公开(公告)号：WO2007123458A1

公开(公告)日：2007-11-01

申请号：PCT/SE2007/000360

申请日：2007-04-17

Applicant: ABB AB ,  KLING, Daniel ,  JOHANSSON, Gunnar

Inventor： KLING, Daniel ,  JOHANSSON, Gunnar

IPC: H02P27/02 ,  H02M5/257

CPC classification number: H02P27/16

Abstract: A method of controlling a current of a three-phase electric motor by means of a three-phase controller comprises adjusting the firing angles so as to leave a range of firing angles in which the DC components appear.

Abstract translation: 通过三相控制器控制三相电动机的电流的方法包括调整触发角度以留下DC分量出现的触发角范围。

公开(公告)号：WO2007122598A2

公开(公告)日：2007-11-01

申请号：PCT/IB2007/052398

申请日：2007-04-23

Applicant: ABB AB ,  LARSSON, Jan

Inventor： LARSSON, Jan

CPC classification number: B25J9/103 ,  F16H55/20 ,  Y10T74/19623 ,  Y10T74/19665 ,  Y10T74/20335

Abstract: The present invention relates to a device (1) for adjusting the backlash in bevel gears (7) in an industrial robot. The bevel gears (7) comprise a first conical gear wheel (13) with a first axis of rotation (A) and a second conical gear 0 wheel (14). The device (1) comprises a displaceably arranged holder member (15) adapted to fix and rotatably journal the first gear wheel (4) for rotation about the first axis of rotation (A).

Abstract translation: 本发明涉及一种用于调整工业机器人中的锥齿轮（7）中的齿隙的装置（1）。 锥齿轮（7）包括具有第一旋转轴线（A）的第一锥形齿轮（13）和第二锥形齿轮0轮（14）。 装置（1）包括可移动地布置的保持构件（15），其适于固定和可旋转地轴颈旋转第一齿轮（4）以围绕第一旋转轴线（A）旋转。

公开(公告)号：WO2007100291A1

公开(公告)日：2007-09-07

申请号：PCT/SE2007/000188

申请日：2007-02-28

Applicant: ABB AB ,  SÄLLBERG, Stefan

Inventor： SÄLLBERG, Stefan

IPC: G06F9/46 ,  G05B19/04 ,  G06F15/163

CPC classification number: H04L67/34 ,  G05B19/0426 ,  G05B19/056 ,  G06F8/656 ,  G06F9/543 ,  H04L67/1095

Abstract: The invention relates to a method in an automated system for handling at least two versions of an application. The system comprises a controller 8 for automation of a process by means of the application stored thereon in bidirectional connection with a communication server 2. The communication server 2 is in turn in bidirectional connection with at least two clients. By means of the method an improved communication between a communication server and several clients are provided. Graphics and images can be displayed without reconfiguration when a new version of an application is used. The invention also relates to such system.

Abstract translation: 本发明涉及用于处理应用的至少两个版本的自动化系统中的方法。 该系统包括用于通过与通信服务器2双向连接的存储在其上的应用自动化过程的控制器8.通信服务器2又与至少两个客户端双向连接。 通过该方法，提供了通信服务器和多个客户端之间的改进的通信。 当使用新版本的应用程序时，可以显示图形和图像，无需重新配置。 本发明还涉及这种系统。

公开(公告)号：WO2007100290A1

公开(公告)日：2007-09-07

申请号：PCT/SE2007/000187

申请日：2007-02-28

Applicant: ABB AB ,  NORBERG, Albert ,  SÄLLBERG, Stefan

Inventor： NORBERG, Albert ,  SÄLLBERG, Stefan

IPC: G06F9/44 ,  G05B1/00 ,  G06F7/20 ,  G06F9/30

CPC classification number: G06F8/60 ,  G05B19/0426 ,  G05B2219/23324 ,  G06F11/1433 ,  G06F11/1487

Abstract: The invention relates to a method for comparing variable values obtained from different versions of an application program in an automated system. An input signal obtained from an automated process is inputted to at least two different versions of the application program residing within a same controller. The same tasks are executed based on the input signal for the different versions, and process related variable values obtained from the execution of the versions are stored in memory locations known by the controller. Variable values from the different versions and derived from corresponding execution steps of the versions are retrieved from the memory locations, and compared during an idle time. An improved way of revising an automation system is thereby achieved. The invention also relates to such controller and an automation system.

Abstract translation: 本发明涉及一种用于比较在自动化系统中从应用程序的不同版本获得的变量值的方法。 从自动处理获得的输入信号被输入到位于同一控制器内的应用程序的至少两个不同版本。 基于不同版本的输入信号执行相同的任务，并且从执行版本获得的处理相关变量值被存储在由控制器已知的存储器位置中。 从存储位置检索来自不同版本的变量值，并从版本的相应执行步骤导出，并在空闲时间内进行比较。 从而实现了修改自动化系统的改进方式。 本发明还涉及这种控制器和自动化系统。

公开(公告)号：WO2007057390B1

公开(公告)日：2007-08-23

申请号：PCT/EP2006068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

Inventor： HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

IPC: B25J9/16

CPC classification number: B25J9/1674

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。

公开(公告)号：WO2007078246A1

公开(公告)日：2007-07-12

申请号：PCT/SE2006/050591

申请日：2006-12-18

Applicant: ABB AB ,  MODÉN, Per-Erik ,  BERGSTEN, Pontus ,  LINDKVIST, Rickard

Inventor： MODÉN, Per-Erik ,  BERGSTEN, Pontus ,  LINDKVIST, Rickard

IPC: G05B13/04 ,  G05B5/00

CPC classification number: G05B13/048 ,  Y10T409/304648 ,  Y10T409/304928 ,  Y10T409/304984 ,  Y10T409/30532 ,  Y10T409/307224

Abstract: The invention refers to a method and a device for tuning and control of industrial processes having varying material flow rate. The device comprises an adder (10b) for adding excitation signals to the controller output signal (U(t)), a measurement system (6) for measuring said property in response to said excitation signals, a model based tuning unit (10c) adapted to estimate the value of at least one parameter with unknown value of a process model structure describing the effect of varying material flow rate, based on said measurements (z(t)) of said property and the output signal (u(t)) from the controller, and to calculate a model that describes the dynamics from controller output to controller input based on the estimated value of said parameter, and to perform model based tuning of the controller based on said model that describes the dynamics from controller output to controller input.

Abstract translation: 本发明涉及用于调节和控制具有不同材料流速的工业过程的方法和装置。 该设备包括用于将激励信号加到控制器输出信号（U（t））的加法器（10b），用于响应于所述激励信号测量所述属性的测量系统（6），一个基于模型的调谐单元 基于所述属性和所述输出信号（u（t））的所述测量（z（t））和所述输出信号（u（t））的估计来估计具有描述不同物质流速的影响的过程模型结构的未知值的至少一个参数的值 控制器，并且基于所述参数的估计值来计算描述从控制器输出到控制器输入的动态的模型，并且基于描述从控制器输出到控制器输入的动态的所述模型来执行基于模型的控制器的基于模型的调整 。

公开(公告)号：WO2007057390A3

公开(公告)日：2007-05-24

申请号：PCT/EP2006/068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG, Magnus ,  THULIN, Mats ,  FORS, Michael ,  MIKAELSSON, Pierre ,  THORS, Tommy ,  KOCK, Sönke ,  BEHNISCH, Kevin ,  ERIKSSON, Peter ,  BREDAHL, Jan ,  TORESSON, Bo

Inventor： HELLBERG, Magnus ,  THULIN, Mats ,  FORS, Michael ,  MIKAELSSON, Pierre ,  THORS, Tommy ,  KOCK, Sönke ,  BEHNISCH, Kevin ,  ERIKSSON, Peter ,  BREDAHL, Jan ,  TORESSON, Bo

IPC: B25J9/16

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

公开(公告)号：WO2007057390A2

公开(公告)日：2007-05-24

申请号：PCT/EP2006068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

Inventor： HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

IPC: B25J9/16

CPC classification number: B25J9/1674

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。

公开(公告)号：WO2007046754A1

公开(公告)日：2007-04-26

申请号：PCT/SE2006/001197

申请日：2006-10-23

Applicant: ABB AB ,  MIKAELSSON, Pierre ,  TORESSON, Bo ,  HELLBERG, Magnus ,  FORS, Michael ,  THULIN, Mats

Inventor： MIKAELSSON, Pierre ,  TORESSON, Bo ,  HELLBERG, Magnus ,  FORS, Michael ,  THULIN, Mats

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J9/0009 ,  Y10T74/20317 ,  Y10T74/20329

Abstract: An arm part (204) of a manipulator of an industrial robot has at each end thereof means for connecting the arm part to a gear and means for stiffening the end region of the arm part. At least one aperture (223, 224) is arranged in a hollow structure (221 ) of said stiffening means for providing access to connecting members (212).

Abstract translation: 工业机器人的操纵器的臂部（204）在其每一端具有用于将臂部连接到齿轮的装置和用于加强臂部的端部区域的装置。 至少一个孔（223,224）布置在所述加强装置的中空结构（221）中，用于提供对连接构件（212）的通路。

公开(公告)号：WO2007030053A1

公开(公告)日：2007-03-15

申请号：PCT/SE2006/000974

申请日：2006-08-25

Applicant: ABB AB ,  LIFVENBORG, Ulf, A.

Inventor： LIFVENBORG, Ulf, A.

IPC: G01L19/04 ,  G01L23/14 ,  G01L9/00

CPC classification number: G01L23/28 ,  G01L9/0027 ,  G01L9/003 ,  G01L23/125 ,  G01L23/14 ,  G01L23/18

Abstract: A device for measuring the pressure in a gas, wherein the device comprises: a framework (10), a channel extending through the framework, the channel comprising in the axial direction a introductory section including an opening for receiving the gas, a measuring section (B) having a wall, and a final section, the end of which is closed during measuring, measuring units (11, 12) for measuring radial forces acting on the wall of the measuring section, the measuring unit comprising a measuring body (13, 14) standing in mechanical contact with a first portion of the wall of the measuring section, a cooling body (18) for transporting heat from the walls of the measuring section to the framework, wherein the cooling body is standing in thermal contact with a second portion of the wall of the measuring section and with the framework.

Abstract translation: 一种用于测量气体中的压力的​​装置，其中所述装置包括：框架（10），延伸穿过所述框架的通道，所述通道在轴向方向上包括包括用于接收气体的开口的介绍部分，测量部分 B）具有壁和最终部分，其末端在测量期间关闭，用于测量作用在测量部分的壁上的径向力的测量单元（11,12），所述测量单元包括测量体（13， 14）与测量部分的壁的第一部分机械接触;冷却体（18），用于将热量从测量部分的壁传送到框架，其中冷却体与第二部分热接触 测量部分的壁部分和框架。