公开(公告)号：WO2009141006A1

公开(公告)日：2009-11-26

申请号：PCT/EP2008/056225

申请日：2008-05-21

Applicant: ABB TECHNOLOGY AB ,  MOBERG, Stig ,  JACOBSSON, Wilhelm

Inventor： MOBERG, Stig ,  JACOBSSON, Wilhelm

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/33116 ,  G05B2219/33119 ,  G05B2219/35398

Abstract: The present invention relates to a control system for controlling an industrial robot comprising a motion control part (3), wherein the motion control part is configured to operate the robot in accordance with a control program and a set of motion control parameters. The control system comprises a data storage (10) for storing a plurality of optional sets of motion control parameters adapted for different types of applications, and the control systern is configured to receive information on a selected type of application, and the motion control part is configured to operate the robot in accordance with the set of motion control parameters belonging to the selected type of application.

Abstract translation: 本发明涉及一种用于控制包括运动控制部分（3）的工业机器人的控制系统，其中运动控制部分被配置为根据控制程序和一组运动控制参数来操作机器人。 控制系统包括用于存储适用于不同类型应用的多个可选择的运动控制参数组的数据存储器（10），并且控制系统被配置为接收所选择的应用类型的信息，并且运动控制部分是 被配置为根据属于所选择的应用类型的一组运动控制参数来操作机器人。

公开(公告)号：WO2009089914A1

公开(公告)日：2009-07-23

申请号：PCT/EP2008/050552

申请日：2008-01-18

Applicant: ABB TECHNOLOGY AB ,  ERIKSSON, Peter J.

Inventor： ERIKSSON, Peter J.

IPC: G06F9/50 ,  G05B19/414 ,  B25J9/16

CPC classification number: G06F9/5066 ,  G05B19/4141 ,  G05B2219/33334 ,  G05B2219/36395 ,  G05B2219/39252

Abstract: A control system for controlling at least one industrial robot, wherein the control system comprises a plurality of software modules (41-47) for handling various system functions of the control system, and a plurality of separate hardware units (50-53), each comprising a processing unit (30a-d) and a memory unit (26a-d) for storing one or more of said software modules, and each of the hardware units is configured to receive and execute one or more of the software modules. At least some of the software modules are arranged scalable with regard to the performance of the system functions dependent on the capacity of the hardware unit running the software module, and the control system comprises a resource-distributing unit (55) having knowledge of the capacity of the hardware units, the scalability of the software modules, and the demand on hardware capacity of the software modules,and the resource- distributing unit is configured to plan how to distribute said software modules among said hardware units in order to optimized the performance of the system functions.

Abstract translation: 一种用于控制至少一个工业机器人的控制系统，其中所述控制系统包括用于处理所述控制系统的各种系统功能的多个软件模块（41-47）和多个单独的硬件单元（50-53），每个 包括用于存储一个或多个所述软件模块的处理单元（30a-d）和存储单元（26a-d），并且每个硬件单元被配置为接收和执行一个或多个软件模块。 关于取决于运行软件模块的硬件单元的容量的系统功能的性能，至少一些软件模块被布置为可扩展的，并且控制系统包括具有容量知识的资源分配单元（55） 硬件单元的可扩展性，软件模块的可扩展性以及对硬件容量的需求以及资源分配单元被配置为规划如何在所述硬件单元之间分配所述软件模块，以便优化所述硬件单元的性能 系统功能。

公开(公告)号：WO2009043373A1

公开(公告)日：2009-04-09

申请号：PCT/EP2007/060452

申请日：2007-10-02

Applicant: ABB TECHNOLOGY AB ,  KARLSSON, Mats

Inventor： KARLSSON, Mats

IPC: H02H9/00 ,  H02P3/14

CPC classification number: H02P3/14

Abstract: A drive unit for at least one electric motor, the drive unit comprising: a power source (1 ) producing direct current to the motor, an energy storage (C1 ) arranged at the output of the power source for storing energy recovered during braking of the motor, a discharge circuit for discharging the energy stored in said energy storage if the voltage across the energy storage becomes too high, wherein the discharge circuit includes a resistor (R) adapted to discharge the energy stored in the energy storage. The drive unit is adapted, during start-up of the drive unit, to lead an inrush current through said resistor and during normal operation to discharge the energy storage by means of said resistor when the voltage across the energy storage becomes too high.

Abstract translation: 一种用于至少一个电动机的驱动单元，所述驱动单元包括：向所述电动机产生直流电的电源（1），布置在所述电源的输出处的能量存储器（C1），用于存储在所述电动机的制动过程中回收的能量 电动机，放电电路，用于如果能量存储器两端的电压变得过高，则放电存储在所述能量存储器中的能量放电，其中放电电路包括适于放出存储在能量存储器中的能量的电阻器（R）。 所述驱动单元在所述驱动单元的启动期间适于引导通过所述电阻器的涌入电流，并且在正常操作期间，当所述能量存储器两端的电压变得过高时，借助于所述电阻器对所述能量存储器进行放电。

公开(公告)号：WO2009043369A1

公开(公告)日：2009-04-09

申请号：PCT/EP2007/060377

申请日：2007-10-01

Applicant: ABB TECHNOLOGY AB ,  KARLSSON, Jan H ,  LASSURI, Antero

Inventor： KARLSSON, Jan H ,  LASSURI, Antero

IPC: B25J9/00 ,  B25J19/06 ,  B25J21/00 ,  F16P3/12

CPC classification number: B25J19/06 ,  B25J9/0096 ,  B25J21/00 ,  F16P3/12 ,  F16P3/142 ,  F16P3/144 ,  F16P3/147

Abstract: The present invention relates to an industrial robot system comprising a workcell including a load area and a process area, a detector (6) detecting when a human enters the load area, a manipulator located in the workcell, at least one positioner adapted to hold a workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece, and a station exchanger movable about an axis and adapted to move, upon command, the manipulator or the positioner between the load and process area. Each of the axes is provided with a motor (M1-M3) and a drive unit (53-55). An axis controller (50) is adapted to switch between executing a first task in which the axes of the positioner and the station exchanger are commanded to a standstill, and a second task in which the axes of the positioner and the station exchanger are allowed to move. A safety controller (58) is adapted to supervise, upon detecting that a human is entering the load area, whether any of the station exchanger or the positioner is moving, and to generate a signal which disables the drive unit of the moving axis if it is detected that any of the supervised axes is moving.

Abstract translation: 工业机器人系统技术领域本发明涉及一种包括工作单元的工业机器人系统，该工作单元包括负载区域和处理区域，检测器（6）检测何时人进入加载区域，位于工作单元中的操纵器，至少一个定位器， 工件，并且当操纵器处理工件时，改变工件围绕至少一个轴线的定向;以及站点交换器，可围绕轴线移动并适于在操作器或定位器之间在负载和处理区域之间移动。 每个轴都设有电机（M1-M3）和驱动单元（53-55）。 轴控制器（50）适于在执行定位器和站交换机的轴被命令停止的第一任务之间进行切换，以及第二任务，其中定位器和站交换机的轴被允许 移动。 安全控制器（58）在检测到人正在进入负载区域时，是否监视站台交换机或定位器是否正在移动，并且产生一个信号，如果它是移动轴，则该信号禁止驱动单元 检测到任何受监督的轴正在移动。

公开(公告)号：WO2008154958A1

公开(公告)日：2008-12-24

申请号：PCT/EP2007/056189

申请日：2007-06-21

Applicant: ABB Technology AB ,  BIRD-RADOLOVIC, Ian ,  CARLSSON, Per V

Inventor： BIRD-RADOLOVIC, Ian ,  CARLSSON, Per V

IPC: B25J9/16

CPC classification number: B25J9/161 ,  G05B2219/33155 ,  G05B2219/33187 ,  G05B2219/33219 ,  G05B2219/33226

Abstract: A control system for controlling at least one industrial robot having a plurality of motors, the control system comprising: a current control unit (1) adapted to calculate control signals for the currents of said plurality of motors based on current feedback signals and instructions from a main computer, a drive arrangement (2;30-32;45-48) adapted to control the motors by generating variable alternating currents for the motors in dependence on said control signals from the current control unit, and an interface between the current control unit and the drive arrangement adapted to transfer said control signals from the current control unit to the drive arrangement and to transfer current feedback signals from the drive arrangement to the current control unit. The interface comprises a high-speed serial communication link (3). ( F i g. 3)

Abstract translation: 一种用于控制至少一个具有多个电动机的工业机器人的控制系统，所述控制系统包括：电流控制单元（1），其适于基于当前反馈信号和来自所述电动机的指令来计算所述多个电动机的电流的控制信号 主计算机，驱动装置（2; 30-32; 45-48），其适于通过根据来自所述电流控制单元的所述控制信号产生用于所述电动机的可变交流电流来控制所述电动机，以及所述电流控制单元 并且所述驱动装置适于将所述控制信号从所述电流控制单元传送到所述驱动装置，并将来自所述驱动装置的电流反馈信号传送到所述电流控制单元。 该接口包括高速串行通信链路（3）。 （例如3）

公开(公告)号：WO2008110635A1

公开(公告)日：2008-09-18

申请号：PCT/EP2008/053175

申请日：2008-03-17

Applicant: ABB TECHNOLOGY AB ,  LORENTZSON, Lars ,  OHLSSON, Mikael ,  NEGRE, Bernard ,  LEGELEUX, Fabrice

Inventor： LORENTZSON, Lars ,  OHLSSON, Mikael ,  NEGRE, Bernard ,  LEGELEUX, Fabrice

IPC: B23K11/11 ,  B23K11/31

CPC classification number: B23K11/315

Abstract: The invention relates to a spot weld gun (1) comprising a base unit (2) arranged to be attached to a tool holder (), a movable gun unit (4) with a first (5) and a second electrode carrying arm (6). The spot weld gun further comprising an equalizing means (25) for balancing the movable gun unit (4) in relation to the fixed base unit (2) during welding operations. The base unit (2) comprises linear guide means (12, 13). The equalizing means (25) is arranged connecting the base unit (2) and the gun unit (4). The first (5) and the second electrode carrying arm (6) are sliding along the linear guide means (12, 13) during balancingof the movable gun unit (4).

Abstract translation: 本发明涉及一种点焊枪（1），其包括布置成附接到工具架（）的基座单元（2），具有第一（5）和第二电极承载臂（6）的可移动枪单元（4） ）。 点焊枪还包括用于在焊接操作期间相对于固定基座单元（2）平衡可动枪单元（4）的均衡装置（25）。 基座单元（2）包括线性引导装置（12,13）。 平衡装置（25）布置成连接基部单元（2）和枪单元（4）。 在可移动枪单元（4）的平衡期间，第一电极（5）和第二电极承载臂（6）沿直线引导装置（12,13）滑动。

公开(公告)号：ES2361129T3

公开(公告)日：2011-06-14

申请号：ES07821089

申请日：2007-10-09

Applicant: ABB TECHNOLOGY AB

Inventor： WAEPPLING DANIEL ,  FAVOT GUIDO ,  FORS MICHAEL

IPC: B25J15/00

Abstract: Un dispositivo de robot industrial, incluyendo un montaje giratorio (7) con medios de montaje para el montaje de una herramienta, definiendo el dispositivo un eje (0) caracterizado porque los medios de montaje incluyen al menos dos dispositivos de montaje diferentes para dos tipos diferentes de herramientas, incluyendo un primero (8, 9) de dichos dispositivos de montaje medios de colocación (9) que definen una cierta posición angular de una herramienta montada (20) con relación al eje (0) y estando dispuesto un segundo (10) de dichos dispositivos de montaje para permitir una posición angular arbitraria de una herramienta montada (30) con relación al eje (0).

公开(公告)号：DE112008003870T5

公开(公告)日：2011-05-05

申请号：DE112008003870

申请日：2008-05-21

Applicant: ABB TECHNOLOGY AB

Inventor： MOBERG STIG ,  JACOBSSON WILHELM

IPC: B25J9/16

公开(公告)号：AT501567T

公开(公告)日：2011-03-15

申请号：AT07786785

申请日：2007-06-21

Applicant: ABB TECHNOLOGY AB

Inventor： BIRD-RADOLOVIC IAN ,  CARLSSON PER V

IPC: H04L12/413

公开(公告)号：DE602007010513D1

公开(公告)日：2010-12-23

申请号：DE602007010513

申请日：2007-03-15

Applicant: ABB TECHNOLOGY AB

Inventor： KNOBEL HENRIK ,  WARVELIN MATS E

IPC: B65G61/00 ,  B25J9/16