Calibration pointer, robotic machine with calibration pointer and method of setting the robotic machine through the mediation of the calibration pointer

摘要

In the present invention, there is disclosed a calibration pointer (28) for a robotic machine (10) having a machine tool (18) removably supported in a mount (16) for following a programmable path (42) over a workpiece (26), a calibration pointer (28) comprising: a housing (30) configured like said tool (18) for being supported in said mount (16); and a laser (32) affixed in said housing for emitting a laser beam (34) at said workpiece (26) wherein said laser (32) has an adjustable focal length for focusing said laser beam in a focused spot at correspondingly different offsets from said housing (30). There is also disclosed the robotic machine (10) having the above-indicated pointer and including a multi-axis arm (12) supporting at a distal end thereof said machine tool (18) in the form of a plasma spray gun (18), said gun including a plasma spray nozzle (20) mounted therein. Said pointer housing (30) comprises a second plasma spray nozzle having said laser sealingly mounted therein. There is further disclosed method of setting the robotic machine using said calibration pointer (28), said method comprising: mounting said pointer (28) in said robotic machine (10; operating said machine (10) to traverse said pointer (28) along the programmable path; and projecting the laser beam (34) in a focused spot (34a) at said workpiece (26) at an offset therefrom. subsequently sequentially repositioning said arm (12) and pointer (28) mounted thereto to effect a grid path (42) over said workpiece (26) having a plurality of discrete points at which said focused spot is positioned in turn, wherein said arm (12) is repositioned by withdrawing said pointer (28) away from said workpiece (26), moving said pointer (28) laterally, and then extending said pointer (28) toward said workpiece (26) path by: analytically determining coordinates of said pointer (28) relative to said workpiece (26) at each of a grid points to effect corresponding offsets thereat; and recording said analytical coordinates in said machine.