Painting Robot Tilt Control for Obstruction Avoidance and Resolution
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Solution Overview
Problem
Existing painting robots face challenges in maintaining painting quality when the nozzle face cannot be brought sufficiently close to the object due to obstructions, leading to a drop in resolution.
Innovation Solution
A painting robot with an elongate painting head and a head control unit that performs tilt control to shift the direction of movement from a short-side to a longitudinal direction, calculating tilt angles to maintain resolution and avoid interference with obstructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the painting head moves to avoid interference with obstructions, then the painting head can navigate around obstructions, but the painting distance increases and painting resolution drops
Solution Approach 1:
The painting head's orientation is made dynamic through tilt control, allowing it to change angle relative to the object surface. This enables the painting head to maintain an optimal painting distance while navigating around obstructions, resolving the contradiction between avoiding interference and maintaining painting resolution.
Solution Approach 2:
The system changes the orientation parameter of the painting head by tilting it at calculated angles. This parameter change allows the painting head to achieve both avoidance of obstructions and maintenance of appropriate painting distance, thereby preserving painting resolution.
2Manufacturing precision
If the painting head is positioned to maintain painting resolution, then the nozzle face can be close to the object, but interference with obstructions increases
Solution Approach 1:
By making the painting head orientation dynamic through tilt control, the system can adapt to different spatial constraints. The painting head can tilt to maintain close distance to the object surface for high resolution painting while dynamically avoiding static obstructions.
Solution Approach 2:
The solution introduces an additional degree of freedom by tilting the painting head in the vertical dimension. This allows the painting head to maintain horizontal proximity to the object for resolution while using vertical orientation adjustment to clear obstructions.
3Manufacturing precision
If the painting head tilts to follow the object shape, then painting quality is maintained on curved surfaces, but the system complexity increases
Solution Approach 1:
The tilt control system uses feedback from the object's geometric information to calculate appropriate tilt angles. This feedback mechanism enables the painting head to automatically adapt its orientation to follow curved surfaces and maintain consistent painting quality without manual intervention.
Solution Approach 2:
The patent replaces complex mechanical positioning systems with a control-based tilt mechanism. By using computational geometry and control algorithms to determine tilt angles, the system achieves adaptive painting on curved surfaces with simpler mechanical hardware.
Data Source
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AI summary
[Problem] To provide a painting robot 10 capable of maintaining painting quality also at locations where a nozzle face cannot be brought sufficiently close. [Solution] The painting robot 10 comprises: an elongate painting head 30 for painting an object CM being painted while moving in a predetermined direction, the painting head 30 having a plurality of nozzle rows 33 formed by a plurality of nozzles 32 for ejecting paint; an arm control unit 2 for controlling operation of a robot arm 23 which has the painting head 30 mounted on a tip end thereof and causes the painting head 30 to move to a desired position; and a head control unit 6 for controlling tilting of the painting head, the head control unit 6 performing tilt control to tilt the painting head 30 until a direction of movement of the painting head 30 shifts from a short-side direction of the painting head 30 to a longitudinal direction thereof.