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公开(公告)号：US08290708B2
公开(公告)日：2012-10-16
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： G01C21/10
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。
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公开(公告)号：US07643946B2
公开(公告)日：2010-01-05
申请号：US11153069
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
CPC分类号： B25J9/1641 , G05B2219/50197
摘要： A method determines the wear of axles of a robot arm of an industrial robot. A torque profile of at least one axle taken during at least one working cycle of the industrial robot is used as a basis for an analysis. The torque profile is analyzed for portions of the torque profile that exceed a previously fixed torque band, and current axial wear is determined by assessing the frequency and/or the curve profile of the portions of the torque profile. A system is provided for determining the wear.
摘要翻译： 一种方法确定工业机器人的机器人手臂的轴的磨损。 在工业机器人的至少一个工作循环期间所采用的至少一个轴的扭矩分布被用作分析的基础。 分析扭矩分布，其扭矩分布的部分超过预先固定的扭矩带，并且通过评估扭矩分布的部分的频率和/或曲线轮廓来确定当前的轴向磨损。 提供了一种用于确定磨损的系统。
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公开(公告)号：US20050278148A1
公开(公告)日：2005-12-15
申请号：US11153069
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
CPC分类号： B25J9/1641 , G05B2219/50197
摘要： A method determines the wear of axes of a robot arm of an industrial robot. A torque profile of at least one axis taken during at least one working cycle of the industrial robot is used as a basis for an analysis. The torque profile is analyzed for portions of the torque profile that exceed a previously fixed torque band, and current axial wear is determined by assessing the frequency and/or the curve profile of the portions of the torque profile. A system is provided for determining the wear.
摘要翻译： 一种方法确定工业机器人的机器人手臂的轴的磨损。 在工业机器人的至少一个工作循环期间所采用的至少一个轴的扭矩分布被用作分析的基础。 分析扭矩分布，其扭矩分布的部分超过预先固定的扭矩带，并且通过评估扭矩分布的部分的频率和/或曲线轮廓来确定当前的轴向磨损。 提供了一种用于确定磨损的系统。
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公开(公告)号：US07603200B2
公开(公告)日：2009-10-13
申请号：US11153041
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
CPC分类号： B25J9/1641
摘要： A method assesses a state of at least one axial joint of an industrial robot, on the basis of data of a mechanical backlash present at the axial joint of the industrial robot, a state of wear of the axial joint being determined. On the basis of data of a torque profile, a first loading state of the axial joint is determined at the axial joint during at a first working cycle of the industrial robot. On a basis of data of a movement sequence at the axial joint during a second working cycle of the industrial robot, a second loading state of the axial joint is determined. An assessment of the state is carried out by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.
摘要翻译： 一种方法基于工业机器人轴向接合处存在的机械齿隙的数据，确定轴向接头的磨损状态来评估工业机器人的至少一个轴向接头的状态。 基于扭矩分布的数据，在工业机器人的第一工作循环期间，在轴向接合处确定轴向接头的第一加载状态。 基于在工业机器人的第二工作循环期间的轴向关节处的运动顺序的数据，确定轴向关节的第二加载状态。 通过预先评估磨损状态，第一加载状态和第二加载状态以及随后与经验获得的比较值矩阵的比较来进行状态评估。
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5.发明授权公开(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
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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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。
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7.发明申请公开(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
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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公开(公告)号：US20050278067A1
公开(公告)日：2005-12-15
申请号：US11153041
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
CPC分类号： B25J9/1641
摘要： A method assesses a state of at least one axial joint of an industrial robot, on the basis of data of a mechanical backlash present at the axial joint of the industrial robot, a state of wear of the axial joint being determined. On the basis of data of a torque profile, a first loading state of the axial joint is determined at the axial joint during at a first working cycle of the industrial robot. On a basis of data of a movement sequence at the axial joint during a second working cycle of the industrial robot, a second loading state of the axial joint is determined. An assessment of the state is carried out by pre-assessing the state of wear, the first loading state and the second loading state and a subsequent comparison with an empirically obtained comparison value matrix.
摘要翻译： 一种方法基于工业机器人轴向接合处存在的机械齿隙的数据，确定轴向接头的磨损状态来评估工业机器人的至少一个轴向接头的状态。 基于扭矩分布的数据，在工业机器人的第一工作循环期间，在轴向接合处确定轴向接头的第一加载状态。 基于在工业机器人的第二工作循环期间的轴向关节处的运动顺序的数据，确定轴向关节的第二加载状态。 通过预先评估磨损状态，第一加载状态和第二加载状态以及随后与经验获得的比较值矩阵的比较来进行状态评估。
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