Robot Arm Attitude Switching for Precise Multi-Region Printing

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing robot systems using inkjet heads for printing face challenges with alignment and quality due to deviations in printed regions between steps, leading to lower printing quality.

Innovation Solution

A control method for a robot system that includes setting the robot arm in specific attitudes, using a camera to correct the position of the tool based on imaging results, and performing work in defined regions of the object while maintaining these attitudes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of stationary object

If the robot arm moves to different positions for printing in multiple steps, then the entire object can be printed, but the printed regions may deviate from each other and printing quality decreases

Engineering Contradiction:

Improveprinted area coverageVSAvoidprinting alignment precision

Core Design Contradiction:

Area of stationary objectVSManufacturing precision

Solution Approach 1:

The system uses a camera to capture images of the object surface and the printed regions, then processes these images to detect actual positions and dimensions. This feedback information is used to calculate correction values that compensate for deviations between printed regions, ensuring high alignment precision across the entire printed area.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

Instead of relying solely on mechanical positioning accuracy of the robot arm, the system replaces mechanical precision requirements with optical measurement and computational correction. The camera-based measurement system substitutes for precise mechanical positioning, allowing the robot arm to achieve acceptable positioning while corrections are applied through image processing and calculation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Manufacturing precision

If the robot arm is stopped for each printing step, then positioning can be adjusted, but productivity decreases due to repeated stopping and starting

Engineering Contradiction:

Improvetool position accuracyVSAvoidprinting efficiency

Core Design Contradiction:

Manufacturing precisionVSProductivity

Solution Approach 1:

The system performs preliminary actions by capturing images of the object surface before printing begins, and calculating all necessary correction values in advance. This allows the robot arm to maintain continuous motion during printing while the pre-calculated corrections ensure positioning accuracy, eliminating the need to stop for adjustments between printing steps.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system enables continuous printing operation by calculating correction values based on preliminary image capture and maintaining continuous robot arm motion throughout the printing process. The useful action of printing continues without interruption, while the correction system ensures accuracy is maintained through pre-computed adjustments rather than repeated stopping and positioning adjustments.

Inventive Principle:

Principle #20Continuity of useful action

Data Source

PatentUS12263604B2Control method for robot system and robot system

Publication Date: 2025.04.01 SEIKO EPSON CORP

AI summary

A control method for a robot system includes setting a robot arm in a first attitude, performing work in a first region of an object while moving a tool relative to the object by a moving stage with the first attitude maintained, setting the robot arm in a second attitude, imaging the object using a camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained, and performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.