Robot Printing Method with Vibration-Compensated Overlap
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Solution Overview
Problem
Existing three-dimensional object printing systems face challenges in eliminating deviations between target and actual positions due to vibration, leading to printing failures such as blanks or conspicuous overlaps between passes.
Innovation Solution
A printing method and robot system that utilize an ink ejection head, a robot arm, and a detection section to set an overlap width based on the undulation amount of the track, allowing for controlled overlap and correction to maintain print quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If printing is performed in multiple passes by moving the print head along adjacent trajectories, then printing coverage is improved, but deviation between target and actual positions occurs due to robot vibration
Solution Approach 1:
The system performs a preliminary measurement of the robot's actual trajectory by detecting markers or features on the object surface before the actual printing process. This allows the control system to pre-calculate compensation values for vibrations and deviations, which are then applied during the printing process to maintain position accuracy across multiple passes.
Solution Approach 2:
The system incorporates real-time feedback mechanisms where the actual position of the print head is continuously monitored during movement. Position sensors detect deviations from the planned trajectory caused by vibrations, and the control system dynamically adjusts subsequent printing passes to compensate for these deviations, ensuring accurate overlay of printing patterns.
2Manufacturing precision
If correction motion is performed in the second print trajectory to eliminate deviation, then printing precision is improved, but printing time increases
Solution Approach 1:
The system calculates and applies position compensation values in advance based on preliminary trajectory measurements. By pre-determining the correction needed for vibrations and mechanical deviations, the system eliminates the need for time-consuming real-time correction motions during the actual printing process, maintaining both precision and efficiency.
Solution Approach 2:
Instead of performing slow, deliberate correction motions for each deviation, the system rapidly applies pre-calculated compensation values through optimized control algorithms. This allows the system to skip the lengthy trial-and-error correction process and directly achieve the desired positioning accuracy through calculated adjustments.
3Productivity
If the print head moves at high speed along the printing direction, then productivity is improved, but vibration increases causing printing failures
Solution Approach 1:
The system performs preliminary identification and characterization of vibration patterns during high-speed operation. By measuring the frequency and amplitude of vibrations at different speeds, the system pre-determines optimal printing parameters and compensation strategies that maintain printing reliability even at high speeds, avoiding the need to reduce speed for stability.
Solution Approach 2:
The system dynamically adjusts printing parameters such as print head speed, ink ejection rate, and trajectory curvature based on real-time vibration detection. By changing these parameters adaptively, the system maintains high productivity while suppressing vibrations that would cause printing failures, achieving both speed and reliability.
Data Source
AI summary
A printing method for printing a plurality of lines using an ink ejection head that ejects ink; a robot that relatively moves the ink ejection head along a printing direction with respect to an object; and a detection section that detects a relative track of the ink ejection head with respect to an object, the printing method including an overlap width setting step of the detection section acquiring an undulation amount of the track in a direction orthogonal to the printing direction, and of setting an overlap width of the track when printing the plurality of lines based on the acquired undulation amount and a printing step of printing the plurality of lines on an object while the ink ejection head relatively moves so as to generate an overlap corresponding to the overlap width in printing the plurality of lines.