Rotary arm zero point calibration device and robot with same

Abstract

The invention provides a rocker arm zero calibration device and a robot with the rocker arm zero calibration device. The rocker arm zero calibration device comprises a limiting device and a zero calibration part, wherein the limiting device comprises a base and a stopping portion arranged on the base in a protruding manner, and when carrying out zero calibration, the zero calibration part is arranged on the base. One end of the zero calibration part abuts against the stopping portion, and a zero position is formed at the other end of the zero calibration part. When the zero position is lost and required to be found so as to obtain a benchmark, the zero calibration part is arranged on the base; one end of the zero calibration part abuts against the stopping portion, and the zero position is formed at the other end of the zero calibration part, so that limiting and stopping are acheived on the zero position; and the benchmark point of the zero point an be precisely determined. The rocker arm zero calibration device is simple in structure, easy and rapid in operation, and capable of achieving rapid zero returning and completing zero calibration.

Description

technical field [0001] The invention relates to the field of intelligent machinery, in particular to a zero point calibration device for a rotating arm and a robot having the same. Background technique [0002] The zero point is the datum of the robot coordinate system, without the zero point, the robot cannot judge its own position. In the debugging process of the robot, it is often encountered that the zero point is lost. At present, the self-calibration method and the external calibration method are often used. The self-calibration method utilizes the redundant sensor calibration of the robot itself, but it cannot provide the unknown rigid body displacement information between the frame reference frame and the calibration measurement reference frame. The external calibration method uses external sensors, such as laser trackers, theodolites, three-coordinate measuring instruments and other precision measurement equipment, but this method is cumbersome to operate, time-con...

AI Technical Summary

Problems solved by technology

The self-calibration method uses the redundant sensor calibration of the robot itself, but it cannot provide the unknown rigid body displacement information between the frame reference frame and the calibration measurement reference frame

The external calibration method uses external sensors, such as laser trackers, theodolites, three-coordinate measuring instruments and other precision measurement equipment, but this method is cumbersome to operate, time-consuming to collect data, and difficult to achieve rapid calibration

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