Spring-Loaded TCP Calibration Pin for 3D Robot Accuracy
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Solution Overview
Problem
Existing robotic systems face challenges in accurately calibrating the tool center point (TCP) in three-dimensional space, leading to potential damage to parts or inaccurate work performance due to low accuracy in the z-direction.
Innovation Solution
A calibration apparatus comprising a pin member, shell member, elastic member, and base member, which allows for precise alignment of notches to determine the TCP in x, y, and z directions, with an internal spring mechanism to protect the part from damage and ensure accurate calibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional calibration methods are used to determine TCP, then calibration can be performed, but accuracy in the z-direction is low leading to potential part damage
Solution Approach 1:
The calibration apparatus incorporates a spring mechanism that provides cushioning protection before damage can occur. The spring is positioned between the pin member and the base member to absorb excess force during calibration, preventing harmful impacts to the part while maintaining calibration accuracy.
Solution Approach 2:
The pin member with notch acts as an intermediary element between the robot tool and the calibration target. The notch on the pin member engages with a corresponding feature on the calibration target, providing a precise mechanical reference point for TCP determination while the spring provides protective mediation against harmful forces.
2Measurement precision
If the robot is calibrated to accurately pinpoint TCP in two-dimensional space, then x and y direction accuracy is improved, but z-direction accuracy remains low
Solution Approach 1:
The calibration apparatus extends conventional two-dimensional TCP calibration into three-dimensional space by incorporating a spring mechanism that provides controlled movement and force in the z-direction. This allows accurate calibration in all three dimensions (x, y, and z) rather than just the horizontal plane.
Solution Approach 2:
The invention replaces purely sensor-based or software-based calibration methods with a mechanical calibration apparatus that includes a pin member with notch and spring mechanism. This mechanical system provides direct physical reference and force control, enabling more accurate three-dimensional TCP determination compared to conventional methods.
3Measurement precision
If calibration is performed with high force to ensure accuracy, then measurement precision improves, but the risk of damaging the part increases
Solution Approach 1:
The spring mechanism is pre-installed in the calibration apparatus to provide cushioning protection before excessive force can damage the part. The spring absorbs and limits the maximum force applied during calibration, ensuring that even if calibration requires high force for accuracy, the part's structural integrity is protected.
Solution Approach 2:
The spring mechanism dynamically adjusts the force parameter during calibration based on resistance encountered. When the pin member engages with the calibration target, the spring compresses to provide the necessary calibration force while automatically limiting force to prevent damage, thus optimizing both accuracy and safety.
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
Enables robots to pinpoint the TCP with high accuracy in three-dimensional space, preventing part damage and enhancing work precision by allowing for quick and easy calibration.
Implementation Method 1
The elastic member may receive at least a second portion of the pin member therethrough starting from the distal end on the pin member. At least a portion of the elastic member may be received within the shell member.
Data Source
AI summary
Apparatuses, systems, and methods for calibrating a device by determining a reference point for working on an object. An apparatus includes a pin member, a shell member, an elastic member, and a base member. The pin member includes a tip, a protrusion, a first mark, and a distal end. The shell member includes a second mark and an opening and receives at least a first portion of the pin member therethrough. The opening exposes the first mark when the first mark is aligned with the second mark. The elastic member receives at least a second portion of the pin member therethrough. A portion of the elastic member is received within the shell member. The base member receives at least a third portion of the pin member therethrough and includes a rim member that receives the third portion of the pin member therethrough and supports one end of the elastic member.