Six-degree-of-freedom parallel series polishing robot pose precision calibration device and method

Abstract

The invention discloses a six-degree-of-freedom parallel series polishing robot pose precision calibration device and method. The six-degree-of-freedom parallel series polishing robot pose precision calibration device comprises a spherical check rod, a base plate, a first vertical plate, a second vertical plate and a workbench. The spherical check rod is fixedly installed at the tail end of a polishing actuator of a polishing robot. The first vertical plate and the second vertical plate are perpendicularly and fixedly installed on the base plate. The first vertical plate and the second vertical plate keep perpendicular to each other. Installation holes are formed in the upper side and the lower side of the first vertical plate respectively. Installation holes are formed in the upper side and the lower side of the second vertical plate respectively. Tool setting devices are installed in the installation holes respectively. The part, in the center, of the base plate is provided with an installation hole and a tool setting device as well. Pin holes are formed in the base plate. The base plate is fixedly connected with the workbench in a pin connection manner. According to the six-degree-of-freedom parallel series polishing robot pose precision calibration device, transversal can be carried out on all controllable freedom degrees of the robot just by detecting the five-dimensionalpose error of the tail end actuator and carrying out measurement while keeping the axis of the spherical check rod unchanged in dimensional orientation, identification of the zero error of all drivingjoints is achieved, the measurement process is simple and convenient to carry out, and the device is quite suitable for robot precision calibration on the application conditions of an industrial field.

Description

technical field [0001] The invention belongs to the field of industrial robots, and relates to error detection and calibration technology of manufacturing equipment, in particular to a six-degree-of-freedom hybrid polishing robot polishing actuator pose accuracy calibration device and method. Background technique [0002] High-quality optics are at the heart of aerospace equipment. With the rapid development of aerospace technology, the precision requirements for ultra-high-precision optical lenses (especially a type of aspheric optical lens) are getting higher and higher. At present, the surface accuracy and roughness of ultra-high-precision optical lenses are controlled by polishing technology. The polishing equipment removes the lens material by adjusting the residence time of the polishing actuator and the positive pressure between the polishing actuator and the surface to be polished. CNC machine tools are widely used polishing equipment, but their small working space,...

AI Technical Summary

Problems solved by technology

CNC machine tools are widely used polishing equipment, but their small working space, large footprint, and relatively expensive prices limit their wider application.

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