Robot Arm Calibration for Green Tire Deposition Precision
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Solution Overview
Problem
Existing methods for depositing elementary semifinished products onto a forming drum for building green tires lack precision, leading to inaccuracies and non-compliance with quality standards due to the limitations of control systems for anthropomorphic robotized arms, which are not effectively corrected by real-time monitoring systems.
Innovation Solution
A method and working station that utilize a correction function associated with the robotized arm and working zone to modify target coordinates, ensuring precise deposition by calculating and applying correction values based on known and acquired coordinates, allowing for repeated precision across different paths and tire models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If real-time monitoring systems are used to correct positioning errors of the robotized arm, then manufacturing precision should improve, but the device complexity and resource consumption increase
Solution Approach 1:
The patent applies preliminary action by pre-defining correction functions for different working zones before actual deposition operations. The system stores correction values in advance that compensate for known positioning errors, allowing the robotized arm to achieve accurate deposition without requiring complex real-time monitoring and adjustment systems during operation.
Solution Approach 2:
The patent changes parameters by modifying the control coordinates through pre-calculated correction functions. Instead of changing the physical structure or adding complex monitoring hardware, the system adjusts the numerical parameters (coordinates) sent to the robotized arm to compensate for systematic positioning errors in different working zones.
2Reliability
If correction functions are stored for different working zones and paths, then repeatability and precision improve, but the memory requirements and system complexity increase
Solution Approach 1:
The patent segments the working space into distinct working zones, each with its own correction function. This segmentation allows the system to store correction data only for specific zones rather than the entire workspace, reducing overall memory requirements while maintaining high repeatability within each segmented zone.
Solution Approach 2:
The patent applies partial action by storing correction functions only for the specific working zones and paths actually used in production. Rather than pre-calculating and storing correction data for all possible positions and configurations, the system stores correction functions selectively for relevant operational areas, reducing memory storage requirements.
3Manufacturing precision
If the robotized arm follows complex corrected paths for different tire models, then manufacturing precision improves, but the operation time and complexity increase
Solution Approach 1:
The patent applies preliminary action by pre-calculating correction functions for different tire models and working zones before production. This allows the system to quickly retrieve and apply appropriate corrections during operation without performing complex real-time calculations, thereby maintaining high deposition accuracy while minimizing operation time.
Data Source
AI summary
A working station for deposition of elementary semifinished products for building green tyres includes at least one feeding apparatus for feeding an elementary semifinished product, a forming drum, an anthropomorphic robotized arm associated with the forming drum, a control apparatus for sending movement commands to the anthropomorphic robotized arm in order to move the forming drum in a working zone, and a calibration device for calibrating the anthropomorphic robotized arm. The calibration device includes a base plate, a support rotatably mounted on the base plate, and a reference element translatably mounted on the support. The support is positionable in a plurality of first positions relative to the base plate and the reference element is positionable in a plurality of second positions relative to the support and is fixed into one position of the plurality of second positions by inserting at least one pin or screw into one slot of a plurality of slots on the cursor. The control apparatus is also configured for determining target coordinates, retrieving from a memory area a correction function, modifying the target coordinates by means of the correction function, and using processed coordinates for sending the movement commands.