公开(公告)号：EP2212064B1

公开(公告)日：2011-03-16

申请号：EP07820762.8

申请日：2007-10-01

Applicant: ABB Technology AB

Inventor： KARLSSON, Jan H ,  LASSURI, Antero

IPC: B25J9/00 ,  B25J19/06 ,  B25J21/00 ,  F16P3/12

CPC classification number: B25J19/06 ,  B25J9/0096 ,  B25J21/00 ,  F16P3/12 ,  F16P3/142 ,  F16P3/144 ,  F16P3/147

Abstract: The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.

公开(公告)号：EP2286099A1

公开(公告)日：2011-02-23

申请号：EP09757536.9

申请日：2009-06-03

Applicant: ABB Technology AB

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

IPC: F16C11/06

CPC classification number: F16C11/069 ,  F16C11/0647 ,  Y10T29/49886 ,  Y10T403/32786

Abstract: The present invention relates to a method for manufacturing a joint. The method includes the following steps: A. mounting a pin on a ball, B. machining spherical surfaces on at least two socket parts, C. applying grinding paste on the ball and/or on the surfaces if the socket parts, D. connecting the pin to an equipment that rotates the ball, E. assembling the ball between the socket parts, F. applying a pressure between the socket parts and the ball, G. rotating and tilting the ball over the working range of the joint, H. cleaning the ball and the socket parts from the grinding paste, and I. assembling the joint by mounting the socket parts on a ball. The invention also relates to a joint obtainable with the method according to the invention.

公开(公告)号：EP2122422A2

公开(公告)日：2009-11-25

申请号：EP08735426.2

申请日：2008-03-17

Applicant: ABB Technology AB

Inventor： BROGÅRDH, Torgny

IPC: G05B19/401 ,  B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G05B19/401 ,  G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39008 ,  G05B2219/40387

Abstract: The present invention relates to a method and an apparatus for compensating for errors in a certain number of degrees of freedoms in the geometric relation between a work object (1) and a device (2) holding the object. A measurement system including at least one sensor (3) is providing surface measurements on the object. The method comprises measuring a first reference surface (10) of a reference object, calculating the position and orientation of the first reference surface based on the measurements, moving the reference object in a first degree of freedom, measuring on the first reference surface, calculating the position and orientation of the first reference surface after the moving based on the measurements, repeating those steps for at least the same number of degrees of freedom as the number of degrees of freedom in which the object may have errors in relation to the device, performing the same procedure for at least two more reference surfaces (11, 12, 13), calculating the position and orientation changes of all the reference surfaces, and calculating a relationship between the calculated position and orientation changes and corresponding changes of the position and orientation of the object. Using the relationship for compensating for the errors in object position and orientation.

公开(公告)号：EP2720522B1

公开(公告)日：2018-07-04

申请号：EP14150937.2

申请日：2010-05-19

Applicant: ABB Technology AB

Inventor： Kangas, Simo

IPC: H05K7/14

CPC classification number: H05K7/1411

Abstract: A plug-in unit assembly comprising a case (13) and a plug-in unit (12) arranged to be removably connected to the case (13). The plug-in unit (12) comprises a unit body (121), a handle (2) and an actuating member (9). The handle (2) is pivotally connected to the unit body (121) and operationally connected to the actuating member (9), the actuating member (9) being movably connected to the unit body (121). The case (13) comprises a locking counterpart element (15) and a releasing counterpart element (16), each of which is adapted to co-operate with the actuating member (9) for moving the plug-in unit (12). The locking counterpart element (15) is adapted to move the plug-in unit (12) to a plugged-in position, and the releasing counterpart element (16) is adapted to move the plug-in unit (12) to an outer releasing position.

公开(公告)号：EP2891904A1

公开(公告)日：2015-07-08

申请号：EP14150332.6

申请日：2014-01-07

Applicant: ABB Technology AB

Inventor： Dominguez, Luis ,  Mercangoez, Mehmet ,  Cortinovis, Andrea ,  Zeydan, Burak

IPC: G01W1/10

CPC classification number: G01W1/10 ,  F24S2201/00 ,  G01W1/12

Abstract: The present invention is concerned with the operation of solar power plants such as Photo Voltaic (PV) or Concentrated Solar thermal Power (CSP) plants. The invention involves recursive updating of estimated parameters pertaining to pre-defined and physically motivated cloud evolution models that are instantiated and assigned to clouds identified in images taken by a ground-based visible-light camera. Identification of clouds, which includes assigning individual pixels of an image to one or several identified clouds, and selection of matching cloud models invoke some elaborate complexity beyond conventional pixel-wise image processing. This ultimately allows to predict a cloud-wise, as opposed to a pixel-wise, evolution based on cloud evolution models with a limited number of estimated parameters.

Abstract translation: 本发明涉及太阳能发电厂如光伏（PV）或集中太阳能热电（CSP）工厂的运行。 本发明涉及递归更新关于预定义和物理动机的云演化模型的估计参数，其被实例化并分配给由基于地面的可见光相机拍摄的图像中识别的云。 识别云，其包括将图像的各个像素分配给一个或多个识别的云，以及匹配云模型的选择引起了超越常规像素图像处理的一些复杂的复杂性。 这最终允许基于具有有限数量的估计参数的云演化模型来预测云计算，而不是基于像素的演进。

公开(公告)号：EP2884538A1

公开(公告)日：2015-06-17

申请号：EP13197530.2

申请日：2013-12-16

Applicant: ABB Technology AB

Inventor： Bauer, Friedhelm

IPC: H01L29/36 ,  H01L29/808 ,  H01L29/872 ,  H01L29/06

CPC classification number: H01L29/872 ,  H01L29/0619 ,  H01L29/0623 ,  H01L29/0878 ,  H01L29/1608 ,  H01L29/2003 ,  H01L29/36 ,  H01L29/7802 ,  H01L29/8083

Abstract: Disclosed is a semiconductor device comprising a semiconductor slab (1), in particular a semiconductor wafer or semiconductor die, the semiconductor slab having a first main side (101) and a second main side (102), said second main side being parallel to the first main side at a distance with respect to a first direction; and a bulk layer (10) of a first conductivity type located between the first main side and the second main side, and extending in the first direction between a distance d b1 from the first main side with d b1 >= 0 and a distance d b2 from the first main side with d b2 > d b1 , and in a second direction perpendicular to the first direction, and with a first floating sublayer formed within the bulk layer, said first floating sublayer comprising a plurality of, preferably at least 10, floating regions (11) of a second conductivity type located between a first distance from the first main side and a second distance from the first main side, and spaced apart from one another with respect to the second direction, a first homogenous bulk sublayer located between the first main side and the first floating sublayer; a second homogenous bulk sublayer located between the first floating sublayer and the second main side; the semiconductor device further comprising a first main electrode (31) provided on the first main side and a second main electrode (32) provided on the second main side, wherein an enhancement region (12) of the first conductivity type is formed adjacent, preferably contiguous, to at least one of the floating regions in the first floating sublayer; and the enhancement region has a higher doping concentration than the bulk layer.

Abstract translation: 公开了一种半导体器件，包括半导体板（1），特别是半导体晶片或半导体晶片，半导体板具有第一主侧（101）和第二主侧（102），所述第二主侧平行于 第一主侧相对于第一方向一定距离; 以及位于所述第一主侧和所述第二主侧之间的第一导电类型的体层（10），并且在所述第一主侧与所述第一主侧之间的距离d b1与所述第一主侧延伸，并且距离d b2，从第一主侧开始，具有d b2> d b1，并且在垂直于第一方向的第二方向上，并且在本体层内形成第一浮动子层，所述第一浮动子层包括多个，优选至少10个， 第二导电类型的浮动区域（11）位于距离第一主侧的第一距离和距离第一主侧的第二距离之间，并且相对于第二方向彼此间隔开，第一均匀体积子层位于 第一主面和第一浮动子层; 位于所述第一浮动子层和所述第二主侧之间的第二均匀块状子层; 所述半导体器件还包括设置在所述第一主侧上的第一主电极（31）和设置在所述第二主侧上的第二主电极（32），其中，优选地形成所述第一导电类型的增强区域（12） 连接到第一浮动子层中的浮动区域中的至少一个; 并且增强区域具有比本体层更高的掺杂浓度。

公开(公告)号：EP2268459B1

公开(公告)日：2011-11-09

申请号：EP08749900.0

申请日：2008-04-30

Applicant: ABB Technology AB

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: 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 (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

Abstract translation: 本发明涉及用于确定位于工业机器人（1）的工作范围内的局部坐标系和机器人坐标系之间的关系的方法和系统。 该方法包括：以固定的关系将第一校准对象（10）附接到机器人，确定第一校准对象相对于机器人的位置，将至少三个第二校准对象（14,15,16）定位在 其中至少一个校准物体是具有成形为球体的突出部分的公校准物体，并且至少一个校准物体是包括至少两个非平行倾斜表面的母校准物体 接收球体以使得球体与至少一个参考位置中的表面接触，针对移动机器人的每个第二校准对象确定局部坐标系统中的每个第二校准对象的参考位置，直到球体为止 与校准物体的表面机械接触，当球体与所有表面机械接触时读取机器人的位置，a 根据第一校准对象相对于机器人的位置，第二校准对象在局部坐标系中的参考位置以及机器人在当前位置时的机器人位置来计算局部坐标系与机器人坐标系之间的关系 球体与第二校准物体的表面机械接触。

公开(公告)号：EP2350750A1

公开(公告)日：2011-08-03

申请号：EP08875360.3

申请日：2008-11-25

Applicant: ABB Technology AB

Inventor： ANDERSSON, Björn

IPC: G05B19/401

CPC classification number: G05B19/401

Abstract: The present invention relates to a method and an apparatus for calibration of an industrial robot system including at least one robot (1 ) having a robot coordinate system (x
r1 ,y
r1 ,z
r1 ) and a positioner (2) having a positioner coordinate system (x
p , y
p , Z
p ) and adapted to hold and change the orientation of a workpiece by rotating it about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (X
01 ,y
01 , z
01 )- The apparatus comprising a robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot. The positions of the calibration objects are known in the object coordinate system. The robot controller is configured to determine the positions of the calibration objects with respect to the robot coordinate system, to determine the positions of a first (24a) and a second (24c) of said calibration objects for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner in the robot coordinate system based on the determined positions of the first and second calibration objects for the three angles of the axis, and to determine the relation between the first object coordinate system and the positioner coordinate system by performing a best fit between the known and the determined positions of the calibration objects.

公开(公告)号：EP2342052A1

公开(公告)日：2011-07-13

申请号：EP09779161.0

申请日：2009-03-16

Applicant: ABB Technology AB

Inventor： BARKMAN, Lars ,  LINDEVALL, Mattias ,  CABANNE, Pascal ,  BYLUND, Peter ,  LJUNGKVIST, Joachim

IPC: B25J19/00

CPC classification number: B25J19/0025 ,  B25J9/0009 ,  Y10T74/20305 ,  Y10T74/20311 ,  Y10T74/20323 ,  Y10T74/20329

Abstract: A process turning disc (1), connectable to an output shaft of a motor (21) by means of which the process turning disc (1) is rotatable about a first centre axis (13) of the process turning disc, and configured for guiding a cable (2) or hose, comprising a first flange (3; 33) connectable to an end part (4) of a robot arm (5) and a second flange (6; 36) connectable to a tool element (7). The flanges (3, 6; 33, 36) are spaced apart from each other by an intermediate connecting member (8; 38), the connecting member (8; 38) being connected to the flanges (3, 6; 33, 36), and the connecting member (8; 38) providing a passage (9; 39) between the flanges, which passage (9; 39) is configured for receiving and guiding the cable/hose (2) and said passage having an inlet side (11; 41) for the cable/hose and an outlet side (12; 42) for the cable/hose (2). The invention also defines a robot arm comprising such a process turning disc, a robot comprising such a robot arm and the use of such a process turning disc.

公开(公告)号：EP2129498B1

公开(公告)日：2011-03-23

申请号：EP07727551.9

申请日：2007-03-30

Applicant: ABB Technology AB

Inventor： ADNER, Andreas ,  WANG, Jackson-Haipeng ,  QI, Levi-Liwei ,  YIN, Xingguo

IPC: B25J9/16 ,  G05B19/042

CPC classification number: B25J9/1661 ,  G05B19/0426 ,  G05B2219/23258 ,  G05B2219/23261 ,  G05B2219/39105 ,  G05B2219/40308 ,  G05B2219/40392 ,  G05B2219/40395 ,  Y02P90/083 ,  Y02P90/087

Abstract: The present invention relates to a method and an apparatus (1) for programming an industrial robot working in a work cell including one or more workstations and the robot is visiting and performing work on the workstations. The apparatus comprises: a memory location (2) for storing preprogrammed robot code comprising program instructions where accommodations for optional parameters are made, and for storing at least one predefined workstation having a plurality of different scenarios, each scenario including a set of parameters defining how the robot will perform work on the workstation, a graphical display and input device (3) adapted to present a graphical user interface displaying a graphical object representing the workstation, displaying information about the scenarios together with the graphical object representing the workstation and allowing the user to select one of the scenarios associated with the workstation, and a robot program generator (4) adapted to generate a robot program based on user selected scenarios and the preprogrammed robot code.