公开(公告)号：WO2007131872A1

公开(公告)日：2007-11-22

申请号：PCT/EP2007/054166

申请日：2007-04-27

Applicant: ABB AB ,  LÖNNEMARK, Gunillla ,  MURPHY, Steve ,  NOHRE, Ragnar ,  SKOGLUND, Niklas ,  WADENHOF, Daniel

Inventor： LÖNNEMARK, Gunillla ,  MURPHY, Steve ,  NOHRE, Ragnar ,  SKOGLUND, Niklas ,  WADENHOF, Daniel

IPC: G06F9/44

CPC classification number: G06F8/52

Abstract: A device and a method for synchronization of a robot program and a graphical program. The device comprises: a first converter (1) adapted to convert a graphical program into a first sequence of tokens representing data for motions and actions contained in the graphical program, a second converter (2) adapted to convert the robot program into a second sequence of tokens representing data for motions and actions contained in the robot program, and a modification command generator (3) adapted to compare the first and second sequences of tokens and based thereon generate modification commands, wherein said first converter is adapted to receive said modification commands and edit the graphical program based on the modification commands so that the token sequence of the graphical program matches the token sequence of the robot program and said second converter is adapted to receive said modification commands and edit the robot program based on the modification commands so that the token sequence of the robot program matches the token sequence of the graphical program.

Abstract translation: 一种用于机器人程序和图形程序的同步的装置和方法。 该装置包括：第一转换器（1），适于将图形程序转换成表示图形程序中包含的运动和动作的数据的第一序列代码;第二转换器（2），适于将机器人程序转换为第二序列 表示包含在机器人程序中的动作和动作的数据的令牌以及适于比较第一和第二令牌序列并基于其生成修改命令的修改命令生成器（3），其中所述第一转换器适于接收所述修改命令 并且基于所述修改命令来编辑所述图形程序，使得所述图形程序的令牌序列与所述机器人程序的令牌序列相匹配，并且所述第二转换器适于接收所述修改命令，并且基于所述修改命令编辑所述机器人程序，使得 机器人程序的令牌序列与图形程序的令牌序列相匹配。

公开(公告)号：WO2007096322A3

公开(公告)日：2007-08-30

申请号：PCT/EP2007/051549

申请日：2007-02-19

Applicant: ABB AB ,  BROGÅRDH, Torgny

Inventor： BROGÅRDH, Torgny

IPC: G05B19/423 ,  B25J13/02 ,  B25J9/08 ,  B25J9/16

Abstract: The invention relates to a system for controlling the position and orientation of an object (1,3). The system comprises a measuring assembly (6) including a first (7) and a second part (8), wherei n the first part is adapted to receive forces and torques from a user, and a sensor (9) adapted to measure forces and torques caused by changes in position and orientation of the first part in relation to the second part, and a data processing unit (18) arranged to receive measured data from said sensor and based thereon to control the position and orientation of the object. The sensor comprises a semiconductor chip with integrated sensor elements. The measuring assembly comprises a spring arrangement (11) mounted between the first and second parts and mechanically connected to the sensor, for converting forces and torques from the user to changes in position and orientation of said first part in relation to said second part, and said sensor is adapted to measure forces and torques from the spring arrangement caused by the changes in position and orientation of the first part.

公开(公告)号：WO2007082594A3

公开(公告)日：2007-07-26

申请号：PCT/EP2006/068274

申请日：2006-11-09

Applicant: ABB AB ,  KULLBORG, Ove ,  ODE, Ove ,  BROGÅRDH, Torgny

Inventor： KULLBORG, Ove ,  ODE, Ove ,  BROGÅRDH, Torgny

IPC: B25J9/10 ,  F16H49/00

Abstract: The invention relates to a drive unit 1 comprising an electric rotating actuator with a stator 7 and a rotor 6. The drive unit further comprises a speed reducer 5. The speed reducer 5 comprises a wave generator 20 and a flex spline 22. The stator 7, the rotor 6, the wave generator 20 and the flex spline 22 are designed with an centre opening and are all arranged integrated in a common housing 1a such that a tubular passage 31, 59, 82a is provided for through the common housing 1a.

公开(公告)号：WO2007043959A1

公开(公告)日：2007-04-19

申请号：PCT/SE2006/050356

申请日：2006-09-28

Applicant: ABB AB ,  LIFVENBORG, Ulf, A.

Inventor： LIFVENBORG, Ulf, A.

IPC: G01L1/12

CPC classification number: G01L5/0004 ,  G01L1/125 ,  G01L1/127

Abstract: A device (1) for measuring mechanical forces comprising a sensor (3) adapted to measure difference of stresses in two orthogonal measuring directions (5a-b). The device comprises at least one force receiving element (2a-b) adapted to receive the forces to be measured, and the sensor is adapted to measure the forces applied to the force receiving element. The device further comprises a transducer (4) of a tubular shape, adapted to transfer the forces from the force receiving element to the s e n s o r and to convert the forces received by the receiving element into forces suitable for the sensor, the force receiving element (2a-b) comprises a flange extending outward in a radial direction from the transducer (4), and the force receiving element (2a-b) and the sensor (3) are mounted at a distance (l) from each other along the longitudinal axis of the transducer.

Abstract translation: 一种用于测量机械力的装置（1），包括适于测量两个正交测量方向（5a-b）上的应力差的传感器（3）。 该装置包括适于接收待测量的力的至少一个力接收元件（2a-b），并且传感器适于测量施加到受力元件的力。 该装置还包括管状形状的换能器（4），其适于将力从力接收元件传递到传感器并将由接收元件接收的力转换成适合于传感器的力，力接收元件（2a -b）包括从换能器（4）沿径向向外延伸的凸缘，并且力接收元件（2a-b）和传感器（3）沿纵向轴线彼此间隔（l）安装 的传感器。

公开(公告)号：WO2007039543A1

公开(公告)日：2007-04-12

申请号：PCT/EP2006/066836

申请日：2006-09-28

Applicant: ABB AB ,  KJELLSSON, Jimmy ,  INGEMANSSON, Joakim

Inventor： KJELLSSON, Jimmy ,  INGEMANSSON, Joakim

IPC: B23K11/25

CPC classification number: B23K31/125 ,  B23K11/25

Abstract: A method and device for supervising the welding quality in a spot welding process, comprising equipment (9) for measuring the welding current or voltage during a welding time, a data storage (11) for storing measurements of the welding current or voltage, and a calculation unit (12) adapted to calculate the pulse lengths (1) for a plurality of weld pulses, including at least one pulse at the end of the welding time, based on said information, to calculate an arithmetical relationship between the pulse lengths for at least some of said weld pulses, and said at least one pulse at the end of the welding time, and to determine the weld quality based on said arithmetical relationship.

Abstract translation: 一种用于在点焊过程中监督焊接质量的方法和装置，包括用于在焊接时间期间测量焊接电流或电压的设备（9），用于存储焊接电流或电压的测量值的数据存储器（11），以及 计算单元（12），用于根据所述信息计算多个焊接脉冲的脉冲长度（1），其包括在焊接时间结束时的至少一个脉冲，以计算所述焊接脉冲的脉冲长度之间的算术关系 至少一些所述焊接脉冲，以及在焊接时间结束时的所述至少一个脉冲，以及基于所述算术关系确定焊接质量。

公开(公告)号：WO2006132585A1

公开(公告)日：2006-12-14

申请号：PCT/SE2006/000674

申请日：2006-05-08

Applicant: ABB AB ,  BERGSTEN, Pontus

Inventor： BERGSTEN, Pontus

IPC: B21B37/28 ,  G01B11/30

CPC classification number: B21B37/28 ,  B21B37/38 ,  B21B37/40 ,  B21B37/42 ,  B21B38/02

Abstract: The present invention relates to a method and a device for optimization of flatness control in the rolling of a strip using any number of mill stands and actuators. The invention is achieved by using a mill model represented by a mill matrix that contains information of the flatness effect of each actuator, translating each actuator's flatness effect into a coordinate system, whose dimension is less or equal than the number of actuators used, monitoring/sampling the actual flatness values across the strip, computing a vector of the flatness error/deviation as the difference between the monitored/sampled strip flatness and a reference flatness vector, converting the flatness error into a smaller parameterized flatness error vector, using a dynamic controller to calculate optimized actuator set-points in order to minimize the parameterized flatness error, thereby achieving the desired strip flatness. The invention also relates to a system for optimization of flatness control in the rolling of a strip

Abstract translation: 本发明涉及一种用于使用任何数量的轧机机架和致动器优化轧制中的轧制平面度的方法和装置。 本发明通过使用由磨机矩阵表示的磨机模型来实现，该磨机模型包含每个致动器的平坦度效应的信息，将每个致动器的平直度效应转换成坐标系，其尺寸小于或等于使用的致动器的数量，监视/ 对条带上的实际平坦度值进行采样，计算平坦度误差/偏差的向量作为监测/采样条带平面度与参考平面度矢量之差，使用动态控制器将平坦度误差转换为更小的参数平坦度误差向量 以计算优化的致动器设定点，以便使参数化的平坦度误差最小化，从而实现期望的带平面度。 本发明还涉及一种用于优化条带轧制中的平面度控制的系统

公开(公告)号：WO2006071195A1

公开(公告)日：2006-07-06

申请号：PCT/SE2005/002063

申请日：2005-12-30

Applicant: ABB AB ,  WALLIN, Christer

Inventor： WALLIN, Christer

IPC: G01L25/00

CPC classification number: G01L25/003

Abstract: The present invention refers to a method for adaptive compensation of the temperature drift of a sensor, designed to measure the torque of a shaft or a drive train or the force in a mechanical equipment, during operation. The invention includes the steps of recurrently measuring the sensor signal and determining an associated temperature, calculating an offset value as a function of temperature based on measured and stored data, compensating the measured signal value using said calculated offset value, detecting when the sensor is unloaded or nearly unloaded and if so storing the sensor signal value and the associated temperature value in a memory and updating a model of the sensor offset. The invention also refers to a system and a computer program for adaptive compensation of the temperature drift of such a sensor signal offset.

Abstract translation: 本发明涉及用于在运行期间用于测量轴或传动系的扭矩或机械设备中的力的传感器温度漂移的自适应补偿的方法。 本发明包括以下步骤：循环测量传感器信号并确定相关温度，基于测量和存储的数据计算作为温度的函数的偏移值，使用所计算的偏移值补偿测量信号值，检测传感器何时卸载 或几乎卸载，并且如果将传感器信号值和相关联的温度值存储在存储器中并且更新传感器偏移的模型。 本发明还涉及用于对这种传感器信号偏移的温度漂移进行自适应补偿的系统和计算机程序。

公开(公告)号：WO2006068615A1

公开(公告)日：2006-06-29

申请号：PCT/SE2005/002011

申请日：2005-12-22

Applicant: ABB AB ,  KARLSSON, Daniel ,  LINDAHL, Sture

Inventor： KARLSSON, Daniel ,  LINDAHL, Sture

IPC: H02H5/04 ,  G01K7/22 ,  G01R31/02 ,  H02H6/00 ,  H02H7/26

CPC classification number: G01K7/22 ,  G01K2215/00

Abstract: The invention relates to a method for determining the load state in a power system component, such as a line, in an electric power system. The invention is achieved by: determining the reference temperature for the conductor material, determining current and voltage on the line, transferring these values to a calculating unit, calculating a value for the actual resistance of the line, based on current and voltage values, calculating the temperature, and hence the degree of load, of the line based on the above values. The invention also relates to a system and a computer program for carrying out the method.

Abstract translation: 本发明涉及一种用于确定电力系统中诸如线路的电力系统部件中的负载状态的方法。 本发明通过以下方式实现：确定导体材料的参考温度，确定线路上的电流和电压，将这些值转移到计算单元，基于电流和电压值计算线路的实际电阻值，计算 基于上述值的线的温度和负载的程度。 本发明还涉及一种用于执行该方法的系统和计算机程序。

公开(公告)号：WO2005124486A3

公开(公告)日：2006-06-08

申请号：PCT/EP2005006436

申请日：2005-06-15

Applicant: ABB AB ,  ANSELMBY JONAS ,  MIEGEL VOLKER ,  BARGFREDE JOCHEN

Inventor： ANSELMBY JONAS ,  MIEGEL VOLKER ,  BARGFREDE JOCHEN

IPC: G05B19/425 ,  B25J9/16

CPC classification number: G05B19/425 ,  B25J9/1664 ,  B25J9/1671 ,  G05B2219/39135 ,  G05B2219/40317

Abstract: A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).

Abstract translation: 公开了用于多个交互机器人的离线编程的方法和装置。 例如，用于多个交互机器人的离线编程（100）的系统包括用于离线编程的计算机（110）和用于多个交互机器人（131-133）的程序代码（111）和机器人控制器（ 120）连接到计算机（110）以接收用于执行的程序代码中的至少一个的下载。 多个相互作用的机器人（131-133）可以由机器人控制器（120）控制。

公开(公告)号：WO2006000264A1

公开(公告)日：2006-01-05

申请号：PCT/EP2005/003191

申请日：2005-03-24

Applicant: ABB AB ,  SJÖBERG, Ralph ,  NYLÉN, Olov ,  CARLSON, Erik ,  ENDRESEN, Jan

Inventor： SJÖBERG, Ralph ,  NYLÉN, Olov ,  CARLSON, Erik ,  ENDRESEN, Jan

IPC: B25J13/06

CPC classification number: B25J13/06

Abstract: A robot controller comprising a control part (3) for controlling at least one industrial robot and a TPU (4), for teaching and manually operating the robot, which TPU comprises a manually operated enabling device (16a-b), which upon activation enables manual control of the robot by means of the TPU. The TPU comprises: a plurality of detecting means (18a-b), detecting the status of the enabling device, at least one communication data generating means (20), generating communication data including information regarding the detected status of the enabling device, and at least one wireless transmitting means (14), transmitting said communication data to said control part, and the control part comprises: at least one receiving means (22), receiving said communication data from said transmitting means and the control part is adapted to permit or not permit manual control of the robot by means of the TPU based on the received status of the enabling device.

Abstract translation: 一种机器人控制器，包括用于控制至少一个工业机器人的控制部分（3）和用于教导和手动操作所述机器人的TPU（4），所述TPU包括手动操作的启用装置（16a-b），其在激活时启用 通过TPU手动控制机器人。 TPU包括：多个检测装置（18a-b），检测启用装置的状态，至少一个通信数据产生装置（20），产生包括关于启用装置的检测状态的信息的通信数据，以及 至少一个无线发送装置（14），将所述通信数据发送到所述控制部分，并且所述控制部分包括：至少一个接收装置（22），从所述发送装置接收所述通信数据，并且所述控制部分适于允许或 不允许基于启用设备的接收状态通过TPU手动控制机器人。