Robot Scraper Force Control for High-Quality Surface Scraping
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Solution Overview
Problem
Existing robot systems struggle to perform high-quality scraping processes on workpiece surfaces, failing to replicate the precision and quality achieved by human experts.
Innovation Solution
A robot system equipped with a scraper and a control device that abuts the scraper against the workpiece surface at an acute angle, controlling the pressing force to a predetermined magnitude while moving along the surface, mimicking the techniques of human experts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robot performs a scraping process by moving a scraper along a workpiece surface, then automation and productivity are improved, but the manufacturing precision and surface quality deteriorate compared to expert human operators
Solution Approach 1:
The patent applies parameter changes by controlling the robot's movement parameters (speed, position, trajectory angle) and the scraper's pressing force parameters to match the characteristics of expert human scraping. The control device adjusts these parameters dynamically to maintain optimal scraping conditions, enabling the robot to achieve surface quality equivalent to human experts while maintaining automation benefits.
2Manufacturing precision
If the robot controls the scraper pressing force to achieve high-quality scraping, then manufacturing precision is improved, but the device complexity increases due to advanced control requirements
Solution Approach 1:
The patent implements feedback control by using force sensors to detect the actual pressing force applied by the scraper and comparing it with the target force value. The control device continuously adjusts the robot's movement based on this feedback to maintain the desired pressing force, ensuring consistent scraping quality while managing control complexity through closed-loop control mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves a scraping process of equivalent quality to that of human experts by precisely controlling the scraper's trajectory and pressing force, forming recesses with desired dimensions and characteristics.
Implementation Method 1
a robot configured to move a scraper for scraping the surface, and a control device configured to control the robot. The control device is configured to abut the scraper against the surface in a trajectory, which is inclined so as to form an acute angle with respect to the surface, by moving the scraper by the robot in a direction along the surface and in a direction toward the surface
Data Source
AI summary
There is a need for a technology for executing a high quality scraping process with a robot. A robot system includes a robot configured to move a scraper for scraping a surface of a workpiece and a control device configured to control the robot. The control device is configured to abut the scraper against the surface in a trajectory, which is inclined so as to form an acute angle with respect to the surface, by moving the scraper by the robot in a direction along the surface and in a direction toward the surface, and during the scraper abutting against the surface, control a position of the robot such that a pressing force, by which the robot presses the scraper against the surface, becomes a predetermined magnitude while moving the scraper by the robot in the direction along the surface, to perform the scraping process.