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公开(公告)号：US20240181646A1
公开(公告)日：2024-06-06
申请号：US18556276
申请日：2021-04-29
Applicant: ABB Schweiz AG
Inventor： Sven Hanssen , Hans Andersson , Johan Noren
CPC classification number: B25J9/1692 , B25J9/1682 , B25J13/085
Abstract: A method of calibrating a manipulator of an industrial robot, the method including providing a primary manipulator having one or more primary joints and a primary mounting interface; providing a secondary manipulator having one or more secondary joints and a secondary mounting interface, where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state; for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the load data; and/or wherein the calibration of the secondary manipulator is additionally made based on the load data.
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公开(公告)号：US09616565B2
公开(公告)日：2017-04-11
申请号：US14570806
申请日：2014-12-15
Applicant: ABB Schweiz AG
Inventor： Ingvar Jonsson , Stig Moberg , Sven Hanssen
CPC classification number: B25J9/1605 , B25J9/1653 , G05B13/04 , G05B2219/40527 , Y10S901/02
Abstract: A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.
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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
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.
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公开(公告)号：US20180117768A1
公开(公告)日：2018-05-03
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
CPC classification number: B25J9/1692 , B25J17/00 , G05B2219/39018 , G05B2219/39027 , Y10S901/02 , Y10S901/15 , Y10S901/25 , Y10S901/28
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.
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Patent Agency Ranking
公开(公告)号：US12030197B2
公开(公告)日：2024-07-09
申请号：US17427221
申请日：2019-02-22
Applicant: ABB Schweiz AG
Inventor： Johan Noren , Hans Andersson , Sven Hanssen
IPC: B25J9/16 , B25J9/00 , G05B19/4155
CPC classification number: B25J9/1692 , B25J9/0051 , B25J9/1623 , G05B19/4155 , G05B2219/50391
Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.
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公开(公告)号：US20220097235A1
公开(公告)日：2022-03-31
申请号：US17427221
申请日：2019-02-22
Applicant: ABB Schweiz AG
Inventor： Johan Noren , Hans Andersson , Sven Hanssen
IPC: B25J9/16 , B25J9/00 , G05B19/4155
Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.
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公开(公告)号：US20240149450A1
公开(公告)日：2024-05-09
申请号：US18549021
申请日：2021-03-11
Applicant: ABB Schweiz AG
Inventor： Hans Andersson , Markus Enberg , Sven Hanssen
CPC classification number: B25J9/1664 , B25J11/005
Abstract: A method of handling a manipulator of an industrial robot, the manipulator including a base member, a mounting interface and a kinematic chain between the base member and the mounting interface, the kinematic chain including the base member, the mounting interface and at least one controllable joint, the method including providing a candidate trajectory for the manipulator, the candidate trajectory being associated with a candidate path; receiving a load location input from a user, the load location input being associated with a load location associated with the industrial robot outside the kinematic chain; and calculating load values of a load parameter that will affect the load location if the candidate trajectory is executed. A control system and an industrial robot are also provided.
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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
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.
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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
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.
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