Determining a calibration position of a robot joint

US10272571B2 · kind B2 · utility

Assignee

• ABB Schweiz AG · CH

Inventors

• Torgny Brogardh
• Peter Fixell · Västerås, SE
• Görgen Johansson · Hagfors, SE
• Hans Andersson · Mölndal, SE
• Sven Hanssen · Västerås, SE
• Stig Moberg · Visby, SE
• Siim Viilup · Västerås, SE
• Mats Olsson · Västerås, SE

Key dates

• Filing date: Nov 12, 2014
• Grant date: Apr 30, 2019
• Expiry date: Jun 18, 2035

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/28
• WIPO field: Handling
• WIPO sector: Mechanical engineering

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.