Sealing Gun Path Correction for Accurate Bead Placement
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Solution Overview
Problem
Existing sealing robots face challenges in accurately applying sealing material to workpieces due to positional deviations between the robot and the workpiece, leading to increased material usage and costs.
Innovation Solution
The sealing robot measures the shape of the application part ahead of the sealing gun and corrects its course based on the measurement results, ensuring precise alignment even with positional deviations, thereby reducing material usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot is moved along a given route without correction, then the robot can maintain high-speed operation, but the sealing material may be offset from the application part due to positional deviation
Solution Approach 1:
The sensor measures the shape of the application part ahead of the sealing gun before the sealing material is applied. This preliminary measurement allows the control device to correct the course in advance, ensuring positioning accuracy without compromising the high-speed operation of the robot.
Solution Approach 2:
The sensor provides real-time feedback on the shape and position of the application part ahead of the sealing gun. The control device uses this feedback to continuously correct the course, maintaining positioning accuracy while the robot operates at high speed along the given route.
2Manufacturing precision
If the applying amount of sealing material per unit length is increased to prevent offset, then positioning accuracy is improved, but product cost increases
Solution Approach 1:
The sensor provides feedback on the actual position and shape of the application part, allowing the control device to adjust the sealing gun's course precisely. This eliminates the need to increase material application as a compensatory measure, thereby reducing sealing material consumption while maintaining positioning accuracy.
Solution Approach 2:
The patent replaces the mechanical approach of increasing material application to ensure coverage with a sensor-based measurement and control system. This substitution allows precise positioning through feedback control rather than relying on excess material application.
3Manufacturing precision
If course correction is performed continuously, then positioning accuracy is maintained, but operation load increases reducing high-speed movement capability
Solution Approach 1:
The sensor measures the shape of the application part at a position ahead of the sealing gun, allowing course correction to be performed in advance rather than continuously. This preliminary measurement reduces the real-time computation load while maintaining positioning accuracy.
Solution Approach 2:
The course correction is segmented into discrete measurement and correction cycles based on the position of the sealing gun. The control device corrects the course at specific intervals when the sealing gun is at predetermined positions, rather than performing continuous correction, thereby reducing operation load.
Data Source
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AI summary
Among arbitrary positions on the course of a sealing gun, a position ahead of and separated from the arbitrary position in the moving direction of the sealing gun by a given distance, where an application part falls within a given allowable size in a direction perpendicular to the moving direction on the basis of the sealing gun, is a first position, and a position where the application part is deviated from the allowable size is a second position. A control device corrects the course of the sealing gun that is defined by an operation plan, based on the shape of the application part measured in a measurement point located at the first position.