3D Robot Print Path Planning for Stepped Workpiece Surfaces
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing three-dimensional object printing methods using robots struggle to achieve high-quality printing on surfaces with both smooth and stepped regions due to inadequate methods for generating three-dimensional paths that account for the shape of the workpiece, leading to potential collisions and reduced image quality.
Innovation Solution
A three-dimensional object printing method that involves a robot with a head equipped with nozzles for ejecting liquid, where the head's position and orientation are adjusted relative to a workpiece with both smooth and stepped regions, with a larger change in ejection angle over stepped regions to prevent collisions and improve image quality, and a robot teaching method that sets specific teaching points for smooth and stepped regions based on three-dimensional data to generate optimal print paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot moves the head to follow the workpiece surface contour with high precision, then image quality is improved, but the risk of collision with stepped regions increases
Solution Approach 1:
The patent applies preliminary action by generating a three-dimensional path in advance that incorporates safety distance information before the printing operation begins. The path generation unit creates teaching points that maintain a predetermined safe distance from stepped regions, preventing collisions before they can occur during robot execution
Solution Approach 2:
The patent uses an intermediary approach by introducing a virtual safety distance buffer between the head and stepped regions. This safety distance acts as an intermediary zone that allows the head to follow the surface contour closely enough for high image quality while maintaining sufficient clearance to prevent collisions with stepped features
2Manufacturing precision
If the head follows the workpiece surface contour closely, then image quality is improved, but vibrations increase due to frequent position adjustments
Solution Approach 1:
The patent reduces vibrations by performing preliminary path planning that smooths out frequent position adjustments. The path generation unit calculates optimal teaching points in advance that maintain appropriate distance from stepped regions, allowing the robot to move more smoothly without abrupt corrections during execution
Solution Approach 2:
The patent uses a copied or simplified representation of the workpiece surface through three-dimensional data and generated teaching points. Instead of directly tracking every surface contour variation, the system uses a processed model that captures essential geometry while filtering out features that would cause excessive vibrations
3Ease of operation
If a single print path is used for both smooth and stepped regions, then operation simplicity is maintained, but printing quality on stepped regions deteriorates
Solution Approach 1:
The patent applies local quality by generating different path parameters specifically for stepped regions versus smooth regions. The path generation unit identifies stepped regions and creates teaching points with appropriate safety distances and ejection angle adjustments localized to those areas, while maintaining standard paths for smooth regions
Solution Approach 2:
The patent introduces dynamics by allowing the print path parameters to change adaptively based on the local geometry. The system dynamically adjusts teaching point positions and ejection angles according to whether the current region is smooth or stepped, enabling the single print path to optimize for different surface conditions
Data Source
AI summary
A surface of a workpiece has a smooth region, and a stepped region including a step. A three-dimensional object printing method includes first print operation of ejecting liquid from a head onto the smooth region, and second print operation, antecedent to or subsequent to the first print operation, of ejecting liquid from the head onto the stepped region. The amount of change in an angle of ejection, which is angle formed by a first normal line and a second normal line, during execution of the second print operation is larger than the amount of change in the angle of ejection during execution of the first print operation. The first normal line is a line normal to the ejection face. The second normal line is a line normal to the surface of the workpiece at a point of intersection with the first normal line.