CN104625963A - Calibration device and method for robot polishing system program reuse - Google Patents

Abstract

The invention provides a calibration device and method for robot polishing system program reuse. The device comprises an upper wheel installation sleeve, an upper wheel installation plate, a calibration plate, an adjusting rod, a lower wheel installation sleeve, a lower wheel installation plate and an adjusting locking part. The calibration method for robot polishing system program reuse through the calibration device includes the following steps that after calibration, coordinate values of calibration feature points of an original polishing system and a new polishing system relative to robot base coordinate systems in the polishing systems are obtained respectively, and corresponding programs are generated through formula computing and located into robot systems. The calibration device and method for robot polishing system program reuse are provided. The calibration device is simple in structure and is easily popularized in the industry; the calibration method is matched with basic functions of industrial robots, corresponding conversion algorithms are established, installation position requirements for equipment among the multiple systems are greatly lowered, and the flexibility of program sharing among the systems is enhanced.

Description

The caliberating device that a kind of robot polishing grinding system program is multiplexing and method

Technical field

The present invention relates to industrial robot field, the caliberating device that particularly a kind of robot polishing grinding system program is multiplexing and method.

Background technology

Along with the development of Industrial Robot Technology, increasing manual work replace by robot, especially some weld, spray paint, the work post that some labour intensity are large, work situation is severe such as polishing.The application of industrial robot, reduce harsh environments to the harm of workers ' health, stabilize product quality, improve operating efficiency.

In prior art, in order to meet product yield needs, often require that multiple polishing system is polished to the workpiece of a model simultaneously.Because the assembling between different belt sander exists error, and the relative position of robot and belt sander is difficult to ensure completely the same in different system, use if the robot program of a polishing system is copied directly in another one system, comparatively big error will be there is, cannot use be met.

Summary of the invention

For overcoming the above problems, the present invention proposes the multiplexing caliberating device of a kind of robot polishing grinding system program and method.This caliberating device structure is simple, be easy to industrially promote, its scaling method coordinates the basic function of industrial robot, establish corresponding transfer algorithm, for completing between multiple similar polishing system, (equipment is identical, but assembly precision and relative position are different) conversion of program and multiplexing, the equipment installation site requirement between such method greatly reduces multiple system, the flexibility of the procedure sharing between increase system.

For reaching this object, the present invention by the following technical solutions:

The caliberating device that robot polishing grinding system program is multiplexing, comprise take turns installation sleeve, on take turns installing plate, scaling board, adjusting rod, lower whorl installation sleeve, lower whorl installing plate and regulate locking member; Take turns on described installation sleeve be installed on described on take turns the centre of installing plate; Described scaling board takes turns installation sleeve on described; Take turns installing plate two ends on described and be provided with described adjustment locking member; One end of described adjusting rod is provided with elongated hole, and described adjustment locking member is through described elongated hole, then the axle that described scaling board can be made to take turns installation sleeve on described rotates, and locks described adjustment locking member and then can fix described scaling board; The other end of described adjusting rod is installed on described lower whorl installing plate; Described lower whorl installation sleeve is installed on the centre of described lower whorl installing plate.

More excellent, take turns on described installation sleeve with described on take turns installing plate installation connected mode be riveted joint, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

More excellent, described lower whorl installation sleeve and the installation connected mode of described lower whorl installing plate are riveted joints, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

More excellent, described adjusting rod is no less than 2.

More excellent, described adjustment locking member 7 is bolt fastening structures.

The multiplexing scaling method of the robot polishing grinding system program of caliberating device is used to comprise the steps:

1) demarcation head is arranged in the robot of source polishing system; Caliberating device is installed on the belt sander of source polishing system, locking caliberating device; Described demarcation head is arranged on the flange of robot, above has a conical tip, and at timing signal, operator manipulation robot, makes the tip of described demarcation head aim at each feature point for calibration; Described source polishing system refers to that robot has been mounted with the robot polishing system of available polishing program;

2) { the feature point for calibration coordinate of R} is also recorded as the first feature point for calibration: P to measure source polishing system belt sander basis coordinates system _r1(x _r1, y _r1, z _r1), the second feature point for calibration: P _r2(x _r2, y _r2, z _r2), the 3rd feature point for calibration: P _r3(x _r3, y _r3, z _r3), wherein, P _r1for initial point, with feature point for calibration P _r1and P _r2line is X-axis, and direction is the first feature point for calibration P _r1point to the second feature point for calibration P _r2, the 3rd feature point for calibration P _r3for the point on coordinate system first quartile, x _ri, y _ri, z _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in the polishing system of source respectively;

3) adjust the abrasive belt wheel installation site of new polishing system belt sander, make it to agree with the caliberating device of locked structure; Described new polishing system refers to the robot not yet installing polishing program, by the error calculation of described source polishing system and described new polishing system assembly building, copies the robot polishing system after available polishing system program;

4) { the feature point for calibration coordinate of U} is also recorded as the 4th feature point for calibration: P ' to measure belt sander reference frame in new polishing system _r1(x ' _r1, y ' _r1, z ' _r1), the 5th feature point for calibration: P ' _r2(x ' _r2, y ' _r2, z ' _r2), the 6th feature point for calibration: P ' _r3(x ' _r3, y ' _r3, z ' _r3), P ' _r1for initial point, with feature point for calibration P ' _r1with P ' _r2line is X-axis, and direction is the 4th feature point for calibration P ' _r1point to the 5th feature point for calibration P ' _r2, the 6th feature point for calibration P ' _r3for the point on coordinate system first quartile, x ' _ri, y ' _ri, z ' _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in new polishing system respectively;

5) according to source polishing system belt sander basis coordinates system, { in R} to new polishing system, belt sander reference frame { remember by the homogeneous transition matrix of U} ^rt _u,

Calculating makes new advances, and { the homogeneous coordinates value of U} is P to belt sander reference frame in polishing system _u1=[x _u1, y _u1, z _u1, 1] ^t=[0,0,0,1] ^t, P _u2=[x _u2, y _u2, z _u2, 1] ^t=[x _u2, 0,0,1] ^t, P _u3=[x _u3, y _u3, z _u3, 1] ^t=[x _u3, y _u3, 0,1] ^t, x _u3>0, y _u3>0; Wherein, from coordinate system, { to coordinate system, { the rotation transformation of U}, around position fixing system, { the XYZ axle of R} have rotated R} respectively angle, and p _x, p _y, p _zrepresent that { R} is to coordinate system { the initial point deviant of U} from coordinate system respectively;

6) according to equation the transformation matrix of calculating source polishing system ^rt _u;

7) according to 6) method, calculate the transformation matrix of new polishing system ^rt _u';

8) the XYZ offset value x of basis coordinates system is recorded _ti, y _ti, z _tiwith the XYZ axle anglec of rotation α of difference moving coordinate system _ti, β _ti, γ _ti, wherein i=1,2,3 ... represent i-th tracing point, the pose of each tracing point of these Parametric Representations, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \sin {\mathrm{\β}}_{\mathrm{ti}}& x_{\mathrm{ti}}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}+\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}-\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}& y_{\mathrm{ti}}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}-\cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}+\cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\β}}_{\mathrm{ti}}& z_{\mathrm{ti}}\\ 0& 0& 0& 1\end{array}\right]$

Remember that new polishing system tracing point homogeneous coordinates value is P _ti', by formula ^rt _up _ti= ^rt ' _up _ti' tracing point of the polishing system that makes new advances can be calculated, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}^{\′}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& x_{\mathrm{ti}}^{\′}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}& y_{\mathrm{ti}}^{\′}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}& z_{\mathrm{ti}}^{\′}\\ 0& 0& 0& 1\end{array}\right]$

Solve the XYZ offset value x of the polishing system that makes new advances ' _ti, y ' _ti, z ' _tiwith the XYZ axle anglec of rotation α ' of difference moving coordinate system _ti, β ' _ti, γ ' _titotally 6 parameters, thus calculate the program of the polishing system that makes new advances.

More excellent, the installation method of described caliberating device comprises:

The adjustment locking member of described caliberating device is in loosening state, by on take turns installation sleeve and be enclosed within the upper abrasive belt wheel wheel shaft of belt sander, lower whorl installation sleeve is enclosed within the lower abrasive belt wheel wheel shaft of belt sander, the angle of adjustment scaling board, make it parallel to the ground, again by take turns installation sleeve and lower whorl installation sleeve is tightened with upper abrasive belt wheel wheel shaft and lower abrasive belt wheel wheel shaft respectively, finally adjustment locking member is tightened; Described upper abrasive belt wheel wheel shaft is mainly used in installing abrasive belt wheel, when carrying out proving operation, by take turns installation sleeve and connect upper wheel installing plate and upper abrasive belt wheel wheel shaft, be fixed on the upper abrasive belt wheel wheel shaft of belt sander by caliberating device; Described lower abrasive belt wheel wheel shaft, is mainly used in installing lower abrasive belt wheel, when carrying out proving operation, lower whorl installation sleeve being connected lower whorl installing plate and lower abrasive belt wheel wheel shaft, is fixed on the lower abrasive belt wheel wheel shaft of belt sander by caliberating device.

Beneficial effect of the present invention is:

1, can not limit by the alignment error of the equipment installation site difference between many cover polishing systems and equipment, the program that realizes is transplanted and is reused between different machines robot system, greatly improves programming efficiency.

2, calibration algorithm is simple effectively, precision is high, can be used between multiple similar polishing system that (equipment is identical, but assembly precision and relative position are different) conversion of program and multiplexing, equipment installation site requirement between such method greatly reduces multiple system, the flexibility of the procedure sharing between increase system.

3, to the basic no requirement (NR) of installation site precision of equipment, operating position is in robot working space.

4, do not need to use accurate measuring instrument in addition, use the encoder to count function of robot can realize corresponding demarcation.

Accompanying drawing explanation

Fig. 1 is the structural representation of an embodiment of caliberating device of the present invention;

Fig. 2 is the schematic diagram adopting caliberating device of the present invention and scaling method to carry out the grinding-wheel type belt sander demarcated;

Fig. 3 is the scheme of installation of the Robot calibration head that scaling method of the present invention uses;

Schematic diagram when Fig. 4 is the embodiment demarcation grinding-wheel type belt sander using caliberating device of the present invention;

Fig. 5 is feature point for calibration position in scaling method of the present invention and coordinate system schematic diagram;

Fig. 6 is the operational flowchart of an embodiment of scaling method of the present invention.

Wherein:

1-takes turns installation sleeve; 2-takes turns installing plate; 3-scaling board; 4-adjusting rod; 5-lower whorl installation sleeve; 6-lower whorl installing plate; 7-regulates locking member; 8-elongated hole; 9-demarcates head; The upper abrasive belt wheel wheel shaft of 10-; Abrasive belt wheel wheel shaft under 11-; A-first feature point for calibration; B-second feature point for calibration; C-the 3rd feature point for calibration.

Detailed description of the invention

As Fig. 1, the caliberating device that a kind of robot polishing grinding system program is multiplexing, comprise take turns installation sleeve 1, on take turns installing plate 2, scaling board 3, adjusting rod 4, lower whorl installation sleeve 5, lower whorl installing plate 6 and regulate locking member 7; Take turns on described installation sleeve 1 be installed on described on take turns the centre of installing plate 2; Described scaling board 3 takes turns installation sleeve 1 on described; Take turns installing plate 2 two ends on described and be provided with described adjustment locking member 7; One end of described adjusting rod 4 is provided with elongated hole 8, and described adjustment locking member 7 is through described elongated hole 8, then the axle that described scaling board 3 can be made to take turns installation sleeve 5 on described rotates, lock described adjustment locking member 7 and can fix described scaling board 3; The other end of described adjusting rod 4 is installed on described lower whorl installing plate 6; Described lower whorl installation sleeve 5 is installed on the centre of described lower whorl installing plate 6.

This caliberating device structure is simple, adjust structure size can be carried out according to the assembling situation of belt sander in the polishing system of source, particularly to adjustable and the scaling board 3 of lockable position locked, then adjust the assembling situation of belt sander in new polishing system according to the physical dimension of caliberating device; Handled easily person finds calibration position accurately, improves stated accuracy; The relative position coherence request installed equipment in many cover polishing systems is low, even if the robot of different cover polishing system is different from the relative position of belt sander, robot program in the polishing system of source is changed, can directly apply in new polishing system robot.

More excellent, take turns on described installation sleeve 1 with described on take turns installing plate 2 installation connected mode be riveted joint, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

More excellent, described lower whorl installation sleeve 5 and the installation connected mode of described lower whorl installing plate 6 are riveted joints, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

More excellent, described adjusting rod 4 is no less than 2.

More excellent, described adjustment locking member 7 is bolt fastening structures.

Carry out the demarcation of source program polishing system on this basis, scaling method is as follows: be arranged on the robot flange of source polishing system by demarcation 9, manipulation robot carries out the demarcation at TCP (tool coordinates system center), and feature point for calibration is on the front end cusp demarcating 9.After completing TCP demarcation, manipulation robot, its TCP is made to go successively to touch 3 feature point for calibration (Fig. 5 on scaling board 3, attitude does not limit): the first feature point for calibration A, the second feature point for calibration B and the 3rd feature point for calibration C, the teaching system carried by robot (teach box) is read 3 points and (is designated as the first feature point for calibration A:P relative to the XYZ coordinate value of basis coordinates system of robot _r1(x _r1, y _r1, z _r1), the second feature point for calibration B:P _r2(x _r2, y _r2, z _r2), the 3rd feature point for calibration C:P _r3(x _r3, y _r3, z _r3), wherein, x _ri, y _ri, z _ri(i=1,2,3) represent the XYZ value of 3 feature point for calibration respectively).

Demarcate new polishing system belt sander: unclamp and take turns installation sleeve 1 and lower whorl installation sleeve 5, the belt sander (Fig. 2) of caliberating device (Fig. 1) from source polishing system is pulled down, keep caliberating device (Fig. 1) structure constant, attach it on the belt sander (Fig. 2) of new polishing system.Be arranged on the robot flange of new polishing system by demarcation 9, manipulation robot carries out the demarcation at TCP (tool coordinates system center), and feature point for calibration is on the front end cusp demarcating head (10).Manipulation robot again, robot TCP is made to go successively to touch 3 feature point for calibration (Fig. 5 on scaling board (3), attitude does not limit): the first feature point for calibration A, the second feature point for calibration B and the 3rd feature point for calibration C, the teaching system carried by robot (teach box) read 3 points relative to basis coordinates system of robot XYZ coordinate value (be designated as the 4th feature point for calibration A ': P ' _r1(x ' _r1, y _{' r1}, z ' _r1), the 5th feature point for calibration B ': P ' _r2(x ' _r2, y ' _r2, z ' _r2), the 6th feature point for calibration C ': P _{' r3}(x ' _r3, y ' _r3, z ' _r3), wherein, x ' _ri, y ' _ri, z ' _ri(i=1,2,3) represent the XYZ value of 3 feature point for calibration respectively).

Finally do numerical computations and Program transformation according to nominal data.

Use the scaling method that the robot polishing grinding system program of caliberating device is multiplexing, its basic step comprises:

After demarcating, the feature point for calibration obtaining source polishing system and new polishing system respectively, relative to the coordinate value under robot basis coordinates system in respective polishing system, comprises the first feature point for calibration A:P of source polishing system _r1(x _r1, y _r1, z _r1), the second feature point for calibration B:P _r2(x _r2, y _r2, z _r2), the 3rd feature point for calibration C:P _r3(x _r3, y _r3, z _r3), the 4th feature point for calibration A ': P of new polishing system ' _r1(x ' _r1, y ' _r1, z ' _r1), the 5th feature point for calibration B ': P ' _r2(x ' _r2, y ' _r2, z ' _r2), the 6th feature point for calibration C ': P ' _r3(x ' _r3, y ' _r3, z ' _r3), wherein, x _ri, y _ri, z _ri(i=1,2,3) represent the XYZ value of 3 feature point for calibration in the polishing system of source respectively, x ' _ri, y ' _ri, z ' _ri(i=1,2,3) represent the XYZ value of 3 feature point for calibration in new polishing system respectively.

By the tracing point coordinate value corresponding to the robotic motion routine in the polishing system of source, and above-mentioned 6 feature point for calibration coordinate values, be input in Program transformation algorithm software, software calculates tracing point coordinate value corresponding to the robotic motion routine of the polishing system that makes new advances automatically, and generate corresponding robot program's document, the robot that can directly be loaded in new polishing system uses, and reaches the grinding workpieces effect consistent with source polishing system robot.

Concrete steps are as follows:

1) demarcation 9 is arranged in the robot of source polishing system; Caliberating device is installed on the belt sander of source polishing system, locking caliberating device; Described demarcation 9 is arranged on the flange of robot, above has a conical tip, and at timing signal, operator manipulation robot, makes the tip of described demarcation 9 aim at each feature point for calibration; Described source polishing system refers to that robot has been mounted with the robot polishing system of available polishing program;

2) { the feature point for calibration coordinate of R} is also recorded as the first feature point for calibration A:P to measure source polishing system belt sander basis coordinates system _r1(x _r1, y _r1, z _r1), the second feature point for calibration B:P _r2(x _r2, y _r2, z _r2), the 3rd feature point for calibration C:P _r3(x _r3, y _r3, z _r3), wherein, P _r1for initial point, with feature point for calibration P _r1and P _r2line is X-axis, and direction is the first feature point for calibration P _r1point to the second feature point for calibration P _r2, the 3rd feature point for calibration P _r3for the point on coordinate system first quartile, x _ri, y _ri, z _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in the polishing system of source respectively;

3) adjust the abrasive belt wheel installation site of new polishing system belt sander, make it to agree with the caliberating device of locked structure; Described new polishing system refers to the robot not yet installing polishing program, by the error calculation of described source polishing system and described new polishing system assembly building, copies the robot polishing system after available polishing system program;

4) measure belt sander reference frame in new polishing system the feature point for calibration coordinate of U} and be recorded as the 4th feature point for calibration A ': P ' _r1(x ' _r1, y ' _r1, z ' _r1), the 5th feature point for calibration B ': P ' _r2(x ' _r2, y ' _r2, z ' _r2), the 6th feature point for calibration C ': P ' _r3(x ' _r3, y ' _r3, z ' _r3), P ' _r1for initial point, with feature point for calibration P ' _r1with P ' _r2line is X-axis, and direction is the 4th feature point for calibration P ' _r1point to the 5th feature point for calibration P ' _r2, the 6th feature point for calibration P ' _r3for the point on coordinate system first quartile, x ' _ri, y ' _ri, z ' _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in new polishing system respectively;

5) according to source polishing system belt sander basis coordinates system, { in R} to new polishing system, belt sander reference frame { remember by the homogeneous transition matrix of U} ^rt _u,

calculating makes new advances, and { the homogeneous coordinates value of U} is P to belt sander reference frame in polishing system _u1=[x _u1, y _u1, z _u1, 1] ^t=[0,0,0,1] ^t, P _u2=[x _u2, y _u2, z _u2, 1] ^t=[x _u2, 0,0,1] ^t, P _u3=[x _u3, y _u3, z _u3, 1] ^t=[x _u3, y _u3, 0,1] ^t, x _u3>0, y _u3>0; Wherein, from coordinate system, { to coordinate system, { the rotation transformation of U}, around position fixing system, { the XYZ axle of R} have rotated R} respectively angle, and p _x, p _y, p _zrepresent that { R} is to coordinate system { the initial point deviant of U} from coordinate system respectively;

6) according to equation the transformation matrix of calculating source polishing system ^rt _u;

7) according to 6) method, calculate the transformation matrix of new polishing system ^rt _u';

8) the XYZ offset value x of basis coordinates system is recorded _ti, y _ti, z _tiwith the XYZ axle anglec of rotation α of difference moving coordinate system _ti, β _ti, γ _ti, wherein i=1,2,3 ... represent i-th tracing point, the pose of each tracing point of these Parametric Representations, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \sin {\mathrm{\β}}_{\mathrm{ti}}& x_{\mathrm{ti}}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}+\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}-\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}& y_{\mathrm{ti}}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}-\cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}+\cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\β}}_{\mathrm{ti}}& z_{\mathrm{ti}}\\ 0& 0& 0& 1\end{array}\right]$

Remember that new polishing system tracing point homogeneous coordinates value is P _ti', by formula ^rt _up _ti= ^rt ' _up _ti' tracing point of the polishing system that makes new advances can be calculated, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}^{\′}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& x_{\mathrm{ti}}^{\′}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}& y_{\mathrm{ti}}^{\′}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}& z_{\mathrm{ti}}^{\′}\\ 0& 0& 0& 1\end{array}\right]$

Solve the XYZ offset value x of the polishing system that makes new advances ' _ti, y ' _ti, z ' _tiwith the XYZ axle anglec of rotation α ' of difference moving coordinate system _ti, β ' _ti, γ ' _titotally 6 parameters, thus calculate the program of the polishing system that makes new advances.

The Program transformation algorithm principle of this method is described as follows:

For source polishing system, based on 3 feature point for calibration P _r1, P _r2and P _r3{ R} (as shown in Figure 5), { R} is with feature point for calibration P for coordinate system can to set up the device coordinate system of belt sander _r1for initial point, with feature point for calibration P _r1and P _r2line is X-axis, and direction is the first feature point for calibration P _r1point to the second feature point for calibration P _r2, the 3rd feature point for calibration P _r3for the point on coordinate system first quartile.

3 feature point for calibration coordinates are expressed with homogeneous coordinates form, are the first feature point for calibration A:P _r1=[x _r1, y _r1, z _r1, 1] ^t, the first feature point for calibration B:P _r2=[x _r2, y _r2, z _r2, 1] ^t, the first feature point for calibration C:P _r3=[x _r3, y _r3, z _r3, 1] ^t, and robot basis coordinates system in the polishing system of source (be designated as R}) to coordinate system, { the homogeneous transition matrix of U} is designated as ^rt _u, have

Wherein, from coordinate system R} to coordinate system { around position fixing system { the XYZ axle component of rotation of R} the rotation transformation of U} angle, and p _x, p _y, p _zrepresent that { R} is to coordinate system { the initial point deviant of U} from coordinate system respectively.

3 feature point for calibration are P based on the homogeneous coordinates value of coordinate system U _u1=[x _u1, y _u1, z _u1, 1] ^t=[0,0,0,1] ^t, P _u2=[x _u2, y _u2, z _u2, 1] ^t=[x _u2, 0,0,1] ^t, P _u3=[x _u3, y _u3, z _u3, 1] ^t=[x _u3, y _u3, 0,1] ^t, x _u3>0, y _u3>0.

By coordinate system, { { relation of R} has equation P for U} and coordinate system _ri= ^rt _up _ui(i=1,2,3) set up, and substitute into and calculate, namely

Solve this equation group, draw transformation matrix ^rt _u.

Use the same method and demarcate belt sander on new polishing system, calculate the transformation matrix of new polishing system ^rt _u'.

Demarcate and calculate the transformation matrix of source polishing system and new polishing system completing ^rt _u, ^rt _u' after, can calculate the tracing point coordinate of source polishing system robot program.The tracing point numerical value of robot program's general record is that the XYZ deviant of robot TCP coordinate system relative to basis coordinates system of robot is (respectively along the XYZ axle translation distance x of basis coordinates system of robot _ti, y _ti, z _ti) and 1-2-3 Eulerian angles (the XYZ axle anglec of rotation α of moving coordinate system respectively _ti, β _ti, γ _ti) totally 6 parameters, wherein i=1,2,3 ... represent i-th tracing point, these parameters are expressed with homogeneous coordinates, namely by these Parametric Representations pose of each tracing point

$P_{\mathrm{ti}}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \sin {\mathrm{\β}}_{\mathrm{ti}}& x_{\mathrm{ti}}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}+\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}-\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}& y_{\mathrm{ti}}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}-\cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}+\cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\β}}_{\mathrm{ti}}& z_{\mathrm{ti}}\\ 0& 0& 0& 1\end{array}\right]$

Remember that new polishing system robot program tracing point homogeneous coordinates value is P _ti', by formula

^RT _UP _ti＝ ^RT′ _UP _ti′

The tracing point (homogeneous coordinates form) of the polishing system that makes new advances can be calculated, then foundation

$P_{\mathrm{ti}}^{\′}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& x_{\mathrm{ti}}^{\′}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}& y_{\mathrm{ti}}^{\′}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}& z_{\mathrm{ti}}^{\′}\\ 0& 0& 0& 1\end{array}\right]$

Solve and make new advances in polishing system, robot TCP coordinate system relative to the XYZ deviant of basis coordinates system of robot (respectively along the XYZ axle translation distance x ' of basis coordinates system of robot _ti, y ' _ti, z ' _ti) and 1-2-3 Eulerian angles (the XYZ axle anglec of rotation α ' of moving coordinate system respectively _ti, β ' _ti, γ ' _ti) totally 6 parameters, and generate corresponding program, be loaded in robot system.

More excellent, the installation method of described caliberating device comprises: the adjustment locking member 7 of described caliberating device is in loosening state, by on take turns installation sleeve 1 and be enclosed within the upper abrasive belt wheel wheel shaft 10 of belt sander, lower whorl installation sleeve 5 is enclosed within the lower abrasive belt wheel wheel shaft 11 of belt sander, the angle of adjustment scaling board 3, make it parallel to the ground, then by take turns installation sleeve 1 and tighten with upper abrasive belt wheel wheel shaft 10 and lower abrasive belt wheel wheel shaft 11 respectively with lower whorl installation sleeve 5, finally adjustment locking member 7 is tightened; Described upper abrasive belt wheel wheel shaft 10 is mainly used in installing abrasive belt wheel, when carrying out proving operation, by take turns installation sleeve 1 and connect and take turns installing plate 2 and upper abrasive belt wheel wheel shaft 10, be fixed on the upper abrasive belt wheel wheel shaft 10 of belt sander by caliberating device; Described lower abrasive belt wheel wheel shaft 11, is mainly used in installing lower abrasive belt wheel, when carrying out proving operation, lower whorl installation sleeve 5 being connected lower whorl installing plate 6 and lower abrasive belt wheel wheel shaft 11, being fixed on the lower abrasive belt wheel wheel shaft 11 of belt sander by caliberating device.

Claims (7)

1. the caliberating device that robot polishing grinding system program is multiplexing, is characterized in that, comprise take turns installation sleeve, on take turns installing plate, scaling board, adjusting rod, lower whorl installation sleeve, lower whorl installing plate and regulate locking member; Take turns on described installation sleeve be installed on described on take turns the centre of installing plate; Described scaling board takes turns installation sleeve on described; Take turns installing plate two ends on described and be provided with described adjustment locking member; One end of described adjusting rod is provided with elongated hole, and described adjustment locking member is through described elongated hole, then the axle that described scaling board can be made to take turns installation sleeve on described rotates, and locks described adjustment locking member and then can fix described scaling board; The other end of described adjusting rod is installed on described lower whorl installing plate; Described lower whorl installation sleeve is installed on the centre of described lower whorl installing plate.

2. the caliberating device that a kind of robot as claimed in claim 1 polishing grinding system program is multiplexing, it is characterized in that, take turns on described installation sleeve with described on take turns installing plate installation connected mode be riveted joint, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

3. the caliberating device that a kind of robot as claimed in claim 1 polishing grinding system program is multiplexing, it is characterized in that, described lower whorl installation sleeve and the installation connected mode of described lower whorl installing plate be riveted joint, bolt is connected, key pin connects, Elastic buckle connects, weld in wherein one.

4. the caliberating device that a kind of robot as claimed in claim 1 polishing grinding system program is multiplexing, it is characterized in that, described adjusting rod is no less than 2.

5. the caliberating device that a kind of robot as claimed in claim 1 polishing grinding system program is multiplexing, it is characterized in that, described adjustment locking member is bolt fastening structure.

6. use the scaling method that the robot polishing grinding system program of caliberating device as claimed in any one of claims 1 to 5, wherein is multiplexing, it is characterized in that, comprise the steps:

1) demarcation head is arranged in the robot of source polishing system; Caliberating device is installed on the belt sander of source polishing system, locking caliberating device; Described demarcation head is arranged on the flange of robot, above has a conical tip, and at timing signal, operator manipulation robot, makes the tip of described demarcation head aim at each feature point for calibration; Described source polishing system refers to that robot has been mounted with the robot polishing system of available polishing program;

2) { the feature point for calibration coordinate of R} is also recorded as the first feature point for calibration: P to measure source polishing system belt sander basis coordinates system _r1(x _r1, y _r1, z _r1), the second feature point for calibration: P _r2(x _r2, y _r2, z _r2), the 3rd feature point for calibration: P _r3(x _r3, y _r3, z _r3), wherein, P _r1for initial point, with feature point for calibration P _r1and P _r2line is X-axis, and direction is the first feature point for calibration P _r1point to the second feature point for calibration P _r2, the 3rd feature point for calibration P _r3for the point on coordinate system first quartile, x _ri, y _ri, z _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in the polishing system of source respectively;

3) adjust the abrasive belt wheel installation site of new polishing system belt sander, make it to agree with the caliberating device of locked structure; Described new polishing system refers to the robot not yet installing polishing program, by the error calculation of described source polishing system and described new polishing system assembly building, copies the robot polishing system after available polishing system program;

4) { the feature point for calibration coordinate of U} is also recorded as the 4th feature point for calibration: P ' to measure belt sander reference frame in new polishing system _r1(x ' _r1, y ' _r1, z ' _r1), the 5th feature point for calibration: P ' _r2(x ' _r2, y ' _r2, z ' _r2), the 6th feature point for calibration: P ' _r3(x ' _r3, y ' _r3, z ' _r3), P ' _r1for initial point, with feature point for calibration P ' _r1with P ' _r2line is X-axis, and direction is the 4th feature point for calibration P ' _r1point to the 5th feature point for calibration P ' _r2, the 6th feature point for calibration P ' _r3for the point on coordinate system first quartile, x ' _ri, y ' _ri, z ' _ri(i=1,2,3) represent X, Y, Z value of 3 feature point for calibration in new polishing system respectively;

5) according to source polishing system belt sander basis coordinates system, { in R} to new polishing system, belt sander reference frame { remember by the homogeneous transition matrix of U} ^rt _u,

calculating makes new advances, and { the homogeneous coordinates value of U} is P to belt sander reference frame in polishing system _u1=[x _u1, y _u1, z _u1, 1] ^t=[0,0,0,1] ^t, P _u2=[x _u2, y _u2, z _u2, 1] ^t=[x _u2, 0,0,1] ^t, P _u3=[x _u3, y _u3, z _u3, 1] ^t=[x _u3, y _u3, 0,1] ^t, x _u3>0, y _u3>0; Wherein, from coordinate system R} to coordinate system the rotation transformation of U} around position fixing system the XYZ axle of R} have rotated θ respectively, φ angle, and p _x, p _y, p _zrepresent that { R} is to coordinate system { the initial point deviant of U} from coordinate system respectively;

6) according to equation the transformation matrix of calculating source polishing system ^rt _u;

7) according to 6) method, calculate the transformation matrix of new polishing system ^rt _u';

8) the XYZ offset value x of basis coordinates system is recorded _ti, y _ti, z _tiwith the XYZ axle anglec of rotation α of difference moving coordinate system _ti, β _ti, γ _ti, wherein i=1,2,3 ... represent i-th tracing point, the pose of each tracing point of these Parametric Representations, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \sin {\mathrm{\β}}_{\mathrm{ti}}& x_{\mathrm{ti}}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}+\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}-\sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& -\cos {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}& y_{\mathrm{ti}}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}-\cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}& \cos {\mathrm{\γ}}_{\mathrm{ti}}\sin {\mathrm{\α}}_{\mathrm{ti}}+\cos {\mathrm{\α}}_{\mathrm{ti}}\sin {\mathrm{\β}}_{\mathrm{ti}}\sin {\mathrm{\γ}}_{\mathrm{ti}}& \cos {\mathrm{\α}}_{\mathrm{ti}}\cos {\mathrm{\β}}_{\mathrm{ti}}& z_{\mathrm{ti}}\\ 0& 0& 0& 1\end{array}\right]$

Remember that new polishing system tracing point homogeneous coordinates value is P ' _ti, by formula ^rt _up _ti= ^rt ' _up ' _tithe tracing point of the polishing system that makes new advances can be calculated, express with homogeneous coordinates, namely

$P_{\mathrm{ti}}^{\′}=\left[\begin{array}{cccc}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& x_{\mathrm{ti}}^{\′}\\ \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& -\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}& y_{\mathrm{ti}}^{\′}\\ \sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}-\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\γ}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\α}}_{\mathrm{ti}}^{\′}+\cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\β}}_{\mathrm{ti}}^{\′}\sin {\mathrm{\γ}}_{\mathrm{ti}}^{\′}& \cos {\mathrm{\α}}_{\mathrm{ti}}^{\′}\cos {\mathrm{\β}}_{\mathrm{ti}}^{\′}& z_{\mathrm{ti}}^{\′}\\ 0& 0& 0& 1\end{array}\right],$

Solve the XYZ offset value x of the polishing system that makes new advances ' _ti, y ' _ti, z ' _tiwith the XYZ axle anglec of rotation α ' of difference moving coordinate system _ti, β ' _ti, γ ' _titotally 6 parameters, thus calculate the program of the polishing system that makes new advances.

7. the scaling method that robot according to claim 6 polishing grinding system program is multiplexing, it is characterized in that, the installation method of described caliberating device comprises:

The adjustment locking member of described caliberating device is in loosening state, by on take turns installation sleeve and be enclosed within the upper abrasive belt wheel wheel shaft of belt sander, lower whorl installation sleeve is enclosed within the lower abrasive belt wheel wheel shaft of belt sander, the angle of adjustment scaling board, make it parallel to the ground, again by take turns installation sleeve and lower whorl installation sleeve is tightened with upper abrasive belt wheel wheel shaft and lower abrasive belt wheel wheel shaft respectively, finally adjustment locking member is tightened; Described upper abrasive belt wheel wheel shaft is mainly used in installing abrasive belt wheel, when carrying out proving operation, by take turns installation sleeve and connect upper wheel installing plate and upper abrasive belt wheel wheel shaft, be fixed on the upper abrasive belt wheel wheel shaft of belt sander by caliberating device; Described lower abrasive belt wheel wheel shaft, is mainly used in installing lower abrasive belt wheel, when carrying out proving operation, lower whorl installation sleeve being connected lower whorl installing plate and lower abrasive belt wheel wheel shaft, is fixed on the lower abrasive belt wheel wheel shaft of belt sander by caliberating device.