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11. 发明授权

US07316170B2 Method and measuring configuration for measuring backlash at an axial joint 有权
标题翻译：测量轴向接缝间隙的方法和测量结构
公开(公告)号：US07316170B2
公开(公告)日：2008-01-08
申请号：US11153043
申请日：2005-06-15
申请人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
发明人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
IPC分类号： G01N19/00
CPC分类号： G01B5/146 , G01B21/16
摘要： 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.
摘要翻译：一种方法测量具有第一和第二机器人转向节的工业机器人的轴向接合处的间隙，所述第一和第二机器人转向节在轴向接头的旋转方向上彼此可移动地连接。负载传递装置在与机器人手臂的自由端连接的第一机器人转向节的测量线中交替地施加可预定的力。偏转传感器测量第一机器人转向节在距离轴向旋转轴线预定距离处的偏转，并且连接到位移传感器的评估装置计算第一机器人转向节的转角，作为存在的间隙的量度考虑到偏转传感器和工业机器人的测量中的几何布置数据以及测量的偏转，在轴向接合处。

12. 发明申请

US20060287768A1 Method and system for determining a servicing requirement 有权
标题翻译：确定维修要求的方法和系统
公开(公告)号：US20060287768A1
公开(公告)日：2006-12-21
申请号：US11153042
申请日：2005-06-15
申请人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
发明人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
IPC分类号： G06F19/00
CPC分类号： G06Q10/06 , G05B2219/32234
摘要： A method determines the servicing requirements of axes of a robot arm of an industrial robot. The data of a movement sequence of at least one axis during at least one working cycle of the industrial robot is made available. The rotational movements of the at least one axis are established on the basis of the data, and a servicing interval for the at least one axis is determined by an assessment of the rotational movements established. A system for determining a servicing requirement performs the method.
摘要翻译：一种方法确定工业机器人的机器人手臂的轴的维修要求。提供了在工业机器人的至少一个工作循环期间至少一个轴的运动顺序的数据。基于数据建立至少一个轴的旋转运动，并且通过对建立的旋转运动的评估来确定至少一个轴的维修间隔。用于确定服务需求的系统执行该方法。

13. 发明申请

US20050274208A1 Method and measuring configuration for measuring backlash at an axial joint 有权
标题翻译：测量轴向接缝间隙的方法和测量结构
公开(公告)号：US20050274208A1
公开(公告)日：2005-12-15
申请号：US11153043
申请日：2005-06-15
申请人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
发明人： Axel Bader , Sven Hansen , Steffen Schmidt , Kim Henrich
IPC分类号： G01B5/14 , G01B21/16 , B25J17/00
CPC分类号： G01B5/146 , G01B21/16
摘要： 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.
摘要翻译：一种方法测量具有第一和第二机器人转向节的工业机器人的轴向接合处的间隙，所述第一和第二机器人转向节在轴向接头的旋转方向上彼此可移动地连接。负载传递装置在与机器人手臂的自由端连接的第一机器人转向节的测量线中交替地施加可预定的力。偏转传感器测量第一机器人转向节在距离轴向旋转轴线预定距离处的偏转，并且连接到位移传感器的评估装置计算第一机器人转向节的转角，作为存在的间隙的量度考虑到偏转传感器和工业机器人的测量中的几何布置数据以及测量的偏转，在轴向接合处。

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