Robot magneto-rheological polishing tool head calibration device and method based on tracker
A magnetorheological polishing and tool head technology, which is applied in the direction of machine tools and instruments that use optical devices and are suitable for grinding the edge of workpieces, can solve the problem that the magnetorheological polishing tool head has a special shape and is difficult to meet the requirements of the magnetorheological polishing tool head. Calibration needs and other issues, to achieve the effect of rapid coordinate system calibration, convenient and fast installation, and simple relative relationship
Active Publication Date: 2021-03-12
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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[0003] However, the shape of the magnetorheological polishing tool head is special, and the formed removal function contains direction, which is a non-rotational symmetric removal function. Conventional robot calibration tool heads and methods are difficult to meet the calibration requirements of magnetorheological polishing tool heads. Design a special calibration device and calibration method according to the appearance characteristics and usage requirements, so as to realize the unification of the magnetorheological polishing tool head coordinate system and the robot coordinate system
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[0032] In order to better present the technical solutions and advantages of the present invention, in combination with Figure 1-Figure 10 The specific implementation plan is described. This section presents a typical implementation of the present invention, and the implementation can be optimized according to the characteristics and requirements of the magnetorheological polishing tool, all of which belong to the protection scope of the present invention.
[0033] The magnetorheological polishing tool head calibration device for a robot based on a tracker of the present invention includes a robot 1 , a magnetorheological polishing tool head 2 and a calibration device 3 . The magnetorheological polishing tool head 2 and the calibration device 3 include a tool head adapter plate 2-1, a tool head fixing plate 2-2, a bearing seat 2-3, a positioning pin shaft seat 2-4, and a positioning pin shaft 2- 5. Magnetorheological polishing wheel 2-6, calibration tool holder 3-1, cylindric...
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The invention discloses a robot magneto-rheological polishing tool head calibration device and method based on a tracker. The robot magneto-rheological polishing tool head calibration device comprisesa robot body, a magneto-rheological polishing tool head and a calibration device. The calibration device comprises a calibration tool base, a cylindrical calibration conversion head and a laser tracker target ball. In order to solve the problem that a conventional robot calibration tool and method cannot meet the calibration requirement of a magnetorheological polishing tool head easily, the calibration device and method are invented for solving the problem and meeting the requirement, and unification of a magnetorheological polishing tool head coordinate system and a robot coordinate systemcan be achieved. The calibration device is installed by means of the magnetic field of the magneto-rheological polishing tool head, installation is convenient and rapid, the relative relation betweena tool head coordinate system and a calibration device coordinate system is simple, coordinate system calibration is rapid, the removal function direction of the polishing tool head can be determined,and the calibration requirement of the magneto-rheological polishing tool head for a robot can be met.
Description
technical field [0001] The invention relates to the technical field of magnetorheological polishing tool head calibration, in particular to a tracker-based magnetorheological polishing tool head calibration device and method for robots. Background technique [0002] Compared with traditional CNC machine tools, robots have the advantages of high flexibility and low cost. The maturity of commercial robots is already very high. By installing a tool head at the end of the robot, the construction of processing equipment can be completed easily and quickly. Therefore, processing equipment based on robots The build cycle is very short. Based on the above advantages, the application of robots in the field of precision ultra-precision optical processing is becoming more and more extensive, and the development is very rapid. Since the tool head carried by the robot is an external load, to use the load tool head for processing, it is necessary to unify the tool head coordinate system ...
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IPC IPC(8): G01B11/00B24B31/112B24B31/12
CPCG01B11/002B24B31/112B24B31/12
Inventor 辛强刘海涛万勇建
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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