This application claims priority to Chinese Patent Application No. 202011027687.X filed on Sep. 25, 2020 in China National Intellectual Property Administration, the contents of which are incorporated by reference herein.
The subject matter herein generally relates to manufacturing processes, and particularly to a calibration system, a calibration method, and a calibration device.
In the field of manufacturing and processing, some workpieces need to be polished by a polishing device, so that a precise and predetermined surface of the workpiece can be obtained. A calibration of a polish head of the polishing device is important.
The calibration of a polish head mainly includes a calibration of an initial or starting point and a calibration of a surface posture, which determine a polishing precision.
In the traditional polishing process, the calibration of a polish head is operated manually, such as using a silicon steel sheet to measure a gap between a polish surface and a product by an operator as a determining standard of a polish head position. In another example, when the polish surface is a cambered surface or a hook face, the silicon steel sheet can only measure a point or a line of the surface, if the polish head is deflected, a calibration result may be affected, a fault in the polishing may occur, and yield of a satisfactorily-polished product may decrease.
Traditional calibration methods are affected by personal habit and different levels of experience, calibration errors may occur, and manual calibration also takes time, reducing efficiency.
Many aspects of the disclosure can be better understood with reference to the following drawings. The components in the drawings are not necessarily drawn to scale, the emphasis instead being placed upon clearly illustrating the principles of the disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views.
Implementations of the disclosure will now be described, by way of embodiments only, with reference to the drawings. The disclosure is illustrative only, and changes may be made in the detail within the principles of the present disclosure. It will, therefore, be appreciated that the embodiments may be modified within the scope of the claims.
Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The technical terms used herein are to provide a thorough understanding of the embodiments described herein but are not to be considered as limiting the scope of the embodiments.
Several definitions that apply throughout this disclosure will now be presented.
The term “coupled” is defined as connected, whether directly or indirectly through intervening components, and is not necessarily limited to physical connections. The term “substantially” is defined to be essentially conforming to the particular dimension, shape or other word that the term modifies, such that the component need not be exact. The term “comprising,” when utilized, means “including, but not necessarily limited to”; it specifically indicates open-ended inclusion or membership in the so-described combination, group, series and the like.
Before a polishing process, a corresponding position of a polish head 10 and a workpiece 12 (or tool of the workpiece 12) needs to be corrected, including an initial point calibration and a tool surface posture calibration. In a normal situation, a holder 80 remains, the polish head 10 needs to move in three-dimensions, which may cause a difference between a workpiece 12 (work) coordinate system and a tool surface (tool) coordinate system, unifying the work coordinate system and a world coordinate system is needed.
In another embodiment, the sensor group 30 is configured to detect a pressure on the polish head 10 and generate a first pressure value. The first direction can be any direction, as long as the polish head 10 and the workpiece 12 are moving along the first direction close to each other and the force therebetween reaches the first pressure value.
Furthermore, the first pressure value can be set according to actual demands, such as 1 kg.
Thus, by the pressure information of the polish head 10 and the workpiece 12, the initial position of the polish head 10 can be determined. The first direction and the predetermined value can be adjusted according to actual demands, to achieve real time force calibration, wide application scenario, easy to realize, simple structure, and high precision of calibration.
In detail, the holder 80 includes a hold portion 810. The hold portion 810 is configured to grip the workpiece 12 and sense at least one of a force and a torque from the workpiece 12. The hold portion 810 can be a jig or a gripper for the workpiece 12. The sensor group 30 is configured to detect at least one of the force and the torque and generate a pressure value of the holder 80. The sensor group 30 can be a six-axis force sensor. The work coordinate system can be established based on the hold portion 810.
In another embodiment, the holder 80 can be a rotatable jig, which can drive the hold portion 810 to rotate.
In at least one embodiment, referring to
The base information includes an initial point of the polish head 10 and at least one posture of a polish surface of the polish head 10. The initial point can be a value of the polish head 10 pressing on the workpiece 12, such as a force corresponding to 1 kg. That is, before the polishing, an acting force of a resisting between the polish head 10 and the workpiece 12 is about 1 kg.
Thus, by adjusting the moving direction of the polish head 10, a direction of the acting force between the polish head 10 and the hold portion 810 can be adjusted. The sensor group 30 detects at least one of the force and the torque between the polish head 10 and the hold portion 810. The calibration device 800 determines the base information of the polish head 10 based on the pressure value.
In at least one embodiment, the hold portion 810 grips the workpiece 12, the polish head 10 moves along the first direction. The polish head 10 moves to and resists against the workpiece 12, the hold portion 810 senses at least one of a force and a torque from the polish head 10, the sensor group 30 detects at least one of the force and the torque of the hold portion 810, the calibration device 800 determines whether the pressure value is greater than the predetermined value. When the pressure value is greater than the predetermined value, the calibration device 800 determines that the position of the polish head 10 is the base information. Until then, the polish head 10 keeps moving along the first direction.
In another embodiment, the hold portion 810 does not grip the workpiece 12, the polish head 10 moves to and resists against the hold portion 810, the hold portion 810 directly senses at least one of the force and the torque from the polish head 10.
Further, a pressure range of the hold portion 810 is 0˜100 N. Through calculation, a pressure of the hold portion 810 during a correcting process is 1 kg, that is about 9.8 N. During the polishing process, a peak value of the force can be 10 kg, that is about 98 N. A safe margin is added, which makes a determination of the pressure range of the hold portion 810 as being within about 1˜100 N. The pressure range is configured to limit the acting force between the polish head 10 and the hold portion 810, preventing any damage caused by over pressure during the polishing process.
Referring to
In another embodiment, the sensor group 30 can be arranged on the polish head 10 or between the polish head 10 and the hold portion 810, as long as the sensor group 30 can detect the acting force between the polish head 10 and the hold portion 810.
In at least one embodiment, the sensor group 30 can be a six-axis force sensor. The sensor group 30 can also be other types of sensor, as long as the sensor can detect the acting force between the polish head 10 and the hold portion 810.
Further, the holder 80 further includes a driver 870 arranged on the base 830 and connected to the connecting portion 820. The driver 870 is configured to rotate the connecting portion 820, to rotate the hold portion 810. The driver 870 can be an electric motor or a motor drive.
Further, referring to
Thus, by the first calibration block 400 engaging the polish head 10, the polish head 10 moves towards and resists against the hold portion 810. During the movement, the calibration of the first posture and the second posture of the polish head 10 is processed.
Further, the polish surface 11 and the first surface 410 are curved, a radius of curvature of the polish surface 11 is greater than a radius of curvature of the first surface 410. For instance, the radius of curvature of the polish surface 11 is about 60 cm, the radius of curvature of the first surface 410 is about 40 cm. Thus, since the radius of curvature of the polish surface 11 is greater than the radius of curvature of the first surface 410, the second surface 420 resists against the hold portion 810 when the polish head 10 drives the first calibration block 400, which causes the polish surface 11 resisting against the first surface 410. The polish surface 11 and the first surface 410 may not cause a slide, thereby achieving the posture calibration of the polish surface 11.
In another embodiment, the polish head 10 includes a polish surface 11 engaging with the first calibration block 400. The first calibration block 400 includes a secure portion (not shown) and a second surface 420. The secure portion is detachably connected to the polish head 10. The second surface 420 is directly or indirectly resisted against the hold portion 810. The first calibration block 400 is configured to bear at least one of the force and the torque from the polish head 10 through the secure portion. By transmitting the at least one of the force and the torque to the hold portion 810 being through the second surface 420 and by the secure portion detachably connected to the polish head 10, a connection of the first calibration block 400 and the polish head 10 may be achieve. In other embodiments, the secure portion is detachably connected to the polish head 10 through slots, mortise and tenon joint, stubs, or other ways. Thus, when the polish surface 11 and the first surface 410 are secured by the secure portion, corresponding positions of the polish surface 11 and the first surface 410 are determined. Thereby corresponding positions and postures of the polish head 10 and the holder 80 are determined, and further at least one of a second position, a first posture, and a second posture of the polish head 10 are determined.
Furthermore, the holder portion 810 is connected to a second calibration block 500, a main axis of the first calibration block 400 is in the first direction (such as the Z-axis of the work coordinate system or the Z-axis of the present work coordinate system). The second calibration block 500 includes a third surface 510 and a fourth surface 520. The third surface 510 resists against the second surface 420, the fourth surface 520 resists against the hold portion 810. The second calibration block 500 is configured to bear at least one of the force and the torque from the first calibration block 400 through the third surface 510. The force from the polish head 10 is transmitted to the hold portion 810 through the fourth surface 520.
Referring to
Furthermore, the second surface 420 is planar to within 0.02 mm or less. The third surface 510 is planar to within 0.02 mm or less. The third surface 510 is parallel to the fourth surface 520, a depth of parallelism thereof is less than or equal to 0.01 mm. The fourth surface 520 is planar to within 0.02 mm or less.
Thus, through setting the flatness of the second surface 420, the third surface 510, and the fourth surface 520, when the polish head 10 moves, the acting force among the hold portion 810, the first calibration block 400, the second calibration block 500 is perpendicular to the second surface 420, the third surface 510, or the fourth surface 520, which facilitates posture calibration of the polish surface 11, and a calibration result is reliable.
Furthermore, referring to
Thus, through driving the polish head 10 along the Z-axis of the tool coordinate system, a further calibration of the polish head 10 posture along the Z-axis of the tool coordinate system (the X-axis of the work coordinate system) can take place. In verifying the calibration of polish head 10 through the first position, the second position, the first posture, the second posture, and the third posture, correct base information can be obtained. When the first posture, the second posture, and the third posture change after the calibration (such as visional deflection of the polish head 10 along the X-axis, the Y-axis, and the Z-axis of the tool coordinate system), the calibration must be repeated. When no changes, the calibration is complete.
Furthermore, the fifth surface 530 is planar to within 0.02 mm or less. The sixth surface 540 is planar to within 0.02 mm or less. The fifth surface 530 is parallel to the sixth surface 540, a depth of parallelism thereof is less than or equal to 0.01 mm. Thus, by setting the flatness of the fifth surface 530 and the sixth surface 540, when the polish head 10 moves, an acting force among the hold portion 810, the first calibration block 400, and the second calibration block 500 is perpendicular to the second surface 420, the third surface 510, or the fourth surface 520, for the calibration of the first position of the polish surface 11 of the polish head 10.
Referring to
In a first aspect, the controller 20 is configured to control the polish head 10 to move along a first direction (for instance, an X-axis of the work coordinate system) to resist the polish head 10 against the workpiece 12. The sensor group 30, based on the polish head 10 moving along the first direction, detects at least one pressure on the polish head 10 or the workpiece 12 and generates a first pressure value. The sensor group 30 transmits the first pressure value to the controller 20. The controller 20 determines whether the first pressure value is greater than a predetermined value and determines the first position based on the first pressure value that is greater than the predetermined value. When the controller 20 determines that the first pressure value is greater than the predetermined value, the controller 20 stops the polish head 10, the position of the polish head 10 is the first position. When the controller 20 determines that the first pressure value is less than the predetermined value, the controller 20 keeps the polish head 10 moving along the first direction and continues receiving the first pressure value from the sensor group 30 until the first pressure value is greater than the predetermined value.
In at least one embodiment, referring to
In at least one embodiment, the controller 20 includes a communicator, a processor, and a memory. The communicator is configured to establish communication with the sensor group 30 and transmit control instructions to the polish head 10 to control the movement of the polish head 10. The calibration process includes one or more computer program instructions stored in the memory and being processed by the processor to achieve the calibration function.
In at least one embodiment, the sensor group 30 includes a six-axis force sensor configured to detect the acting force between the workpiece 12 and the polish head 10.
In a second aspect, the calibration system 100 can be integrated in a machine arm. The controller 20 controls the polish head 10 to move along the first direction (such as the X-axis of the work coordinate system) to close and resist the polish head 10 against the workpiece 12. The controller 20 receives a first pressure value from the sensor group 30. The first pressure value is generated by a force sensed by at least one of the polish head 10 and the workpiece 12 detected by the sensor group 30 based on the polish head 10 moving along the first direction. The controller 20 determines whether the first pressure value is greater than a predetermined value and determines the first position based on the first pressure value that is greater than the predetermined value. When the controller 20 determines that the first pressure value is greater than the predetermined value, the controller 20 stops the polish head 10, the position of the polish head 10 is the first position. When the controller 20 determines that the first pressure value is less than the predetermined value, the controller 20 keeps the polish head 10 moving along the first direction and continues receiving the first pressure value from the sensor group 30 until the first pressure value is greater than the predetermined value.
In at least one embodiment, referring to
Furthermore, the base information further includes a second position, a first posture (such as rotating along the X-axis of the tool coordinate system), and a second posture (such as rotating along the Y-axis of the tool coordinate system). The first direction is perpendicular to the second direction. The controller 20 is further configured to control the polish head 10 to move along the second direction. The sensor group 30 is further configured to, based on the polish head 10 moving along the second direction, detect a force that at least one of the polish head 10 and the workpiece 12 senses to generate a second pressure value. The controller 20 is further configured to determine whether the second pressure value is greater than the predetermined value, and determine at least one of the second position, the first posture, and the second posture based on the second pressure value that is greater than the predetermined value.
In a first aspect, the controller 20 controls the polish head 10 to move along the second direction (such as the Z-axis of the work coordinate system), to close and resist the polish surface 11 of the polish head 10 against a surface of the workpiece 12. The sensor group 30 detects a pressure that at least one of the polish head 10 and the workpiece 12 senses to generate a second pressure value. The sensor group 30 transmits the second pressure value to the controller 20. The controller 20 determines whether the second pressure value is greater than the predetermined value, and determines at least one of the second position, the first posture, and the second posture based on the second pressure value that is greater than the predetermined value. The controller 20 controls the polish head 10 to continuously move along the Z-axis of the work coordinate system, based on the second pressure value being less than the predetermined value.
In at least one embodiment, the second position can be a stopped position of the polish head 10 when the second pressure value is greater than the predetermined value. If the polish head 10 moving along the Z-axis of the work coordinate system is not rotated, that is, the posture of the polish head 10 is not changed, the first posture, the second posture, and the second position can be a same position. During the calibration process of the Z-axis of the work coordinate system, if the polish head 10 rotates relative to the X-axis of the tool coordinate system or the Y-axis of the tool coordinate system, the position after rotation can be the first posture and the second posture after calibration.
In a second aspect, the calibration system 100 can be integrated in a machine arm. The controller 20 controls the polish head 10 to move along the Z-axis of the work coordinate system to close and resist the polish surface 11 of the polish head 10 against a surface of the workpiece 12. The controller 20 receives the second pressure value from the sensor group 30. The second pressure value is generated by a pressure sensed by at least one of the polish head 10 and the workpiece 12 detected by the sensor group 30. The controller 20 determines whether the second pressure value is greater than a predetermined value. When the controller 20 determines that the second pressure value is greater than the predetermined value, the controller 20 controls the polish head 10 to stop. The position of the polish head 10 when stopped can be the second position, the first posture, and the second posture. When the controller 20 determines that the second pressure value is less than the predetermined value, the controller 20 controls the polish head 10 to continue to move along the second direction.
In a first aspect, the controller 20 adjusts the position of the polish head 10 to maintain the main axis of the polish head 10 in the first direction (such as the X-axis of the work coordinate system) and controls the polish head 10 to move along the second direction (such as the Z-axis of the work coordinate system). The sensor group 30, based on the polish head 10 moving along the Z-axis of the work coordinate system, detects a force that at least one of the polish head 10 or the workpiece 12 senses and generates a third pressure value. The sensor group 30 transmits the third pressure value to the controller 20. The controller 20 determines whether the third pressure value is greater than a predetermined value. When the controller 20 determines that the third pressure value is greater than the predetermined value, the controller 20 stops the polish head 10, the position of the stopped polish head 10 can be the first posture. When the controller 20 determines that the third pressure value is less than the predetermined value, the controller 20 controls the polish head 10 to continue to move along the Z-axis of the work coordinate system.
In a second aspect, the calibration system 100 can be integrated in a machine arm. The controller 20 adjusts the position of the polish head 10, to maintain the main axis of the polish head 10 in the X-axis of the work coordinate system and controls the polish head 10 to move along the Z-axis of the work coordinate system. The controller 20 receives the third pressure value from the sensor group 30. The third pressure value is generated based on the movement of the polish head 10 along the Z-axis of the work coordinate system, the force that at least one of the polish head 10 or the workpiece 12 senses as detected by sensor group 30. The controller 20 determines whether the third pressure value is greater than the predetermined value. When the controller 20 determines that the third pressure value is greater than the predetermined value, the controller 20 stops the polish head 10, the position of the stopped polish head 10 can be the third posture. When the controller 20 determines that the third pressure value is less than the predetermined value, the controller 20 controls the polish head 10 to continue to move along the Z-axis of the work coordinate system.
Thus, after calibration of at least one of the first position of the first direction and the second position of the second direction, the first posture, and the second posture, the position of the polish head 10 is adjusted to calibrate the base information of the polish head 10 or the workpiece 12 that senses forces in other directions, to determine the third posture of the polish head 10.
In at least one embodiment, the sensor group 30 is further configured to, based on the polish head 10 moving along the first direction, detect the force on the polish head 10 in the first direction, to generate the first pressure value.
In detail, the sensor group 30 can be mounted on the polish head 10, such as the sensor group 30 can be mounted on the machine arm, which is connected to the polish head 10. The sensor group 30 can detect the acting force that the polish head 10 senses when moving.
In another embodiment, the sensor group 30 is further configured to, based on the polish head 10 moving along the first direction, detect the force that the polish head 10 applies to the workpiece 12 along the first direction, to generate the first pressure value.
In detail, the sensor group 30 can be mounted between the polish head 10 and the workpiece 12, on the polish head 10, or on the holder 80 holding the workpiece 12. The sensor group 30 can directly or indirectly detect the acting force between the polish head 10 and the workpiece 12.
In another embodiment, the sensor group 30 is further configured to, based on the polish head 10 moving along the first direction, detect the force that the workpiece 12 senses in the first direction, to generate the first pressure value.
In detail, the sensor group 30 can be mounted on the holder 80, the hold portion 810 grips the workpiece 12, and when so gripped, the sensor group 30 detects the force received by the workpiece 12.
Furthermore, the controller 20 is further configured to adjust the polish head 10 to the first posture, and control the polish head 10 to move along the first direction. The sensor group 30 is further configured to, based on the polish head 10 moving along the first direction in the first posture, detect the force that at least one of the polish head 10 and the workpiece 12 senses, to generate the first pressure value.
Thus, the posture of the polish head 10 can be adjusted before determining the base information of the polish head 10, to avoid any fracture of the workpiece 12 or the polish head 10 suddenly applying force during the calibration process.
For instance, if the workpiece 12 is made of fragile material (such as glass), adjusting the posture of the polish head 10 before calibration speeds up the calibration of the base information, and avoids fracture of the workpiece 12 caused by impulses or sudden movements generated by fast movement of the polish head 10.
In at least one embodiment,
In a first aspect, for verifying the calibration result, the controller 20 controls the polish head 10 in the first position, determines whether the main axis of the polish head 10 is in the first direction, and if not, readjusting; if yes, the calibration is finished.
In a second aspect, the calibration system 100 can be integrated in a machine arm, for verifying the calibration result, the controller 20 controls the polish head 10 in the first position, determines whether the main axis of the polish head 10 is in the first direction, if not, readjusting; if yes, the calibration is finished.
At block 602, controlling the polish head 10 to move along the first direction, for instance, the first direction can be an X-axis of the work coordinate system or a Z-axis of the tool coordinate system.
At block 604, based on the polish head 10 moving along the first direction, detecting the pressure on at least one of the polish head 10 or the workpiece 12 and generating a first pressure value.
In at least one embodiment, the polish head 10 is configured to polish the workpiece 12. The first pressure value can be the acting force of the touch and resist between the polish head 10 and the workpiece 12. By detecting the pressure on the polish head 10, the first pressure value is generated.
At block 606, determining whether the first pressure value is greater than a predetermined value.
When determining the first pressure value is greater than the predetermined value, at block 608, based on the first pressure value being greater than the predetermined value, determining the first position. The first pressure value can be set according to actual requirement, such as 1 kg.
Thus, by the pressure information of the polish head 10 and the workpiece 12, the initial position of the polish head 10 can be determined. The first direction and the predetermined value can be adjusted according to actual demands, to achieve real time force calibration, wide applicable scene, easy to realize, simple structure, and high calibration precise. The first direction can be any direction, as long as the polish head 10 and the workpiece 12 moving along the first direction close to each other and the force therebetween reaches the first pressure value.
When determining the first pressure value is less than the predetermined value, the calibration method returns to block 602.
In at least one embodiment, the block 604 of generating a first pressure value includes:
Based on the polish head 10 moving along the first direction, detecting a pressure on the polish head 10 along the first direction and generating a first pressure value.
In another embodiment, the block 604 of generating a first pressure value includes:
Based on the polish head 10 moving along the first direction, detecting the force that the polish head 10 applies to the workpiece 12 in the first direction and generating a first pressure value.
In another embodiment, the block 604 of generating a first pressure value includes:
Based on the polish head 10 moving along the first direction, detecting the force that the workpiece 12 senses in the first direction and generating a first pressure value.
In at least one embodiment, during the polish head 10 moving along the first direction, the polish head 10 closes and resists against the workpiece 12, the polish head 10 puts a force on the workpiece 12 in the first direction. The force in the first direction that the workpiece 12 senses and the force in the first direction on the polish head 10 is equivalent, which can be the acting force between the polish head 10 and the workpiece 12. By detecting one of the forces by the sensor group 30, the first pressure value is obtained.
Furthermore, referring to
At block 610, controlling the polishing head 10 to move along the second direction. The second direction can be the Z-axis of the tool coordinate system.
At block 612, based on the polish head 10 moving along the second direction, detecting the pressure on the at least one of the polish head 10 and the workpiece 12 and generating a second pressure value.
At block 614, determining whether the second pressure value is greater than the predetermined value.
When determining the second pressure value is greater than the predetermined value, at block 616, based on the second pressure value being greater than the predetermined value, determining at least one of the second position, the first posture, and the second posture.
When determining the second pressure value is less than the predetermined value, the calibration method returns to block 610.
Based on determining the base information of the polish head 10 along the first direction, at least one of a polish initial position, the first posture, and the second posture of the polish head 10 in the second direction may be determined according to the pressure information of the workpiece 12 or the polish head 10 in the second direction. The first posture and the second posture can be positions of the polish head 10 along the first direction and the second direction after calibration.
Furthermore, the base information includes a third posture, referring to
At block 620, adjusting the position of the polish head 10, to maintain the main axis of the polish head 10 in the first direction.
At block 622, controlling the polish head 10 to move along the second direction.
At block 624, based on the polish head 10 moving along the second direction, detecting the force that the at least one of the polish head 10 and the workpiece 12 senses, to generate the third pressure value.
At block 626, determining whether the third pressure value is greater than the predetermined value.
When determining that the third pressure value is greater than the predetermined value, at block 628, based on the third pressure value being greater than the predetermined value, generating the third posture.
When determining that the third pressure value is less than the predetermined value, the calibration method returns to block 620.
Referring to
At block 630, controlling the polish head 10 to move along the first direction again.
At block 632, based on the polish head 10 moving along the first direction again, detecting the force that the at least one of the polish head 10 and the workpiece 12 senses, to generate a fourth pressure value.
At block 634, determining whether the fourth pressure value is greater than the predetermined value.
When determining that the fourth pressure value is greater than the predetermined value, at block 636, based on the fourth pressure value being greater than the predetermined value, determining the position of the polish head 10 as the first position. For instance, when the sensor group 30 detects the acting force between the workpiece 12 and the polish head 10 is 0.8 kg, which is less than the predetermined value of 1 kg, the controller 20 keeps the polish head 10 moving along the first direction, until the acting force is greater 1 kg. Thus, determining the base information of the polish head 10 by the controller 20 and the sensor group 30.
Thus, according to process of driving the polish head 10 to move along the Z-axis of the tool coordinate system and generating the fourth pressure value, achieving another calibration of the posture of the polish head 10 along the Z-axis of the tool coordinate system, to verify the first position, the second position, the first posture, the second posture, and the third posture of the calibrated polish head 10 after calibration, to obtain the correction of the base information. If any obvious change raised after another calibration of the first posture, the second posture, and the third posture (such as visible shift of the polish head 10 relative to the X-axis, the Y-axis, or the Z-axis of the tool coordinate system), anew calibration is required. If no obvious change raised, the calibration finishes.
When determining that the fourth pressure value is less than the predetermined value, the calibration method returns to block 630.
The calibration system, the calibration method, and the calibration device can accomplish high precision calibration before a polishing process, determine the polishing initial position of the polish head 10 and the posture of the tool surface, determine the base information of the polish head 10, that is determining the base information of the machine arm controlling the polish head 10 or other controlling system. The calibration system, the calibration method, and the calibration device can calibrate polish surface of curved surface shaped or hook surface shaped, when polishing the workpiece 12 with a polish surface of curved surface shaped or hook surface shaped, a calibration error before polishing can be decreased, and polishing precision can be improved.
While the present disclosure has been described with reference to particular embodiments, the description is illustrative of the disclosure and is not to be construed as limiting the disclosure. Therefore, those of ordinary skill in the art can make various modifications to the embodiments without departing from the scope of the disclosure as defined by the appended claims.
Number | Date | Country | Kind |
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202011027687.X | Sep 2020 | CN | national |