公开(公告)号：WO2009143882A1

公开(公告)日：2009-12-03

申请号：PCT/EP2008/056481

申请日：2008-05-27

Applicant: ABB TECHNOLOGY AB ,  JOHANSSON, Görgen

Inventor： JOHANSSON, Görgen

IPC: B23K9/095 ,  B23K9/12 ,  B23K9/28 ,  B25J9/16 ,  B23K9/127

CPC classification number: B23K9/0953 ,  B23K9/0956 ,  B23K9/126 ,  B23K9/1272 ,  B23K9/1276 ,  B23K9/287

Abstract: The invention relates to an arc welding robot having a welding gun (2) a welding power source (3), a robot controller (4), a current sensor (5) sensing the current supplied to the arc, a position measurement system (7) sensing the position of the welding gun (2) and processing means processing data related to the sensed current and the sensed position and delivering robot commands based on the processed data. According to the invention the processing means is the micro processor (8) of the robot controller (4). The invention also relates to a corresponding method for controlling an arc welding robot.

Abstract translation: 本发明涉及一种具有焊枪（2），焊接电源（3），机器人控制器（4），感测供给电弧的电流的电流传感器（5）的电弧焊机器人，位置测量系统 ）感测焊枪（2）的位置，以及处理装置，处理与感测到的电流和感测位置相关的数据，以及基于处理的数据传送机器人命令。 根据本发明，处理装置是机器人控制器（4）的微处理器（8）。 本发明还涉及一种用于控制电弧焊机器人的相应方法。

公开(公告)号：WO2009106407A2

公开(公告)日：2009-09-03

申请号：PCT/EP2009051213

申请日：2009-02-04

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J13/08 ,  G01L5/16

CPC classification number: B25J13/085 ,  B25J17/0266 ,  G01L5/16

Abstract: The invention relates to a multi-DOF sensor for an industrial robot, which robot has at least two DOF. The multi-DOF sensor is arranged for sensing at least one force and is constituted by a plurality of one-DOF sensors (11, 12). A first end face of each one-DOF sensor (11, 12) is connected to a surface of a first body (31 a, 31 b) and a second end face of each one-DOF sensor (11, 12) is connected to a surface of a second body. The invention also relates to an industrial robot comprising the invented multi-DOF sensor.

Abstract translation: 本发明涉及一种用于工业机器人的多自由度传感器，该机器人具有至少两个DOF。 所述多自由度传感器布置成用于感测至少一个力并且由多个单自由度传感器（11,12）构成。 每个单DOF传感器（11,12）的第一端面连接到第一主体（31a，31b）的表面，并且每个单DOF传感器（11,12）的第二端面连接到 第二体的表面。 本发明还涉及一种包括本发明的多自由度传感器的工业机器人。

公开(公告)号：WO2009097895A1

公开(公告)日：2009-08-13

申请号：PCT/EP2008/051404

申请日：2008-02-05

Applicant: ABB Technology AB ,  NYLÈN, Olov ,  SVENSSON, Kjell I ,  SJÖBERG, Ralph

Inventor： NYLÈN, Olov ,  SVENSSON, Kjell I ,  SJÖBERG, Ralph

IPC: B25J9/16 ,  G05B19/408 ,  G05B19/409

CPC classification number: G05B19/409 ,  G05B19/4083 ,  G05B2219/36163 ,  G05B2219/39443 ,  G05B2219/39448

Abstract: The present invention relates to an industrial robot system comprising a plurality of robots, a plurality of robot controllers for controlling the robots, a handheld teach pendant unit (7) for teaching and programming the robots, and a communication link arranged for transmitting and receiving information between the teach pendant unit and the robot controllers. The robot system comprises login means (26) for login the teach pendant unit to one of the controllers, thereby allowing the teach pendant unit access to control programs on the controller, the teach pendant unit comprises a display means (12) for displaying control programs retrieved from the controller. The login means is configured to allow the teach pendant unit to simultaneously be logged on to two or more of the controllers, thereby allowing the teach pendant unit simultaneous access to control programs on two or more controllers, and said display means is configured to simultaneously display control programs from at least two controllers.

Abstract translation: 本发明涉及一种包括多个机器人的工业机器人系统，用于控制机器人的多个机器人控制器，用于对机器人进行教导和编程的手持式示教器单元（7），以及布置成用于发送和接收信息的通信链路 示教单元和机器人控制器之间。 机器人系统包括登录装置（26），用于将教导装置单元登录到控制器之一，从而允许示教单元访问控制器上的控制程序，示教装置包括显示装置（12），用于显示控制程序 从控制器检索。 登录装置被配置为允许示教装置同时登录到两个或更多个控制器，从而允许教导装置同时访问两个或更多个控制器上的控制程序，并且所述显示装置被配置为同时显示 控制程序从至少两个控制器。

公开(公告)号：WO2009083031A1

公开(公告)日：2009-07-09

申请号：PCT/EP2007/064603

申请日：2007-12-28

Applicant: ABB TECHNOLOGY AB ,  JONSSON, Ingvar

Inventor： JONSSON, Ingvar

IPC: H02P5/46 ,  G05B19/19

CPC classification number: H02P5/46 ,  G05B19/258 ,  G05B19/318 ,  G05B19/378 ,  G05B2219/42033 ,  G05B2219/42186 ,  H05K7/1452

Abstract: The present invention relates to servo controller for controlling a plurality of motors including a master motor (M 1 ) and a slave motor (M 2 ) cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references (pos ref ) for the master motor, the servo controller comprises a master speed controller (6a) configured to calculate a reference torque (τ ref1 ) for the master motor based on speed errors (v err1 ) for the master motor. The slave speed controller (6b) is configured to calculate refer ence torques (τ ref2 ) for the slave motor based on speed errors (V err2 ) for the slave motor. Each of the reference torques includes a proportional torque part (τ p1 ,τ p2 ) and an integral torque part ((τ I1 ,(τ I2 ). The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.

Abstract translation: 本发明涉及用于控制多个电动机的伺服控制器，所述电动机包括主动机（M1）和辅助驱动可动件的从动电动机（M2）。 伺服控制器被配置为基于主电机的位置参考（posref）来控制主电动机和从动电动机，伺服控制器包括主速度控制器（6a），其被配置为计算主电动机的参考转矩（tref1） 基于主电机的速度误差（verr1）。 从速控制器（6b）被配置为基于从动马达的速度误差（Verr2）来计算从动马达的参考转矩（tref2）。 每个参考转矩包括比例转矩部分（tp1，tp2）和积分转矩部分（（tI1，（tI2）），伺服控制器被配置为基于主电动机的速度误差来计算每个积分转矩部分 和从动马达的速度误差，使得由于整体扭矩部分引起的扭矩将平均分配在主马达或从动马达之间或根据预定比例。

公开(公告)号：WO2009030338A4

公开(公告)日：2009-06-25

申请号：PCT/EP2008006550

申请日：2008-08-08

Applicant: ABB TECHNOLOGY AB ,  SCHMIDT PETER G ,  FELTZ GUY

Inventor： SCHMIDT PETER G ,  FELTZ GUY

IPC: B25J15/00 ,  B23D35/00 ,  B25J15/04 ,  B25J15/06 ,  B25J19/02 ,  B26D3/10 ,  B26D7/18 ,  B26F1/38

CPC classification number: B25J15/0019 ,  B23D35/008 ,  B25J11/0055 ,  B25J15/04 ,  B25J15/0616 ,  B25J19/023 ,  B26D3/10 ,  B26D5/00 ,  B26D7/10 ,  B26D7/1863 ,  B26F1/3806

Abstract: The invention relates to a robot tool (22) for machining workpieces (16), comprising a connecting element for connection to a robot. The invention is characterized in that a cutting blade (28) is maintained in a predetermined position by a retaining element (24), said retaining element being connectible to the robot by means of the connecting element.

Abstract translation: 本发明涉及一种机器人的工具（22），用于加工工件（16）与其中一个切削刀片（28）由保持元件（24）在预定位置被保持用于连接到机器人的连接元件，其中，通过所述保持部件 连接元件可连接与机器人。

公开(公告)号：WO2009046761A1

公开(公告)日：2009-04-16

申请号：PCT/EP2007/060720

申请日：2007-10-09

Applicant: ABB Technology AB ,  WÄPPLING, Daniel ,  FAVOT, Guido ,  FORS, Michael

Inventor： WÄPPLING, Daniel ,  FAVOT, Guido ,  FORS, Michael

IPC: B25J15/00

CPC classification number: B25J17/0266 ,  B25J9/0051 ,  B25J15/04 ,  B25J15/0616

Abstract: The invention relates to an industrial robot device. The device has a swivel with attachment means for the attachment of a tool. According to the invention the attachment means includes at least two different attachment devices for two different kinds of tools. A first attachment device (9, 10) includes positioning means (9) defining a certain angular position of an attached tool relative to the swivel. A second attachment device (10) is arranged for allowing an arbitrary angular position of an attached tool relative to the swivel. The invention also relates to an industrial robot that is provided with the invented device and to a method for manipulating objects.

Abstract translation: 本发明涉及一种工业机器人装置。 该装置具有用于附接工具的连接装置的旋转件。 根据本发明，附接装置包括用于两种不同类型的工具的至少两个不同的附接装置。 第一附接装置（9,10）包括定位装置（9），其限定所连接的工具相对于旋转件的一定角度位置。 第二附接装置（10）布置成允许所连接的工具相对于旋转件的任意角度位置。 本发明还涉及一种设置有本发明的设备的工业机器人和用于操纵物体的方法。

公开(公告)号：WO2008119383A1

公开(公告)日：2008-10-09

申请号：PCT/EP2007/053079

申请日：2007-03-30

Applicant: ABB TECHNOLOGY AB ,  ADNER, ANDREAS ,  WANG, JACKSON-HAIPENG ,  QI, LEVI-LIWEI ,  YIN, XINGGUO

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.

Abstract translation: 本发明涉及一种用于编程在包括一个或多个工作站的工作单元中工作的工业机器人的方法和装置（1），并且机器人正在访问并在工作站上执行工作。 该装置包括：用于存储预编程的机器人代码的存储器位置（2），其包括制定用于可选参数的存储的程序指令，以及用于存储具有多个不同场景的至少一个预定义工作站，每个场景包括一组参数，其定义如何 机器人将在工作站上执行工作，图形显示和输入设备（3）适于呈现显示表示工作站的图形对象的图形用户界面，与表示工作站的图形对象一起显示关于场景的信息，并允许用户 选择与所述工作站相关联的场景之一，以及适于基于用户选择的场景和所述预编程机器人代码生成机器人程序的机器人程序生成器（4）。

公开(公告)号：WO2008113807A2

公开(公告)日：2008-09-25

申请号：PCT/EP2008/053241

申请日：2008-03-18

Applicant: ABB TECHNOLOGY AB ,  BROGÅRDH, Torgny

Inventor： BROGÅRDH, Torgny

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/4099

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

Abstract: The present invention relates to an apparatus for automatically fine-tuning a robot program for carrying out a material removal process on an object (1) by means of a robot (4). The apparatus comprising a measuring system (3) configured to measure the geometry of the object, and at least one computing device (5) having program code comprising code configured to: control the robot to pick a reference object processed with a desired process result, and move the reference object into the measuring range of the measuring system, receive measurements of the geometry of processed parts of the reference object, control the robot to pick a not processed work object of the same type as the reference object, control the robot to perform the material removal process on the work object in accordance with the programmed robot path, control the robot to move the work object into the measuring range of the measuring system, receive measurements of the geometry of the work object after the removal process, calculate deviations between the geometry of the processed work object and the processed reference object, determine whether the calculated deviations are acceptable, and if the deviations are acceptable store the adjusted robot path, and if the deviations are not acceptable adjust the robot path based on the geometrical deviations and repeat the procedure for a new object.

Abstract translation: 本发明涉及一种用于通过机器人（4）自动微调用于在物体（1）上执行材料移除过程的机器人程序的设备。 所述设备包括被配置为测量所述对象的几何形状的测量系统（3）以及具有程序代码的至少一个计算设备（5），所述程序代码包括代码，所述代码被配置为：控制所述机器人选择用期望处理结果处理的参考对象， 并将参考物体移动到测量系统的测量范围内，接收参考物体的加工部件的几何结构的测量值，控制机器人拾取与参考物体相同类型的未处理的工件，控制机器人 根据编程的机器人路径在工件上执行材料去除过程，控制机器人将工件移动到测量系统的测量范围内，在移除过程之后接收工件的几何形状的测量结果，计算偏差 在被处理的工作对象的几何结构和处理的参考对象之间，确定计算的偏差是否可接受，并且i f偏差是可以接受的存储调整后的机器人路径，如果偏差不可接受，则根据几何偏差调整机器人路径，并重复一个新对象的程序。

公开(公告)号：WO2007082954A1

公开(公告)日：2007-07-26

申请号：PCT/EP2007/050613

申请日：2007-01-22

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

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

IPC: B25J9/10 ,  F16H49/00

CPC classification number: B25J9/1025 ,  F16H49/001

Abstract: The invention provides an industrial robot comprising a first robot part (38a) and a second robot part (4a) arranged to be moved in relation to each other, and at least one drive unit (1) arranged to move one of the robot parts (,) during operation of the robot. The at least one drive unit (1) is arranged as a compact module (39) with a common housing (38) comprising a lightweight electric motor (40) and a lightweight speed reducer (5), the drive unit module (39) comprises a mounting flange (4), and the drive unit module is arranged such that the common housing (38,) is connected to the first robot part (38a) and the mounting flange is connected to the second robot part (4a).

Abstract translation: 本发明提供了一种工业机器人，其包括：第一机器人部件（38a）和布置成相对于彼此移动的第二机器人部件（4a）;以及至少一个驱动单元（1），其布置成移动所述机器人部件 ，）在机器人的运行期间。 所述至少一个驱动单元（1）被布置为具有包括轻质电动机（40）和轻量级减速器（5）的公共壳体（38）的紧凑模块（39），所述驱动单元模块（39）包括 安装凸缘（4），并且驱动单元模块布置成使得公共壳体（38）连接到第一机器人部件（38a），并且安装凸缘连接到第二机器人部件（4a）。

公开(公告)号：WO2011161059A3

公开(公告)日：2012-03-08

申请号：PCT/EP2011060246

申请日：2011-06-20

Applicant: ABB TECHNOLOGY AB ,  BOLTA TOBELLA ESTEVE ,  FERNANDEZ CORRAL ISAAC ,  VINUALES DUESA ANTONIO-LORENZO

Inventor： BOLTA TOBELLA ESTEVE ,  FERNANDEZ 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。