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1. 发明申请

WO2016074708A1 DETERMINING A CALIBRATION POSITION OF A ROBOT JOINT 审中-公开
标题翻译：确定机器人接口的校准位置
公开(公告)号：WO2016074708A1
公开(公告)日：2016-05-19
申请号：PCT/EP2014/074329
申请日：2014-11-12
申请人： ABB TECHNOLOGY LTD
发明人： BROGÅRDH, Torgny , FIXELL, Peter , JOHANSSON, Görgen , ANDERSSON, Hans , HANSSEN, Sven , MOBERG, Stig , VIILUP, Siim , OLSSON, Mats
IPC分类号： B25J9/16 , B25J19/00
CPC分类号： B25J9/1692 , B25J17/00 , G05B2219/39018 , G05B2219/39027 , Y10S901/02 , Y10S901/15 , Y10S901/25 , Y10S901/28
摘要： An arrangement for determining the calibration position of a robot joint comprises the joint comprising a moveable joint element (54) and a stationary joint element (56), where one joint elements comprises a holding structure (60, 62) and the other a force providing protrusion (64), a robot controller, a motor (22) connected between the robot controller and the moveable joint element and a force receiving element (58) adapted to form a kinematic coupling with the holding structure (60, 62) and the force providing protrusion (64), 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 (58) 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.
摘要翻译：用于确定机器人关节的校准位置的装置包括包括可移动接合元件（54）和固定接头元件（56）的接头，其中一个接头元件包括保持结构（60,62），另一个接合元件提供力突起（64），机器人控制器，连接在机器人控制器和可动接头元件之间的电动机（22）和适于与保持结构（60,62）形成运动耦合的力接收元件（58）提供突起（64），其中所述运动耦合具有所述结构和所述受力元件之间的至少两个接触区域以及所述力提供突起和所述受力元件之间的一个接触区域，所述受力元件（58）可紧固延伸到用于从力提供突起接收力的两个机器人关节元件之间的间隙伸展的保持结构。

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