公开(公告)号：WO2008113783A2

公开(公告)日：2008-09-25

申请号：PCT/EP2008/053162

申请日：2008-03-17

Applicant: ABB Technology AB ,  BROGÅRDH, Torgny

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.

Abstract translation: 本发明涉及一种用于补偿工件（1）和保持物体（2）的装置（2）之间的几何关系中的一定数量的自由度的误差的方法和设备 。 包括至少一个传感器（3）的测量系统正在对物体提供表面测量。 该方法包括测量参考物体的第一参考表面（10），基于测量结果计算第一参考表面的位置和取向，以第一自由度移动参考物体，在第一参考表面上测量，计算 基于测量移动之后的第一参考表面的位置和取向，重复那些步骤至少相同数量的自由度作为物体可能相对于装置具有错误的自由度的数量， 对至少两个参考表面（11,12,13）执行相同的过程，计算所有参考表面的位置和方向变化，以及计算所计算的位置和方向变化与相应的位置和方向变化之间的关系 的对象。 使用关系来补偿对象位置和方向的错误。

公开(公告)号：WO2008110213A1

公开(公告)日：2008-09-18

申请号：PCT/EP2007/052445

申请日：2007-03-15

Applicant: ABB TECHNOLOGY AB ,  KNOBEL, Henrik ,  WARVELIN, Mats E.

Inventor： KNOBEL, Henrik ,  WARVELIN, Mats E.

IPC: B65G61/00 ,  B25J9/16

CPC classification number: B65G61/00 ,  B25J9/1687

Abstract: The invention relates to a method and a system for controlling an automatic flow of products. The system comprises a plurality of transport stations (1a-c) which supply or consume the products , at least one aggregation station (5a-b) on which an aggregation (6a-b) of products is built up or dismounted, a programmable mechanical device (8) adapted to move the products be- t w e e n the transport stations and the aggregation station, a queue for the aggregation station, and at least one computing device (9) having therein program code configured to: receive at least one sequence of operations defining at least a part of a desired flow of products to or from the aggregation station in order to build up or dismount said aggregation of products according to the pattern, load the received sequence of operations to t h e queue of the aggregation station, and repeat the following steps until all operations in the queue have been executed: retrieve next operation from the queue of the aggregation station, select one of the transport stations and control it based on the retrieved operation, and instruct the mechanical unit to perform movement s for transporting a product between the selected transport station and the aggregation station based on the retrieved operation.

Abstract translation: 本发明涉及一种用于控制产品自动流动的方法和系统。 该系统包括供给或消费产品的多个运送站（1a-c），至少一个聚集站（5a-b），其上建立或拆卸产品的聚集体（6a-b），可编程机械 设备（8），其适于移动所述传输站和所述聚合站之间的产品，所述聚合站的队列，以及其中具有程序代码的至少一个计算设备（9），其被配置为：接收至少一个操作序列 将聚合站的产品的期望流量的至少一部分定义到聚合站之上，以便根据模式建立或卸载所述产品聚集，将接收到的操作序列加载到聚合站的队列，并重复 执行以下步骤直到执行队列中的所有操作：从聚合站的队列中检索下一个操作，选择其中一个传输站并根据检索到的操作对其进行控制 并且指示机械单元基于检索的操作执行在所选择的传送站和聚合站之间传送产品的移动。

公开(公告)号：WO2012097866A1

公开(公告)日：2012-07-26

申请号：PCT/EP2011/050560

申请日：2011-01-18

Applicant: ABB TECHNOLOGY AB ,  LARSSON, Tomas ,  HOSINI, Falah

Inventor： LARSSON, Tomas ,  HOSINI, Falah

IPC: H02J3/36 ,  H02J7/00

CPC classification number: H02J7/0042 ,  H02J3/36 ,  H02J7/0063 ,  Y02E60/60

Abstract: A high voltage dc power source is provided for providing a charging current to an electronic device, comprising one or more strings connected in parallel, each string being subdivided into a plurality of dc power source units connected in series and each string being provided with at least one solid-state switch configured to connect and disconnect said string, and a control unit adapted to turn on and turn off the at least one solid-state switch, and the control unit is configured, upon receiving an order to connect the string, to control the at least one switch of the string to be alternately turned on and off so that a soft charging of the electronic device is achieved.

Abstract translation: 提供高压直流电源，用于向电子设备提供充电电流，包括并联连接的一个或多个串，每个串被细分成串联连接的多个直流电源单元，每个串至少提供至少 一个固态开关，其被配置为连接和断开所述串;以及控制单元，适于接通和断开所述至少一个固态开关，并且所述控制单元在接收到将所述串连接的命令时被配置为 控制串的至少一个开关被交替地接通和关断，从而实现电子设备的软充电。

公开(公告)号：WO2012022381A1

公开(公告)日：2012-02-23

申请号：PCT/EP2010/062083

申请日：2010-08-19

Applicant: ABB TECHNOLOGY AB ,  EMMERTZ, Bertil ,  ALT, Jean-Christophe ,  MURPHY, Steve

Inventor： EMMERTZ, Bertil ,  ALT, Jean-Christophe ,  MURPHY, Steve

IPC: G05B19/042 ,  G06F21/00

CPC classification number: B25J9/1602 ,  B25J9/1689 ,  G05B19/0426 ,  G05B19/0428 ,  G05B2219/24154 ,  G05B2219/24166 ,  G05B2219/24167 ,  G05B2219/24168 ,  G05B2219/40195 ,  Y10S901/02

Abstract: The present invention relates to a system and a method for providing safe remote access to a plurality of robot controllers positioned at a local site for a person positioned on a remote site. The system comprises a plurality of robot controllers (1), each capable of receiving credentials and including a authentication component (6) for authentication of the credentials, and an authorization component (7) for handling authorization for access to the robot controller based on the result of the authentication, a remote computer (2) located at a remote site and capable of communicating with the robot controllers and having an interface capable of receiving credentials and configured to send the credentials to the robot controllers, a server component (8) capable of communicating with the robot controllers, and an identifying component (10) positioned at the local site configured to receive proof of local access to one or more of the robot controllers and to send information on the local access to the server component. The server component is configured to authorize access to the robot controllers based on information on local access received from the identifying component, and the authorization component of the robot controller is configured to allow the remote computer access to the robot controllers when credentials have been authenticated and when access has been authorized by the server component.

Abstract translation: 本发明涉及一种系统和方法，用于为位于远程站点上的人的位于本地位置的多个机器人控制器提供安全的远程访问。 该系统包括多个机器人控制器（1），每个机器人控制器（1）能够接收证书并且包括用于认证凭证的认证组件（6），以及用于处理基于所述机器人控制器访问权限的授权组件（7） 认证结果，远程计算机（2）位于远程站点并且能够与机器人控制器通信并且具有能够接收凭证并被配置为将凭证发送给机器人控制器的接口，能够执行的服务器组件（8） 与所述机器人控制器通信的识别组件（10）以及位于所述本地站点处的被配置为接收对一个或多个所述机器人控制器的本地访问的证明并且发送关于对所述服务器组件的本地访问的信息的识别组件（10）。 服务器组件被配置为基于从识别组件接收的关于本地访问的信息来授权对机器人控制器的访问，并且机器人控制器的授权组件被配置为当证书已被认证时允许远程计算机访问机器人控制器，并且 当服务器组件授权访问时。

公开(公告)号：WO2011161059A2

公开(公告)日：2011-12-29

申请号：PCT/EP2011/060246

申请日：2011-06-20

Applicant: ABB TECHNOLOGY AB ,  BOLTÀ TOBELLA, Esteve ,  FERNÁNDEZ CORRAL, Isaac ,  VINUALES DUESA, Antonio-Lorenzo

Inventor： BOLTÀ TOBELLA, Esteve ,  FERNÁNDEZ CORRAL, Isaac ,  VINUALES DUESA, Antonio-Lorenzo

IPC: B65G61/00 ,  B21D43/22

CPC classification number: B65G61/00 ,  B21D43/22

Abstract: The invention relates to an improved stacking line system used to handle stacking of metal parts, workpieces, which may be semi-finished stamped parts or blanks (BL). The line includes conveyor apparatus (CNV) for transporting said metal blanks towards one or more stacking stations (SS1-3), where each stacking station is preferably arranged with at least one stacking pallet (St1-3L, St1-3R) on which said metal blanks are automatically stacked. At at least one stacking station an industrial robot (R1-R3) is arranged to pick, grip and lift a workpiece and stack it on said stacking pallet or in a rack. Moveable flaps (F1-F3) are arranged between the conveyor and a picking platform arranged above the conveyor line, from platform which the robot locates, grips and picks up the workpiece or blank, the position and orientation of which has been previously obtained through a vision (or other sensor) system, prior to stacking it. A method and a computer program for carrying out the method are also disclosed.

Abstract translation: 本发明涉及一种用于处理金属部件，工件的堆叠的改进的堆叠线系统，其可以是半成品冲压部件或坯料（BL）。 该线包括用于将所述金属坯料传送到一个或多个堆垛站（SS1-3）的输送设备（CNV），其中每个堆垛站优选地布置有至少一个堆垛托盘（St1-3L，St1-3R），所述 金属坯料自动堆叠。 在至少一个堆垛站，工业机器人（R1-R3）被布置成拾取，夹紧和提起工件并将其堆叠在所述堆垛托盘上或在机架中。 可移动襟翼（F1-F3）布置在输送机和布置在输送线上方的拾取平台之间，从机器人定位的平台上，抓住并拾取工件或坯料，其位置和取向先前通过 视觉（或其他传感器）系统，在堆叠之前。 还公开了一种用于执行该方法的方法和计算机程序。

公开(公告)号：WO2011032847A1

公开(公告)日：2011-03-24

申请号：PCT/EP2010/062957

申请日：2010-09-03

Applicant: ABB TECHNOLOGY AB ,  CASANELLES, Ramon ,  CORTÉS GRAU, Francesc

Inventor： CASANELLES, Ramon ,  CORTÉS GRAU, Francesc

IPC: B25J15/00 ,  B25J19/00

CPC classification number: B25J9/0084 ,  B25J19/06 ,  G01N21/8803 ,  G01N21/9515

Abstract: The invention is a system and method for production of manufactured parts comprising a production process having at least one industrial robot (2) equipped with a handling tool (8) for picking up the manufactured part (4). The robot is arranged in a quality inspection cell (9) and the robot is programmed to hold the manufactured part in at least one known position in the quality inspection cell and present the part for a quality inspection. The quality inspection may be made visually by an operator or with the aid of a tool or sensor or by means of automatic sensors. In other aspects of the invention a method, system and a computer program for carrying out the method are described.

Abstract translation: 本发明是一种用于生产制造零件的系统和方法，其包括具有至少一个工业机器人（2）的生产过程，所述工业机器人（2）配备有用于拾取制造部件（4）的操纵工具（8）。 机器人被布置在质量检查单元（9）中，并且机器人被编程为将制造的部件保持在质量检查单元中的至少一个已知位置，并呈现该部件以进行质量检查。 质量检查可以由操作者或借助于工具或传感器或通过自动传感器在视觉上进行。 在本发明的其他方面，描述了用于执行该方法的方法，系统和计算机程序。

公开(公告)号：WO2010142318A1

公开(公告)日：2010-12-16

申请号：PCT/EP2009/057037

申请日：2009-06-08

Applicant: ABB TECHNOLOGY AB ,  BROGÅRDH, Torgny

Inventor： BROGÅRDH, Torgny

IPC: G01L3/10 ,  G01L3/14 ,  F16H49/00 ,  B25J9/10 ,  F16H55/08

CPC classification number: G01L3/108 ,  B25J9/1025 ,  B25J13/085 ,  F16H49/001 ,  G01L3/1457

Abstract: The present invention relates to a device for measuring torque transmitted to an output shaft (20) by a harmonic drive gear assembly including a housing (10), a circular spline (16) mounted in the housing, and a flex spline (12) mounted on the output shaft. The device comprises at least one sensor (22a-b) arranged for measuring forces between the circular spline and the housing, and a computing unit configured to receive the measurements from the sensor and, based thereon, to calculate the transmitted torque.

Abstract translation: 本发明涉及一种用于测量通过谐波驱动齿轮组件传递到输出轴（20）的扭矩的装置，所述谐波驱动齿轮组件包括壳体（10），安装在壳体中的圆形花键（16）和安装在其上的挠曲花键 在输出轴上。 所述装置包括布置成用于测量所述圆形花键和所述壳体之间的力的至少一个传感器（22a-b），以及被配置为从所述传感器接收所述测量值并且基于此计算所述传递转矩的计算单元。

公开(公告)号：WO2010069377A1

公开(公告)日：2010-06-24

申请号：PCT/EP2008/067813

申请日：2008-12-18

Applicant: ABB TECHNOLOGY AB ,  KARLSSON, Jan

Inventor： KARLSSON, Jan

IPC: B25J9/00

CPC classification number: B25J9/0096 ,  B25J9/0084

Abstract: A robot work station kit (10, 20) comprising at least one robot (11, 21a, 21b), configured to perform a work, such as welding, on an object (12, 22), an object holder (13, 23), configured to hold the object (12, 22) on which the work is performed, and a robot controller (14, 24), configured to control the robot (11,21a, 21b) and the object holder (13, 23), wherein the robot work station kit (10, 20) comprises a frame (15, 25) to which the robot (11, 21 a, 21 b), the object holder (13, 23) and the robot controller (14, 24) are mounted.

Abstract translation: 一种机器人工作站套件（10,20），包括至少一个机器人（11,21a，21b），其被配置为在物体（12,22）上执行诸如焊接的工件，物体保持器（13,23） ，配置为保持进行了工件的物体（12,22）和被配置为控制机器人（11,21a，21b）和物体保持器（13,23）的机器人控制器（14,24） 其特征在于，所述机器人工作台组件（10,20）包括所述机器人（11,21a，21b），所述物体保持器（13,23）和所述机器人控制器（14,24）所在的框架（15,25） 被安装。

公开(公告)号：WO2010017835A1

公开(公告)日：2010-02-18

申请号：PCT/EP2008/060561

申请日：2008-08-12

Applicant: ABB TECHNOLOGY AB ,  EKELUND, Anders ,  MURPHY, Steve ,  CHARLES, Philippe ,  LÖVEMARK, Sara

Inventor： EKELUND, Anders ,  MURPHY, Steve ,  CHARLES, Philippe ,  LÖVEMARK, Sara

IPC: B25J9/16

CPC classification number: B25J9/1671 ,  G05B2219/35308 ,  G05B2219/40311 ,  G05B2219/40394

Abstract: The present invention relates to a system for off-line programming of an industrial robot (1) comprising a robot controller (2) for controlling the movements of the robot. The system further comprises an external computer (3) having a programming and simulation tool (10) with the capability of running one or more virtual robot controllers (12), and the real robot controller and the external computer are configured to allow communication with each other. The system further comprises a data transfer module (17) configured to, upon request, automatically transfer configuration and program data between the real robot controller and a virtual robot controller running on the external computer, and a filter component (18) configured to filter the transferred configuration and program data according to defined filtering rules.

Abstract translation: 本发明涉及一种用于工业机器人（1）的离线编程的系统，该系统包括用于控制机器人运动的机器人控制器（2）。 该系统还包括具有运行一个或多个虚拟机器人控制器（12）的能力的编程和仿真工具（10）的外部计算机（3），并且所述真实机器人控制器和所述外部计算机被配置为允许与每个 其他。 该系统还包括数据传输模块（17），其被配置为根据请求在真实机器人控制器和在外部计算机上运行的虚拟机器人控制器之间自动传送配置和程序数据;以及过滤器组件（18） 根据定义的过滤规则传输配置和程序数据。

公开(公告)号：WO2009147155A1

公开(公告)日：2009-12-10

申请号：PCT/EP2009/056767

申请日：2009-06-03

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

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.

Abstract translation: 本发明涉及一种接头的制造方法。 该方法包括以下步骤：A.将销钉安装在球上，B.在至少两个插座部分上加工球面; C.如果插座部分连接，则将研磨膏涂在球上和/或表面上 将销钉旋转到旋转球的设备，E.将球体组装在插座部分之间，F.在插座部分和球之间施加压力，G.在关节的工作范围内旋转和倾斜球。 从研磨膏清洁球和插座部件，以及通过将插座部件安装在球上来组装接头。 本发明还涉及通过根据本发明的方法获得的接头。