Robot Arm Paint Application With Force-Moment Feedback Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional application devices fail to accurately detect moments applied to rollers during application, leading to potential tilting or turning that compromises the precision of painting or adhesive application on workpieces.
Innovation Solution
An automatic application device equipped with a robot arm, an application hand, a force sensor to detect forces and moments, and a control section to adjust the robot arm based on sensor feedback, ensuring precise application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only acceleration sensors are used to detect roller motion, then the device complexity is reduced, but the measurement precision of moments applied to the roller deteriorates
Solution Approach 1:
The patent combines multiple sensor types (acceleration sensors and moment sensors) into a unified sensing system. The acceleration sensors detect roller motion while moment sensors detect forces applied to the roller, and their data is integrated by the control unit to achieve comprehensive measurement of both motion and applied forces, resolving the contradiction between simplified device complexity and precise moment detection.
Solution Approach 2:
The control unit acts as an intermediary that processes and integrates data from both acceleration sensors and moment sensors. It combines the motion information from acceleration sensors with the force information from moment sensors to calculate accurate application parameters, enabling precise moment detection without requiring direct mechanical coupling between sensors.
2Ease of operation
If the roller is allowed to turn or tilt during application, then the ease of operation is improved, but the manufacturing precision of the application deteriorates
Solution Approach 1:
The system implements feedback control by continuously monitoring roller motion through acceleration sensors and applied forces through moment sensors. The control unit processes this feedback information and adjusts the roller's position and orientation in real-time to maintain accurate application, allowing the roller to adapt to surface variations while preserving application precision.
Solution Approach 2:
The patent employs dynamic control of the roller system, allowing the roller to turn and tilt in response to detected forces and moments. The control unit dynamically adjusts roller orientation based on real-time sensor data, enabling the system to adapt to uneven surfaces and maintain optimal application contact without compromising precision.
Data Source
AI summary
An automatic application device includes: a robot arm; an application hand configured to apply, to a workpiece, a paint that is a liquid; a force sensor configured to detect a force and a moment acting on the application hand; and a control section configured to control the robot arm in accordance with a parameter calculated from an output signal from the force sensor.