Sealing Gun Trajectory Control Using Ahead-Path Shape Measurement
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Solution Overview
Problem
Existing sealing robots face challenges in accurately applying sealing material to workpieces due to positional deviations, leading to increased material usage and costs, as the sealing material may be offset from the application part even if the workpiece is within a tolerable range.
Innovation Solution
A sealing robot with a robotic arm, sealing gun, and control device that measures the shape of the application part ahead of the sealing gun and corrects its course based on measurement data to ensure precise alignment, even with positional offsets, thereby maintaining the sealing material's application accuracy and reducing material usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the applying amount of sealing material per unit length is increased to prevent offset, then the sealing material can cover positional deviations, but the product cost increases
Solution Approach 1:
The system performs preliminary measurement of the workpiece position and shape using a sensor before the sealing gun applies material. The measurement unit detects the actual position and curvature of the application part ahead of time, allowing the control device to pre-calculate the necessary course correction, thereby preventing offset without excessive material application
Solution Approach 2:
The system implements a feedback loop where the sensor continuously measures the workpiece position and shape, the control device compares these measurements with the planned course, and automatically corrects the sealing gun's trajectory in real-time. This closed-loop control ensures accurate sealing material application while minimizing waste
2Productivity
If the robot moves along a given route, then the sealing gun follows a predetermined path, but positional deviation causes the sealing material to offset from the application part
Solution Approach 1:
The system transitions from a static predetermined route to a dynamic adaptive trajectory. The control device continuously adjusts the sealing gun's course based on real-time sensor measurements of workpiece position and shape, allowing the robot to maintain high speed while adapting to positional deviations and curvature changes
Solution Approach 2:
The system replaces purely mechanical position-based routing with a sensor-measurement-and-correction system. Instead of relying solely on mechanical precision of the robot following a fixed path, the solution uses optical/sensing systems to detect actual workpiece position and uses computational algorithms to generate real-time course corrections
3Manufacturing precision
If the sealing gun corrects its course based on real-time measurement, then the alignment accuracy improves, but the operation load increases
Solution Approach 1:
The system performs measurement and course calculation in advance before the sealing gun reaches each position. By measuring the workpiece position and shape ahead of time and pre-calculating the correction trajectory, the control device reduces real-time computational burden while maintaining high alignment accuracy
Data Source
AI summary
Among arbitrary positions on the course of a sealing gun, a position ahead of and separated from the arbitrary position in the moving direction of the sealing gun by a given distance, where an application part falls within a given allowable size in a direction perpendicular to the moving direction on the basis of the sealing gun, is a first position, and a position where the application part is deviated from the allowable size is a second position. A control device corrects the course of the sealing gun that is defined by an operation plan, based on the shape of the application part measured in a measurement point located at the first position.