CN114227539B - Calibration tool and calibration method for robot of automobile hub deburring workstation - Google Patents

Calibration tool and calibration method for robot of automobile hub deburring workstation Download PDF

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Publication number
CN114227539B
CN114227539B CN202111613580.8A CN202111613580A CN114227539B CN 114227539 B CN114227539 B CN 114227539B CN 202111613580 A CN202111613580 A CN 202111613580A CN 114227539 B CN114227539 B CN 114227539B
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calibration
robot
point
coordinate system
tool
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CN114227539A (en
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王飞阳
庄金雷
麻威强
田新杰
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Hart Robotics Industry Technology Research Institute In Yangtze River Delta
Wuhu Yingshimai Intelligent Technology Co ltd
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Wuhu Robot Technology Research Institute of Harbin Institute of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

The invention discloses a robot calibration tool for an automobile hub deburring workstation, which comprises a hub calibration disc; the hub calibration disc is provided with a positioning pin hole, a scale mark, a fan-shaped window, a step hole and a camera angle calibration hole; a central positioning pin is arranged in the positioning pin hole; the calibration tool is provided with a calibration piece, and the calibration piece is installed on the industrial robot. The invention also discloses a calibration method of the calibration tool. By adopting the technical scheme, the tool coordinate system and the workpiece coordinate system of the robot can be calibrated, the tool coordinate system and the workpiece coordinate system can be verified in precision after the coordinate system is calibrated, and the motion trail precision of the robot is verified through the wheel hub calibration tool scale marks, the positioning pin holes, the fan-shaped windows and the like; and verifying the visual extraction fan-shaped window sideline precision and the hole position positioning precision, and being used for assisting in adjusting the installation angle of the camera.

Description

Calibration tool and calibration method for robot of automobile hub deburring workstation
Technical Field
The invention belongs to the technical field of automatic surface finishing in automobile hub production. More specifically, the invention relates to a robot calibration tool for an automobile hub deburring workstation. The invention also relates to a calibration method of the calibration tool.
Background
In the production process of the aluminum alloy hub, surface defects such as flash, burrs and the like can be generated at corresponding parts. Because in the wheel hub casting production process, can produce certain machining error, directly influence the grinding precision of wheel hub burring. When the robot is used for deburring the hub, the tool coordinate system and the workpiece coordinate system of the robot are calibrated according to requirements, and the calibrated coordinate system and the motion trail accuracy of the robot are verified.
Relevant prior art documents were retrieved as follows:
chinese patent documents: an industrial robot calibration tool (CN 201721844945.7) adopts the technical scheme that: through adding buffer, reduced the damage degree of marking piece and work piece when bumping, prolonged industrial robot's life.
However, the prior art can not calibrate a tool coordinate system and can not calibrate a workpiece coordinate system; the precision of the coordinate system and the precision of the motion trail of the robot after calibration cannot be verified.
Disclosure of Invention
The invention provides a robot calibration tool for an automobile hub deburring workstation, and aims to calibrate a tool coordinate system of a robot and the relative position of a hub and verify the track precision of the robot after calibration.
In order to achieve the purpose, the invention adopts the technical scheme that:
the robot calibration tool for the automobile hub deburring workstation comprises a hub calibration disc; the hub calibration disc is provided with a positioning pin hole, a scale mark, a fan-shaped window, a step hole and a camera angle calibration hole; a central positioning pin is arranged in the positioning pin hole; the calibration tool is provided with a calibration piece, and the calibration piece is installed on the industrial robot.
The positioning pin holes are uniformly distributed on the circumference taking the central position of the hub calibration disc as the circle center; the tip of the center positioning pin is used as a marking point when teaching a workpiece and a tool coordinate system and verifying the track precision of the robot.
The scale marks are lines which are arranged on the hub calibration disc and are engraved in a shape of a Chinese character 'mi' and in a plurality of circles of circumferences by taking the center of the line as a reference point, and are used as path tracks for verifying the path track precision of the robot during movement.
The fan-shaped window corresponds to the fan-shaped window of the hub; the number of the fan-shaped windows is six; are uniformly distributed on the circumference; and an inclined plane is processed on the periphery of one of the fan-shaped windows and used for verifying the fan-shaped window edge line track extraction precision in an automobile hub deburring vision system and the walking track precision during robot deburring.
The step hole is positioned at the outer end of the fan-shaped window with the inclined plane and used for verifying the hole position positioning precision in the turbine deburring visual system.
After the camera calibrates the position of the hole by acquiring the camera angle, the camera angle is calculated by an algorithm to assist in adjusting the camera installation angle.
The calibration piece is a cylinder with a tip structure, and the calibration end of the calibration piece is a sharp point with the tip structure; the calibration piece is used for teaching a coordinate system of a workpiece and a tool and touching the position of a marking point consisting of a scale mark and a center positioning pin when the industrial robot is controlled to move.
In order to achieve the same purpose as the technical scheme, the invention also provides a calibration method of the calibration tool of the robot for the automobile hub deburring workstation, which comprises the following technical scheme:
in the calibration method, the calibration of the tool coordinate system includes three methods: n point method (3 is more than or equal to N is less than or equal to 9); TCP and Z methods; TCP and Z-X methods:
1. n-point method: the TCP (Tool centre position) of the robot contacts with a reference point through N different postures to obtain a plurality of groups of solutions, the corresponding position of the current TCP and the central point (Tool 0) of the mounting flange of the robot is obtained through calculation, and the direction of a coordinate system of the current TCP is consistent with the central point (Tool 0) of the mounting flange;
2. TCP and Z methods: on the basis of an N-point method, adding a connecting line of a Z point and a reference point as the direction of a Z axis of a coordinate system;
3. TCP and Z-X methods: on the basis of the N-point method, an X point and a reference point are added to be in the X-axis direction of a coordinate system, and a connecting line between a Z point and the reference point is in the Z-axis direction of the coordinate system.
The N-point method comprises the following steps:
firstly, mounting a calibration piece on a tool carried by an industrial robot, and then mounting a center positioning pin in a positioning pin hole of a hub calibration tool;
the hub calibration disc and the center positioning pin are placed in the working range of the robot, the robot is operated by a method of manually operating the robot, the tip point of the calibration piece and the tip point of the center positioning pin are just in contact, N points with the largest posture difference are taken, the precision of the TCP is improved, and then a new tool coordinate system can be calculated by the position point data robot.
In the calibration method, a three-point method is adopted for calibrating the workpiece coordinate system, and the three-point method comprises the following steps: finding a point X1 at the position of the surface or edge angle of the workpiece as the origin of a coordinate system; finding a point X2 along a surface or edge of the workpiece; x1 and X2 determine the Z-axis direction of a workpiece coordinate system; finding a point Y1 in the direction of the XY plane with the positive Y value, and determining the positive Y-axis direction of the coordinate system;
the calibration process of the workpiece coordinate system is as follows:
firstly, mounting a calibration piece on a tool carried by an industrial robot, and then placing a hub calibration disc in the working range of the robot;
after a correct tool coordinate system is selected, the tip point of the calibration piece is just touched with the edge scale mark of the hub calibration disc, and data of X1 points are recorded;
then moving to the other end of the scale mark, just touching the scale mark, and recording data of an X2 point, wherein the direction of the X axis is determined;
and finding the vertex of the scale mark vertical to the X axis, recording the data of the Y1 point, and calculating a new workpiece coordinate by the robot through the data of the three points.
In the calibration method, the method for testing the accuracy of the tool coordinate system comprises the following steps: aligning a tip point of a calibration piece arranged on an industrial robot with a tip point of a central positioning pin arranged on a hub calibration disc, then carrying out repositioning point movement by using a calibrated tool coordinate system, and determining whether the precision of the calibrated tool coordinate system meets the requirement by observing the distance interval between the two tip points.
In the calibration method, the method for testing the accuracy of the workpiece coordinate system comprises the following steps: the method comprises the steps of selecting a workpiece coordinate system to be calibrated by using a state that a tip point of a calibrating piece arranged on an industrial robot and the surface of a hub calibrating disc are nearly touched, then performing linear motion on the hub calibrating disc, and determining whether the precision of the workpiece coordinate system meets the requirement or not through the change of the distance from the tip of the calibrating piece to the surface of the hub calibrating disc.
In the calibration method, the method for testing the motion trajectory precision of the robot comprises the following steps: teaching a plurality of points on the scale mark of the wheel hub calibration disc by using the pointed end point of the calibration piece arranged on the industrial robot, so that the robot moves linearly, and the precision of the walking linear track of the robot can be measured; the track precision of the robot after rotation can be measured by a same method through a positioning pin hole and a sector window on a teaching hub calibration disc and a rotating coordinate system.
By adopting the technical scheme, the tool coordinate system and the workpiece coordinate system of the robot can be calibrated, the tool coordinate system and the workpiece coordinate system can be verified in precision after the coordinate system is calibrated, and the motion track precision of the robot is verified through the wheel hub calibration tool scale marks, the positioning pin holes, the fan-shaped windows and the like; and verifying the visual extraction fan-shaped window side line precision and the hole position positioning precision, and being used for assisting in adjusting the camera installation angle.
Drawings
The contents of the drawings and the reference numbers in the drawings are briefly described as follows:
FIG. 1 is a schematic diagram of a calibration tool of the present invention;
FIG. 2 is a schematic view of a center locating pin according to the present invention;
fig. 3 is a schematic structural diagram of the calibration member of the present invention.
Labeled in the figure as:
1. the device comprises a positioning pin hole, 2, scale marks, 3, a fan-shaped window, 4, a step hole, 5, a camera angle calibration hole, 6, a center positioning pin, 7, a calibration piece, 8 and a hub calibration disc.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
The structure of the invention as shown in fig. 1, fig. 2 and fig. 3 is a robot calibration tool for an automobile hub deburring workstation, and the calibration tool comprises a hub calibration disc 8; the hub calibration disc 8 is of a cylindrical structure, and the upper surface is a working surface of a calibration tool.
In order to solve the problems in the prior art and overcome the defects of the prior art, the invention aims to calibrate the relative positions of a tool coordinate system and a hub of a robot and verify the track precision of the robot after calibration, and adopts the following technical scheme:
as shown in fig. 1 to 3, in the robot calibration tool for the automobile hub deburring workstation, a hub calibration disc 8 is provided with a positioning pin hole 1, a scale mark 2, a fan-shaped window 3, a step hole 4 and a camera angle calibration hole 5; a central positioning pin 6 is arranged in the positioning pin hole 1; the calibration tool is provided with a calibration part 7, and the calibration part 7 is installed on the industrial robot.
The calibration tool can calibrate the tool coordinate system and the workpiece coordinate system of the robot, and can also perform precision verification on the tool coordinate system and the workpiece coordinate system after the coordinate system is calibrated; verifying the track precision of the robot through the hub calibration tool scale marks 2, the positioning pin holes 1, the fan-shaped windows 3 and the like; and verifying the accuracy of the edge line and the hole position positioning accuracy of the vision extraction fan-shaped window 3, and being used for assisting in adjusting the installation angle of the camera.
The positioning pin holes 1 are uniformly distributed on the circumference with the center position of the hub calibration disc 8 as the center of a circle; the tip of the center positioning pin 6 is used as a marking point when teaching a workpiece and a tool coordinate system and verifying the track precision of the robot.
Positioning pin hole 1: for mounting the center positioning pin 6;
as shown in fig. 2, the center positioning pin 6: the pin is a stepped pin with a tip structure, the upper end of the stepped pin is a sharp point with the tip structure, and the lower end of the stepped pin is a cylindrical pin; the center positioning pin 6 is placed in a positioning hole in the hub calibration tool and used as a marking point for teaching a workpiece and a tool coordinate system and verifying the track accuracy of the robot.
The scale marks 2 are lines which are arranged on the hub calibration disc 8 and are scribed in a shape of a Chinese character 'mi' and a plurality of circles of circumferences by taking the center of the line as a reference point, are used as path tracks and are used for verifying the path track precision of the robot during movement.
The fan-shaped window 3 corresponds to the fan-shaped window of the hub; the number of the fan-shaped windows 3 is six; are uniformly distributed on the circumference; an inclined plane is processed on the periphery of one of the fan-shaped windows 3 and used for verifying the fan-shaped window edge line track extraction precision in an automobile hub deburring vision system and the walking track precision during robot deburring.
The step hole 4 is positioned at the outer end of the fan-shaped window with the inclined plane and used for verifying the hole position positioning precision in the turbine deburring visual system.
After the camera marks the position of the hole 5 by collecting the camera angle, the camera angle is calculated by an algorithm to assist in adjusting the camera installation angle.
As shown in fig. 3, the calibration piece 7 is a cylinder with a pointed structure, and the calibration end of the calibration piece is a sharp point with a pointed structure; the calibration piece 7 is used for teaching a coordinate system of a workpiece and a tool and touching the position of a marking point consisting of the scale mark 2 and the center positioning pin 6 when the industrial robot is controlled to move.
In order to achieve the same purpose as the technical scheme, the invention also provides a calibration method of the calibration tool of the robot for the automobile hub deburring workstation, which comprises the following technical scheme:
in the calibration method, the calibration of the tool coordinate system includes three methods: n point method (3 is more than or equal to N is less than or equal to 9); TCP and Z methods; TCP and Z-X methods:
1. n-point method: the TCP (Tool centre position) of the robot contacts with a reference point through N different postures to obtain a plurality of groups of solutions, the corresponding positions of the current TCP and a mounting flange central point (Tool) of the robot are obtained through calculation, and the direction of a coordinate system of the current TCP is consistent with that of the mounting flange central point (Tool 0);
2. TCP and Z methods: on the basis of the N-point method, connecting lines between Z points and reference points are added to be the direction of the Z axis of the coordinate system;
3. TCP and Z-X methods: on the basis of the N-point method, an X point and a reference point are added to be in the X-axis direction of a coordinate system, and a connecting line between a Z point and the reference point is in the Z-axis direction of the coordinate system.
The N-point method comprises the following steps:
firstly, mounting a calibration piece 7 on a tool carried by an industrial robot, and then mounting a center positioning pin 6 in a positioning pin hole 1 of a hub calibration disc 8;
the hub calibration disc 8 and the center positioning pin 6 are placed in the working range of the robot, the robot is operated by a manual robot operation method, the point of the tip of the calibration piece 7 is just in contact with the point of the center positioning pin 6, N points with the posture difference as large as possible are taken, the precision of the TCP is improved, and then a new tool coordinate system can be calculated by the position point data robot.
In the calibration method, a three-point method is adopted for calibrating the workpiece coordinate system, and the three-point method comprises the following steps: finding a point X1 at the position of the surface or edge angle of the workpiece as the origin of a coordinate system; finding a point X2 along a surface or edge of the workpiece; x1 and X2 determine the Z-axis direction of a workpiece coordinate system; finding a point Y1 in the direction of the XY plane with the positive Y value, and determining the positive Y-axis direction of the coordinate system;
the calibration process of the workpiece coordinate system is as follows:
firstly, mounting the calibration piece 7 on a tool carried by an industrial robot, and then placing the hub calibration disc 8 in the working range of the robot;
after selecting a correct tool coordinate system, just touching the tip point of the calibration piece 7 with the edge scale mark 2 of the hub calibration disc 8, and recording data of a point X1;
then moving to the other end of the scale mark 2, just touching the scale mark 2, and recording the data of the X2 point, wherein the direction of the X axis is determined;
and finding the vertex of the scale mark 2 vertical to the X axis, recording the data of the Y1 point, and calculating the new workpiece coordinate by the robot through the data of the three points.
In the calibration method, the method for testing the accuracy of the tool coordinate system comprises the following steps: the method comprises the steps of aligning the tip point of a calibration part 7 arranged on an industrial robot with the tip point of a central positioning pin 6 arranged on a hub calibration disc 8, then carrying out repositioning point movement by using a calibrated tool coordinate system, observing the distance interval between the two tip points, and then determining whether the precision of the calibrated tool coordinate system meets the requirement.
In the calibration method, the method for testing the accuracy of the workpiece coordinate system comprises the following steps: the method comprises the steps of selecting a workpiece coordinate system to be calibrated by using a state that the tip of a calibrating element 7 arranged on an industrial robot is nearly contacted with the surface of a hub calibrating disc 8, then performing linear motion on the hub calibrating disc 8, and determining whether the precision of the workpiece coordinate system meets the requirement or not through the change of the distance from the tip of the calibrating element 7 to the surface of the hub calibrating disc 8.
In the calibration method, the method for testing the motion trajectory precision of the robot comprises the following steps: teaching a plurality of points on the scale mark 2 of the hub calibration plate 8 by using the pointed end of a calibration part 7 arranged on an industrial robot, so that the robot can linearly move, and the precision of the walking linear track of the robot can be measured; the same method can be used for teaching the positioning pin hole 1 and the fan-shaped window 3 on the hub calibration disc 8, and the track precision of the robot after rotation can be measured by rotating the coordinate system.
According to the invention, through the positioning pin hole 1, the scale mark 2, the fan-shaped window 3, the step hole 4, the camera angle calibration hole 5, the center positioning pin 6 and the calibration piece 7 on the robot on the hub calibration disc 8, the calibration of a tool coordinate system and a workpiece coordinate system of the robot can be carried out, and the accuracy of the calibrated coordinate system can also be verified; the motion track precision of the robot can be measured; and verifying the visual extraction fan-shaped window sideline precision and the hole position positioning precision, and being used for assisting in adjusting the installation angle of the camera. Compared with the comparison document, the technology makes great progress and breakthrough.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.

Claims (6)

1. A robot calibration tool for an automobile hub deburring workstation comprises a hub calibration disc (8);
the method is characterized in that:
the hub calibration disc (8) is provided with a positioning pin hole (1), a scale mark (2), a fan-shaped window (3), a step hole (4) and a camera angle calibration hole (5); a central positioning pin (6) is arranged in the positioning pin hole (1); the calibration tool is provided with a calibration piece (7), and the calibration piece (7) is installed on the industrial robot;
the positioning pin holes (1) are uniformly distributed on the circumference taking the central position of the hub calibration disc (8) as the center of a circle; the tip of the center positioning pin (6) is used as a marking point when a workpiece and a tool coordinate system are taught and the track accuracy of the robot is verified;
the scale marks (2) are lines which are arranged on the hub calibration disc (8) and are marked in a shape like a Chinese character 'mi' and in a multi-circle circumference shape by taking the center of the line as a datum point, are used as path tracks and are used for verifying the path track accuracy when the robot moves;
the fan-shaped window (3) corresponds to the fan-shaped window of the hub; the number of the fan-shaped windows (3) is six; are uniformly distributed on the circumference; an inclined plane is processed on the periphery of one of the fan-shaped windows (3) and used for verifying the fan-shaped window edge line track extraction precision in an automobile hub deburring vision system and the walking track precision during robot deburring;
the step hole (4) is positioned at the outer end of the fan-shaped window with the inclined plane and used for verifying the hole position positioning precision in the turbine deburring visual system;
after the camera collects the position of the camera angle calibration hole (5), the camera angle is calculated through an algorithm to assist in adjusting the installation angle of the camera;
the calibration piece (7) is a cylinder with a tip structure, and the calibration end of the calibration piece is a sharp point with the tip structure; the calibration piece (7) is used for teaching a coordinate system of a workpiece and a tool and touching the position of a marking point consisting of the scale mark (2) and the center positioning pin (6) when the industrial robot is controlled to move.
2. The method for calibrating the robot calibration tool for the automobile hub deburring workstation according to claim 1, characterized in that:
in the calibration method, the calibration of the tool coordinate system includes three methods: n point method; TCP and Z methods; TCP and Z-X methods:
1) And an N-point method: the TCP of the robot contacts with a reference point through N different postures to obtain a plurality of groups of solutions, the corresponding positions of the current TCP and the central point of the mounting flange of the robot are obtained through calculation, and the direction of a coordinate system of the current TCP is consistent with the central point of the mounting flange;
2) TCP and Z methods: on the basis of the N-point method, connecting lines between Z points and reference points are added to be the direction of the Z axis of the coordinate system;
3) TCP and Z-X methods: on the basis of the N-point method, adding a connecting line of an X point and a reference point as the direction of an X axis of a coordinate system, and a connecting line of a Z point and the reference point as the direction of a Z axis of the coordinate system;
the N-point method comprises the following steps:
firstly, mounting a calibration piece (7) on a tool carried by an industrial robot, and then mounting a center positioning pin (6) in a positioning pin hole (1) of a hub calibration tool;
the hub calibration disc (8) and the center positioning pin (6) are placed in the working range of the robot, the robot is operated by a method of manually operating the robot, the tip point of the calibration piece (7) is just in contact with the tip point of the center positioning pin (6), N points with the posture difference as large as possible are taken, the TCP precision is improved, and then a new tool coordinate system can be calculated through the position point data robot.
3. The method for calibrating the robot calibration tool for the automobile hub deburring workstation according to claim 1, characterized in that:
in the calibration method, a three-point method is adopted for calibrating the workpiece coordinate system, and the three-point method comprises the following steps: finding a point X1 at the position of the surface or edge angle of the workpiece as the origin of a coordinate system; finding a point X2 along a surface or edge of the workpiece; x1 and X2 determine the X-axis direction of a workpiece coordinate system; finding a point Y1 in the direction with the positive Y value on the XY plane, and determining the positive Y-axis direction of the coordinate system;
the calibration process of the workpiece coordinate system is as follows:
firstly, mounting a calibration piece (7) on a tool carried by an industrial robot, and then putting a hub calibration disc (8) in the working range of the robot;
after a correct tool coordinate system is selected, the tip point of the calibration piece (7) is just touched with the edge scale mark (2) of the hub calibration disc (8), and data of X1 points are recorded;
then moving to the other end of the scale mark (2), just touching the scale mark (2), and recording data of an X2 point, wherein the direction of the X axis is determined;
and finding the vertex of the scale mark (2) vertical to the X axis, recording the data of the Y1 point, and calculating a new workpiece coordinate by the robot through the data of the three points.
4. The method for calibrating the robot calibration tool for the automobile hub deburring workstation according to claim 1, characterized in that: in the calibration method, the method for testing the accuracy of the tool coordinate system comprises the following steps: aligning the tip point of a calibration piece (7) arranged on an industrial robot with the tip point of a central positioning pin (6) arranged on a hub calibration disc (8), then carrying out repositioning point movement by using a calibrated tool coordinate system, and determining whether the precision of the calibrated tool coordinate system meets the requirement by observing the distance interval between the two tip points.
5. The method for calibrating the robot calibration tool for the automobile hub deburring workstation according to claim 1 is characterized in that: in the calibration method, the method for testing the accuracy of the workpiece coordinate system comprises the following steps: the method comprises the steps of selecting a workpiece coordinate system to be calibrated by using a state that the tip point of a calibration piece (7) arranged on an industrial robot is nearly touched with the surface of a hub calibration disc (8), then performing linear motion on the hub calibration disc (8), and determining whether the precision of the workpiece coordinate system meets the requirement or not through the change of the distance from the tip point of the calibration piece (7) to the surface of the hub calibration disc (8).
6. The method for calibrating the robot calibration tool for the automobile hub deburring workstation according to claim 1 is characterized in that: in the calibration method, the method for testing the motion trajectory precision of the robot comprises the following steps: teaching a plurality of points on the scale mark (2) of a hub calibration disc (8) by using the pointed end point of a calibration piece (7) arranged on an industrial robot, so that the robot can move linearly, and the accuracy of the walking linear track of the robot can be measured; the track precision of the robot after rotation can be measured by teaching the positioning pin holes (1) and the fan-shaped window (3) on the hub calibration disc (8) by the same method and rotating a coordinate system.
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Address before: 241000 office building of national industrial robot product quality supervision and inspection center, No.17 Shenzhou Road, Jiujiang Economic and Technological Development Zone, Wuhu City, Anhui Province

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