Painting Robot Pressure Control During Paint Start and Stop
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Solution Overview
Problem
Existing robotic painting systems experience pressure fluctuations during paint dispensing and stopping, leading to inconsistent paint pressure that does not fall within the reference range.
Innovation Solution
A painting robot with a paint circulation channel, regulating valves, and a control unit that employs feedback and feedforward control to adjust paint supply and recovery mechanisms, using pressure set points and compensating pressure values to stabilize paint pressure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If feedback control is used to adjust paint pressure, then pressure stability is improved, but response delay occurs during paint dispensing or stopping
Solution Approach 1:
The control unit performs preliminary action by anticipating pressure changes based on the operational state of the painting head (e.g., starting to dispense, stopping, or changing posture). Before actual pressure fluctuations occur, the controller adjusts the paint supply and recovery mechanisms in advance, thereby eliminating response delay while maintaining pressure stability.
Solution Approach 2:
The system incorporates feedback control where pressure sensors continuously monitor the actual pressure in the paint circulation channel. The control unit compares the actual pressure with the target pressure and adjusts the paint supply and recovery mechanisms accordingly. This closed-loop feedback ensures pressure stability while the preliminary action component eliminates delay.
2Loss of substance
If paint circulation channel is added to recover undispensed paint, then paint waste is reduced, but system complexity increases
Solution Approach 1:
The paint circulation channel recovers undispensed paint from the painting head and returns it to the paint supply mechanism. This recovery mechanism prevents paint waste by reusing the paint that would otherwise be discarded, directly addressing the paint waste reduction goal.
Solution Approach 2:
The paint circulation channel serves multiple functions: it recovers undispensed paint, maintains pressure stability during dispensing and stopping, and reduces the need for additional separate recovery mechanisms. This multi-functionality reduces overall system complexity despite adding the circulation channel.
3Manufacturing precision
If regulating valve is added to control paint flow, then pressure control precision is improved, but device complexity increases
Solution Approach 1:
The regulating valve is controlled by a feedback mechanism where pressure sensors continuously monitor the actual pressure and the control unit adjusts the valve opening to maintain the target pressure. This feedback control achieves precise pressure control while the integrated control system prevents excessive complexity.
Solution Approach 2:
The regulating valve controls paint flow by changing its opening degree parameter in response to pressure variations. The control unit dynamically adjusts the valve parameter based on real-time pressure feedback and anticipated pressure changes, achieving precise pressure control.
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 reduces pressure fluctuations during paint discharge and stoppage, maintaining consistent paint pressure for improved painting quality.
Implementation Method 1
a paint circulation channel disposed between the robot arm and the painting head unit to recover the paint not dispensed from the painting head while supplying the paint to the painting head
Implementation Method 2
a regulating valve disposed midway through the paint circulation channel and adjustable to open and close an internal flow path of the paint circulation channel
Implementation Method 3
a paint supply means mounted at a predetermined position on the robot arm and disposed midway through the paint supply channel and applying pressure to supply the paint to the painting head
Implementation Method 4
a paint recovery means mounted in a predetermined position of the robot arm and disposed midway through the return channel and applying pressure downstream of the return channel to recover the paint not dispensed from the painting head
Implementation Method 5
a feedback control unit for controlling the operation of at least one of the paint transfer means and the regulating valve by calculating a pressure calculation value for executing feedback control of the operation of at least one of the paint transfer means and the regulating valve, so as to be the pressure set point read from the control memory
Implementation Method 6
a feedforward control unit for controlling the operation of at least one of the paint transfer means and the regulating valve, by correcting the calculated pressure calculation value with a compensating pressure value in the opposite direction to the expected pressure fluctuation with respect to the pressure set point
Data Source
AI summary
A painting robot capable of reducing the influence of pressure fluctuations when paint is discharged or stopped. The painting robot includes a robot arm having a painting head unit attached to its tip, a paint supply mechanism provided between robot arm and painting head unit; and a control unit. The paint supply mechanism includes a paint circulation channel; paint transfer means and regulating valves provided in the middle of the paint circulation channel. The control unit is configured with a feedback control unit that calculates a pressure calculation value for executing feedback control.