Painting Head Attitude Control for Air Bubble Ejection
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Solution Overview
Problem
Existing painting systems using robots struggle to effectively remove air bubbles and contaminants from the painting head unit, leading to defects in paint droplet ejection.
Innovation Solution
A painting system with a painting robot that includes a painting head unit, a robot arm, and a control unit to control the movement and attitude of the head unit, utilizing specific gravity differences to move air bubbles and contaminants, followed by attitude restoration and droplet ejection to expel them, along with wiping the nozzle-forming face.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a filter is used to remove contaminants from the flow path, then contaminants can be removed, but air bubbles and contaminants that penetrate into the painting head unit cannot be removed
Solution Approach 1:
The painting head unit is inverted to a predetermined attitude opposite to the normal painting attitude. This inversion causes air bubbles and contaminants to move toward the nozzle opening due to gravity and specific gravity differences, allowing them to be expelled from the painting head unit when paint is ejected.
2Reliability
If the painting head unit attitude is changed to expel air bubbles, then air bubbles can be removed, but the painting position accuracy may be affected
Solution Approach 1:
The attitude change to expel air bubbles and contaminants is performed before the actual painting operation begins. This preliminary action ensures that the painting head unit is free of air bubbles and contaminants that could cause defects, while the subsequent painting operation maintains normal position accuracy.
Solution Approach 2:
The attitude change for expelling air bubbles is performed periodically at predetermined intervals during the painting operation. This periodic maintenance action removes accumulated air bubbles and contaminants without interrupting the overall painting process, maintaining both painting quality and position accuracy.
3Reliability
If droplet ejection control is performed immediately after attitude restoring control, then air bubbles and contaminants can be expelled, but painting productivity may be reduced
Solution Approach 1:
The attitude change for expelling air bubbles and the subsequent droplet ejection are performed as rapid sequential operations. By minimizing the time between attitude restoration and droplet ejection, the system quickly completes the air bubble removal process and returns to normal painting operation, reducing the impact on overall productivity.
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
The system effectively expels air bubbles and contaminants from the painting head unit, improving paint droplet ejection performance and reducing defects.
Implementation Method 1
head movement control for moving an attitude of the painting head unit from an ejection position at which the droplets are ejected, so that air bubbles present inside the internal flow path are caused to move by a difference in specific gravity between the droplets and the air bubbles
Data Source
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AI summary
[Problem] The objective lies in providing a painting system which is capable of improving performance in terms of expelling air bubbles and contaminants inside a painting head unit. [Solution] A painting robot (10) comprises: a painting head unit (50) provided with a painting head (53); a robot arm (R1) which causes the painting head unit (50) to move to a desired position; and a control unit comprising a head control unit (90) for controlling operation of the painting head (53), and a robot arm control unit (70) for controlling operation of the robot arm (R1), the robot arm control unit (70) performs the following control: head movement control for moving an attitude of the painting head unit (50) from an ejection position at which droplets are ejected, so that air bubbles (B1) present inside the painting head (53) are caused to move; and attitude restoring control for restoring the attitude of the painting head unit (50) to the ejection position, and, during or immediately after the attitude restoring control, the head control unit (90) causes droplet ejection control to be implemented, in order to cause the droplets to be ejected from the nozzles (54).