Robotic Arm Tool Calibration Using Movable Contact Sensors
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Solution Overview
Problem
Conventional tool calibration apparatuses for robotic arms are costly due to the use of infrared sensors and lack the capability to accurately detect the axis direction and dimension of tools, limiting their precision and application.
Innovation Solution
A tool calibration apparatus without infrared sensors, featuring movable measuring surfaces and edges that trigger sensors to accurately record position points, enabling precise calibration of tool center points, axis directions, and dimensions, and allowing for modular design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If infrared sensors are used in the tool calibration apparatus, then the sensing capability is improved, but the fabrication cost increases
Solution Approach 1:
The patent replaces expensive infrared sensors with low-cost contact sensors that detect physical contact between the tool and measuring surfaces. This substitution dramatically reduces fabrication cost while maintaining adequate measurement capability for tool calibration applications.
Solution Approach 2:
The patent replaces the optical/infrared sensing system with a mechanical contact-based sensing system. The contact sensors detect tool position through direct physical contact with measuring surfaces, substituting complex optical fields with simpler mechanical interaction and signal detection.
2Measurement precision
If conventional tool calibration apparatus is used, then the TCP calibration is achieved, but the axis direction and dimension detection capabilities are lacking
Solution Approach 1:
The patent designs the measuring apparatus with multiple measuring surfaces and contact sensors that can detect various tool parameters including TCP position, axis direction, and dimensions. This multi-functional design allows a single apparatus to perform comprehensive tool characterization rather than requiring separate devices for each measurement type.
Solution Approach 2:
The patent extends measurement from single-point TCP detection to multi-dimensional tool characterization by incorporating measuring surfaces oriented in different directions. This enables detection of axis directions and dimensions by measuring contact points across multiple spatial dimensions.
3Measurement precision
If additional detecting devices are added to detect axis direction and dimension, then the detection precision is improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple measurement functions into a single integrated apparatus. The same base structure, measuring surfaces, and contact sensors used for TCP calibration are also employed for detecting axis direction and dimensions, merging multiple detection capabilities into one unified system rather than adding separate devices.
Solution Approach 2:
The measuring apparatus is designed with universal components that serve multiple purposes. The contact sensors and measuring surfaces can detect different tool parameters depending on their configuration and orientation, eliminating the need for specialized detecting devices for each measurement type.
Data Source
AI summary
A tool calibration apparatus includes a first measuring device, a second measuring device, a third measuring device, a fourth measuring device and a fifth measuring device. The first measuring device includes a first measuring surface, a first measuring edge and a sensor. The second measuring device includes a second measuring surface, a second measuring edge and a sensor. The third measuring device includes a third measuring edge and a sensor. The fourth measuring device includes a fourth measuring edge and a sensor. The fifth measuring device includes a third measuring surface and a sensor. The first measuring surface, the first measuring edge and the third measuring edge are movable in an X-axis direction. The second measuring surface, the second measuring edge and the fourth measuring edge are movable in a Y-axis direction. The third measuring surface is movable in a Z-axis direction.