Segmented Calibration Jig for Horizontal Articulated Robot
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Solution Overview
Problem
Current calibration methods for horizontal articulated robots require a large number of teaching positions, leading to increased accuracy but longer calibration times, with no efficient method established for reducing this process.
Innovation Solution
A calibration jig with distinct areas at predetermined positions, including a rectangular area with corner and center areas at different heights, and a non-contact two-dimensional sensor for precise height and angle calibration, allowing for efficient calibration of the robot's control device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large number of teaching positions are used for calibration, then accuracy is improved, but calibration time increases
Solution Approach 1:
The calibration area is segmented into multiple distinct regions (first area, second area, third area, fourth area, and center area) with different height levels. This segmentation allows the robot to obtain multiple reference points from a single calibrated position, improving accuracy without requiring multiple teaching positions. The segmented structure enables comprehensive calibration data collection from one location.
Solution Approach 2:
The calibration jig introduces a vertical dimension (height differences) to the calibration process. By creating height differences between various calibration areas and using a distance measuring sensor to measure vertical distances, the system obtains three-dimensional calibration data from a single position, eliminating the need for multiple horizontal teaching positions while maintaining high accuracy.
2Measurement precision
If multiple teaching positions are used for calibration, then accuracy is improved, but device complexity increases
Solution Approach 1:
The calibration area is divided into multiple segmented regions (first area, second area, third area, fourth area, and center area) with different height levels. This segmentation provides multiple reference points within a single calibration position, improving accuracy without requiring multiple teaching positions or complex calibration procedures.
Solution Approach 2:
A calibration jig serving as an intermediary device is introduced between the robot and the calibration environment. The jig contains pre-structured height-differentiated areas that provide ready-made reference points, simplifying the calibration process while ensuring high accuracy through the measured vertical distances between different areas.
3Productivity
If a structured calibration jig with multiple height levels is used, then calibration efficiency is improved, but manufacturing complexity increases
Solution Approach 1:
The calibration jig is manufactured as a segmented structure with multiple areas (first area, second area, third area, fourth area, and center area) at different height levels. This segmentation enables efficient calibration by providing multiple reference points from one position, improving productivity while the modular segmented design facilitates manufacturing through standardized height differences between segments.
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
The proposed method significantly reduces calibration time by using a structured calibration jig and sensor to accurately calibrate the robot's height and angle controls, enhancing operational efficiency and accuracy.
Implementation Method 1
a non-contact two-dimensional sensor for precise height and angle calibration
Data Source
AI summary
A calibration area has a rectangular area and a peripheral area. The rectangular area includes a center area provided in the center portion and a first corner area, a second corner area, a third corner area, and a fourth corner area that are set at four corners sequentially in the circumferential direction. The center area has a line symmetry with respect to each of the two orthogonal axes passing through the center of the rectangular area. The heights of the areas are different.