公开(公告)号：WO2010088959A1

公开(公告)日：2010-08-12

申请号：PCT/EP2009/051359

申请日：2009-02-06

Applicant: ABB TECHNOLOGY AB ,  GROTH, Tomas ,  BRANTMARK, Håkan ,  STRANDBERG, Morten

Inventor： GROTH, Tomas ,  BRANTMARK, Håkan ,  STRANDBERG, Morten

IPC: G05B19/423

CPC classification number: G05B19/423 ,  G05B2219/35478 ,  G05B2219/36422 ,  G05B2219/36425 ,  G05B2219/36428 ,  G05B2219/36432 ,  G05B2219/36472 ,  G05B2219/41015 ,  G05B2219/41156 ,  G05B2219/41426 ,  G05B2219/49291

Abstract: The present invention relates to a method for programming an industrial robot comprising a manipulator (1 ) movable about a plurality of axes and a robot controller (2) controlling the movements of the manipulator and configured to switch between a position control mode and a floating control mode in which the manipulator has a reduced stiffness in at least one of the axes or in at least one Cartesian direction or orientation, wherein the method comprises: - switching the robot controller to the floating control mode, and - programming the robot by means of lead-through of the robot while at the same time the controller is in the floating control mode.

Abstract translation: 本发明涉及一种用于对工业机器人进行编程的方法，所述工业机器人包括可围绕多个轴线移动的操纵器（1）和控制所述操纵器的运动并被配置为在位置控制模式和浮动控制 其中所述操纵器在至少一个轴线上或至少一个笛卡尔方向或方位上具有降低的刚度，其中所述方法包括： - 将所述机器人控制器切换到所述浮动控制模式，以及 - 通过 同时机器人的导通，同时控制器处于浮动控制模式。

公开(公告)号：WO2010052031A1

公开(公告)日：2010-05-14

申请号：PCT/EP2009/053089

申请日：2009-03-16

Applicant: ABB TECHNOLOGY AB ,  BARKMAN, Lars ,  LINDEVALL, Mattias ,  CABANNE, Pascal ,  BYLUND, Peter ,  LJUNGKVIST, Joachim

Inventor： BARKMAN, Lars ,  LINDEVALL, Mattias ,  CABANNE, Pascal ,  BYLUND, Peter ,  LJUNGKVIST, Joachim

IPC: B25J19/00

CPC classification number: B25J19/0025 ,  B25J9/0009

Abstract: A process turning disc (1), connectable to an output shaft of a motor (21) by means of which the process turning disc (1) is rotatable about a first centre axis (13) of the process turning disc, and configured for guiding a cable (2) or hose, comprising a first flange (3; 33) connectable to an end part (4) of a robot arm (5) and a second flange (6; 36) connectable to a tool element (7). The flanges (3, 6; 33, 36) are spaced apart from each other by an intermediate connecting member (8; 38), the connecting member (8; 38) being connected to the flanges (3, 6; 33, 36), and the connecting member (8; 38) providing a passage (9; 39) between the flanges, which passage (9; 39) is configured for receiving and guiding the cable/hose (2) and said passage having an inlet side (11; 41) for the cable/hose and an outlet side (12; 42) for the cable/hose (2). The invention also defines a robot arm comprising such a process turning disc, a robot comprising such a robot arm and the use of such a process turning disc.

Abstract translation: 一种转盘（1），其可连接到电动机（21）的输出轴，所述过程转盘（1）可绕所述转盘的第一中心轴线（13）旋转，并被构造成用于引导 电缆（2）或软管，包括可连接到机器人臂（5）的端部（4）的第一凸缘（3; 33）和可连接到工具元件（7）的第二凸缘（6; 36）。 所述凸缘（3,6; 33,36）通过中间连接构件（8; 38）彼此隔开，所述连接构件（8; 38）连接到所述凸缘（3,6; 33,36） ，所述连接构件（8; 38）在所述凸缘之间提供通道（9; 39），所述通道（9; 39）构造成用于容纳和引导所述电缆/软管（2），并且所述通道具有入口侧 11; 41）和电缆/软管（2）的出口侧（12; 42）。 本发明还定义了包括这种过程转盘的机器人手臂，包括这种机器人臂的机器人以及这种转向盘的使用。

公开(公告)号：WO2010010078A1

公开(公告)日：2010-01-28

申请号：PCT/EP2009/059334

申请日：2009-07-21

Applicant: ABB TECHNOLOGY AB ,  Yu, GuoHong ,  Sun, Kangkai ,  Yin, HuaWei ,  Wang, Roc-PengFei ,  Chen, JianPing

Inventor： Yu, GuoHong ,  Sun, Kangkai ,  Yin, HuaWei ,  Wang, Roc-PengFei ,  Chen, JianPing

IPC: B23P21/00 ,  B23Q7/16 ,  B23Q41/02 ,  B65G37/02 ,  B65G47/31

CPC classification number: B23P21/004 ,  B65G47/31

Abstract: An apparatus (1) and a method for performing consecutive operations on products (2) is described. The apparatus (1) comprises a conveyor (3) for transportation of the products (2) along a series of stations (5, 6) positioned along the conveyor (3), wherein at least one of the stations (5, 6) is an automatic station (6). The apparatus (1) comprises at least one variable speed mechanism (8), which is arranged to move a product (2) from the conveyor (3) to an automatic station (6) and to return the product (2) to the conveyor (3) after the performance of the operations at the automatic station (6), wherein the variable speed mechanism (8) is arranged to move the product (2) at a lower speed than the conveyor (3) during performance of the operations at the automatic station (6).

Abstract translation: 描述了一种用于对产品（2）执行连续操作的装置（1）和方法。 装置（1）包括用于沿沿着输送机（3）定位的一系列站（5,6）输送产品（2）的输送机（3），其中站（5,6）中的至少一个是 自动站（6）。 装置（1）包括至少一个变速机构（8），其被设置成将产品（2）从输送机（3）移动到自动站（6）并将产品（2）返回到输送机 （3）在所述自动站（6）执行所述操作之后，其中所述变速机构（8）布置成在所述操作期间以比所述输送机（3）更低的速度移动所述产品（2） 自动站（6）。

公开(公告)号：WO2009149740A1

公开(公告)日：2009-12-17

申请号：PCT/EP2008/057139

申请日：2008-06-09

Applicant: ABB TECHNOLOGY AB ,  SVENSSON, Tommy Y ,  GUSTAFSSON, Magnus K ,  HAAGE, Mathias

Inventor： SVENSSON, Tommy Y ,  GUSTAFSSON, Magnus K ,  HAAGE, Mathias

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1671 ,  G05B2219/36404 ,  G05B2219/39021 ,  G05B2219/40099

Abstract: The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.

Abstract translation: 本发明涉及一种便于校准包括一个或多个物体（8）和工业机器人（1,2,3）的机器人单元的方法和系统，该机器人单元执行连接于该物体的工作，其中机器人单元被编程 通过离线编程工具，其包括用于基于对象的图形模型生成2D或3D图形的图形组件。 该系统包括位于离线编程站点处的计算机单元（10），并且被配置为存储用于每个对象的一系列校准点，并且生成包括所述对象的图形表示的图像序列（4） 校准和相对于物体的校准点，并且将图像传送到机器人，并且机器人被配置为在机器人单元的校准期间向机器人操作者显示所述图像序列，使得对于每个校准点，视图 包括目前的校准点和要校准的对象被显示给机器人操作者。

公开(公告)号：WO2009132703A1

公开(公告)日：2009-11-05

申请号：PCT/EP2008/055304

申请日：2008-04-30

Applicant: ABB TECHNOLOGY AB ,  FIXELL, Peter

Inventor： FIXELL, Peter

IPC: B25J9/16 ,  G05B19/401

CPC classification number: B25J9/1692 ,  G05B19/4015 ,  G05B2219/39021 ,  G05B2219/50026 ,  G05B2219/50036

Abstract: The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot (1) and a robot coordinate system. The method comprises: attaching a first calibration object (10) in a fixed relation to the robot, determining the position of the first calibration object in relation to the robot, locating at least three second calibration objects (14, 15, 16) in the working range of the robot, wherein at least one of the calibration objects is a male calibration object having a protruding part shaped as a sphere, and at least one of the calibration objects is a female calibration object comprising at least two nonparalIeI, inclining surfaces arranged to receive the sphere so that the sphere is in contact with the surfaces in at least one reference position, determining a reference position for each of the second calibration objects in the local coordinate system, for each second calibration object moving the robot until the sphere is in mechanical contact with the surfaces of the calibration object, reading the position of the robot when the sphere is in mechanical contact with all of the surfaces, and calculating the relation between the local coordinate system and the robot coordinate system based on the position of the first calibration object in relation to the robot, the reference positions of the second calibration objects in the local coordinate system, and the positions of the robot when the sphere is in mechanical contact with the surfaces of the second calibration objects.

Abstract translation: 本发明涉及一种用于确定位于工业机器人（1）的工作范围内的局部坐标系与机器人坐标系之间的关系的方法和系统。 该方法包括：将第一校准物体（10）以固定关系附接到机器人，确定第一校准物体相对于机器人的位置，将至少三个第二校准物体（14,15,16）定位在 所述机器人的工作范围，其中所述校准对象中的至少一个是具有形状为球体的突出部分的雄性校准对象，并且所述校准对象中的至少一个是雌性校准对象，所述雌性校准对象包括至少两个非平行倾斜表面， 接收球体使得球体与至少一个参考位置中的表面接触，确定用于局部坐标系中的每个第二校准物体的参考位置，对于移动机器人的每个第二校准物体，直到球体为 与校准对象的表面机械接触时，当球体与所有表面机械接触时读取机器人的位置，a 基于第一校准对象相对于机器人的位置，局部坐标系中的第二校准对象的参考位置和机器人的位置来计算局部坐标系和机器人坐标系之间的关系 球体与第二校准物体的表面机械接触。

公开(公告)号：WO2009030338A3

公开(公告)日：2009-03-12

申请号：PCT/EP2008/006550

申请日：2008-08-08

Applicant: ABB TECHNOLOGY AB ,  SCHMIDT, Peter, G. ,  FELTZ, Guy

Inventor： SCHMIDT, Peter, G. ,  FELTZ, Guy

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

Abstract: Die Erfindung betrifft ein Roboterwerkzeug (22) zum Bearbeiten von Werkstücken (16) mit einem Anschlusselement für eine Verbindung mit einem Roboter, bei dem eine Schneidklinge (28) durch ein Halteelement (24) in einer vorgegebenen Position gehalten ist, wobei das Halteelement durch das Anschlusselement mit dem Roboter verbindbar ist.

公开(公告)号：WO2009030338A2

公开(公告)日：2009-03-12

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 for machining workpieces, comprising a connecting element for connection to a robot. The invention is characterized in that a cutting blade is maintained in a predetermined position by a retaining element, said retaining element being connectible to the robot by means of the connecting element.

Abstract translation: 本发明涉及一种用于具有用于连接到机器人，其中，切削刀片由在预定位置的保持部件，其中，所述保持元件可通过与该机械手的连接元件被连接保持的连接元件的工件的加工机器人的工具。

公开(公告)号：WO2008145184A1

公开(公告)日：2008-12-04

申请号：PCT/EP2007/055248

申请日：2007-05-30

Applicant: ABB TECHNOLOGY AB ,  FIXELL, Peter ,  BRIKHO, Samuel

Inventor： FIXELL, Peter ,  BRIKHO, Samuel

IPC: G05B19/401

CPC classification number: G05B19/401 ,  G05B2219/37376 ,  G05B2219/39024 ,  G05B2219/40272 ,  G05B2219/49195

Abstract: The present invention relates to an apparatus and a method for automatically calibrating a linear track (20) along which a device is moving while it is performing work. The method comprises: moving a mechanical unit (18), provided with a first angle- measuring sensor (1) arranged for measuring an angle relative to the vertical line about a first measuring axis and a second angle-measuring sensor (2) arranged for measuring an angle relative to the vertical line about a second measuring axis essentially perpendicular to the measuring axis of the first angle-measuring sensor, along the track, receiving angular measurements from both angle-measuring sensors for a plurality of locations along the track, and calculating vertical changes in position along the length of the track for both sides of the track based on the received angular measurements from both angle-measuring sensors.

Abstract translation: 本发明涉及一种用于在正在进行工作时自动校准装置正在移动的线性轨道（20）的装置和方法。 该方法包括：移动机械单元（18），该机械单元设置有第一角度测量传感器（1），该第一角度测量传感器设置成围绕第一测量轴线测量相对于垂直线的角度;以及第二角度测量传感器（2） 沿着所述轨道测量相对于所述垂直线的相对于基本上垂直于所述第一角度测量传感器的测量轴线的第二测量轴线的角度，从沿着所述轨道的多个位置的两个角度测量传感器接收角度测量值，以及 基于来自两个角度测量传感器的接收的角度测量，计算轨道的两侧的轨道的长度上的位置的垂直变化。

公开(公告)号：WO2008113783A3

公开(公告)日：2008-11-13

申请号：PCT/EP2008053162

申请日：2008-03-17

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH 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）与保持物体的装置（2）之间的几何关系中的一定数量的自由度中的误差的方法和装置。 包括至少一个传感器（3）的测量系统在物体上提供表面测量。 该方法包括测量参考对象的第一参考表面（10），基于测量来计算第一参考表面的位置和取向，以第一自由度移动参考对象，在第一参考表面上测量，计算 基于测量在移动之后的第一参考表面的位置和取向，重复与物体相对于该装置有误差的自由度的至少相同数量的自由度的那些步骤， 对至少两个更多的参考表面（11,12,13）执行相同的程序，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取向变化与位置和取向的相应变化之间的关系 的对象。 使用关系来补偿对象位置和方向上的错误。

公开(公告)号：WO2010046374A1

公开(公告)日：2010-04-29

申请号：PCT/EP2009/063770

申请日：2009-10-21

Applicant: ABB TECHNOLOGY AB ,  EKELUND, Anders ,  MURPHY, Steve

Inventor： EKELUND, Anders ,  MURPHY, Steve

IPC: G05B19/409

CPC classification number: G05B19/409 ,  G05B2219/36162 ,  G05B2219/39443 ,  G05B2219/40099

Abstract: The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (1 ), the teach pendant comprising a graphical screen (6), and a native user interface program (9) which creates a graphical user interface and displays the user interface on the graphical screen. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more animated graphical objects, instructions for displaying the animated objects on the graphical screen, information on the behavior of the animated graphical objects, and instructions on how the user can interact with the animated graphical objects, and the processing component is configured to display the animated graphical objects on the screen and to set up a sandbox providing an isolation mechanism for safely running the application without disturbing the execution of normal teach pendant operations, and said user interface program is programmed to host directly the processing component and instructing it to load and display the application containing the animated graphical objects.

Abstract translation: 本发明涉及一种耦合到可编程机器人控制器（1）的机器人示教装置（2），所述示教装置包括图形屏幕（6）和原始用户界面程序（9），其创建图形用户界面和 在图形屏幕上显示用户界面。 机器人教导装置还包括能够接收包括一个或多个动画图形对象的应用的处理组件（10），用于在图形屏幕上显示动画对象的指令，关于动画图形对象的行为的信息以及关于如何 用户可以与动画图形对象交互，并且处理组件被配置为在屏幕上显示动画图形对象，并且设置沙盒，提供用于安全地运行应用程序的隔离机制，而不会干扰正常教学吊坠操作的执行， 并且所述用户界面程序被编程为直接托管处理组件并指示其加载和显示包含动画图形对象的应用。