Abb Schweiz Ag

Abb Technology Ag

Peter Fixell

Mats Olov Olsson

Siim Viilup

Hans Andersson

Sven Hanssen

Torgny Brogårdh

Stefan Danielsson

Stig Moberg

Görgen Johansson

Andreas Göransson

Mats Olsson

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.

Shear pin for robot calibration

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.

Determining a calibration position of a robot joint

The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot () and a robot coordinate system. The method includes attaching a first calibration object () in a fixed relation to the robot and determining the position of the first calibration object in relation to the robot. Then, locating at least three second calibration objects () in the working range of the robot, a reference position for each of the second calibration objects in the local coordinate system can be determined by moving the robot until the first calibration object is in mechanical contact with each second calibration object. By reading the position of the robot when the calibration objects are in mechanical contact the relation between the local coordinate system and the robot coordinate system can be calculated.

Method and system for determining the relation between a robot coordinate system and a local coordinate system located in the working range of the robot

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Västerås, Sweden

Peter Fixell