公开(公告)号：US12214506B2

公开(公告)日：2025-02-04

申请号：US17401342

申请日：2021-08-13

Applicant: ABB Schweiz AG

Inventor： Fan Dai

IPC: B25J9/16

Abstract: A method for robotic assembly includes: receiving product data including product structure data and/or product geometry data of a product with a base component and at least one assembly part to be assembled; analyzing the product data to determine robot functions relating to functions of a robot for assembly of the product as determined robot functions; generating a robot program including assembly instructions dependent on the determined robot functions and the product data; and executing the generated robot program so as to identify and/or localize the at least one assembly part and assemble the product.

公开(公告)号：US20240253254A1

公开(公告)日：2024-08-01

申请号：US18635146

申请日：2024-04-15

Applicant: ABB Schweiz AG

Inventor： Harald Staab ,  Björn Matthias ,  Nima Enayati ,  Fan Dai

IPC: B25J19/02 ,  B25J9/16 ,  G06V40/10

CPC classification number: B25J19/023 ,  B25J9/1674 ,  B25J9/1697 ,  G06V40/10

Abstract: A robotic system includes a moveable component, a controller, and an environment sensor for monitoring at least a region of the operating range, the environment sensor comprising a camera configured to deliver a 2D image of a field of view of the camera and a TOF device for measuring a distance between the environment sensor and an object in the field of view based on propagation time of a polling signal from the TOF device to the object and back; wherein an optical element for redirecting the field of view to the region is provided in a light path between the region and the environment sensor.

公开(公告)号：US20230083691A1

公开(公告)日：2023-03-16

申请号：US17992362

申请日：2022-11-22

Applicant: ABB Schweiz AG

Inventor： Fan Dai ,  Nuo Li ,  Sebastian Breisch ,  Debora Clever

IPC: B25J9/16 ,  B25J15/08

Abstract: A robot application development system and method includes a robot application unit that determines a robot application, which defines the industrial robot in a robot workspace. An input interface receives robot application information. An object data interface receives work piece information. A gripper finger design unit determines a gripper finger design. The robot application unit determines the robot application using the robot application information. The gripper finger design unit determines the gripper finger design using the work piece information and the robot application information.

公开(公告)号：US11110609B2

公开(公告)日：2021-09-07

申请号：US17029064

申请日：2020-09-23

Applicant: ABB Schweiz AG

Inventor： Fan Dai

IPC: B25J9/16 ,  B25J13/08

Abstract: A method for visually controlling a robot arm which is displaceable in a plurality of degrees of freedom, the robot arm carrying at least one displaceable reference point, includes the steps of: a) placing at least one camera so that a target point where the reference point is to be placed is contained in an image output by the at least one camera; b) displacing the robot arm so that the reference point is within the image; c) determining a vector which, in the image, connects the reference point to the target point; d) choosing one of the plurality of degrees of freedom, moving the robot arm by a predetermined standard distance in the one degree of freedom, and recording a standard displacement of the reference point within the image resulting from the movement of the robot arm; e) repeating step d) at least until the vector can be decomposed.

公开(公告)号：US20210162596A1

公开(公告)日：2021-06-03

申请号：US17169575

申请日：2021-02-08

Applicant: ABB Schweiz AG

Inventor： Debora Clever ,  Fan Dai ,  Hao Ding ,  Tomas Groth ,  Bjoern Matthias ,  Arne Wahrburg

IPC: B25J9/16

Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.