Robot Zero-Point Calibration Using Multi-Axis Position Recording
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Solution Overview
Problem
Conventional robot zero-point calibration methods require manual positioning of multiple dial gauges and separate calibration operations for each axis, leading to complex and labor-intensive processes, especially for seven-axis robots.
Innovation Solution
A robot zero-point calibration device and method that records positional data of each axis in multiple postures where a first positioning point on the base coordinate system coincides with a second positioning point on the flange coordinate system, using a single calibration jig to calculate and correct offset amounts for zero-point calibration, simplifying the operation and reducing the number of calibration jigs needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning of multiple dial gauges is used for zero-point calibration, then calibration accuracy can be achieved, but the calibration process becomes complex and labor-intensive
Solution Approach 1:
The patent combines multiple dial gauges into a single integrated sensor that simultaneously measures the positions of multiple calibration points. This merging of measurement functions reduces the complexity of the calibration process while maintaining the accuracy of zero-point calibration, directly resolving the contradiction between measurement precision and device complexity
Solution Approach 2:
The invention employs a universal calibration method that can calibrate all robot axes simultaneously using a single sensor setup, rather than requiring separate calibration procedures for each axis. This multi-functional approach simplifies the overall calibration process while achieving the same measurement precision as traditional methods
2Reliability
If separate calibration operations are performed for each axis, then comprehensive calibration coverage is achieved, but the number of calibration operations increases
Solution Approach 1:
The patent merges separate calibration operations for multiple axes into a single simultaneous calibration process. By using a sensor that can detect the positions of multiple calibration points at once, the system achieves comprehensive calibration coverage for all axes without requiring sequential calibration operations, thereby reducing calibration time while maintaining reliability
Solution Approach 2:
The invention enables continuous calibration of all robot axes in a single operational sequence rather than requiring intermittent separate calibration operations. The simultaneous measurement capability allows the calibration process to proceed continuously across all axes, eliminating the time loss associated with switching between different calibration operations
3Measurement precision
If multiple calibration jigs are used for different axes, then calibration accuracy is maintained, but the number of required calibration jigs increases
Solution Approach 1:
The patent introduces a universal calibration jig that can be used for calibrating all robot axes simultaneously, replacing the need for multiple specialized calibration jigs. This single multi-functional jig maintains the measurement precision required for accurate calibration while significantly reducing the quantity of calibration equipment needed
Solution Approach 2:
The invention merges the functions of multiple calibration jigs into a single integrated calibration system. By combining the calibration capabilities for different axes into one unified jig with appropriately positioned calibration points, the system maintains calibration accuracy while reducing the number of separate calibration jigs from multiple units to just one
Data Source
AI summary
A robot zero-point calibration device includes an axial position recording unit configured to record positional data of each axis of a robot in each of a plurality of postures when a first positioning point and a second positioning point are made to coincide with each other, the first positioning point being disposed at a predetermined coordinate on a base coordinate system of the robot, and the second positioning point being disposed at a predetermined coordinate on a flange coordinate system of the robot. The device also includes a positional offset calculating unit configured to calculate an offset amount of a zero point of each axis of the robot from a true zero point of the axis based on a plurality of sets of the positional data stored in the axial position recording unit.