Curved-Surface Inkjet Robot Control for Uniform Separation Distance
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Solution Overview
Problem
Existing robot systems face issues with printing unevenness on curved surfaces due to varying separation distances between the inkjet head and the printed surface, leading to poor printing quality, especially on regions with larger curvatures.
Innovation Solution
A control method for a robot system that divides the printing face into regions based on curvature, with regions of larger curvature having smaller work areas, allowing the inkjet head to move relative to the object using a moving stage while the robot arm is stopped, ensuring consistent separation distances and improved printing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the inkjet head is moved relative to the printed surface using the slide unit, then the painting work can be performed with the robot arm stopped, but the separation distance between the printed surface and the inkjet head changes during movement, causing printing unevenness
Solution Approach 1:
The patent applies local quality by adjusting the work range of the moving stage according to the curvature characteristics of different regions on the object. Regions with larger curvature are assigned smaller work ranges, while regions with smaller curvature are assigned larger work ranges. This localized adaptation ensures that the separation distance between the inkjet head and the printed surface remains within an appropriate range across all regions, thereby maintaining printing accuracy on curved surfaces.
2Manufacturing precision
If the robot arm is stopped during painting work, then the tool can be moved precisely by the moving stage, but the productivity decreases due to the repeated stopping and moving of the robot arm
Solution Approach 1:
The patent applies segmentation by dividing the overall painting task into multiple regions based on curvature characteristics. The moving stage performs painting work on each region separately while the robot arm remains stopped, ensuring precision within each segment. This segmented approach allows the system to maintain high printing uniformity while managing the complexity of curved surface painting through region-by-region processing.
3Area of stationary object
If a larger work range is used for high curvature regions, then more area can be covered, but the separation distance variation increases, causing printing unevenness
Solution Approach 1:
The patent implements local quality by assigning different work ranges to different regions based on their curvature characteristics. High curvature regions are assigned smaller work ranges to maintain printing consistency, while low curvature regions are assigned larger work ranges to maximize coverage. This localized strategy ensures that each region receives appropriate attention based on its geometric properties, achieving both coverage and quality.
Data Source
AI summary
A control method for a robot system including a moving stage, a tool attached to the moving stage, and a robot arm holding one of the moving stage and an object and performing predetermined work on the object using the tool, includes performing the work while moving the tool relative to the object by the moving stage with the robot arm stopped, wherein a portion having a larger curvature has a smaller range of the work than a portion having a smaller curvature of the object.