Suction Tool Inclination Teaching for Wrinkle-Free Sticker Peeling
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Solution Overview
Problem
Existing sticker affixing systems using articulated robots struggle to adjust the inclination of the suction tool during the peeling process, leading to warpage or wrinkles in the stickers, which can result in improper affixing.
Innovation Solution
A sticker affixing system that includes an articulated robot, a controller, a suction tool with a force sensor, and storage for teaching data. The system adjusts the suction position and inclination of the suction tool in the traveling direction (roll axis) and pitch axis based on signals from the force sensor, allowing for precise teaching and storage of these adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the suction tool is used to peel off the sticker without adjusting inclination, then the affixing process can be automated, but wrinkles or warpage are generated in the sticker
Solution Approach 1:
The suction tool is equipped with an inclination adjustment mechanism that allows the tool to dynamically change its angle relative to the sticker surface during the peeling process. This dynamic adjustment enables the suction tool to maintain optimal contact with the sticker while accommodating variations in sticker geometry, thereby preventing wrinkles and warpage while preserving automation.
Solution Approach 2:
The system changes the inclination parameter of the suction tool during operation. By adjusting the inclination angle based on detected sticker characteristics or pre-programmed parameters, the system adapts the tool's orientation to prevent deformation of the sticker while maintaining automated operation.
2Manufacturing precision
If the suction tool inclination is adjusted during teaching, then wrinkle generation is prevented, but the teaching process becomes more complex
Solution Approach 1:
The system incorporates sensors that detect the sticker's position, orientation, and surface characteristics during the teaching phase. This feedback information is used to automatically calculate and set the optimal inclination angle for the suction tool, eliminating the need for manual adjustment and simplifying the teaching process while ensuring wrinkle-free peeling.
Solution Approach 2:
The suction tool system performs self-adjustment of its inclination angle based on pre-programmed parameters or real-time sensor data. During teaching, the system automatically determines the correct orientation without requiring complex manual intervention, thereby preventing wrinkles while keeping the teaching process relatively simple.
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 effectively prevents the generation of wrinkles during the sticker peeling process by adjusting the suction tool's inclination, ensuring proper affixing of stickers to objects.
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
Data Source
AI summary
Teaching including adjustment of an inclination of a suction tool with respect to an object is performed in teaching of a suction position of the suction tool. A sticker affixing system includes an articulated robot, a controller, a suction tool attached to a distal end of the articulated robot, a force sensor, and a storage. The controller causes the articulated robot to execute an operation of bringing the suction tool close to a sticker on a release paper in a teaching mode, an operation of adjusting a suction position of the suction tool and an inclination in a traveling direction (roll axis X) of the suction tool in peeling off the sticker based on a signal from the force sensor, and an operation of storing the teaching data including information about the adjusted suction position and the inclination of the suction tool in the storage.