公开(公告)号：US10272571B2

公开(公告)日：2019-04-30

申请号：US15524992

申请日：2014-11-12

Applicant: ABB Schweiz AG

Inventor： Torgny Brogårdh ,  Peter Fixell ,  Görgen Johansson ,  Hans Andersson ,  Sven Hanssen ,  Stig Moberg ,  Siim Viilup ,  Mats Olsson

IPC: G01C21/00 ,  B25J9/16 ,  B25J17/00

Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

公开(公告)号：US20220105640A1

公开(公告)日：2022-04-07

申请号：US17426888

申请日：2019-02-07

Applicant: ABB Schweiz AG

Inventor： Johan Noren ,  Sven Hanssen ,  Hans Andersson ,  Peter Fixell

IPC: B25J9/16 ,  B25J11/00

Abstract: A method of calibrating a tool of an industrial robot, the method including positioning a tool center point of the tool in relation to a reference target in at least one calibration position of the robot; for each calibration position, recording a joint position of at least one joint of the robot; calculating tool data based on the at least one joint position in each calibration position and based on a kinematic model of the robot, the tool data including a definition of the tool center point; determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot based on the error to reduce the error. A control system for calibrating a tool of an industrial robot and an industrial robot including the control system, are also provided.

公开(公告)号：US10960546B2

公开(公告)日：2021-03-30

申请号：US15762307

申请日：2015-10-16

Applicant: ABB Schweiz AG

Inventor： Andreas Göransson ,  Peter Fixell ,  Siim Viilup ,  Stefan Danielsson ,  Sven Hanssen ,  Hans Andersson ,  Mats Olsson

IPC: B25J9/16 ,  F16B19/02 ,  F16B31/02 ,  B25J19/00 ,  B25J19/06

Abstract: A shear pin for calibrating an industrial robot, the shear pin including an elongated body including a weakening defining a break location in case of overload. The shear pin is configured to be mounted to a calibration pin holder on the robot. A maximum force that the calibration pin can exert on the robot during calibration can be easily limited by dimensioning the weakening appropriately.