CN116160477A - Industrial robot precision testing device, testing method and calibration method - Google Patents

Abstract

The invention relates to the technical field of automatic assembly, and particularly discloses an industrial robot precision testing device, a testing method and a calibration method, which comprise a laser tracker and a target ball, wherein the target ball is arranged on a terminal flange of a tested robot, the industrial robot precision testing device also comprises a load component, the load component comprises a quick-change clamp and a clamping mechanism, the quick-change clamp comprises a manipulator fixed end and a tool fixed end, the manipulator fixed end is fixed on the terminal flange of the tested robot, the clamping mechanism comprises a guide post and a supporting piece capable of axially moving along the guide post, the tool fixed end is fixedly connected to the top end of the guide post, a load block can be sleeved on the guide post, and the load block sleeved on the guide post can be clamped by the terminal flange and the supporting piece; and performing motion calibration on the robot to be tested by using a laser tracker, a target ball and a control system. The scheme is used for solving the problem that the existing load block is complex in disassembly and assembly operations before and after the precision test of the industrial robot is carried out at present.

Description

An industrial robot precision testing device, testing method and calibration method

technical field

The invention relates to the technical field of automatic assembly, in particular to an industrial robot precision testing device, testing method and calibration method.

Background technique

Industrial robots refer to robots used in the production process and environment, and are characterized by replacing humans with certain monotonous, frequent and repetitive long-term operations. There are many forms of industrial robots, based on adapting to the on-site use environment and functions, not limited to human form. In recent years, the industrial robot industry has flourished, and more and more industrial robots have replaced manpower in production lines such as object handling, parts assembly, and machining.

Before the robot is officially applied (or before mass production), the robot is generally tested for accuracy to ensure that the end flange of the robot can move to the specified position after bearing the load. In order to facilitate the acquisition of the position of the end flange, There is a technology that uses a laser tracker and a target ball to verify the position of the flange end.

In order to verify the motion accuracy of industrial robots under different loads, it is necessary to configure different loads for the robots during the test phase of the industrial robots, and the loads exist in the form of multiple load blocks (because the load blocks need to be manually moved, the load The test generally includes multiple load blocks), and the load blocks need to be disassembled one by one. Specifically, there are multiple threaded holes and fixing holes on the load block and the end flange. First, a load block is penetrated by screws. The fixing hole of the load block is locked on the threaded hole of the end flange, and the remaining load blocks are locked on the previous load block by screws one by one to realize the stacking of the load blocks one by one. In order to ensure the connection of the load blocks is stable, generally every Each chip load block needs at least 4 screws to fix the position, which makes the operation of different load tests and dismounting the load very cumbersome, and the disassembly and assembly of the load is particularly time-consuming and laborious.

In addition, after the accuracy test of the industrial robot, it is necessary to manually control the robot for multiple tests and debugging to realize the motion calibration of the industrial robot. The calibration process takes a long time and has a low degree of automation.

Contents of the invention

The present invention intends to provide an industrial robot precision test device to solve the problem of cumbersome disassembly and assembly operations of load blocks existing before and after the precision test of industrial robots.

To achieve the above object, the present invention adopts the following technical solutions:

An industrial robot precision testing device, including a laser tracker and a target ball, the target ball is installed on the end flange of the robot to be tested, and also includes a load component that can be installed on the end flange, the load component includes a quick-change fixture and a clamp Mechanism, the quick-change fixture includes a fixed end of the manipulator and a fixed end of the tool. The fixed end of the manipulator can be quickly connected/quickly released with the fixed end of the tool. The fixed end of the manipulator is fixed on the end flange of the robot under test. The clamping mechanism includes guide columns and A supporting piece that can move axially along the guide post. The fixed end of the tool is fixedly connected to the top of the guide post. The cross-sectional area of the fixed end of the tool is smaller than the cross-sectional area of the guide post. The load block can be placed on the guide post. The load block on the can be clamped by the end flange and the support piece.

Principle of the present invention and advantage are:

In practical applications, the clamping mechanism is optimized so that the load block only needs to be placed on the guide column, and then the supporting parts that can move the position are used to push all the load blocks close to the flange, and then the flange and the supporting part After the load is clamped, and the support is fixed on the guide column, the whole process only needs to insert the load block, move a support and lock a support to realize the installation of all load blocks, and when removing the load block , It is only necessary to loosen the quick-change clamp to directly remove the load block from the guide column. The entire disassembly process does not need to install screws one by one on the load block, which greatly reduces the operation steps and simplifies the operation.

Preferably, as an improvement, the clamping mechanism also includes a self-locking eccentric wheel, and the supporting member includes a supporting block located in the middle and claws located on both sides of the supporting block and protruding toward the outside of the supporting block. There are sliding grooves on the two opposite side walls of the column, and the claws are located in the sliding grooves; the receiving block is located on the side of the guide column, and the self-locking eccentric wheel is connected to the supporting block by eccentric rotation. When the self-locking eccentric wheel is self-locking, It is offset against the side wall of the guide column, and at the same time, the self-locking eccentric wheel drives the supporting block away from the guide column during the self-locking process; when self-locking, the claw fastens the side wall of the chute.

Beneficial effects: This solution enables the support to quickly realize the locking on the guide post through the specific structural design of the support and the self-locking eccentric wheel, and can also quickly release the lock on the guide post, further simplifying the load block. The operation process of disassembly.

Preferably, as an improvement, a handle is fixedly connected to the rotation center of the self-locking eccentric wheel, and the plane where the handle rotates is parallel to the axial direction of the guide column.

Beneficial effect: the arrangement of the handle makes the rotation of the self-locking eccentric more labor-saving.

Preferably, as an improvement, the guide column is polygonal.

Beneficial effects: on the one hand, the shape and structure of the guide column provides a basis for the self-locking eccentric wheel to realize self-locking; on the other hand, the guide column is also a chute for the support to move axially along the guide column. The shape also limits the movement of the load block set on the guide column, ensuring that the load will not rotate when it is driven by the industrial robot to move in space, which is beneficial to the stability of the industrial robot during the test.

Preferably, as an improvement, a pusher is fixedly connected to the bottom of the guide post, and the pusher is used to push the supporting member to move axially along the guide post before self-locking.

Beneficial effects: on the one hand, the pusher makes it more convenient for the support to move the load, and at the same time, after the load is clamped between the support and the end flange, the pusher can continue to bear against the support, which is the support of the support. The locking on the guide column provides further protection; in addition, after the output end of the pusher is pressed against the support, that is, the output end of the pusher is closer to the end flange, which is beneficial to the center of gravity of the entire clamping device The movement towards the end flange, in turn, facilitates safety and test stability during testing.

Preferably, as an improvement, the end flange is fixedly provided with a connecting plate, the target ball is fixedly connected to the connecting plate, the load block can be clamped by the connecting plate and the supporting member, and the load block and the target ball are respectively located at Connect both sides of the board.

Beneficial effects: when this solution is adopted, the setting of the connecting plate facilitates the installation of the target ball on the one hand, and on the other hand, the end flange does not need to be in direct contact with the load block, thus forming a protection for the end flange.

The present invention also proposes a test method using the industrial robot precision test device, comprising the following steps:

S1. Set load: Insert the load blocks required for the test from the top of the guide column, and stack the load blocks above the supporting parts;

S2. The end flange is connected to the load part: the movement of the robot under test is controlled by the control system, so that the end flange moves above the guide column, and the fixed end of the manipulator of the quick-change fixture is quickly connected to the fixed end of the tool installed on the guide column. ;

S3. Lock the position of the supporting part: move the supporting part along the guide column, so that the supporting part drives the load block close to the end flange, until the top load block touches the end flange, turn the self-locking eccentric wheel to realize self-locking, self-locking After the self-locking of the eccentric wheel is completed, the claws on the supporting part fasten the chute to realize the position locking of the supporting part;

S4, install the target ball on the end flange;

S5. Control the movement of the test robot. The laser tracker records the real-time trajectory of the target ball and transmits the trajectory to the control system. The control system compares the real-time trajectory with the theoretical trajectory calculated by the control system.

The advantages of the present invention are: the comparison between the real-time motion trajectory obtained by the laser tracker and the theoretical motion trajectory can facilitate the staff to quickly and intuitively judge whether there is a deviation in the motion of the robot, and realize the visualization of the motion accuracy test of the robot.

Preferably, as an improvement, the loading order of the load blocks on the guide column is that the light load blocks are installed first, and then the heavy load blocks are installed. This solution restricts the stacking rules of the load blocks first to light and then to heavy, so that the heavier the load block is closer to the end flange of the industrial robot, it is beneficial to improve the safety of the test process and reduce the damage to the industrial robot during the test process.

The present invention also provides a calibration method using the industrial robot precision testing device, comprising the following steps:

Step A, set the load: put the load blocks required for the test from the top of the guide column in order according to the principle of light weight first and then heavy, and stack the load blocks above the supporting parts;

Step B. The end flange is connected to the load part: the movement of the robot under test is controlled by the control system, so that the end flange moves above the guide column, and the fixed end of the manipulator of the quick-change fixture and the fixed end of the tool installed on the guide column are quickly realized. catch;

Step C. Lock the position of the supporting part: move the supporting part along the guide column, so that the supporting part drives the load block close to the end flange, until the top load block touches the end flange, then turn the self-locking eccentric wheel to realize self-locking and self-locking. When the self-locking of the locking eccentric wheel is completed, the claws on the supporting part fasten the chute to realize the position locking of the supporting part;

Step D, install the target ball on the end flange and record the initial position of the target ball through the laser tracker;

Step E, control the robot under test to drive the load part to move in space and drive the load part to move to the initial position again, and the laser tracker records the final position of the target ball;

Step F. The control system compares the initial position of the target ball with the final position to obtain the position deviation value. When the position deviation value is within the qualified range set by the control system, there is no need to calibrate the test robot; when the position deviation value exceeds the qualified range, proceed to step F. G;

Step G, the control system adjusts the movement of the robot according to the position deviation value, and executes steps E and F again until the position deviation value is within the acceptable range.

Preferably, as an improvement, in the steps D to F, the laser tracker also obtains the initial pose and final pose of the target ball and the real-time trajectory of the target ball motion, and the control system controls the initial pose and the final pose. The control system adjusts the movement of the upper mechanical arm of the robot according to the angular offset value and the positional deviation value until the positional deviation value and the angular deviation value are within the acceptable range.

The advantages of the present invention are: through the cooperation of the laser tracker, the target ball and the control system, the initial position, the initial attitude, the final position and the final attitude of the industrial robot under test can be quickly and accurately known at the output end, and after knowing these After the data, the deviation of the final position and final attitude is judged. When it is judged that there is a deviation, the control system can also quickly adjust the movement of the robot's mechanical arm in combination with the real-time trajectory of the target ball, so as to realize the rapid adjustment of the pose and position. The entire calibration process does not require staff to perform multiple adjustments and tests, which greatly improves the calibration speed and calibration accuracy.

Description of drawings

Fig. 1 is a structural schematic diagram of an industrial robot to be tested, a clamping mechanism, and a quick-change fixture in an embodiment of the present invention.

Fig. 2 is a schematic structural view of the end flange of the industrial robot to be tested in the embodiment of the present invention after the fast clamp is connected to the clamping mechanism.

Fig. 3 is a front view of Fig. 2 .

Fig. 4 is a structural schematic diagram after removing the load block and the end flange in Fig. 2 and seeing through the supporting member.

Fig. 5 is a schematic diagram of the structure after removing the load block and the end flange in Fig. 2 .

FIG. 6 is a top view of FIG. 5 .

FIG. 7 is a top sectional view of FIG. 5 .

Fig. 8 is a flow chart of a testing method using an industrial robot precision testing device according to the present invention.

Fig. 9 is a flowchart of the second embodiment.

Detailed ways

The following is further described in detail through specific implementation methods:

The reference signs in the drawings of the description include: clamping mechanism 10, guide column 1, chute 11, supporting member 2, claw 21, self-locking eccentric wheel 3, handle 4, base 5, pusher 6, manipulator fixing end 20, tool fixing end 30, end flange 40, connection plate 41, load block 50, laser tracker 60, target ball 70.

The embodiment is basically shown in accompanying drawing 1 to, 8, a kind of industrial robot accuracy testing device, comprises laser tracker 60, target ball 70 and loading part, and laser tracker 60 is placed next to the industrial robot to be tested, and the tested The end face of the end flange 40 of the industrial robot is fixedly connected with a connecting plate 41 by screws, the target ball 70 is fixedly installed on the connecting plate 41 , and the load part can be connected with the connecting plate 41 .

The load part includes a quick-change fixture and a clamping mechanism 10. The quick-change fixture includes a manipulator fixed end 20 and a tool fixed end 30. The manipulator fixed end 20 can be quickly connected/quickly released with the tool fixed end 30. The manipulator fixed end 20 is fixed on the connecting plate 41 , the tool fixed end 30 is fixedly connected to the clamping mechanism 10 , and a load can be installed on the clamping mechanism 10 . The quick-change jig can adopt a manipulator quick-change jig structure whose patent notification number is CN208977832U, and its fixed end of the jig is equivalent to the tool fixed end 30 of this embodiment.

The clamping mechanism 10 includes a guide column 1, a supporting member 2 and a self-locking eccentric wheel 3, the guiding column 1 is square; the supporting member 2 includes an integrally formed receiving block and two claws 21, and the two claws 21 are fixed on the The two sides of the receiving block protrude to the outside of the receiving block, the receiving block is located on the side of the guide column 1, the two opposite side walls of the guide column 1 are processed with chute 11, and the claws 21 are located in the chute 11; The locking eccentric wheel 3 is rotatably connected to the receiving block. When the self-locking eccentric wheel 3 is self-locking, it is against the side wall of the guide column 1. At the same time, the self-locking eccentric wheel 3 drives the supporting block away from the guide column 1 during the self-locking process; when self-locking, The claw 21 fastens the side wall of the chute 11 .

For the convenience of controlling the self-locking eccentric wheel 3, a handle 4 is fixedly connected to the eccentric rotation center of the self-locking eccentric wheel 3, and the plane where the handle 4 rotates is parallel to the axial direction of the guide column 1, so that more labor is saved when realizing self-locking.

The bottom of the guide column 1 is fixed with a base 5 by bolts, and a pusher 6 is fixedly connected to the base 5. The pusher 6 is used to push the supporting member 2 to move along the chute 11 before self-locking. In this embodiment, the pusher 6 adopts an electric motor. cylinder.

The tool fixed end 30 is completely embedded in the top of the guide column 1, and the fixed end of the robot hand is partially embedded in the connection plate 41, so that after the guide column 1 and the connection plate 41 form a fixed connection through the quick-change fixture, the two ends of the load on the guide column 1 It can just be clamped by the connecting plate 41 and the supporting block.

The robot to be tested, the laser tracker 60, the pusher 6 and the quick-change fixture are all connected with the provided control system.

A test method using an industrial robot precision test device, comprising the steps of:

S1. Set load: Insert the load blocks 50 required for the test from the top of the guide column 1 sequentially according to the principle of light weight first and then heavy weight, and the load blocks 50 are stacked on the top of the supporting member 2 . The specifications of the load blocks 50 used in this embodiment have multiple specifications. All load blocks 50 have the same cross-sectional area ((the cross-sectional shape is a square hole in the center of the disc)), and the heavier the load block 50, the thicker the thickness. Each load block 50 has a mark corresponding to the load specification; for example, the specifications of the load block 50 include 1kg, 2kg, 5kg, 10kg, 20kg, 50kg and 100kg. Before the support member 2 stacks the load blocks 50, the height position of the support member 2 on the guide column 1 can be adjusted according to the stacked height of the load block 50, so that the length of the subsequent support member 2 moving on the guide column 1 is as far as possible. reduce.

S2. The end flange 40 is connected to the load part: the movement of the robot to be tested is controlled by the control system, so that the end flange 40 of the robot moves above the guide column 1, and the manipulator fixed end 20 of the quick-change fixture is controlled to be installed on the guide column 1 The tool fixed end 30 realizes fast connection.

S3. Lock the position of the supporting part 2: control the output end of the pusher 6 to move upward, and at the same time, the handling robot releases the locking of the self-locking eccentric wheel 3 to the supporting part 2, so that the pusher 6 pushes the supporting part 2 to drive the load block 50 moves upward until the uppermost load block 50 abuts against the connecting plate 41 on the end flange 40, then the pusher 6 is controlled to stop pushing. Then turn the handle 4 manually or by an auxiliary robot provided in addition, so that the self-locking eccentric wheel 3 is pressed against the guide column 1 to realize self-locking, and when the self-locking eccentric wheel 3 is self-locked, the claw 21 on the supporting part 2 is fastened and slides The side wall of the groove 11 realizes the position locking of the supporting member 2 .

S4, the target ball 70 is installed on the connecting plate 41 .

S5. Control the motion of the robot under test. The laser tracker records the real-time trajectory of the target ball 70 and transmits the trajectory to the control system. The control system compares the real-time trajectory with the theoretical trajectory calculated by the control system.

When using this embodiment to test the motion accuracy of the robot under load, the fast disassembly and assembly of the load block 50 before and after the test is realized, which greatly improves the test efficiency. At the same time, the improvement of the load parts makes the load have good stability relative to the end flange 40 during the test, which ensures the stability and safety during the test and reduces the impact of the load on the life of the robot under test.

In addition, during the test process, through the cooperation of the laser tracker 60, the target ball 70 and the control system, it is convenient for the staff to quickly and intuitively judge whether there is any deviation in the robot's motion, and realize the visualization of the robot's motion accuracy test.

Embodiment two

In conjunction with Figure 9, Embodiment 2 proposes a calibration method based on the industrial robot precision testing device of Embodiment 1, including the following steps:

Step A, set the load: Insert the load blocks 50 required for the test from the top of the guide column 1 in order according to the principle of light weight first and then heavy, and the load blocks 50 are stacked on the top of the support 2; the support 2 is stacked on the top of the load block Before 50, the height position of the support member 2 on the guide column 1 can be adjusted according to the stacked height of the load block 50, so that the length of the subsequent support member 2 moving on the guide column 1 can be reduced as much as possible.

Step B, the end flange 40 is connected to the load part: the movement of the robot under test is controlled by the control system, so that the end flange 40 moves above the guide column 1, and the manipulator fixed end 20 of the quick-change fixture is connected to the guide column 1 The tool fixed end 30 realizes fast connection.

Step C, lock the position of the supporting part 2: control the output end of the pusher 6 to move upwards, and at the same time, the handling robot releases the locking of the self-locking eccentric wheel 3 on the supporting part 2, so that the pusher 6 can push the supporting part 2 to drive the load The block 50 moves upward until the uppermost load block 50 abuts against the connecting plate 41 on the end flange 40 , then the pusher 6 is controlled to stop pushing. Then turn the handle 4 manually or by an auxiliary robot provided in addition, so that the self-locking eccentric wheel 3 is pressed against the guide column 1 to realize self-locking, and when the self-locking eccentric wheel 3 is self-locked, the claw 21 on the supporting part 2 is fastened and slides The side wall of the groove 11 realizes the position locking of the supporting member 2 .

Step D, install the target ball 70 on the end flange 40 and record the initial position and initial pose of the target ball 70 through the laser tracker 60;

Step E, control the tested robot to drive the load part to move to the initial position after the robot moves in space, and the laser tracker 60 records the final position and final pose of the target ball 70. During the movement of the target ball 70, the laser tracking Instrument 60 records the real-time trajectory of target ball 70 motion;

Step F, the control system compares the initial position of the target ball 70 with the final position to obtain the position deviation value, and the control system compares the initial pose and the final pose to obtain the angle deviation value, when the position deviation value and the angle deviation value are both within When the control system is within the qualified range, there is no need to calibrate the test robot; when the position deviation value or/and angle deviation value exceeds the qualified range, proceed to step G;

Step G, the control system adjusts the movement of the robot according to the position deviation value or/and angle deviation value, and executes step E and step F again until the position deviation value and angle deviation value are within the acceptable range.

When this embodiment is adopted, through the cooperation of the laser tracker 60, the target ball 70 and the control system, the initial position, initial posture, final position and final posture of the industrial robot under test can be quickly and accurately known at the output end, and the After obtaining these data, judge the deviation of the final position and final attitude. When it is judged that there is a deviation, the control system can also combine the real-time trajectory of the target ball 70 to quickly adjust the movement of the robot's mechanical arm to realize the position and position. Quick adjustment, the entire calibration process does not require staff to perform multiple adjustments and tests, which greatly improves the calibration speed and calibration accuracy.

What is described above is only an embodiment of the present invention, and common knowledge such as specific technical solutions and/or characteristics known in the solutions will not be described here too much. It should be pointed out that for those skilled in the art, without departing from the technical solutions of the present invention, some modifications and improvements can also be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation of the present invention effect and utility of the patent. The scope of protection required by this application shall be based on the content of the claims, and the specific implementation methods and other records in the specification may be used to interpret the content of the claims.

Claims (10)

1. An industrial robot precision testing device, including a laser tracker and a target ball, is characterized in that: the target ball is installed on the end flange of the robot to be tested, and also includes a load part that can be installed on the end flange, the load part Including the quick-change fixture and clamping mechanism, the quick-change fixture includes a fixed end of the manipulator and a fixed end of the tool. The fixed end of the manipulator can be quickly connected/quickly released with the fixed end of the tool. The clip mechanism includes a guide post and a support that can move axially along the guide post. The fixed end of the tool is fixedly connected to the top of the guide post. The cross-sectional area of the fixed end of the tool is smaller than the cross-sectional area of the guide post. The guide post can be loaded Block, the load block fitted on the guide column can be clamped by the end flange and the support piece. 2. The industrial robot precision testing device according to claim 1, characterized in that: the clamping mechanism also includes a self-locking eccentric wheel, and the supporting member includes a supporting block located in the middle and a supporting block located on both sides of the supporting block and facing towards the The claws protruding from the outside of the supporting block, the two opposite side walls of the guide column are provided with slide grooves, the claws are located in the slide grooves; the receiving block is located on the side of the guide column, and the self-locking eccentric wheel is eccentrically rotated and connected to the bearing. On the supporting block, the self-locking eccentric wheel is offset against the side wall of the guide column during self-locking, and at the same time, the self-locking eccentric wheel drives the supporting block away from the guiding column during self-locking; when self-locking, the claw fastens the side wall of the chute. 3. The precision testing device for industrial robots according to claim 2, wherein a handle is fixedly connected to the rotation center of the self-locking eccentric wheel, and the plane where the handle rotates is parallel to the axis of the guide column. 4. The precision testing device for industrial robots according to claim 2, wherein the guide column is polygonal. 5 . The precision testing device for industrial robots according to claim 1 , wherein a pusher is fixedly connected to the bottom of the guide column, and the pusher is used to push the supporting member to move axially along the guide column before self-locking. 6. The industrial robot precision testing device according to claim 1, characterized in that: the end flange is fixedly provided with a connecting plate, the target ball is fixedly connected to the connecting plate, and the load block can be connected by the connecting plate and the supporting member Clamped, the load block and the target ball are respectively located on both sides of the connecting plate. 7. A test method using the industrial robot precision test device according to any one of claims 2-6, characterized in that, comprising the steps of: S1. Set load: Insert the load blocks required for the test from the top of the guide column, and stack the load blocks above the supporting parts; S2. The end flange is connected to the load part: the movement of the robot under test is controlled by the control system, so that the end flange moves above the guide column, and the fixed end of the manipulator of the quick-change fixture is quickly connected to the fixed end of the tool installed on the guide column. ; S3. Lock the position of the supporting part: move the supporting part along the guide column, so that the supporting part drives the load block close to the end flange, until the top load block touches the end flange, turn the self-locking eccentric wheel to realize self-locking, self-locking After the self-locking of the eccentric wheel is completed, the claws on the supporting part fasten the chute to realize the position locking of the supporting part; S4, install the target ball on the end flange; S5. Control the movement of the test robot. The laser tracker records the real-time trajectory of the target ball and transmits the trajectory to the control system. The control system compares the real-time trajectory with the theoretical trajectory calculated by the control system. 8. The testing method of the industrial robot precision testing device according to claim 7, characterized in that: the loading sequence of the load blocks on the guide column is that the light load blocks are installed first, and then the heavy load blocks are installed. 9. A calibration method using the industrial robot precision testing device according to any one of claims 1-6, characterized in that, comprising the steps of: Step A, set the load: put the load blocks required for the test from the top of the guide column in order according to the principle of light weight first and then heavy, and stack the load blocks above the supporting parts; Step B. The end flange is connected to the load part: the movement of the robot under test is controlled by the control system, so that the end flange moves above the guide column, and the fixed end of the manipulator of the quick-change fixture and the fixed end of the tool installed on the guide column are quickly realized. catch; Step C. Lock the position of the supporting part: move the supporting part along the guide column, so that the supporting part drives the load block close to the end flange, until the top load block touches the end flange, then turn the self-locking eccentric wheel to realize self-locking and self-locking. When the self-locking of the locking eccentric wheel is completed, the claws on the supporting part fasten the chute to realize the position locking of the supporting part; Step D, install the target ball on the end flange and record the initial position of the target ball through the laser tracker; Step E, control the robot under test to drive the load part to move in space and drive the load part to move to the initial position again, and the laser tracker records the final position of the target ball; Step F. The control system compares the initial position of the target ball with the final position to obtain the position deviation value. When the position deviation value is within the qualified range set by the control system, there is no need to calibrate the test robot; when the position deviation value exceeds the qualified range, proceed to step F. G; Step G, the control system adjusts the movement of the robot according to the position deviation value, and executes steps E and F again until the position deviation value is within the acceptable range. 10. A calibration method for an industrial robot precision testing device according to claim 9, wherein, in the steps D to F, the laser tracker has also acquired the initial pose and final pose of the target ball and The real-time trajectory of the target ball movement, the control system compares the initial pose and the final pose to obtain the angle offset value, and the control system adjusts the movement of the upper mechanical arm of the robot according to the angle offset value and position deviation value until the position deviation value and The angle deviation values are all within the qualified range.

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