Container Pickling Manipulator Trajectory Control
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Solution Overview
Problem
Existing methods face challenges in achieving comprehensive and reliable protection of complex container interiors through pickling and passivation, particularly in ensuring full coverage and reducing manual labor and health risks.
Innovation Solution
A method involving a manipulator that holds and moves a container along a pre-determined trajectory to distribute and drain pickling/passivation liquid, optimizing the process based on container openings and inner contours to ensure complete coverage and residue removal, utilizing an articulated arm and guide system for automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual methods are used for pickling and passivation, then flexibility in handling complex container shapes is maintained, but labor intensity increases and health risks to workers increase
Solution Approach 1:
The patent replaces manual mechanical operations with an automated robotic manipulator system. The robotic arm performs pickling and passivation operations automatically, eliminating the need for workers to manually handle hazardous chemicals and complex container shapes, thereby reducing health risks and labor intensity while maintaining protection reliability
Solution Approach 2:
The system enables self-service through automated control where the robotic manipulator can independently perform the pickling and passivation process without human intervention. The automated system controls liquid distribution, container manipulation, and drainage operations, allowing the process to serve itself rather than requiring continuous manual operation
2Manufacturing precision
If complex container interiors are treated, then comprehensive protection is achieved, but process time and complexity increase
Solution Approach 1:
The patent employs dynamic container manipulation where the robotic arm continuously adjusts the container's orientation and position during the pickling and passivation process. This dynamic approach allows the treatment liquid to reach all interior surfaces including corners and recesses more efficiently, achieving comprehensive coverage without requiring excessively long process times
Solution Approach 2:
The system addresses complex three-dimensional container interiors by manipulating the container through multiple degrees of freedom. The robotic arm rotates and repositions the container in three-dimensional space, allowing treatment liquid to access all surfaces from various angles, thereby achieving complete coverage in a systematic manner
3Manufacturing precision
If pickling and passivation liquid is thoroughly distributed, then complete surface coverage is achieved, but liquid residue may remain in corners and recesses
Solution Approach 1:
The patent incorporates preliminary drainage operations during the pickling and passivation process. After distributing the treatment liquid throughout the container interior, the system immediately begins draining the liquid through strategically positioned openings. This preliminary drainage action prevents liquid from accumulating in corners and recesses, ensuring complete surface coverage while minimizing residue
Solution Approach 2:
The system addresses liquid residue by inverting the traditional approach of filling then draining. Instead of allowing liquid to naturally drain after filling, the system actively manipulates the container to position drainage openings at the lowest points, actively guiding the liquid out before it can settle in recesses, thereby preventing residue formation
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 approach provides consistent and reliable protection of complex container interiors, reduces manual labor, minimizes health risks, and ensures complete drainage of pickling/passivation liquid, thereby extending container lifespan and improving process efficiency.
Implementation Method 1
manipulating the container along a pre-determined trajectory, thereby successively: distributing the pickling and/or passivation liquid inside said container
Implementation Method 2
arranging a pickling and/or passivation liquid inside the container; manipulating the container along a pre-determined trajectory
Implementation Method 3
draining the pickling and/or passivation liquid out of said container
Data Source
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AI summary
Method of pickling and/or passivating at least an inside of a container, comprising: holding the container by a manipulator; arranging a pickling and/or passivation liquid inside the container; manipulating the container along a pre-determined trajectory, thereby successively distributing the liquid inside said container and draining the liquid out of said container, wherein the step of arranging the liquid inside the container comprises at least partly submerging said container in a bath containing said liquid; and wherein the step of manipulating the container in the pre-determined trajectory is preceded by determining said trajectory in dependence of the position of at least one opening in one or more than one wall of said container, wherein said at least one opening is selected for allowing a fluid to leave said container. The invention further relates to a manipulator of or for such a method of pickling and/or passivating at least an inside of a container.