公开(公告)号：WO2010045968A1

公开(公告)日：2010-04-29

申请号：PCT/EP2008/064213

申请日：2008-10-21

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 (3), the teach pendant comprising a processor (7) for operating the teach pendant and a graphical screen (6) coupled to the processor. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more graphical objects, instructions for displaying the objects on the graphical screen, information on the behavior of the graphical objects, and instructions on how the user can interact with the graphical objects, and said processor is configured to run the processing component.

Abstract translation: 本发明涉及一种耦合到可编程机器人控制器（3）的机器人示教装置（2），所述示教装置包括用于操作示教器的处理器（7）和耦合到处理器的图形屏幕（6）。 机器人教导装置还包括能够接收包括一个或多个图形对象的应用的处理组件（10），用于在图形屏幕上显示对象的指令，关于图形对象的行为的信息以及用户可以如何 与图形对象交互，并且所述处理器被配置为运行处理组件。

公开(公告)号：WO2010045965A1

公开(公告)日：2010-04-29

申请号：PCT/EP2008/064176

申请日：2008-10-21

Applicant: ABB TECHNOLOGY AB ,  JONSSON, Ingvar

Inventor： JONSSON, Ingvar

IPC: G01R35/00

CPC classification number: G01R35/005 ,  G01R19/0092 ,  H02M7/5387 ,  H02M2001/0009

Abstract: The present invention relates to a device for compensating gain errors of current sensors used in a three-phase inverter (3). The inverter comprises a plurality of switches (10a-b,11a-b,12a-b) configured to switch the current in the three phases in response to control signals (S1-S6). The current ina first phase (6a) is measured by a first current sensor (2a) and the current in a second phase (6c) is measured by a second current sensor (2b). The device comprises: a control unit (8) configured, during a calibration period, to generate control signals to control the switches so that the same current is running through the first and second phases, a data storage (14) configured to store sensor values (X,Y) from the first and second current sensors during the calibration period, a computing unit (16) configured to calculate at least one gain compensating parameter (P G ) based on said stored sensor values, and a compensating unit (18) configured, during normal operation of the inverter, to compensate for differences in gain between the first and second sensors based on said gain compensating parameter.

Abstract translation: 本发明涉及用于补偿在三相逆变器（3）中使用的电流传感器的增益误差的装置。 逆变器包括响应于控制信号而在三相中切换电流的多个开关（10a-b，11a-b，12a-b）（S1-S6）。 电流入口第一相（6a）由第一电流传感器（2a）测量，并且第二相（6c）中的电流由第二电流传感器（2b）测量。 该设备包括：控制单元（8），其在校准周期期间被配置为产生控制信号以控制开关，使得相同的电流在第一和第二阶段中运行;数据存储器（14），被配置为存储传感器值 （16），被配置为基于所述存储的传感器值来计算至少一个增益补偿参数（PG）;以及补偿单元（18），被配置为在所述第一和第二电流传感器 在逆变器的正常运行期间，基于所述增益补偿参数来补偿第一和第二传感器之间的增益差。

公开(公告)号：WO2009109064A1

公开(公告)日：2009-09-11

申请号：PCT/CN2008/000436

申请日：2008-03-05

Applicant: ABB TECHNOLOGY AB ,  ZHANG, Hui ,  CHI, Yonglin ,  PENG, Wen

Inventor： ZHANG, Hui ,  CHI, Yonglin ,  PENG, Wen

IPC: B23Q15/16 ,  B23Q15/28 ,  G05B19/18

CPC classification number: G05B19/404 ,  G05B2219/50312 ,  G05B2219/50326

Abstract: The invention discloses a method for compensating tool wear for a tool (3) having force control based adjustment or the like of the tool (3). The method includes the steps of: defining a reference point on the machine; establishing the position of the reference point for at least on predetermined operation point; measuring the actual position of the reference point at the predetermined operation point during operation; calculating the tool wear based on the difference between the reference position and the actual position, and accomplishing a compensation movement in response to the calculated tool wear. The invention also discloses a machine tool for performing the method.

Abstract translation: 本发明公开了一种用于对具有基于工具（3）的基于力控制的调整等的工具（3）补偿工具磨损的方法。 该方法包括以下步骤：在机器上定义参考点; 至少在预定操作点上建立参考点的位置; 在操作期间在预定操作点处测量参考点的实际位置; 基于参考位置和实际位置之间的差异来计算刀具磨损，并且响应于所计算的刀具磨损而完成补偿运动。 本发明还公开了一种用于执行该方法的机床。

公开(公告)号：WO2008087137A1

公开(公告)日：2008-07-24

申请号：PCT/EP2008/050390

申请日：2008-01-15

Applicant: ABB TECHNOLOGY AB ,  LARSSON, Jan

Inventor： LARSSON, Jan

IPC: B25J9/10 ,  F16H57/02 ,  F16H55/18 ,  B25J9/00

CPC classification number: B25J17/0283 ,  B25J9/103 ,  F16H57/12 ,  F16H2057/125

Abstract: The invention relates to a method for assembly of a first part (1) to a second part (2) of a manipulator (5), wherein the first part (1) has a first interface surface (8) and the second part has a second interface surface (9), which first and second interface surfaces (8, 9) after the assembly forms an interface (3) between said first part (1) and said second part (2), the second part (2) further being provided with a pinion (15) rotatable about a second symmetry axis (13) and the first part (1) being provided with a gearwheel (25) rotatable about a first symmetry axis (7), the method comprising: - providing at least one of said interface surfaces (8, 9) with a guide member (34), about which the first part (1) is rotatable in parallel relation to said the first (7) and second symmetry axis (13), - joining said first part (1) and said second part (2) of the manipulator such that said first interface surface (8) and said second interface surface (9) being compatible to each other, - rotating the first part (1) about said guide member (34) until the gearwheel (25) fully meshes the pinion (15), - fastening the first part (1) firmly to said second part (2) by means for fastening (10).

Abstract translation: 本发明涉及一种用于将第一部分（1）组装到操纵器（5）的第二部分（2）的方法，其中所述第一部分（1）具有第一界面（8），并且所述第二部分具有 第二接口表面（9），组装之后的第一和第二界面（8,9）在所述第一部分（1）和所述第二部分（2）之间形成界面（3），第二部分（2）还包括 设置有可围绕第二对称轴线（13）旋转的小齿轮（15），并且所述第一部件（1）设置有可围绕第一对称轴线（7）旋转的齿轮（25），所述方法包括： - 提供至少一个 所述接口表面（8,9）具有引导构件（34），所述第一部分（1）围绕所述引导构件平行于所述第一对（7）和第二对称轴线（13）旋转， - 将所述第一部分 （1）和所述第二部分（2），使得所述第一界面（8）和所述第二界面（9）彼此相容， - 旋转 使所述第一部分（1）围绕所述引导构件（34）缠绕，直到所述齿轮（25）完全啮合所述小齿轮（15）， - 通过用于紧固的装置（10）将所述第一部分（1）牢固地固定到所述第二部分 ）。

公开(公告)号：WO2012061970A1

公开(公告)日：2012-05-18

申请号：PCT/CN2010/078522

申请日：2010-11-08

Applicant: ABB TECHNOLOGY AB ,  LI, Mao ,  ZHANG, George ,  NIDAMARTHI, Srinivas ,  WANG, Tuanwei ,  SRIVASTAVA, Ashutosh

Inventor： LI, Mao ,  ZHANG, George ,  NIDAMARTHI, Srinivas ,  WANG, Tuanwei ,  SRIVASTAVA, Ashutosh

IPC: B07C5/344 ,  G01R31/36

CPC classification number: B07C5/344 ,  G01R31/36 ,  G01R31/3627 ,  H01M10/482

Abstract: A batteries (14, 140, 141) testing and sorting system (1) comprises: an industrial robot (10), comprising a manipulator (100) and a controller (101), with a gripper (102) mounted on the manipulator, for picking the battery for testing and sorting; a first battery holding section (11) disposed within the working range of the industrial robot, for receiving the batteries for testing and sorting at predetermined locations in the first battery holding section; and a testing section (13) disposed within the working range of the industrial robot, for testing an electrical condition of the battery for testing and sorting. The controller is adapted to control the manipulator and the gripper to first-pick the battery for testing and sorting at the predetermined location in the first battery holding section and place it to contact the testing section for testing. The testing section is adapted to test the battery and send to the controller a signal indicating the electrical condition of the tested battery, and the controller is adapted to control the manipulator and the gripper to second-pick the battery contacting the testing section and sort it according to the signal. By having the industrial robot in the system and the method thereof, it can replace workers for all material handing, testing and sorting etc. and can simplify the sorting system, reduce the worker's operation and human error, improve the productivity, sorting accuracy and the consistency/coherence of the product.

Abstract translation: 电池（14,140,​​141）测试和分拣系统（1）包括：工业机器人（10），包括操纵器（100）和控制器（101），其中安装有操纵器上的夹持器（102），用于 挑选电池进行测试和分选; 设置在工业机器人的工作范围内的第一电池保持部（11），用于在第一电池保持部的预定位置接收用于测试和分类的电池; 以及设置在工业机器人的工作范围内的测试部分（13），用于测试用于测试和分类的电池的电气状态。 所述控制器适于控制所述操纵器和所述夹持器，以在所述第一电池保持部分中的所述预定位置处首先挑选所述电池进行测试和分类，并将其与所述测试部分接触以进行测试。 测试部分适用于测试电池并向控制器发送指示被测电池的电气状态的信号，并且控制器适于控制操纵器和夹持器来二次接触与测试部分接触的电池并将其分类 根据信号。 通过使系统中的工业机器人及其方法，可以替代工人进行所有的物料搬运，检验和分类等工作，可以简化分拣系统，减少工人的操作和人为错误，提高生产率，分拣精度和 产品的一致性/一致性

公开(公告)号：WO2011018117A1

公开(公告)日：2011-02-17

申请号：PCT/EP2009/060548

申请日：2009-08-14

Applicant: ABB TECHNOLOGY AB ,  OLOFSSON, Åke ,  SELNES, Tony

Inventor： OLOFSSON, Åke ,  SELNES, Tony

IPC: G05B19/423

CPC classification number: G05B19/423 ,  G05B2219/35478 ,  G05B2219/36422 ,  G05B2219/36425 ,  G05B2219/36472 ,  G05B2219/39054 ,  G05B2219/45104

Abstract: The present invention relates to a method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object (2). The robot comprises a tool (4) having two arms (5a- b) adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator (3) adapted to hold the tool or the work object, and a controller (7) controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method comprises moving the manipulator and the tool according to the program instructions until one of the target points is reached, switching the controller to the compliant control mode so that the manipulator has a reduced stiffness in said opening and closing direction of the tool, moving the tool arm in the closing direction until the work object is clamped between the tool arms, by that moving the manipulator to the correct position in relation to the work object, and storing the positions of the axes of the manipulator and the position of the tool, and based thereon adjusting the program instructions for the movements of the manipulator and the tool at the target point.

Abstract translation: 本发明涉及一种用于调整程序的方法，该程序包括用于控制工业机器人在工作对象（2）上的多个目标点执行工作的程序指令。 机器人包括具有适于夹紧工件的两个臂（5a- b）的工具（4a），并且至少一个臂被布置为可以相对于另一个臂在开启和关闭方向上移动，操纵器（3）适于 控制器（7），其控制所述操纵器和所述工具臂的移动，并且被配置为在正常控制模式和柔性控制模式之间切换，其中所述操纵器至少具有降低的刚度 一个方向。 该方法包括根据程序指令移动操纵器和工具，直到到达目标点之一，将控制器切换到顺从控制模式，使得操纵器在工具的所述打开和关闭方向上具有减小的刚度，移动 工具臂处于关闭方向，直到工作对象被夹在工具臂之间，通过将操纵器相对于工作对象移动到正确的位置，并且存储操纵器的轴的位置和工具的位置 并且基于此调整用于在目标点处的操纵器和工具的运动的程序指令。

公开(公告)号：WO2010086016A1

公开(公告)日：2010-08-05

申请号：PCT/EP2009/050916

申请日：2009-01-28

Applicant: ABB TECHNOLOGY AB ,  BARKMAN, Lars ,  LJUNGKVIST, Joachim

Inventor： BARKMAN, Lars ,  LJUNGKVIST, Joachim

IPC: H02G3/04 ,  H02G3/06 ,  H02G11/00

CPC classification number: H02G11/00 ,  H02G3/0462 ,  H02G3/0691

Abstract: A device (102; 202) for locking a helical element (302) to a unit (502, 504), the helical element (302) having several turns (304) and being adapted to house a length of at least one cable (508). The device (102; 202) comprises a rigid hollow sleeve (104; 204) defining a longitudinal axis (x-x) and being insertable into the helical element (302), and the sleeve (104; 204) is adapted to surround a longitudinal extension of the at least one cable (508). The device (102; 202) comprises at least two members (106, 108; 206, 208) each comprising a radial extension (110, 112; 210, 212) outside the sleeve (104; 204). Each radial extension (110, 112; 210, 212) extends substantially radially in relation to the longitudinal axis of the sleeve (104; 204) and is adapted to engage between two turns (304) of the helical element (302). The members (106, 108; 206, 208) are spaced apart in the circumferential direction, and in that the members (106, 108; 206, 208) are adapted to be locked into engagement with said unit (502, 504). An arrangement for protecting at least one cable comprising said helical element (302) and said device (102; 202).

Abstract translation: 一种用于将螺旋元件（302）锁定到单元（502,504）的装置（102; 202），所述螺旋元件（302）具有多个匝（304）并且适于容纳至少一根电缆（508 ）。 装置（102; 202）包括限定纵向轴线（xx）并且可插入到螺旋元件（302）中的刚性中空套筒（104; 204），并且套筒（104; 204）适于围绕纵向延伸部 的所述至少一个电缆（508）。 所述装置（102; 202）包括至少两个构件（106,108; 206,208），每个构件包括在所述套筒（104; 204）外部的径向延伸部分（110,112; 210,212）。 每个径向延伸部分（110,112; 210,212）相对于套筒（104; 204）的纵向轴线大致径向地延伸，并且适于在螺旋元件（302）的两个匝（304）之间接合。 构件（106,108; 206,208）在圆周方向上间隔开，并且构件（106,108; 206,208）适于与所述单元（502,504）锁定。 一种用于保护包括所述螺旋元件（302）和所述装置（102; 202）的至少一根电缆的装置。

公开(公告)号：WO2010060484A1

公开(公告)日：2010-06-03

申请号：PCT/EP2008/066443

申请日：2008-11-28

Applicant: ABB TECHNOLOGY AB ,  GONG, Yuhong ,  LIU, Chuan ,  YANG, Jibo ,  CAO, Xiaodong

Inventor： GONG, Yuhong ,  LIU, Chuan ,  YANG, Jibo ,  CAO, Xiaodong

IPC: B25J9/16

CPC classification number: B25J9/1692

Abstract: A calibration tool (14) for a robot arm (2). The calibration tool comprises a calibration element (15), a calibration guide (30) and a calibration reference member (32). The robot arm comprises an outer robot arm (4), an inner robot arm (6), an output member (8), a first joint (10) permitting the outer robot arm to be rotated around a first rotation axis (R1), a second joint (12) permitting the output member to be rotated around a second rotation axis (R2). The calibration reference member is attached to the inner robot arm. The calibration guide is configured to be brought into engagement with the calibration reference member by means of rotation of the outer robot arm around the first rotation axis and the output member around the second rotation axis so that the orientations of the outer robot arm and the output member are set to the predetermined orientation.

Abstract translation: 一种用于机器人手臂（2）的校准工具（14）。 校准工具包括校准元件（15），校准引导件（30）和校准基准构件（32）。 机器人手臂包括外部机器人手臂（4），内部机器人手臂（6），输出构件（8），允许外部机器人臂围绕第一旋转轴线（R1）旋转的第一接头（10） 允许输出构件围绕第二旋转轴线（R2）旋转的第二接头（12）。 校准基准构件附接到内部机器人手臂。 校准引导件构造成通过围绕第一旋转轴线的外部机器人臂的旋转和围绕第二旋转轴线的输出构件与校准基准构件接合，使得外部机器人臂和输出端的取向 构件被设定为预定方位。

公开(公告)号：WO2010060459A1

公开(公告)日：2010-06-03

申请号：PCT/EP2008/066123

申请日：2008-11-25

Applicant: ABB Technology AB ,  ANDERSSON, Björn

Inventor： ANDERSSON, Björn

IPC: G05B19/401

CPC classification number: G05B19/401

Abstract: The present invention relates to a method and an apparatus for calibration of an industrial robot system including at least one robot (1 ) having a robot coordinate system (x r1 ,y r1 ,z r1 ) and a positioner (2) having a positioner coordinate system (x p , y p , Z p ) and adapted to hold and change the orientation of a workpiece by rotating it about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (X 01 ,y 01 , z 01 )- The apparatus comprising a robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot. The positions of the calibration objects are known in the object coordinate system. The robot controller is configured to determine the positions of the calibration objects with respect to the robot coordinate system, to determine the positions of a first (24a) and a second (24c) of said calibration objects for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner in the robot coordinate system based on the determined positions of the first and second calibration objects for the three angles of the axis, and to determine the relation between the first object coordinate system and the positioner coordinate system by performing a best fit between the known and the determined positions of the calibration objects.

Abstract translation: 本发明涉及一种用于校准工业机器人系统的方法和装置，该工业机器人系统包括至少一个具有机器人坐标系（xr1，yr1，zr1）的机器人（1）和具有定位器坐标系的定位器（2） ，yp，Zp），并且适于通过围绕旋转轴线旋转来保持和改变工件的取向。 机器人的目标点相对于物体坐标系（X01，y01，z01）进行编程 - 包括机器人控制器（3）的装置，布置在定位器上的至少三个校准对象（24a-c）和校准 由机器人保持的工具（26）。 校准对象的位置在对象坐标系中是已知的。 所述机器人控制器被配置为确定所述校准物体相对于所述机器人坐标系的位置，以确定所述校准物体的第一（24a）和第二（24c）至少三个不同的旋转角度的位置 基于所确定的轴的三个角度的第一和第二校准对象的位置来确定机器人坐标系中的定位器的旋转轴线的方向，并且确定第一对象之间的关系 坐标系和定位器坐标系，通过在校准对象的已知和确定的位置之间进行最佳拟合。

公开(公告)号：WO2010025768A1

公开(公告)日：2010-03-11

申请号：PCT/EP2008/061719

申请日：2008-09-04

Applicant: ABB TECHNOLOGY AB ,  KONG, Peng ,  LI, Du

Inventor： KONG, Peng ,  LI, Du

IPC: G05B19/409

CPC classification number: G05B19/409 ,  G05B2219/36043 ,  G05B2219/36045 ,  G05B2219/36075

Abstract: The present invention relates to a device for editing a robot program designed to control an industrial robot to carry out work along an operating path, the robot program including a sequence of program instructions, and some of the instructions are instructions having modifiable position arguments specifying poses on the operating path. The device comprises a program editor (10;20) configured to enable a user to select between navigating up and down among all of the instructions of the robot program, and navigating only among the instructions of the robot program which have modifiable position arguments.

Abstract translation: 本发明涉及一种用于编辑机器人程序的装置，其被设计成控制工业机器人沿着操作路径执行工作，所述机器人程序包括程序指令序列，并且一些指令是具有指定姿势的可修改位置参数的指令 在操作路径上。 该设备包括程序编辑器（10; 20），其被配置为使得用户能够在机器人程序的所有指令之间上下导航，以及仅在具有可修改位置参数的机器人程序的指令之间进行导航。