公开(公告)号：US20240261965A1

公开(公告)日：2024-08-08

申请号：US18639696

申请日：2024-04-18

Applicant: ABB SCHWEIZ AG

Inventor： Dianfei Xia ,  Kun Chang ,  Jiacheng Wang

IPC: B25J9/16 ,  B25J13/08 ,  G01B5/008

CPC classification number: B25J9/1653 ,  B25J13/089 ,  G01B5/008

Abstract: A method and an apparatus for calibrating a crankshaft to be processed. The method includes causing a positioner to rotate to at least three different angles. The positioner is configured to support the crankshaft and drive the crankshaft to rotate. The method also includes causing a probe to touch a plurality of points on a first cylindrical crankpin of the crankshaft respectively to obtain coordinates of the plurality of points in a robot coordinate system; fitting the coordinates of the plurality of points on the first cylindrical crankpin respectively to obtain a respective pose of the first cylindrical crankpin relative to the robot coordinate system; and determining a pose of a rotating axis of the crankshaft relative to the robot coordinate system based on the respective pose of the first cylindrical crankpin.