Robot Print Head Coating Paths for Complex Surface Coverage
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Solution Overview
Problem
Existing methods for applying coatings using a print head mounted on a robot arm are difficult to implement due to geometric constraints of the surface and movement limitations, leading to inefficiencies in coating application.
Innovation Solution
A method that uses a digital model of the surface to automatically calculate and define trajectories for the print head, ensuring correct orientation and activation of nozzles to efficiently coat the surface by breaking it down into manageable sections and adjusting for areas not to be coated.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a print head mounted on a robot arm is used to apply coating, then automation and productivity are improved, but the complexity of controlling the print head orientation and trajectory increases
Solution Approach 1:
The coating surface is divided into multiple strips, and the trajectory is segmented into discrete remarkable points. This segmentation simplifies the control by breaking down the complex continuous trajectory into manageable discrete segments, each with specific orientation requirements.
Solution Approach 2:
The method pre-calculates the trajectory and orientation data before actual coating application. By performing the computational work in advance to generate the trajectory with remarkable points and orientations, the real-time control during coating becomes simpler and more straightforward.
2Manufacturing precision
If the print head orientation is adjusted to follow the surface geometry, then coating precision is improved, but the complexity of trajectory calculation and control increases
Solution Approach 1:
The surface is divided into strips and the trajectory into remarkable points, allowing orientation to be adjusted at discrete locations rather than continuously. This maintains coating precision while reducing computational complexity.
Solution Approach 2:
The complex continuous orientation adjustment is replaced by discrete orientation specifications at remarkable points. The computer calculates and stores the necessary orientation data, substituting complex real-time mechanical control with pre-computed digital guidance.
3Productivity
If the entire surface is processed in one continuous trajectory, then productivity is improved, but the ability to avoid non-coating areas and handle geometric constraints decreases
Solution Approach 1:
The surface is divided into multiple strips that can be processed independently. This allows the system to navigate around non-coating areas by selecting and processing only the relevant strips, while maintaining overall productivity through systematic coverage.
Solution Approach 2:
Instead of processing the entire surface uniformly, the method selectively processes only the strips that need coating, avoiding non-coating areas. This partial action approach maintains productivity by focusing effort where needed while adapting to geometric constraints.
Data Source
AI summary
The invention relates to a method for application of coverage product on a surface using a print head that is mounted on a robot arm, and that is made up of a body equipped with at least one printing nozzle. The method includes a) defining a strip of surface to be coated, b) defining a trajectory for the strip of surface, the trajectory including a succession of reference points, c) removing a strip of surface from an information sheet modelling the surface to be coated, d) restarting at a) until the modelled surface to be coated becomes a null area, e) defining an activation program for each print head nozzle on each trajectory, and f) applying the coverage product by activating each print head nozzle on the different trajectories depending on the orientation of the print head at each reference point, based on the activation program.