Patent · US Expired

Method and measuring configuration for measuring backlash at an axial joint

US7316170B2 · kind B2 · utility

4Cited by

10References

19Claims

0Family size

Assignee

ABB PATENT GMBH · DE

Inventors

Axel Bader · Friedberg, DE
Sven Hansen · Hamburg, DE
Steffen Schmidt · Dresden, DE
Kim Henrich · Gelnhaar, DE

Key dates

Filing date	Jun 15, 2005
Grant date	Jan 8, 2008
Priority date	—
Expiry date	Aug 13, 2025

Classification

Technology area (CPC G)Physics
CPC primaryG01B21/16
WIPO fieldMeasurement
WIPO sectorInstruments

Abstract

A method measures the backlash at an axial joint of an industrial robot having a first and a second robot knuckle that are movably connected to each other in a direction of rotation by the axial joint. A load-transmitting device applies a predeterminable force alternately in a measuring line to the first robot knuckle, connected to the free end of a robot arm. A deflection sensor measures the deflection of the first robot knuckle at a predetermined distance from the axis of rotation of the axial joint, and an evaluation device connected to the displacement sensor calculates a turning angle of the first robot knuckle as a measure of a backlash present at the axial joint, taking into account the geometrical arrangement data in the measurement of the deflection sensor and the industrial robot and also the measured deflection.

Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.