Multi-stay-wire-sensor position measuring system based on magnetic attraction
A wire-drawing sensor and measurement system technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large impact on measurement accuracy, achieve low system cost, simple and easy-to-use connection mechanism, and ensure measurement accuracy.
Active Publication Date: 2021-07-13
SOUTHEAST UNIV
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Patent CN201610017524.0 proposes to use a single cable sensor to fuse two angle sensors to realize the position measurement of industrial robots. This system fixes the cable sensor at the end of the industrial robot, and the measurement accuracy of the encoder seriously affects the calculation accuracy of the end position data; patent CN201610913686. In 2, it is proposed to use six wire sensors to form an industrial robot end position measurement system. The end of the wire sensor is fixed on the end platform of the robot by bolts, but the end of the wire sensor is fixed by screws, which has a great influence on the measurement accuracy.
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[0032] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention.
[0033] see figure 1 As shown, a multi-wire sensor position measurement system based on magnetic adsorption according to the present invention mainly includes four parts: a fixed bracket 101 , a fixed bracket 102 for pull wire sensors, an industrial robot 103 , and a magnetic attraction device 104 . Wherein the industrial robot 103 can be a parallel type industrial robot, also can be a series industrial robot, the fixed support 101 is a cube structure formed by processing and assembling aluminum profiles, the fixed support 101 is installed on the ground or on a water platform, and the industrial robot 103 The mounting is placed inside it, and the fixing bracket cannot ...
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The invention discloses a multi-stay-wire-sensor position measuring system based on magnetic attraction, which comprises a fixing bracket, a stay wire sensor fixing bracket and a magnetic attraction device, and is characterized in that stay wire sensors are mounted on the stay wire sensor fixing bracket and form an angle of 45 degrees with a fixing plate. The magnetic attraction device comprises a hemispherical magnet device, four conical attraction devices, a thrust bearing, a rotating bearing and a switching base. The hemispheric magnet device can adjust the posture of the hemispheric magnet device according to the pre-tightening force of the stay wire sensors. The wire ends of the stay wire sensors are fixed in top side holes of the conical attraction devices, and the bottom side attraction surfaces of the conical attraction devices are the same as the spherical surface of the hemispherical magnet device, so that the two surfaces are completely attached, and the measurement error caused at the joint is effectively reduced. The multi-stay-wire-sensor position measuring system based on magnetic attraction can realize high-precision position data measurement of an industrial robot, the system cost is low, a provided magnetic attraction connecting mechanism is simple and easy to use, and the measurement precision can be guaranteed.
Description
technical field [0001] The invention belongs to the technical field of industrial robot testing, and in particular relates to a multi-wire sensor position measurement system based on magnetic adsorption. [0002] technical background [0003] With the rapid development of industrial robot technology, more and more industrial robots are used in high-end manufacturing fields, such as laser welding, laser cutting, and aerospace. However, the absolute positioning accuracy of industrial robots still cannot meet the accuracy requirements of high-end manufacturing. [0004] Robot calibration technology can effectively improve the absolute positioning accuracy of industrial robots. The robot calibration process is mainly divided into modeling, measurement, identification and compensation. The measurement refers to the use of measuring equipment to realize the error measurement of the position and attitude of the industrial robot end. At present, the commonly used measurement equipm...
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IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/161B25J19/0095
Inventor 乔贵方宋光明龙艳琴张颖田荣佳温秀兰
Owner SOUTHEAST UNIV