公开(公告)号：US20160229050A1

公开(公告)日：2016-08-11

申请号：US15016578

申请日：2016-02-05

Applicant: ABB Technology AG

Inventor： Jianjun Wang ,  Thomas A. Fuhlbrigge ,  Biao Zhang

IPC: B25J9/00

CPC classification number: B25J13/025 ,  B25J9/1689 ,  G05B2219/36455 ,  G05B2219/37396 ,  G06F3/016 ,  G06F2203/014 ,  G06F2203/015 ,  Y10S901/04

Abstract: One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.

Abstract translation: 一个示例性实施例是包括被构造为响应于操作者施加的力而移动并且可选择地向操作者输出反馈力的操作者输入装置的系统。 第一计算系统被构造成从操作者输入装置接收输入并提供输出。 第二计算系统被构造成接收输出并提供受力约束的机器人控制命令。 工业机器人系统与第二计算系统操作性地通信，并且包括被构造为响应于该命令而移动的机器人手臂。 第二计算系统被结构化处理输出以使用双阈值滞后控制施加力约束。 第一计算系统被构造成将反馈力施加到与工业机器人系统相关联的力相关联的操作者输入装置。

公开(公告)号：US20150369751A1

公开(公告)日：2015-12-24

申请号：US14762985

申请日：2014-01-24

Applicant: Luiz V. Cheim ,  George Zhang ,  Thomas Fuhlbrigge ,  Harald Staab ,  William Eakins ,  Gregory F. Rossano ,  Biao Zhang ,  Poorvi Patel ,  Marek Budyn ,  ABB TECHNOLOGY AG

Inventor： Luiz V. Cheim ,  George Zhang ,  Thomas Fuhlbrigge ,  Harald Staab ,  William Eakins ,  Gregory F. Rossano ,  Biao Zhang ,  Poorvi Patel ,  Marek Budyn

IPC: G01N21/88 ,  G01N21/95 ,  G01N21/90 ,  G01R31/02

CPC classification number: G01N21/8851 ,  B63G8/16 ,  B63G2008/005 ,  G01M3/38 ,  G01N21/9009 ,  G01N21/9072 ,  G01N21/95 ,  G01N2201/02 ,  G01R31/027 ,  G05D1/0044 ,  G21C17/013

Abstract: An inspection device for use in a fluid container having at least an opening includes a housing sized to fit through the opening. The housing has at least two fluid flow channels extending therethrough, each having an inlet and an outlet, and a pump maintained in the housing within each fluid flow channel. The pumps are selectively controlled to maneuver the housing within the fluid container. The inspection device continues with a method of in-situ inspection of a container having at least one opening to receive a fluid, that includes up-loading a virtual model of the container into a computer, inserting the device into the container, generating a position signal by the device and receiving the position signal on a computer. A virtual image of the device in the virtual model of the container is generated to determine an actual position of the device within the container.

Abstract translation: 用于至少具有开口的流体容器中的检查装置包括尺寸适于穿过开口的壳体。 壳体具有延伸穿过其中的至少两个流体流动通道，每个具有入口和出口，以及在每个流体流动通道内保持在壳体中的泵。 选择性地控制泵来操纵流体容器内的壳体。 检查装置继续采用对具有至少一个开口以容纳流体的容器进行现场检查的方法，该方法包括将容器的虚拟模型向上加载到计算机中，将装置插入容器中，产生位置 信号，并在计算机上接收位置信号。 产生容器的虚拟模型中的设备的虚拟图像，以确定设备在容器内的实际位置。

公开(公告)号：US20150314448A1

公开(公告)日：2015-11-05

申请号：US14649186

申请日：2013-12-03

Applicant: ABB TECHNOLOGY AG

Inventor： Biao Zhang ,  Jianjun Wang ,  George Q. Zhang ,  Sangeun Choi ,  Remus Boca ,  Thomas A. Fuhlbrigge ,  Tomas Groth ,  Harald Staab

IPC: B25J9/16

CPC classification number: B25J9/1689 ,  G05B2219/40195 ,  G05B2219/40399 ,  Y10S901/06 ,  Y10S901/30

Abstract: A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.

Abstract translation: 远离控制站的机器具有至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 机器位置处的控制器具有程序代码，该程序代码包括当执行时将控制器从控制器控制到控制站的指令。 程序代码可以具有与由机器执行的预定功能相关联的任务帧，其中任务帧被划分为由控制器控制的第一组和从控制站控制的第二组。 该系统还可以具有两个或多个远程位置的控制站，其中一个控制站可以在给定时间内控制机器。

公开(公告)号：US09132551B2

公开(公告)日：2015-09-15

申请号：US14075136

申请日：2013-11-08

Applicant: ABB Technology AG

Inventor： Biao Zhang ,  Harald Staab ,  Jianjun Wang ,  George Q. Zhang ,  Remus Boca ,  Sangeun Choi ,  Thomas A. Fuhlbrigge ,  Soenke Kock ,  Heping Chen

IPC: B25J9/16 ,  B25J13/00 ,  G05D1/00 ,  H04L29/08 ,  G05D1/02

CPC classification number: B25J9/1689 ,  B25J13/006 ,  G05B2219/33192 ,  G05B2219/33242 ,  G05B2219/34466 ,  G05D1/0022 ,  G05D1/0282 ,  H04L67/125

Abstract: A teleoperated robot system has a watchdog to determine if the rate of data transmission from a computing device such as a robot controller located in the station used by the operator of the teleoperated robot to the remotely located industrial robot has fallen below a minimum data rate or the time for transmission of data has exceeded a maximum time. Upon the occurrence of either or both of the foregoing, one or more types of corrective action are undertaken to bring the teleoperated robot and the processes performed by the robot.

Abstract translation: 遥控机器人系统具有看门狗，用于确定来自位于远程操作机器人的操作者所使用的站内的诸如机器人控制器的计算设备到远程工业机器人的数据传输速率是否已经低于最小数据速率或 数据传输的时间已超过最大时间。 在发生前述任何一个或两者时，进行一种或多种类型的纠正动作以使远程操作的机器人和机器人执行的处理。