CN116852383B - Automatic calibration device and method for zero position of mechanical arm - Google Patents
Automatic calibration device and method for zero position of mechanical arm Download PDFInfo
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- CN116852383B CN116852383B CN202311132106.2A CN202311132106A CN116852383B CN 116852383 B CN116852383 B CN 116852383B CN 202311132106 A CN202311132106 A CN 202311132106A CN 116852383 B CN116852383 B CN 116852383B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The application discloses a mechanical arm zero position automatic calibration device and a mechanical arm zero position automatic calibration method, which relate to the technical field of measurement, and comprise a translation calibration module, a pitching calibration module and a rotation calibration module, wherein the translation calibration module comprises an ultrasonic ranging sensor, a translation calibration shielding piece and a first photoelectric switch, and the ultrasonic ranging sensor is arranged at one end of a slide rail of a sampler and is used for measuring the x-axis distance between a translation base matched with the slide rail and a coordinate origin; the first photoelectric switch is fixed on the bottom surface of the translation base, and the translation calibration shielding piece is fixed at a set position at one end of the sliding rail; the pitching calibration module comprises an inclination sensor, wherein the inclination sensor is used for measuring the pitching angle of the pitching cantilever of the sampler; the rotation calibration module comprises a laser ranging sensor and a plurality of second photoelectric switches, wherein the laser ranging sensor is used for calibrating a rotation zero position at the joint of the pitching cantilever, and the second photoelectric switches are used for judging the prescribed position interval of the pitching cantilever. The zero calibration method and the zero calibration device can improve zero calibration efficiency, accuracy and safety.
Description
Technical Field
The application relates to the technical field of measurement, in particular to an automatic zero calibration device and method for a mechanical arm.
Background
The zero calibration of the mechanical arm refers to moving the joint positions of the mechanical arm to a defined reference coordinate position, and then the mechanical arm can designate the movement position and direction based on the zero position. The sampler is used as a mechanical arm with special purposes, and at present, a sensor is additionally arranged at a joint to perform calibration, but the calibration method can cause inaccurate zero calibration due to machining assembly errors, error amplification between the joint and an arm rod and the like.
Some calibration methods are also disclosed in the prior art, for example, CN105806309A discloses a robot zero calibration system and method based on laser triangulation ranging, the system comprises a calibrator, a target and a controller, wherein the calibrator consists of two laser triangulation displacement sensors with absolute displacement measurement function and a shell, readings of the two laser triangulation displacement sensors are directly transmitted to the controller, and the controller realizes the robot zero calibration through data processing; CN110779554a discloses a mechanical arm, an initial pose calibration system and method based on IMU, and obtains initial pose angles acquired by IMU installed at each joint of the mechanical arm; after all the IMU and motors at all joints of the mechanical arm are electrified, calculating according to the initial attitude angle to obtain the relative rotation angle of any two adjacent joints of the mechanical arm; and according to the difference value of the relative rotation angle and the preset angle, the difference value is used as the execution angle of the motor at each joint of the mechanical arm, and the initial zero calibration of the mechanical arm is realized.
The sampler is huge in size and is required to operate on the sliding rail support with a certain height from the ground, so that the calibration equipment is difficult to install and can cause barriers to subsequent operation, and the sampler is not suitable for adopting the external calibration mode. Meanwhile, as the sampler is provided with the translation joint besides the rotation joint, the initial zero calibration of each joint cannot be realized by simply relying on the IMU.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide the automatic calibration device and the method for the zero position of the mechanical arm, which can be suitable for zero position calibration of a huge sampler and improve the efficiency, accuracy and safety of zero position calibration.
In order to achieve the above object, the present application is realized by the following technical scheme:
in a first aspect, an embodiment of the present application provides an automatic calibration device for a zero position of a mechanical arm, including:
the translation calibration module comprises an ultrasonic ranging sensor, a translation calibration shielding piece and a first photoelectric switch, wherein the ultrasonic ranging sensor is arranged at one end of a slide rail of the sampler and is used for measuring the x-axis distance between a translation base matched with the slide rail and a coordinate origin; the first photoelectric switch is fixed on the bottom surface of the translation base, the translation calibration shielding piece is fixed at a set position at one end of the sliding rail, and the position meets the requirement that when the translation calibration shielding piece passes through a notch of the first photoelectric switch, the center of the translation base is positioned at the origin of coordinates;
the pitching calibration module comprises an inclination sensor, wherein the inclination sensor is used for measuring the pitching angle of a pitching cantilever of the sampler so as to calibrate a pitching zero position according to the pitching angle value;
the rotation calibration module comprises a laser ranging sensor and a plurality of second photoelectric switches, wherein the laser ranging sensor is used for calibrating a rotation zero position at the joint of the pitching cantilever, and the second photoelectric switches are used for judging the position interval prescribed by the pitching cantilever.
As a further implementation mode, a limit baffle is arranged at one end of the sliding rail, the ultrasonic ranging sensor is fixed at the middle position of the limit baffle, and the axis of the ultrasonic ranging sensor is parallel to the axis of the sliding rail.
As a further implementation mode, the limit baffle is further provided with a limit stop so as to determine a detection blind area of the ultrasonic ranging sensor through the end face of the limit stop.
As a further implementation mode, the other end of the sliding rail is provided with a limiting shielding piece, and the limiting shielding piece and the translation calibration shielding piece are positioned in the same plane; when the limiting shielding piece passes through the notch of the first photoelectric switch, the translation base and the end part of the sliding rail have a set distance.
As a further implementation, the mounting surface of the tilt sensor is parallel to the lower surface of the pitch cantilever.
As a further implementation mode, the pitching cantilever is connected with a rotary support through a rotary support, and a fixed disc is arranged at one end, close to the rotary support, of the rotary support; the plurality of second photoelectric switches are arranged on the fixed disc at intervals, and a rotary position identifying disc coaxially arranged with the rotary support is arranged on the upper side of each second photoelectric switch;
the laser ranging sensor is fixed at the top of the sampling rod.
As a further implementation manner, a side surface of the rotary position-distinguishing disc, which faces the second photoelectric switch, is provided with protrusions with different heights so as to form a convex half ring and a concave half ring.
In a second aspect, the embodiment of the application also provides an automatic calibration method for the zero position of the mechanical arm, wherein the calibration device is adopted to sequentially perform translational zero position calibration, pitching zero position calibration and rotation zero position calibration;
the translation zero calibration process comprises the following steps:
judging a position interval of the center of the translation base relative to an origin by using an ultrasonic ranging sensor so as to judge a moving speed interval division and a moving direction, wherein a first photoelectric switch with a notch is used for realizing zero calibration in the x-axis direction by matching with the ultrasonic ranging sensor;
the pitching zero calibration process comprises the following steps:
judging whether the pitch angle value measured by the pitch angle sensor is positive or negative, and controlling the pitching cantilever to rotate downwards or upwards according to the positive or negative pitch angle value until the pitch angle value is equal to 0, and stopping the rotation of the pitching cantilever;
the rotary zero calibration process comprises the following steps:
and judging the position interval prescribed by the pitching cantilever by adopting a second photoelectric switch and a rotary position distinguishing disc, and calibrating a rotary zero position by adopting a laser ranging sensor.
As a further implementation manner, in the translational zero calibration process, the distance between the ultrasonic ranging sensor and the end face of one end of the translational base is u, when the center of the translational base returns to the origin of coordinates, the distance between the ultrasonic ranging sensor and the end face of one end of the translational base is u0, u1 is a low-speed movement interval, and Deltau is a micro discrimination interval;
when u0+ [ delta ] u < u1 > is detected, the translation base moves to one end at a slow speed until the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, and the translation base is stopped; when u0< u is less than or equal to u0< + > delta u is detected, the translation base moves to one end at a slow speed, and when the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, the translation base is stopped;
when u 0-Deltau is detected to be less than or equal to u < u0, the translation base moves to the other end at a low speed, and when the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, the translation base is stopped; when u < u 0-Deltau is detected, the translation base is moved slowly to the other end until the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, and the translation base is stopped.
As a further implementation, the prescribed location of the pitch horn is divided into a plurality of sections; when the absolute encoder of the rotating arm driving motor rotates for a circle of |q2-q1|/2, stopping rotating, namely the position is a rotating zero position; wherein q1 represents the absolute encoder value of the rotary arm driving motor when the sampling rod moves to the position above the point A, and q2 represents the absolute encoder value of the rotary arm driving motor when the sampling rod moves to the position above the point B; the intersection point of the vertical axis of the laser ranging sensor and one side line of the sliding rail is A, and the intersection point of the other side line is B.
The beneficial effects of the application are as follows:
(1) The application can be suitable for zero calibration of the huge sampler by arranging the translation calibration module, the pitching calibration module and the rotation calibration module, can not influence the subsequent operation, can effectively avoid the problem of inaccurate zero calibration, and improves the efficiency, the accuracy and the safety of zero calibration.
(2) According to the application, the ultrasonic ranging sensor is adopted to judge the position interval of the center of the translation base relative to the origin, and the translation zero calibration is realized by matching with the first photoelectric switch with the notch, so that different moving speeds can be adopted in different range intervals, the inaccuracy of the translation zero calibration caused by the over-high moving speed, the over-high inertia and the response delay can be effectively avoided, and the problems of low calibration process efficiency and the like caused by the over-low moving speed can be also avoided.
(3) According to the application, the tilt sensor arranged in the middle of the tilt cantilever is used for calibrating the tilt zero position, so that inaccurate tilt zero position calibration caused by machining assembly errors and the like at joints can be reduced, and the accuracy of tilt zero position calibration is improved.
(4) The application adopts the second photoelectric switch and the rotary position-distinguishing disc to realize the judgment of the prescribed position interval of the pitching cantilever, adopts the laser ranging sensor to carry out rotary zero calibration, and the azimuth interval judgment is to enable the pitching cantilever to judge the prescribed position range so as to rotate to the zero position in the shortest time, and adopts the rotary zero calibration mode arranged at the tail end of the lever arm, thereby effectively avoiding inaccurate calibration caused by processing assembly errors, error amplification between the joint and the lever arm and the like, and solving the error problem caused by the traditional rotary zero calibration mode.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic diagram of a zero auto-calibration device according to one or more embodiments of the present application;
FIG. 2 is a schematic diagram of a sensor arrangement according to one or more embodiments of the application;
FIG. 3 is a flow diagram of a calibration process in accordance with one or more embodiments of the application;
FIG. 4 is an enlarged view of a portion of a mobile joint at M according to one or more embodiments of the present application;
FIG. 5 is an enlarged partial view of a rotary joint at N in accordance with one or more embodiments of the present application;
FIG. 6 is a schematic diagram of a rotational joint sensor arrangement in accordance with one or more embodiments of the present application;
FIG. 7 is a schematic diagram of a horizontal zero calibration in accordance with one or more embodiments of the present application;
FIG. 8 is a schematic diagram of a rotary wobble plate according to one or more embodiments of the application;
FIG. 9 is a rotational zero calibration schematic in accordance with one or more embodiments of the application.
Wherein, 1, a slide rail bracket, 11, a limit baffle, 12 and an ultrasonic ranging sensor, 13, limit stops, 14, a translational calibration shielding piece, 15 and a limit shielding piece; 2. a translation base 21, a first photoelectric switch 22, a rotary support 23 and a second photoelectric switch; 3. the rotary arm (31), the rotary position identifying disc (32) and the rotary support; 4. pitching cantilever, 41, inclination sensor; 5. and the sampling rod is 51 and the laser ranging sensor.
Detailed Description
Embodiment one:
in an exemplary embodiment of the present application, as shown in fig. 1, an automatic calibration device for the zero position of a mechanical arm is provided.
The zero automatic calibration device of the embodiment aims at a grain sampler, and the grain sampler comprises a slide rail bracket 1, a translation base 2, a rotating arm 3, a pitching cantilever 4 and a sampling rod 5, wherein a slide rail is arranged at the top of the slide rail bracket 1, and the translation base 2 is in sliding fit with the slide rail, so that the translation base 2 can move along the slide rail; a rotary support column 22 is arranged at the top of the translation base 2, and a rotary arm 3 is arranged at the top of the rotary support column 22, so that the rotary arm 3 can rotate relative to the translation base 2; the swinging boom 3 links to each other with every single move cantilever 4 one end, and every single move cantilever 4 other end is articulated with the sample pole 5, and every single move cantilever 4 can rotate about for the swinging boom 3. The skewer rod 5 may be driven by a parallelogram mechanism or a motor to be always in a vertical sagging state so as to enable vertical skewing work.
As shown in fig. 1 and 4, two ends of the slide rail bracket 1 are respectively fixed with a limit baffle 11. For convenience of description, the present embodiment defines "left", "right" according to the view direction of fig. 1.
It should be noted that, the translational calibration shield 14 in this embodiment is defined as a component for generating an induction signal in cooperation with the first photoelectric switch 21 during the translational zero calibration process; the limit shutter 15 is defined as a member for defining the position of movement of the translation bed 2, and the rotary feeler disk 31 is defined as a disk-like structure for resolving the azimuth interval.
Firstly, coordinate definition is carried out, as shown in fig. 2, the right direction along the axis of the sliding rail is defined as the positive x-axis direction, the outward direction of the axis of the vertical sliding rail is defined as the positive y-axis direction, the vertical upward direction of the axis of the vertical sliding rail is defined as the positive z-axis direction, and the origin of the coordinates is defined at a proper distance from the left end face of the sliding rail bracket 1, so that the translation base 2 cannot collide with the limit baffle 11 at the left end part of the sliding rail bracket 1 after returning to the origin, and a certain distance is required.
Second definition is a counter-clockwise rotation about the axis of the rotating arm 3 in top viewAnd defines the rotation angle of the sampling rod 5 to the right in the same plane with the x-axis>=0°，/>360 deg. rotation can be achieved. Finally definition the pitch cantilever 4 rotates anticlockwise about its joint from front view to +>And defines the rotation of the rotary arm 3 parallel to the x-axis as a rotation angle= 0°，/>Only rotation of plus or minus not more than 90 degrees can be realized, and the design is particularly designed by combining the hardware size and the sampling requirement.
Specifically, as shown in fig. 4, the translation calibration module includes an ultrasonic ranging sensor 12, a translation calibration shielding member 14 and a first photoelectric switch 21, where the ultrasonic ranging sensor 12 is fixed at the middle position of the limit baffle 11 at the left end of the slide rail bracket 1, and when installed, the axis of the ultrasonic ranging sensor is parallel to the axis of the slide rail, and is used for measuring the distance from the translation base 2 to the origin of coordinates along the x axis.
A translation calibration shielding piece 14 is arranged on the side surface of the sliding rail bracket 1 at a certain distance from the left end, and a limit shielding piece 15 is arranged at a certain distance from the right end; the first photoelectric switch 21 is fixedly arranged on the bottom surface of the translation base 2 and is spaced from the side wall of the sliding rail bracket 1 by a certain distance. A notch is formed in one side, facing the sliding rail bracket 1, of the first photoelectric switch 21, the notch is a U-shaped groove, when the translation base 2 is required to be ensured to move along the x-axis direction of the sliding rail during installation, the translation calibration shielding piece 14 can pass through the notch of the first photoelectric switch 21 so as to generate an induction signal; and to enable the centre of the translation base 2 to rest at the origin of coordinates o when the translation calibration shield 14 passes through the notch.
The limiting shielding piece 15 and the translation calibration shielding piece 14 are positioned in the same plane, so that the limiting shielding piece 15 is ensured not to be contacted with the limiting baffle 11 at the right end part of the sliding rail bracket 1 when the notch passing through the first photoelectric switch 21 stops.
The ultrasonic ranging sensor 12 has a dead zone, so that the dead zone after installation is smaller than the right end face of the limit stop 13, and therefore effective detection can be achieved at the short distance of the left end of the ultrasonic ranging sensor 12.
Because the grain vehicle needing to be sampled is longer, the length of the sliding rail support 1 is longer generally, but the blind area and the measurement error of ultrasonic ranging are increased along with the increase of the measuring range, which is unfavorable for sensor arrangement and accurate calibration, so that the ultrasonic ranging sensor 12 with the measuring range smaller than the length of the sliding rail is selected, and when no distance information is detected, the translation base 2 is considered to be at a right-end long-distance position, and because the purpose of the device is to realize zero calibration of the left end, the situation only needs to control the translation base 2 to move right.
The translation zero calibration module is used for enabling the center of the translation base 2 of the sampler to accurately stop at the coordinate origin o, and the specific horizontal zero calibration principle is as follows:
the ultrasonic ranging sensor 12 is susceptible to zero drift caused by environmental influence to influence the calibration precision, so that the automatic zero calibration of the horizontal movement direction of the translation base 2 is realized by being matched with the first photoelectric switch 21. Specifically, the ultrasonic ranging sensor 12 is mainly used for judging a position interval of the center of the translation base 2 relative to the origin o so as to realize division of a moving speed interval and judgment of a moving direction, and the first photoelectric switch 21 is used for realizing zero calibration in the x-axis direction.
As shown in fig. 7, the distance u between the left end surfaces of the translation bases 2 detected by the ultrasonic ranging sensor 12 is defined. When the center of the translation base 2 returns to the origin of coordinates, the ultrasonic ranging sensor 12 is defined to detect that the distance between the left end faces of the translation base 2 is u0. In order to prevent erroneous judgment about the actual origin point where the center of the translation base 2 is located at the initial time, which is about the origin point due to the measurement error of the ultrasonic ranging sensor 12, a minute judgment section is defined as Δu, and a translation maximum speed is defined as v.
u1 is defined as a low-speed movement interval, when u < u1, the translation base 2 is required to move at a speed of (0.1-0.2) v, so that the phenomenon that the origin o cannot be accurately reached due to movement inertia and response delay caused by the excessively high speed can be prevented; when u > u1, the translation base 2 is moved at a speed of (0.8-0.9) v so as to quickly reach the origin and reduce the calibration time.
The pitch calibration module includes a tilt sensor 41, as shown in fig. 1, the tilt sensor 41 is mounted on a lower end surface of a middle part of the pitch cantilever 4, and a mounting surface of the tilt sensor 41 is parallel to a lower surface of the pitch cantilever 4. The pitch angle value measured by the tilt sensor 41 is determined, and the pitch cantilever 4 is controlled to rotate downward or upward according to the pitch angle value until the pitch angle value is equal to 0.
The rotary calibration module comprises a second photoelectric switch 23, a rotary position identifying disc 31 and a laser ranging sensor 51, wherein the laser ranging sensor 51 is vertically arranged at the top of the sampling rod 5; as shown in fig. 5 and 6, the rotating arm 3 includes a rotating support 32, a rotating positioning disk 31 is mounted at the bottom of the rotating support 32, the rotating positioning disk 31 is fixedly mounted coaxially with the rotation axis at the bottom of the rotating support 32, and the rotating positioning disk 31 can rotate relative to the rotating support 22; the top of the rotary support column 22 is provided with a fixed disc close to the rotary position identifying disc 31, and the second photoelectric switch 23 is arranged on one side surface of the fixed disc facing the rotary position identifying disc 31.
In the present embodiment, the second photoelectric switches 23 are diffuse reflection photoelectric switches, and three are provided in total.
As shown in fig. 8, the rotary positioning disk 31 has a ring structure with different heights of left and right protrusions, i.e., a convex half ring is formed on one side and a concave half ring is formed on the other side.
As shown in fig. 9, the diffuse reflection photoelectric switches a and c are respectively numbered a, B, and c, when the pitch cantilever 4 rotates clockwise to raise by 45 °, the laser vertical axis of the laser ranging sensor 51 intersects with the side lines a and B on both sides of the slide rail bracket 1, and the extended line passing through the axis O of the rotating arm 3 intersects with the circle in the middle of the inner ring and the outer ring of the rotary position identifying disk 31. When the diffuse reflection photoelectric switch b is installed on the pitching cantilever 4 and rotates clockwise to rise by 45 degrees, the vertical axis of the laser ranging sensor 51 is intersected with the central axis of the sliding rail bracket 1, and the extended line passing through the axis O of the rotating arm 3 is intersected with the circle in the middle of the inner ring and the outer ring of the rotary position distinguishing disc 31. The parting line of the left and right high and low halves of the rotary resolver disc 31 should be in the same vertical plane as the axis of the pitch cantilever 4 when it is horizontal, and it rotates together with the rotary holder 32.
In the prior art, the alignment of the rotary zero position is realized by adopting the photoelectric switch on the rotary part and the fixed part based on the rotary joint of the rotary arm 3, and the processing assembly error of the sampler and the error of the rotary joint can be amplified at the sampler rod 5, so that when the rotary joint is calibrated to be zero position, the sampler rod 5 can not be guaranteed to rotate to the right side and be in the same plane with the x axis.
Therefore, the method for calibrating the rotation zero position adopted in the embodiment specifically comprises the following steps: the three diffuse reflection photoelectric switches and the rotary position identifying disk 31 are adopted to realize the judgment of the prescribed position interval of the pitching cantilever 4, the laser ranging sensor 51 is adopted to carry out rotary zero calibration, and the direction interval judgment is used for enabling the pitching cantilever 4 to judge the prescribed position range so as to rotate to the zero position in the shortest time.
According to the embodiment, through the translation calibration module, the pitching calibration module and the rotation calibration module, the situation that an actual sampling cannot reach a theoretical position or a random sampling point is generated outside a grain vehicle due to inaccurate zero calibration can be effectively avoided, time waste caused by invalid sampling is avoided, and the zero calibration efficiency, accuracy and safety of the grain sampling machine are improved.
Embodiment two:
the embodiment provides a mechanical arm zero position automatic calibration method, the calibration device of the first embodiment is adopted, the work flow of the sampler is shown in fig. 3, automatic calibration of a translation zero position, a pitching zero position and a rotating zero position is sequentially carried out after the power-on is started, then the positioning of the grain cart is completed through a laser ranging sensor 51, and finally random sampling is carried out until the sampling is finished.
The horizontal movement zero calibration process comprises the following steps: firstly, the initial position interval of the translation base 2 is judged according to the distance u measured by the ultrasonic ranging sensor 12 at the initial moment of power supply of the sampler system, when no distance is detected, the translation base 2 is considered to be at a position of which the right end exceeds the detection range, the translation base 2 needs to be controlled to move left at a higher speed until the distance u is less than or equal to u1 is detected, the translation base 2 is uniformly decelerated and then moves left at a lower speed until the first photoelectric switch 21 detects that the translation calibration shielding piece 14 passes through the middle, and the translation base 2 is stopped.
When u > u1 is detected, the translation base 2 needs to be moved leftwards at a faster initial speed, the translation base 2 is uniformly decelerated and then moved leftwards at a slower speed until u is smaller than or equal to u1, and the translation base 2 is stopped when the first photoelectric switch 21 detects that the translation calibration shielding piece 14 passes through the middle; when u0+ [ delta ] u < u1 is detected, the translation base 2 is moved leftwards at a slower speed until the first photoelectric switch 21 detects that the translation calibration shield 14 passes through the middle, and the translation base 2 is stopped; when u0< u is less than or equal to u0< + > delta u is detected, the translation base 2 is moved leftwards at a slower speed, when the first photoelectric switch 21 detects that the translation calibration shielding piece 14 passes through the middle, the translation base 2 is stopped, if the first photoelectric switch 21 does not detect a signal after the distance of 2 delta u is moved, the position interval is misjudged because of the error of the ultrasonic ranging sensor 12, and the first photoelectric switch 21 needs to stop and then move rightwards at a slower speed until the signal is detected to stop; when the first photoelectric switch 21 detects a shielding signal at the initial moment and u is near u0, the center of the translation base 2 is considered to be at a horizontal zero position; when u 0-Deltau is less than or equal to u < u0, the translation base 2 is moved rightward at a slower speed, when the first photoelectric switch 21 detects that the translation calibration shielding piece 14 passes through the middle, the translation base 2 is stopped, if the first photoelectric switch 21 does not detect a signal yet after the distance of 2 Deltau is moved, the position interval erroneous judgment is considered to be caused by the error of the ultrasonic ranging sensor 12, and then the translation base 2 is stopped and then moved leftward at a slower speed until the first photoelectric switch 21 detects the signal to stop; when u < u0- Δu is detected, the translating carriage 2 is allowed to move to the right at a slower speed until the first photoelectric switch 21 detects that the translating calibration shield 14 passes through the middle, and the translating carriage 2 is stopped.
The pitch zero calibration process comprises the following steps: firstly, judging whether the pitch angle value measured by the pitch angle sensor 41 is positive or negative, and when the pitch angle value is greater than 0, representing that the pitch cantilever 4 is above a pitch zero position, controlling the pitch cantilever 4 to rotate downwards until the measured pitch angle value is equal to 0, and stopping rotating; when the pitching angle value is smaller than 0, the pitching cantilever 4 is under the pitching zero position, and the pitching cantilever 4 is required to be controlled to rotate upwards until the measured pitching angle value is equal to 0, and rotation is stopped, so that calibration of the pitching zero position is realized.
The rotary zero calibration principle is as follows:
as shown in fig. 9, the prescribed position of the pitching cantilever 4 is divided into 6 sections, and a section 1 is arranged between the central axis of the sliding rail and the AO; the area 2 is arranged between the AO and the BO extension line; a 3 area is arranged between the BO extension line and the central axis of the slide rail; a 4-zone is arranged between the central axis of the sliding rail and the AO extension line; the area between the AO extension line and BO is 5; and a region 6 is arranged between the BO and the central axis of the slide rail.
The three diffuse reflection photoelectric switches a, b, c detect that the signal generated by the male half ring of the rotary resolver disc 31 is "1", and detect that the signal generated by the female half ring of the rotary resolver disc 31 is "0". When "a=1" is detected; b=1; c=0 ", representing that the pitch horn 4 is in zone 1; when "a=1" is detected; b=1; c=1″ represents that the pitch horn 4 is in zone 2; when "a=1" is detected; b=1; c=1″ represents that the pitch horn 4 is in zone 3; when "a=0" is detected; b=0; c=1″ represents that the pitch horn 4 is in zone 4; when "a=0" is detected; b=0; c=0 ", representing that the pitch horn 4 is in zone 5; when "a=1" is detected; b=0; c=0 ", it represents that the pitch horn 4 is in zone 6.
When the pitching cantilever 4 is positioned in the area 1 at the initial moment, firstly, the rotating arm 3 is controlled to rotate anticlockwise, when the abrupt change of the measured distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point A, the absolute encoder value q1 of the motor driven by the rotating arm 3 at the moment is recorded, secondly, the rotating arm 3 is controlled to rotate clockwise until the abrupt change of the measured distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point B at the moment, the absolute encoder value q2 of the motor driven by the rotating arm 3 at the moment is recorded, then the rotating arm 3 is controlled to rotate anticlockwise again, the absolute encoder of the motor driven by the rotating arm 3 is enabled to rotate for a circle number of |q2-q1|/2, and finally, the rotation is stopped, so that the position can be regarded as a rotary zero position.
When the pitching cantilever 4 is positioned in the zone 2 or the zone 3 at the initial moment, firstly, the rotating arm 3 is controlled to rotate clockwise, when the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point A, the absolute encoder value q1 of the driving motor of the rotating arm 3 at the moment is recorded, secondly, the rotating arm 3 is controlled to rotate clockwise continuously until the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point B at the moment, the absolute encoder value q2 of the driving motor of the rotating arm 3 at the moment is recorded, then the rotating arm 3 is controlled to rotate anticlockwise, the absolute encoder of the driving motor of the rotating arm 3 rotates for the circle number of |q2-q1|/2, and finally, the rotation is stopped, so that the position can be considered as a rotation zero position.
When the pitching cantilever 4 is positioned in the area 4 or the area 5 at the initial moment, firstly, the rotating arm 3 is controlled to rotate anticlockwise, when the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 moves to the position above the point B, the absolute encoder value q1 of the driving motor of the rotating arm 3 is recorded, secondly, the rotating arm 3 is controlled to rotate anticlockwise until the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 moves to the position above the point A, the absolute encoder value q2 of the driving motor of the rotating arm 3 is recorded, then the rotating arm 3 is controlled to rotate clockwise, the absolute encoder of the driving motor of the rotating arm 3 rotates for the circle number of |q2-q1|/2, and finally, the rotation is stopped, so that the position can be considered as a rotation zero position.
When the pitching cantilever 4 is positioned in the 6 region at the initial moment, firstly, the rotating arm 3 is controlled to rotate clockwise, when the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point B, the absolute encoder value q1 of the motor driven by the rotating arm 3 at the moment is recorded, secondly, the rotating arm 3 is controlled to rotate anticlockwise until the abrupt change of the measurement distance of the laser ranging sensor 51 is detected, the sampling rod 5 is indicated to move above the point A at the moment, the absolute encoder value q2 of the motor driven by the rotating arm 3 at the moment is recorded, then the rotating arm 3 is controlled to rotate clockwise again, the absolute encoder of the motor driven by the rotating arm 3 is enabled to rotate for a circle number of |q2-q1|/2, and finally, the rotation is stopped, so that the position is regarded as a rotary zero position.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The utility model provides an automatic calibration device of arm zero position which characterized in that includes:
the translation calibration module comprises an ultrasonic ranging sensor, a translation calibration shielding piece and a first photoelectric switch, wherein the ultrasonic ranging sensor is arranged at one end of a slide rail of the sampler and is used for measuring the x-axis distance between a translation base matched with the slide rail and a coordinate origin; the first photoelectric switch is fixed on the bottom surface of the translation base, the translation calibration shielding piece is fixed at a set position at one end of the sliding rail, and the position meets the requirement that when the translation calibration shielding piece passes through a notch of the first photoelectric switch, the center of the translation base is positioned at the origin of coordinates;
the pitching calibration module comprises an inclination sensor, wherein the inclination sensor is used for measuring the pitching angle of a pitching cantilever of the sampler so as to calibrate a pitching zero position according to the pitching angle value; the pitching cantilever is connected with a rotary support through a rotary support, and a fixed disc is arranged at one end of the rotary support, which is close to the rotary support; the plurality of second photoelectric switches are arranged on the fixed disc at intervals, and a rotary position identifying disc coaxially arranged with the rotary support is arranged on the upper side of each second photoelectric switch;
the rotation calibration module comprises a laser ranging sensor and a plurality of second photoelectric switches, wherein the laser ranging sensor is used for calibrating a rotation zero position at the joint of the pitching cantilever, and the second photoelectric switches are used for judging the position interval prescribed by the pitching cantilever.
2. The automatic calibration device for the zero position of the mechanical arm according to claim 1, wherein a limit baffle is installed at one end of the sliding rail, the ultrasonic ranging sensor is fixed at the middle position of the limit baffle, and the axis of the ultrasonic ranging sensor is parallel to the axis of the sliding rail.
3. The automatic calibration device for the zero position of the mechanical arm according to claim 2, wherein the limit baffle is further provided with a limit stop, so that the detection blind area of the ultrasonic ranging sensor is determined through the end face of the limit stop.
4. The automatic calibration device for the zero position of the mechanical arm according to claim 1 or 2, wherein the other end of the sliding rail is provided with a limiting shielding piece, and the limiting shielding piece and the translational calibration shielding piece are positioned in the same plane; when the limiting shielding piece passes through the notch of the first photoelectric switch, the translation base and the end part of the sliding rail have a set distance.
5. The automatic calibration device for the zero position of the mechanical arm according to claim 1, wherein the installation surface of the inclination sensor is parallel to the lower surface of the pitching cantilever.
6. The automatic calibration device for the zero position of the mechanical arm according to claim 1, wherein the laser ranging sensor is fixed on the top of the sampling rod.
7. The automatic calibration device for zero position of mechanical arm according to claim 6, wherein a side surface of the rotary identification disc facing the second photoelectric switch is provided with protrusions with different heights so as to form a convex half ring and a concave half ring.
8. The automatic calibration method for the zero position of the mechanical arm is characterized in that the calibration device according to any one of claims 1-7 is adopted, and the translational zero position calibration, the pitching zero position calibration and the rotation zero position calibration are sequentially carried out;
the translation zero calibration process comprises the following steps:
judging a position interval of the center of the translation base relative to an origin by using an ultrasonic ranging sensor so as to judge a moving speed interval division and a moving direction, wherein a first photoelectric switch with a notch is used for realizing zero calibration in the x-axis direction by matching with the ultrasonic ranging sensor;
the pitching zero calibration process comprises the following steps:
judging whether the pitch angle value measured by the pitch angle sensor is positive or negative, and controlling the pitching cantilever to rotate downwards or upwards according to the positive or negative pitch angle value until the pitch angle value is equal to 0, and stopping the rotation of the pitching cantilever;
the rotary zero calibration process comprises the following steps:
and judging the position interval prescribed by the pitching cantilever by adopting a second photoelectric switch and a rotary position distinguishing disc, and calibrating a rotary zero position by adopting a laser ranging sensor.
9. The automatic calibration method of the mechanical arm zero position according to claim 8, wherein in the calibration process of the translation zero position, the distance between the ultrasonic ranging sensor and the end face of one end of the translation base is u, when the center of the translation base returns to the origin of coordinates, the distance between the ultrasonic ranging sensor and the end face of one end of the translation base is u0, u1 is a low-speed movement interval, and Deltau is a micro discrimination interval;
when u0+ [ delta ] u < u1 > is detected, the translation base moves to one end at a slow speed until the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, and the translation base is stopped; when u0< u is less than or equal to u0< + > delta u is detected, the translation base moves to one end at a slow speed, and when the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, the translation base is stopped;
when u 0-Deltau is detected to be less than or equal to u < u0, the translation base moves to the other end at a low speed, and when the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, the translation base is stopped; when u < u 0-Deltau is detected, the translation base is moved slowly to the other end until the first photoelectric switch detects that the translation calibration shielding piece passes through the notch, and the translation base is stopped.
10. The automatic calibration method for the zero position of the mechanical arm according to claim 8, wherein the prescribed position of the pitching cantilever is divided into a plurality of sections; when the absolute encoder of the rotating arm driving motor rotates for a circle of |q2-q1|/2, stopping rotating, namely the position is a rotating zero position; wherein q1 represents the absolute encoder value of the rotary arm driving motor when the sampling rod moves to the position above the point A, and q2 represents the absolute encoder value of the rotary arm driving motor when the sampling rod moves to the position above the point B; the intersection point of the vertical axis of the laser ranging sensor and one side line of the sliding rail is A, and the intersection point of the other side line is B.
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