公开(公告)号：WO2016128066A1

公开(公告)日：2016-08-18

申请号：PCT/EP2015/053101

申请日：2015-02-13

Applicant: ABB TECHNOLOGY LTD

Inventor： LAGER, Anders

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B2219/39135 ,  G05B2219/40497 ,  G05B2219/45063

Abstract: In a robot system (10) comprising a plurality of robots (20, 40) with overlapping work areas (60) a risk for collision between the robots (20, 40) exists if they are allowed to simultaneously operate within the overlapping work areas (60). A method for avoiding collisions between two robots (20, 40) in such robot system (10) comprises the steps of: providing (320) first movement information (240) related to a first robot movement (190)which is to be executed (360) by a first robot (20); retrieving (340) the first movement information (240); determining (350) for a plurality of second robot movements (210) whether they involve a risk for collision between the first and second robots (20, 40); and executing (360) one of the second robot movements (210). In a robot system (10) configured to carry out a pick and place task each robot (20, 40) oftentimes has a plurality of available robot movements that can be executed (360) depending on which item (140) to pick or at which empty place (160) to place an item (140). Information about a movement of one robot (20, 40) enables a robot controller (70, 80) of another robot (20, 40) with an overlapping work area (60) to select (330) among available robot movements an appropriate one that does not involve a risk for collision between the two robots (20, 40).

Abstract translation: 在包括具有重叠工作区域（60）的多个机器人（20,40）的机器人系统（10）中，如果允许在重叠工作区域内同时操作，则机器人（20,40）之间存在碰撞的风险存在 60）。 一种用于避免这种机器人系统（10）中的两个机器人（20,40）之间的碰撞的方法包括以下步骤：提供（320）与待执行的第一机器人运动（190）相关的第一移动信息（240） 360）; 检索（340）第一移动信息（240）; 确定（350）多个第二机器人运动（210）是否涉及第一和第二机器人（20,40）之间的碰撞风险; 以及执行（360）第二机器人运动之一（210）。 在被配置为执行拾取和放置任务的机器人系统（10）中，每个机器人（20,40）通常具有可以执行的多个可用机器人运动（360），这取决于要选择的项目（140） 空的地方（160）放置物品（140）。 关于一个机器人（20,40）的运动的信息使得具有重叠工作区域（60）的另一个机器人（20,40）的机器人控制器（70,80）可以在可用的机器人运动之间选择（330） 不涉及两台机器人碰撞的风险（20，40）。

公开(公告)号：WO2016124237A1

公开(公告)日：2016-08-11

申请号：PCT/EP2015/052332

申请日：2015-02-04

Applicant: ABB TECHNOLOGY LTD

Inventor： TENGNER, Tomas ,  LACHICHI, Amel ,  HARNEFORS, Lennart ,  KARMIRIS, Georgios

IPC: H02M7/797 ,  H02J3/32 ,  H02M7/49 ,  H02M7/483

CPC classification number: H02M1/12 ,  H02J3/32 ,  H02J7/0052 ,  H02J7/345 ,  H02M7/219 ,  H02M7/49 ,  H02M7/797 ,  H02M2007/4835

Abstract: The present disclosure relates to a multilevel power converter 1 comprising at least one phase leg. The phase leg comprises a plurality of cascaded chain link connected cells 2, each cell comprising a capacitor 3 and two semiconductor switches 5 in series, each with an anti-parallel connected diode 6. The plurality of cascaded chain link connected cells comprises first and second cells 2a and 2b which form a mirrored cell-pair such that the two semiconductor switches of each of the first and second cells are all connected in series with each other. The converter further comprises an energy storage 4 connected between the first and second cells.

Abstract translation: 本公开涉及包括至少一个相位支路的多电平功率转换器1。 相位支路包括多个级联的链节连接单元2，每个单元包括电容器3和串联的两个半导体开关5，每个具有反并联连接的二极管6.多个级联链式连接的单元包括第一和第二 单元2a和2b，其形成镜像单元对，使得第一和第二单元中的每一个的两个半导体开关都彼此串联连接。 转换器还包括连接在第一和第二单元之间的能量存储器4。

公开(公告)号：WO2016119875A1

公开(公告)日：2016-08-04

申请号：PCT/EP2015/051928

申请日：2015-01-30

Applicant: ABB TECHNOLOGY LTD

Inventor： MAJUMDER, Ritwik ,  BERGGREN, Bertil ,  VELOTTO, Giovanni ,  JONSSON, Tomas ,  AUDDY, Soubhik ,  JOSEFSSON, Jenny

IPC: H02J1/10 ,  H01H9/00

CPC classification number: H02J1/10 ,  H01H9/00 ,  H02H7/268

Abstract: The invention concerns a switchyard for interconnecting direct current power networks (N1, N2, N3) and a direct current power transmission system comprising such a switchyard. The switchyard comprises a number of interconnected entities comprising at least two main circuit breakers (MB1, MB2) and a number of transfer switches (TS1, TS2, TS3, TS4, TS5, TS6, TS7), where each network has two connections to the switchyard, at least one via a transfer switch (TSi, TS2, TS3, TS4, TS5, TS7), each main circuit breaker has four connections in the switchyard, two at each end of the main circuit breaker and at least one via a transfer switch (TS1, TS2, TS3, TS4, TS5), and each network is joined with every other network via a corresponding path through at least one main circuit breaker as well as via a corresponding path bypassing all main circuit breakers.

Abstract translation: 本发明涉及用于互连直流电力网络（N1，N2，N3）和包括这种开关站的直流电力传输系统的开关站。 开关站包括多个互连的实体，其包括至少两个主断路器（MB1，MB2）和多个转接开关（TS1，TS2，TS3，TS4，TS5，TS6，TS7），其中每个网络具有两个连接到 开关站，至少一个通过转换开关（TSi，TS2，TS3，TS4，TS5，TS7），每个主断路器在开关场具有四个连接，两个在主断路器的两端，并且至少一个通过传输 交换机（TS1，TS2，TS3，TS4，TS5），并且每个网络通过至少一个主断路器以及绕过所有主断路器的对应路径经由相应的路径与每隔一个网络连接。

公开(公告)号：WO2016119843A1

公开(公告)日：2016-08-04

申请号：PCT/EP2015/051750

申请日：2015-01-29

Applicant: ABB TECHNOLOGY LTD

Inventor： CHEN, Nan ,  LAIHONEN, Sari ,  HYTTINEN, Mats ,  DELINCE, Francois ,  SALINAS, Ener ,  PERSSON, Erik

IPC: H02M7/00 ,  H01L25/11 ,  H05K7/14

CPC classification number: H02M7/003 ,  H01L25/117 ,  H01L2924/0002 ,  H05K7/1432 ,  H01L2924/00

Abstract: The present disclosure relates to a valve unit comprising a plurality of converter cells, a plurality of connecting elements and a plurality of holding elements.. The plurality of converter cells is arranged as a stack along an axial direction. A holding element is arranged to support at least one converter cell. A converter cell includes a body extending in a radial direction between an outer perimeter and an inner perimeter such that the stack of converter cells defines an inner space. The plurality of connecting elements are arranged to mechanically connect the holding elements. The connecting elements extend from a first holding element to another in a space delimited by the outer perimeter of a converter cell arranged between the holding elements. The valve unit may form part of a converter in a high voltage direct current converter station.

Abstract translation: 本发明涉及一种包括多个转换器单元，多个连接元件和多个保持元件的阀单元。多个转换器单元沿轴向布置为堆叠。 保持元件布置成支撑至少一个转换器单元。 转换器单元包括在外周和内周之间沿径向方向延伸的主体，使得转换器单元的叠层限定内部空间。 多个连接元件布置成机械连接保持元件。 连接元件在由设置在保持元件之间的转换器单元的外周限定的空间中从第一保持元件延伸到另一个。 阀单元可以在高压直流转换器站中形成转换器的一部分。

公开(公告)号：WO2016119147A1

公开(公告)日：2016-08-04

申请号：PCT/CN2015/071761

申请日：2015-01-28

Applicant: ABB TECHNOLOGY LTD ,  CHEN, Rui ,  YUAN, Zhipeng ,  LIU, Xuan ,  YAN, Jiaquan

Inventor： CHEN, Rui ,  YUAN, Zhipeng ,  LIU, Xuan ,  YAN, Jiaquan

IPC: H01H9/26

CPC classification number: H01H9/24 ,  H01H3/46 ,  H01H9/26 ,  H01H31/003 ,  H01H31/08 ,  H01H31/10 ,  H01H31/28 ,  H01H31/32 ,  H01H33/42

Abstract: A mechanical interlock assembly for a disconnector and an earthing switch is provided. It comprises: a main interlock disc (172) configured to actuate a movable contact of a disconnector (11), and at least one earthing switch interlock disc (173, 173') configured to actuate respective movable contact of at least one earthing switch (12, 13) respectively. The main interlock disc (172) is provided with at least one first groove (1721), and each of the at least one earthing switch interlock disc (173, 173') is provided with a third groove (1731), and it is provided with a movable interlock pin (174) between the main interlock disc (172) and each earthing switch interlock disc (173, 173') respectively. This interlock assembly can interlock the disconnector and the at least one earthing switch, and has the advantages of a simple structure, low cost and flexibility for different arrangements. A further mechanical interlock assembly is also provided to interlock another disconnector and one of the above at least one earthing switch.

Abstract translation: 提供了用于隔离开关和接地开关的机械联锁组件。 它包括：构造成致动断路器（11）的可动触点的主互锁盘（172）和被配置为致动至少一个接地开关的相应可动触点的至少一个接地开关互锁盘（173,173'） 12,13）。 主互锁盘172设置有至少一个第一凹槽，并且至少一个接地开关互锁盘173,173'中的每一个设置有第三凹槽1731） 在主互锁盘（172）和每个接地开关互锁盘（173,173'）之间分别具有可动互锁销（174）。 该联锁组件可以互锁隔离开关和至少一个接地开关，并且具有结构简单，成本低，灵活性好的优点。 还提供另一机械互锁组件以互锁另一隔离开关和上述至少一个接地开关中的一个。

公开(公告)号：WO2016103227A1

公开(公告)日：2016-06-30

申请号：PCT/IB2015/059973

申请日：2015-12-24

Applicant: ABB TECHNOLOGY LTD.

Inventor： VARGHESE, Anitha ,  KANDE, Mallikarjun ,  GAONKAR, Pradnya

IPC: H04J3/06 ,  H04Q9/14 ,  H02J13/00

CPC classification number: H04J3/0667 ,  G05B19/41865 ,  G05B2219/31213 ,  G05B2219/31229 ,  H04J3/0641 ,  H04J3/0682

Abstract: The present invention provides a method for time synchronizing one or more devices in a control network using a first device. The method comprises selecting a first device from information of the topology of the control network. The method further comprises sending a first set of packets to the second device, receiving a first set of delay requests in response to the first set of packets, and sending a first set of delay responses in response to the first set of delay requests. The method further comprises, determining a first set of forward times and first set of backward times. The method further comprises, determining a first minimum forward time and a first minimum backward time. Further the method comprises determining a first correction factor. The method also comprises, applying the first correction factor to a clock provided at the second device and storing the first correction factor.

Abstract translation: 本发明提供一种用于使用第一设备对控制网络中的一个或多个设备进行时间同步的方法。 该方法包括从控制网络拓扑的信息中选择第一设备。 该方法还包括向第二设备发送第一组分组，响应于第一组分组接收第一组延迟请求，以及响应于第一组延迟请求发送第一组延迟响应。 该方法还包括：确定第一组前进时间和第一组后退时间。 该方法还包括：确定第一最小前进时间和第一最小向后时间。 此外，该方法包括确定第一校正因子。 该方法还包括：将第一校正因子应用于在第二设备处提供的时钟并存储第一校正因子。

公开(公告)号：WO2016101161A1

公开(公告)日：2016-06-30

申请号：PCT/CN2014/094768

申请日：2014-12-24

Applicant: ABB TECHNOLOGY LTD ,  LI, Yue ,  LIU, Jianwei ,  QI, Zijiang

Inventor： LI, Yue ,  LIU, Jianwei ,  QI, Zijiang

IPC: B65G47/52

CPC classification number: B65G47/647 ,  B65G47/71

Abstract: A divider mechanism, for directing articles (100) traveling along a stem conveyor (10) to at least two branch conveyors (20) arranged on a downstream of the stem conveyor (10) is disclosed. The divider mechanism comprises a sensing member (30), a controller (40), a shunting member (50), wherein, the sensing member (30) is located near the end of the stem conveyor (10), configured to generate a signal to the controller (40) when sensing an article (100) passing by a specified position; the controller (40) is configured to control the shunting member (50); the shunting unit (50) comprises a driving unit (51) and a guide unit (55) which is driven by the driving unit (51); the guide unit (55) is movably mounted on a downstream of the stem conveyor (10) to separate the articles (100) from the stem conveyor (10) to each branch conveyor (20) respectively, capable of swinging between a first position and a second position during an interval of the adjacent articles (100); when the guide unit (55) is at the first position, the article (100) is directed to the first branch conveyor (21); and when the guide unit (55) is at the second position, the article (100) is directed to the second branch conveyor (22). An article handling machine comprising the divider mechanism is also disclosed. Compared with the existing prior arts, the proposed solution is available for shunting high-speed products on the transportation line.

Abstract translation: 公开了一种用于将沿着输送机（10）行进的物品（100）引导到布置在所述杆式输送机（10）的下游的至少两个分支输送机（20）的分隔机构。 分离器机构包括感测构件（30），控制器（40），分流构件（50），其中，感测构件（30）位于杆传送器（10）的端部附近，被配置为产生信号 当检测到通过指定位置的物品（100）时，所述控制器（40） 所述控制器（40）构成为控制所述分流部件（50）。 分流单元（50）包括由驱动单元（51）驱动的驱动单元（51）和引导单元（55）; 引导单元（55）可移动地安装在杆式输送机（10）的下游，以将物品（100）与杆式输送机（10）分离成分别到每个分支输送机（20），能够在第一位置和 在相邻物品（100）的间隔期间的第二位置; 当引导单元（55）处于第一位置时，物品（100）被引导到第一分支输送机（21）; 并且当所述引导单元（55）处于所述第二位置时，所述物品（100）被引导到所述第二分支输送机（22）。 还公开了一种包括分隔机构的物品处理机。 与现有的现有技术相比，提出的解决方案可用于在运输线上分流高速产品。

公开(公告)号：WO2016101130A1

公开(公告)日：2016-06-30

申请号：PCT/CN2014/094617

申请日：2014-12-23

Applicant: ABB TECHNOLOGY LTD ,  CHEN, Yao ,  HUANG, Xing

Inventor： CHEN, Yao ,  HUANG, Xing

IPC: H02J3/38

CPC classification number: F03D9/257 ,  F03D7/0264 ,  F03D7/0272 ,  F03D7/0284 ,  F03D7/042 ,  F05B2270/107 ,  H02J3/386 ,  H02J11/00 ,  H02J2003/388 ,  H02S10/10 ,  Y02E10/763

Abstract: A method and a control system using the same for coordinating control of a plurality of wind turbines (10-15, 20-25, 30-35) of a wind farm (1) during a fault in a utility grid to which power is to be delivered via at least one cable (50, 51, 52) of the wind farm. The method includes: opening each of the electrical connections; selecting at least one wind turbine of the plurality of wind turbines according to a criteria where a sum of value for active power supply that is available from the selected at least one generator is equal or above a sum of values for active power consumption that is consumable by the energy storage system of the selected at least one wind turbine, the auxiliary equipment of the selected at least one wind turbine and the substation level auxiliary equipment; activating the selected wind turbine; for the selected wind turbine: electrically connecting the power input of its converter (101-151, 201-251, 301-351) to the power output of its generator (100-150, 200-250, 300-350), electrically connecting the power output of its converter to the power input of its auxiliary equipment, the power input of its energy storage system (106-156, 206-256, 306-356) and the corresponding cable, and electrically connecting the power input of a substation level auxiliary equipment (9) to the cable which is electrically connected to the selected wind turbine; the activated wind turbine acting as active power supply for the substation level auxiliary equipment. The method and the control system using the same provide an effective and economic way of using the power generated by the wind turbine generator for powering the auxiliary equipment of the wind turbine, charging the energy storage system of the wind turbine and powering the substation level auxiliary equipment, during the wind farm operates in an islanding mode.

Abstract translation: 一种使用该方法和控制系统的方法和控制系统，用于在电力公用电网的故障期间协调对风电场（1）的多个风力涡轮机（10-15,20-25,30-35）的控制 通过风力发电场的至少一根电缆（50,51,52）传送。 该方法包括：打开每个电连接; 根据标准，选择多个风力涡轮机中的至少一个风力涡轮机，其中从所选择的至少一个发电机可用的有效电力的总和值等于或高于用于消耗的有功功率的值之和 所选择的至少一个风力涡轮机的能量存储系统，所选择的至少一个风力涡轮机的辅助设备和变电站级辅助设备; 激活所选择的风力涡轮机; 对于所选择的风力涡轮机：将其转换器（101-151,201-251,301-351）的功率输入与其发电机（100-150,200-250,3300-350）的功率输出电连接，电连接 其转换器的功率输出到其辅助设备的功率输入，其能量存储系统（106-156,206-256,306-356）的功率输入和相应的电缆，并且电连接变电站的功率输入 电平辅助设备（9）连接到电气连接到所选择的风力涡轮机的电缆; 作为变电站级辅助设备的有功电源的激活风力发电机。 使用该方法和控制系统提供了一种有效和经济的方式来使用由风力涡轮发电机产生的电力为风力涡轮机的辅助设备供电，为风力涡轮机的储能系统充电并为变电站水平辅助 设备，风力发电场运行在孤岛模式。

公开(公告)号：WO2016091283A1

公开(公告)日：2016-06-16

申请号：PCT/EP2014/076950

申请日：2014-12-09

Applicant: ABB TECHNOLOGY LTD

Inventor： SIRKETT, Daniel

IPC: B65G47/14

CPC classification number: B65G47/1478 ,  B65G2203/0225 ,  B65G2203/0233 ,  B65G2203/041

Abstract: A component feeder (1) comprises a container (3) for storage of components (5), a component supporting arrangement (10) comprising a component supporting member (12) and a component presentation surface (16), and a transfer arrangement (7) for transferring components from the container onto the component presentation surface. The component supporting arrangement (10) further comprises at least one cover member (14) arranged to cover at least a part of the component supporting member (12), and the at least one cover member (14) is configured to be exchangeable.

Abstract translation: 部件供给器（1）包括用于存储部件（5）的容器（3），包括部件支撑部件（12）和部件呈现表面（16）的部件支撑装置（10）和传送装置 ），用于将组件从容器传送到组件呈现表面上。 所述部件支撑装置（10）还包括至少一个覆盖部件（14），所述至少一个盖部件（14）被布置成覆盖所述部件支撑部件（12）的至少一部分，并且所述至少一个盖部件（14）构造成可更换。

公开(公告)号：WO2016086370A1

公开(公告)日：2016-06-09

申请号：PCT/CN2014/092927

申请日：2014-12-03

Applicant: ABB TECHNOLOGY LTD ,  HE, Liang ,  WANG, Xiaobo ,  ZHAI, Lilei ,  DAI, Bihao ,  LIU, Zhe ,  LOHBECK, Axel

Inventor： HE, Liang ,  WANG, Xiaobo ,  ZHAI, Lilei ,  DAI, Bihao ,  LIU, Zhe ,  LOHBECK, Axel

IPC: G08C19/00 ,  G01D18/00

CPC classification number: G05B19/0423 ,  G05B2219/21015 ,  G05B2219/25301

Abstract: A calibration method for an expansion board to be used for modularized automation device is provided. The method includes: connecting the expansion board, a calibration device and a controller to a main board of the modularized automation device respectively; running a pre-stored script by the controller to obtain calibration parameters of the expansion board; and transmitting and storing the obtained calibration parameters into a non-volatile memory on the expansion board. A calibration system and a modularized automation device using the same are also provided.

Abstract translation: 提供了一种用于模块化自动化设备的扩展板的校准方法。 该方法包括：将扩展板，校准装置和控制器分别连接到模块化自动化设备的主板; 由控制器运行预存的脚本以获得扩展板的校准参数; 并将获得的校准参数发送和存储在扩展板上的非易失性存储器中。 还提供了校准系统和使用其的模块化自动化设备。