Contour Parallel Drawing Control for Cartesian Robot Paint Discharging
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Solution Overview
Problem
The existing automatic drawing systems experience drawing errors due to a time discrepancy between the control apparatus's paint discharging operation commands and the actual start/stop times of the paint discharging apparatus, leading to reduced contour accuracy and inefficiencies in the drawing process.
Innovation Solution
Implementing a contour parallel drawing control method where the paint discharging apparatus moves parallel to the planned drawing figure's contour line, continuously performing paint discharge operations, and using a cartesian coordinate robot with an articulated robot arm to efficiently position the paint discharging apparatus, reducing waste and improving work efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of substance
If start/stop control is used to pause paint discharge at contour points, then paint is saved and discrete positioning is simplified, but drawing errors occur due to time delay between commands and actual start/stop times
Solution Approach 1:
The system pre-calculates the optimal paint discharge start and stop points along the contour line, positioning them at locations where the robot will naturally pass during continuous movement. This preliminary planning allows the robot to maintain continuous motion while the paint discharge is precisely controlled at the right moments, eliminating both contour errors from start/stop delays and paint waste from excessive discharge.
2Manufacturing precision
If continuous paint discharge is used to avoid drawing errors, then contour accuracy is improved, but paint waste increases due to unnecessary discharge outside the drawing area
Solution Approach 1:
The system applies paint discharge control with local quality by enabling discharge only in specific local regions where the robot is actually drawing, rather than maintaining uniform continuous discharge. The control apparatus monitors the robot's position and activates paint discharge only when the robot is within the contour line area, ensuring high contour accuracy while minimizing paint waste in non-drawing regions.
3Ease of operation
If the paint discharging apparatus moves in a square wave path with frequent start/stop, then positioning is simplified, but time is lost due to repeated acceleration and deceleration
Solution Approach 1:
The system transitions from static square wave positioning with frequent start/stop to dynamic continuous movement along the contour line. The robot moves continuously following the contour path, and the paint discharge is dynamically controlled based on the robot's position relative to the drawing area. This dynamic approach eliminates repeated acceleration and deceleration, reducing drawing time while maintaining positioning accuracy through real-time position-based paint discharge control.
Data Source
AI summary
An object of the present invention is to provide an automatic drawing system capable of drawing a figure having a smooth and clear contour, in which a control apparatus, based on figure data of a planned drawing figure, by operation of a cartesian coordinate robot, moves a paint discharging apparatus parallel to a contour line of the planned drawing figure to be drawn at a planned drawing location, and along with this movement, the control apparatus executes contour parallel drawing control that causes the paint discharging apparatus to continuously perform a paint discharging operation, thereby drawing a contour portion of the planned drawing figure.