Calibration device and method for magnetorheological polishing tool head for robot based on tracker

Abstract

The invention discloses a magnetorheological polishing tool head calibration device and method for a robot based on a tracker, comprising a robot body, a magnetorheological polishing tool head and a calibration device. The calibration device includes a calibration tool base, a cylindrical calibration conversion head, and a laser tracker target ball. Conventional robotic calibration tools and methods are difficult to meet the calibration requirements of the magnetorheological polishing tool head. The calibration device and calibration method invented by the present invention can realize the coordinate system of the magnetorheological polishing tool head. Unification with the robot coordinate system. The calibration device of the present invention is installed by means of the magnetic field of the magnetorheological polishing tool head itself, and the installation is convenient and fast, and the relative relationship between the coordinate system of the tool head and the coordinate system of the calibration device is simple, the calibration of the coordinate system is rapid, and the position of the polishing tool head can be determined The function direction is removed to meet the calibration requirements of the magnetorheological polishing tool head for robots.

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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Problems solved by technology

[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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