Sticker Peeling Suction Tool Angle Control to Prevent Wrinkling
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Solution Overview
Problem
Existing sticker affixing systems using articulated robots often result in warpage or wrinkling of stickers during the peeling process due to inadequate adjustment of the suction tool's inclination, leading to improper affixing.
Innovation Solution
The system incorporates a force sensor to adjust the suction tool's inclination in both the roll and pitch axes during the peeling process, allowing for precise control and storage of teaching data to optimize the suction position and prevent sticker deformation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the suction tool's inclination is not adjusted during sticker peeling, then the peeling process is simple, but the sticker deforms (warpage and wrinkling)
Solution Approach 1:
The suction tool's inclination angle is made dynamically adjustable during the peeling process. The system changes the inclination angle from an initial state (where the suction tool is parallel to the sticker) to a final state (where the inclination angle matches the release paper's inclination), preventing sticker deformation while maintaining system simplicity.
Solution Approach 2:
The system changes the physical parameter of the suction tool's inclination angle during peeling. By adjusting this parameter from 0 degrees to a specific angle matching the release paper, the system achieves proper sticker flatness without requiring complex additional devices.
2Manufacturing precision
If the suction tool's inclination is adjusted to prevent sticker deformation, then the sticker peeling quality improves, but the control complexity increases
Solution Approach 1:
The system automatically determines the appropriate inclination angle by detecting the release paper's inclination during teaching. The suction tool's inclination is self-adjusted to match the detected angle, eliminating the need for manual setting and simplifying operation while ensuring accurate sticker affixing.
Solution Approach 2:
The system uses sensors to detect the release paper's inclination angle and feeds this information back to automatically adjust the suction tool's inclination. This closed-loop control ensures the suction tool maintains the correct angle without requiring complex manual teaching operations.
3Device complexity
If a fixed suction tool inclination is used, then the system structure is simple, but the sticker warpages and wrinkles occur
Solution Approach 1:
The suction tool's inclination is transformed from a fixed parameter to a dynamically adjustable one. The tool can change its angle during peeling to match the release paper's inclination, maintaining structural simplicity while significantly improving sticker peeling quality and preventing warpages and wrinkles.
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
This approach effectively prevents sticker warpage and wrinkling, ensuring accurate and smooth peeling and affixing, even on complex surfaces, by dynamically adjusting the suction tool's position and posture based on real-time force measurements.
Implementation Method 1
When a sticker is peeled off from a release paper on a sticker feeder using a suction tool or the like to affix the sticker to an object
Implementation Method 2
a force sensor configured to detect force applied to the suction tool
Data Source
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AI summary
Teaching including adjustment of an inclination of a suction tool (110) with respect to an object is performed in teaching of a suction position of the suction tool (110). A sticker affixing system (10) includes an articulated robot (100), a controller (200) configured to control the articulated robot (100), a suction tool (110) attached to a distal end of the articulated robot (100), a force sensor (201) configured to detect force applied to the suction tool (110), and a storage (603) configured to store teaching data of the articulated robot (100). The controller (200) causes the articulated robot (100) to execute an operation of bringing the suction tool (110) close to a sticker (150) on a release paper (300) in a teaching mode, an operation of adjusting a suction position of the suction tool (110) and an inclination in a traveling direction (roll axis X) of the suction tool (110) in peeling off the sticker (150) based on a signal from the force sensor (201), and an operation of storing the teaching data including information about the adjusted suction position and the inclination of the suction tool (110) in the storage (603).