or maintenance periods, storing it in the control device's memory. This pre-acquired data is then rapidly applied during actual work operations, separating the time-consuming measurement phase from the production phase and minimizing impact on operational efficiency
Solution Approach 2:
The control device is designed with multi-functionality, serving both as the operating controller during work execution and as the data acquisition system during setup. The same control device performs both functions, eliminating the need for separate specialized equipment and reducing overall system complexity and setup time
Data Source
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Figure 2
Figure 3(a)~3(b)
AI summary
In a work machine which includes: a working head 24 including (a) a lifting and lowering unit 34 including a working device 28 and a first lifting and lowering device 30 which lifts and lowers the working device, and (b) a second lifting and lowering device 36 which lifts and lowers the lifting and lowering unit, a positional deviation (Δx, Δy) of the working device in a direction which is perpendicular to a lifting and lowering direction is eliminated. Since the positional deviation is caused by both an inclination of a lifting and lowering axis line L1 of the working device by the first lifting and lowering device and an inclination of a lifting and lowering axis line L2 of the lifting and lowering unit by the second lifting and lowering device, based on positional deviation data which is associated with both a lifted and lowered position of the working device and a lifted and lowered position of the lifting and lowering unit, a target moving position when the working head moves in the perpendicular direction by a head moving device is corrected. By performing correction in this manner, the positional deviation is eliminated, and accurate work can be performed.