A position measurement system of multi-wire sensor based on magnetic adsorption

Abstract

The invention discloses a multi-wire sensor position measurement system based on magnetic adsorption, which includes a fixed bracket, a wire sensor fixed bracket, and a magnetic suction device. The wire sensor is installed on the wire sensor fixed bracket to form an angle of 45 degrees with the fixed plate. The magnetic attraction device includes a hemispherical magnet device, four conical adsorption devices, a thrust bearing, a rotary bearing and an adapter base. The hemispherical magnet device can adjust its posture according to the pre-tightening force of the wire sensor. The wire end of the pull wire sensor is fixed in the top side hole of the conical adsorption device, and the bottom side adsorption surface of the conical adsorption device is the same as the spherical surface of the hemispherical magnet device, which ensures the complete fit between the two surfaces and effectively reduces the joint resulting in measurement errors. The invention can realize the high-precision position data measurement of the industrial robot, the system cost is low, the proposed magnetic adsorption connection mechanism is simple and easy to use, and the measurement accuracy 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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Problems solved by technology

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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