1results about How to "Small shape and position tolerance" patented technology

This invention relates to the field of robotic arm technology, specifically to a multi-station robotic arm collaborative vacuum cavity welding and assembly method, comprising the following steps: S1, station layout configuration; S2, multi-robotic arm collaborative configuration; S3, collaborative motion error compensation; S4, welding path planning and deformation compensation; S5, station cycle time dynamic optimization. This invention proposes a collaborative motion error compensation algorithm based on the weighted least squares method. By real-time acquisition of robotic arm end-effector pose feedback data, it dynamically calculates and issues pose correction amounts, achieving closed-loop control of collaborative positioning accuracy, effectively eliminating accuracy losses caused by robotic arm joint clearance, load changes, and temperature drift. Furthermore, it establishes a welding thermal deformation prediction model based on the inherent strain method, achieving pre-compensation and dynamic correction of welding deformation, resulting in smaller dimensional and positional tolerances after vacuum cavity welding, meeting the stringent requirements of high-end semiconductor and aerospace equipment.