公开(公告)号：WO2023035228A1

公开(公告)日：2023-03-16

申请号：PCT/CN2021/117711

申请日：2021-09-10

Applicant: ABB SCHWEIZ AG ,  CHANG, Kun ,  SHAO, Wenyao ,  XIA, Dianfei

Inventor： CHANG, Kun ,  SHAO, Wenyao ,  XIA, Dianfei

IPC: B25J9/16 ,  G01Q40/00

Abstract: Embodiments of the present disclosure provide methods, apparatuses, systems and computer readable media for managing a tool in a robot system. In a method, a plurality of arm positions of a robot arm of the robot system are obtained when the tool is placed under a posture on a surface of a calibration object for calibrating the tool, here the posture represents rotation parameters of the robot arm. A center of the calibration object is determined based on the plurality of arm positions. A reference position of the robot arm is generated for calibrating the tool based a position of the center and the posture. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a tool in a robot system. With these embodiments, reference positions for calibrating the tool may be obtained in an easy and effective way without complex manual operations.

公开(公告)号：WO2023087206A1

公开(公告)日：2023-05-25

申请号：PCT/CN2021/131452

申请日：2021-11-18

Applicant: ABB SCHWEIZ AG ,  XIA, Dianfei ,  CHANG, Kun ,  WANG, Jiacheng

Inventor： XIA, Dianfei ,  CHANG, Kun ,  WANG, Jiacheng

IPC: B24B5/42 ,  B24B49/00 ,  B24B1/00

Abstract: A method for calibrating a crankshaft (10) to be processed is disclosed. The method comprises: causing a positioner (40) to rotate to at least three different angles, wherein the positioner (40) is configured to support the crankshaft (10) and drive the crankshaft (10) to rotate; causing, for each of the at least three different angles, a probe (20) arranged on a robot (30) to touch a plurality of points on a first cylindrical crankpin (101) of the crankshaft (10) respectively to obtain coordinates of the plurality of points in a robot coordinate system; fitting, for each of the at least three different angles, the coordinates of the plurality of points on the first cylindrical crankpin (101) respectively to obtain a respective pose of the first cylindrical crankpin (101) relative to the robot coordinate system; and determining a pose of a rotating axis of the crankshaft (10) relative to the robot coordinate system based on the respective pose of the first cylindrical crankpin (101). The pose of the rotating axis of the crankshaft (10) can be calibrated quickly and accurately. An apparatus for calibrating a crankshaft (10) to be processed is also disclosed.