Mechanical arm angle sensor zero calibration system and method and full-computer trolley

Abstract

The invention is suitable for the technical field of mining equipment, and provides a mechanical arm angle sensor zero calibration system and method and a full-computer trolley, the system comprises a mechanical arm and a controller, and the mechanical arm comprises a first mechanical arm, a second mechanical arm, a first oil cylinder, a second oil cylinder, a third oil cylinder, a fourth oil cylinder, a displacement sensor and an angle sensor; and the controller is used for receiving a zero calibration instruction, controlling the first oil cylinder to the fourth oil cylinder to stretch out and draw back, enabling a measured value of the displacement sensor to be a preset stretching-out and drawing-back numerical value, obtaining current angle numerical values of the first mechanical arm and the second mechanical arm through the angle sensor, responding to a reset instruction and returning the current angle numerical values to zero. According to the system provided by the invention, the quick zero calibration of the mechanical arm angle sensor can be realized under the condition of no special equipment and professional personnel.

Description

technical field [0001] The present application belongs to the technical field of construction machinery and equipment, and in particular relates to a zero calibration system and method for an angle sensor of a robotic arm and a full computer trolley. Background technique [0002] The manipulator, angle sensor and hydraulic cylinder are important components of the advanced drill arm control system, among which the zero calibration of the manipulator angle sensor is the most basic and most important part. [0003] In the zero calibration process of the robot arm sensor in the prior art, professionals often arrange prisms in each joint of the robot arm in advance, and after measuring the required data with a total station, the zero calibration is realized by calculating the deviation value. When the maintenance of the manipulator or the replacement of the angle sensor is required in the later stage, the disadvantages of this method are cumbersome, time-consuming, and require hi...

AI Technical Summary

Problems solved by technology

When it is necessary to maintain the mechanical arm or replace the angle sensor in the later stage, this method has the disadvantages of cumbersome procedures, long time consumption, and high requirements for operators.

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