Zero position calibration method and device for mechanical arm joint sensor

Abstract

The invention discloses a zero position calibration method and device for a mechanical arm joint sensor. The method comprises determining whether a mechanical arm to be tested is a redundant mechanical arm, if so, performing mechanical arm segmentation and using a non-redundant boom as a set end arm, and performing the steps of the following single calibration method until zero calibration of allthe joints of the mechanical arm to be tested is completed; mounting at least two targets in parallel on the set end boom and keeping matching elements of patterns of the targets in parallel; mountinga light source on a mechanical arm mounting body; driving movement of the joints of the mechanical arm to make a beam of the light source pass through the axis of each target with the spot overlappedwith the pattern of each target; obtaining the posture of each target after the boom posture is adjusted and calculating the rotating angle of the rotating joints of the mechanical arm and the movingamount of the moving joints under the current posture of the set end boom according to the relationship between the posture of the set end boom and the posture of the light source. Compared with theprior art, the method is simpler and more efficient when used for performing zero calibration.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a zero calibration method and equipment for a joint sensor of a mechanical arm. Background technique [0002] In the application of construction machinery, the following method is often used when performing joint sensor zero correction on machines such as mine wet spraying machines: the angle of the mechanical arm joint is measured by a rotary encoder or a decoding device using a single resolver, Then, it is realized by comparing the angle measured by the device with the data fed back by the sensor, but these devices have high cost and large installation space, and have great limitations. Contents of the invention [0003] One of the technical problems to be solved by the present invention is to provide a simple and efficient zero calibration method and equipment for the joint sensor of the mechanical arm. [0004] In order to solve the above-mentioned technical problems, ...

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Problems solved by technology

[0002] In the application of construction machinery, the following method is often used when performing joint sensor zero correction on machines such as mine wet spraying machines: the angle of the mechanical arm joint is measured by a rotary encoder or a decoding device using a single resolver, It is realized by comparing the angle measured by the device with the data fed back by the sensor, but these devices have high cost and large installation space, which has great limitations.

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