Robot Arm Thermal Drift Calibration for Fast Positioning Accuracy
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Solution Overview
Problem
Thermal drift errors significantly impact the positioning accuracy of robots in machining industries, with existing methods often requiring real-time compensation that slows down the moving speed of robot arms and may not be feasible in all on-site environments.
Innovation Solution
A method and apparatus for calibrating thermal drift in robots with multiple arms, involving detecting the actual position of a reference point, calculating the deviation from a preselected position, and calibrating planned positions or paths to improve accuracy without real-time tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If real-time compensation methods are used to correct thermal drift errors, then positioning accuracy is improved, but the moving speed of robot arms decreases
Solution Approach 1:
The patent performs thermal drift calibration in advance before actual production operations. The system moves the robot arm to a predetermined position, detects the actual position, calculates the deviation, and establishes a calibration value that is stored for subsequent use. This preliminary calibration eliminates the need for real-time compensation during production, thereby maintaining high moving speed while ensuring positioning accuracy through pre-established correction values.
2Manufacturing precision
If real-time compensation methods are used to correct thermal drift errors, then positioning accuracy is improved, but the complexity of the system increases
Solution Approach 1:
The calibration process is performed once in advance to establish correction values, which are then stored and reused during production. This eliminates the need for complex real-time detection and calculation systems, reducing overall system complexity while maintaining positioning accuracy through the use of pre-calibrated values.
Solution Approach 2:
The patent creates a calibration model by detecting the actual position at a predetermined point and calculating the deviation. This calibration data serves as a reference copy that can be applied to correct positions throughout the working range, simplifying the system by replacing complex real-time measurements with reusable calibration references.
3Manufacturing precision
If factory debugging methods are used to optimize positioning accuracy, then initial accuracy is improved, but the ability to solve on-site accuracy errors is limited
Solution Approach 1:
The system performs self-calibration at the customer's site by using its own predetermined positions and detection capabilities. The robot arm automatically moves to the predetermined position, detects actual position, calculates deviation, and generates calibration values without requiring external debugging equipment or personnel. This self-service calibration enables the system to adapt to different on-site environments and solve accuracy errors independently.
Solution Approach 2:
The patent establishes predetermined positions and calibration procedures that can be executed at any customer site. These preliminary setup elements enable the system to perform self-calibration in different environments, enhancing adaptability while maintaining the simplicity of factory debugging processes.
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 simplifies the calculation and compensation of thermal drift, enhancing the moving speed of robot arms and processing speed by performing calibration before operation, thus addressing the limitations of existing methods.
Implementation Method 1
The expansion of material objects due to temperature change is generally referred to as 'thermal expansion'. It usually means that when the external pressure remains unchanged, the volume of most substances increases when the temperature increases, and decreases when the temperature decreases.
Data Source
AI summary
Embodiments of the present disclosure relate to a method and an apparatus for calibrating a thermal drift of a robot having at least one robot arms. The method includes detecting, in response to a reference point on the at least one robot arms being moved to a preselected position, an actual position of the reference point; calculating a deviation value between the preselected position and the actual position; and calibrating, based on the deviation value, a planned position or a planned path that the at least one robot arms are intended to move to or move along, to derive a calibrated position or a calibrated path.