Vibrated Scraping Tool for Automated Robot Grip Stability
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Solution Overview
Problem
Existing robotic scraping processes face challenges in maintaining a stable grip on scraping tools due to reactive forces, leading to tool slippage and complications in automation, especially when dealing with metallic surfaces with microasperities.
Innovation Solution
A scraping device equipped with a robot that grips a vibrated scraping tool with a force sensor, uses a camera for detecting surface position and orientation, and employs an automatic attaching/detaching unit for tool exchange, allowing precise control and stable operation without sliding, facilitated by a cutting edge vibrated by a vibrator.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a conventional scraping tool is attached to a robot, then the scraping process can be automated, but the robot cannot stiffly grip the scraping tool due to reactive forces, causing the tool to slip on the surface
Solution Approach 1:
The scraping tool is equipped with a vibrator that generates high-frequency vibrations in the cutting edge. This vibration reduces friction between the tool and workpiece surface, preventing slippage caused by reactive forces during automated scraping. The vibrated cutting edge maintains stable contact with the surface while effectively removing material.
2Manufacturing precision
If the cutting angle of the scraping tool is changed based on the shape of a marking part, then the amount of cutting can be maintained, but the control of the robot becomes complicated and the tool may still slip
Solution Approach 1:
Instead of changing the cutting angle based on marking part shape, the invention changes the vibration parameters (frequency and amplitude) of the scraping tool. This simpler parameter adjustment maintains cutting effectiveness across different surface conditions without complicating robot control systems.
3Measurement precision
If a camera is attached to the robot for detecting surface features, then the scraping process can be precisely controlled, but the device complexity increases
Solution Approach 1:
The robot system is designed to handle multiple functions: gripping the vibrating scraping tool, positioning it on the workpiece surface, and optionally exchanging the tool with a camera through an automatic attaching/detaching unit. This multi-functional design consolidates capabilities into a single integrated system, managing complexity through standardization.
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
Enables stable and precise automated scraping of metallic surfaces, reducing operator workload and eliminating the need for manual intervention by detecting surface features and controlling the scraping process based on real-time data.
Implementation Method 1
a scraping tool having a cutting edge vibrated by a vibrator
Data Source
AI summary
A scraping device and a scraping method, by which a scraping process using a robot can be automated, and workload of an operator can be significantly reduced. The scraping device includes a robot which grips or holds a scraping tool, and a robot controller which controls the robot. The robot is a multi-joint robot having six axes, and has a robot arm and a robot hand attached to a front end of the robot arm. The scraping tool is gripped or held by the robot hand. The scraping tool has a cutting edge and a vibrator which vibrates the cutting edge at high velocity, and the robot hand grips the scraping tool while the cutting edge is vibrated at high velocity.