A six-degree-of-freedom hybrid polishing robot pose accuracy calibration device and method

Abstract

The invention discloses a six-degree-of-freedom hybrid polishing robot posture accuracy calibration device and method. The device includes a spherical inspection rod, a bottom plate, a vertical board A, a vertical board B and a workbench, and the spherical inspection rod is fixedly installed on the polishing machine of the polishing robot. At the end of the actuator; the vertical plate A and the vertical plate B are vertically fixed on the bottom plate, and the vertical plate A and the vertical plate B are kept perpendicular to each other; the upper and lower sides of the vertical plate A and the vertical plate B are respectively provided with installation holes, and the installation holes are A tool setting device is installed, and a mounting hole and a tool setting device are also provided at the center of the bottom plate; pin holes are set on the bottom plate and are fixedly connected to the workbench through a pin connection. The pose accuracy calibration method of the present invention only needs to detect the five-dimensional pose error of the end effector, and only needs to keep the spatial orientation of the axis of the spherical test rod unchanged for measurement, so that all controllable degrees of freedom of the robot can be traversed, and zero point errors of all driving joints can be realized. The identification and measurement process are simple, and it is very suitable for robot accuracy calibration under industrial field application conditions.

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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