Robot Spray Programming with Pitch Control for Uniform Coating
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Solution Overview
Problem
Existing robotic programming systems for machining operations require iterative trial and error to achieve a desired application state of a sprayed material on a workpiece, as they cannot simulate the application of the material during the programming process, leading to increased man-hours and inefficiency.
Innovation Solution
A robotic programming apparatus that determines a pitch interval for operation patterns based on spray parameters, allowing for the simulation of applying a sprayed material to a workpiece, thereby reducing man-hours by enabling precise simulation and programming of application operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If offline programming is performed without simulation of sprayed material application, then programming can be completed using standard machining procedures, but iterative trial and error is required to achieve desired application state
Solution Approach 1:
The patent applies preliminary action by performing simulation of sprayed material application during the offline programming phase. The simulation calculates application state in advance based on operation patterns and spray parameters, allowing programmers to identify and correct issues before actual robot execution, thereby eliminating iterative trial and error and reducing total programming time
Solution Approach 2:
The patent uses copying by creating a virtual model that replicates the physical spraying process. The simulation generates application state data that mirrors what would occur in actual operation, allowing programmers to work with a digital copy of the process rather than requiring multiple physical trials, thus reducing man-hours while maintaining programming ease
2Measurement precision
If simulation of sprayed material application is implemented, then accurate prediction of application state is achieved, but programming system complexity increases
Solution Approach 1:
The patent applies universality by designing a simulation system that handles multiple spray parameters (nozzle characteristics, material properties, motion patterns) and various application states within a single integrated framework. This multi-functional approach achieves precise application state prediction without proportionally increasing system complexity, as the same simulation engine handles diverse spraying scenarios
Solution Approach 2:
The patent uses parameter changes by allowing flexible input of spray parameters (nozzle type, material viscosity, spray pressure, motion speed) that can be adjusted to match specific application requirements. The simulation dynamically recalculates application state based on these parameters, achieving precision through parameter variation rather than system complexity
3Adaptability or versatility
If pitch interval is not determined based on spray parameters, then operation patterns can be selected freely, but uniform spray distribution cannot be achieved
Solution Approach 1:
The patent applies local quality by determining pitch interval specifically for each operation pattern based on its characteristics and the spray parameters. Rather than using a fixed pitch interval for all patterns, the system calculates appropriate intervals locally for each pattern type, ensuring uniform spray distribution is maintained while allowing diverse operation pattern selection
Solution Approach 2:
The patent uses dynamics by making pitch interval a dynamic value that adjusts based on spray parameters and operation pattern characteristics. The pitch interval is not fixed but is determined through calculation that considers spray material properties, nozzle characteristics, and motion patterns, allowing the system to adapt to different scenarios while maintaining spray uniformity
Data Source
AI summary
A robotic programming apparatus, while using a robot equipped with a spraying device to move the spraying device, for creating an operation program of an application operation for applying a sprayed material sprayed from a nozzle of a spraying device to a member, that includes an operation pattern storage section configured to store a plurality of types of operation patterns each indicating operation of the spraying device that are operation patterns each formed of a continuous trajectory including periodic iteration of a constant pattern, and a pitch interval determination section configured to determine, for one operation pattern of the plurality of types of operation patterns stored in the operation pattern storage section, a pitch interval of the periodic iteration of the constant pattern in the one operation pattern based on a spray parameter representing a spray characteristic of the sprayed material by the nozzle of the spraying device.