Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof

Abstract

The invention discloses a device for automatically marking an additional external axis robot based on laser tracking measurement and a method thereof. The device comprises a system platform, a target flange, target mounting holes, a robot guide rail, a robot, a laser tracker, a workpiece, a numerical control finish machining machine tool, a three-coordinate numerical control locator, and an uppercomputer, wherein the system platform is provided with 9 target mounting holes processed by the numerical control finish machining machine tool, the three-coordinate numerical control locator and therobot guide rail; the workpiece is fixed on the three-coordinate numerical control locator; the robot is arranged on the robot guide rail; the target flange is arranged on the robot; 6 target mounting holes are arranged on the target flange; the targets are arranged on the target mounting holes; the numerical control finish machining machine tool, the laser tracker and the upper computer are installed at the outer side of the system platform. The device has the advantages that: (1) the device is capable of automatically marking the robot coordinate system with the additional external axis; (2) the device is high in marking precision and reliable in marking result; and (3) the device is further simple in marking operation and high in efficiency.

Description

technical field [0001] The invention relates to an automatic calibration device and method for an additional external axis robot based on laser tracking measurement. Background technique [0002] A large number of modular chemical equipment and automation equipment systems in the aircraft digital assembly system, such as system platforms, target flanges, targets, robot rails, robots, laser trackers, workpieces, CNC finishing machine tools, and three-coordinate CNC positioners, are all in Servo motion in its own local coordinate system. In order to improve the motion performance and precision of the system, it is necessary to construct the transformation relationship between the global coordinate system of the system and the local coordinate system of each component subsystem. The creation and calibration of the local coordinate system of each component subsystem is one of the important tasks that must be completed in the system initialization, and its creation and calibrati...

AI Technical Summary

Problems solved by technology

[0005] The traditional method of constructing and calibrating the robot coordinate system only proposes the construction and calibration process of individual coordinate systems and is not systematic enough. Some require special standard test pieces and are difficult to process. Most of them do not give the numerical index of the specific accuracy after calibration.

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