公开(公告)号：WO2004113030A8

公开(公告)日：2005-06-23

申请号：PCT/SE2004001009

申请日：2004-06-22

Applicant: ABB AB ,  ERLANDSSON-WARVELIN MATS ,  KNOBEL HENRIK

Inventor： ERLANDSSON-WARVELIN MATS ,  KNOBEL HENRIK

IPC: B25J9/00 ,  B25J9/16 ,  B65G20060101 ,  B65G47/34 ,  B65G47/48 ,  G05B19/18 ,  G05B19/418

CPC classification number: B25J9/1694 ,  G05B19/4182 ,  G05B2219/40014 ,  Y02P90/083

Abstract: The invention describes a method for controlling a group of machines such as robots 10, 11, 12, or pick and place machines to pick up an item from a first position and place the item in a second position. Information from a sensor 7 about the location of the first position 3 is provided to a control member 40 which sends a message from a master process to all machines. The message comprises a list of all first positions. The machines dynamically and adaptively handle each of the first positions and inform the master process when each first position is handled. The master process in turn informs all machines that a given first position has been handled. A system, a computer program and a graphical user interface are also described.

Abstract translation: 本发明描述了一种用于控制一组机器的方法，例如机器人10,11,12，或拾取和放置机器从第一位置拾取物品并将物品放置在第二位置。 来自传感器7的关于第一位置3的位置的信息被提供给控制构件40，控制构件40将主程序的消息发送到所有机器。 该消息包括所有第一位置的列表。 机器动态地并且自适应地处理每个第一位置，并且当处理每个第一位置时通知主过程。 主进程又通知所有机器已经处理给定的第一位置。 还描述了系统，计算机程序和图形用户界面。

公开(公告)号：WO2004108363A1

公开(公告)日：2004-12-16

申请号：PCT/SE2004/000845

申请日：2004-06-01

Applicant: ABB AB

Inventor： ROSSANO, Gregory ,  TANG, Quing ,  LI, Xiongzi ,  SUN, Yunquan ,  GAN, Zhongxue ,  BROGÅRDH, Torgny ,  BRANTMARK, Håkan

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B23K26/04 ,  B23K26/0884 ,  B25J9/1692 ,  G05B19/4083 ,  G05B19/425 ,  G05B2219/36404 ,  G05B2219/36407

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft’, Yft’, Zft’.

Abstract translation: 一种用于机器人应用的机器人程序的微调的方法，包括工业机器人，工具和工件，所述工具由所述工具沿着包括工作对象上的多个所需姿势的路径处理，所述机器人程序包括多个 程序指令，其包含对应于期望姿态的编程姿势，其中所述方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序指令 对于微调坐标系中的所述选定姿态，通过机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述差异调整微调坐标系 在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿势的程序指令， ZFT”。

公开(公告)号：WO2004082898A2

公开(公告)日：2004-09-30

申请号：PCT/SE2004/001040

申请日：2004-06-24

Applicant: ABB AB ,  KROGEDAL, Arnulf

Inventor： KROGEDAL, Arnulf

IPC: B25J

CPC classification number: B25J19/0029 ,  B25J17/0291 ,  Y10T74/20329

Abstract: A robot wrist with a plurality of rotatable parts arranged in series with each other arranged to be mounted on a robot arm or automation machine to enable rotary movement of the first wrist part about a first axis, and a second wrist part 2 journalled in the first wrist part. Each wrist part 1, 2, may be arranged with one or more gear members to drive a rotary movement and rotate any wrist part relative to another wrist part, and at least one gear member of one engaging pair is a concave bevel gear arranged with negative bevel angle (Cn) to the plane of rotation (P) at the engaging face. In another embodiment the robot wrist has three wrist parts 1, 2, 3. The robot wrist may also comprise an inner protection hose.

Abstract translation: 一种机器人手腕，具有彼此串联布置的多个可旋转部件，其布置成安装在机器人手臂或自动化机器上，以使得第一腕部部件能够围绕第一轴线旋转运动，并且第二腕部部件2被轴颈安装在第一 手腕部分。 每个腕部1,2可以布置有一个或多个齿轮构件以驱动旋转运动并且相对于另一个腕部旋转任何腕部，并且一个啮合对的至少一个齿轮构件是设置为负的凹形锥齿轮 与接合面的旋转平面（P）的斜角（Cn）。 在另一个实施例中，机器人手腕具有三个腕部部件1,2,3，机器人手腕也可以包括内部保护软管。

公开(公告)号：WO2004079890A1

公开(公告)日：2004-09-16

申请号：PCT/SE2004/000292

申请日：2004-03-02

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

Inventor： KLING, Sören ,  JOHANSSON, Gunnar

IPC: H02P1/04

CPC classification number: H02P1/26 ,  G05B19/108 ,  G05B19/409 ,  G05B2219/36121 ,  H02P1/04

Abstract: A motor controller for controlling an electric motor including a soft starter and a human-machine interface for control and configuration of the soft starter, said soft starter comprising a visual display and selection means associated with the visual display; and a method to configure a motor controller for controlling an electric motor, including a soft starter and a human-machine interface for control and configuration of the soft starter. In other aspects the invention provides a computer program and graphic user interface for carrying out the method.

Abstract translation: 一种用于控制包括软起动器的电动机和用于控制和配置软起动器的人机接口的电动机控制器，所述软启动器包括与视觉显示相关联的视觉显示和选择装置; 以及配置用于控制电动机的电动机控制器的方法，包括用于软起动器的控制和配置的软起动器和人机接口。 在其它方面，本发明提供了一种用于执行该方法的计算机程序和图形用户界面。

公开(公告)号：WO2004068672A1

公开(公告)日：2004-08-12

申请号：PCT/SE2004/000101

申请日：2004-01-26

Applicant: ABB AB ,  MESSING, Lars ,  KARLSSON, Daniel

Inventor： MESSING, Lars ,  KARLSSON, Daniel

IPC: H02J3/24

CPC classification number: H02J3/38 ,  H02H3/46 ,  H02J2003/388

Abstract: A method for stabilization of the power balance in an electric power system comprising a number of nodes, wherein an instantaneous value of the mains frequency of the electric power system is sensed and wherein, in dependence on the frequency deviation of said instantaneous value from a reference frequency value, a selected part of the electric power system, connected in a node, is disconnected in said node, and wherein a voltage amplitude value is sensed in said node, and wherein a measure of the magnitude of the deviation of said voltage amplitude value from a reference amplitude value is formed, and wherein a time lag is formed in dependence on said measure of the magnitude, and wherein said part of the electric power system is disconnected in dependence on said time lag.

Abstract translation: 一种用于稳定包括多个节点的电力系统中的功率平衡的方法，其中感测到电力系统的电力频率的瞬时值，并且其中，根据所述瞬时值与参考值的频率偏差 频率值，连接在节点中的电力系统的选定部分在所述节点中断开，并且其中在所述节点中感测到电压幅度值，并且其中所述电压幅度值的偏差幅度的量度 形成从参考振幅值，并且其中根据所述大小的所述测量形成时滞，并且其中所述电力系统的所述部分根据所述时间延迟而断开。

公开(公告)号：WO2004050277A1

公开(公告)日：2004-06-17

申请号：PCT/SE2003/001857

申请日：2003-11-28

Applicant: ABB AB ,  ISRAELSSON TAMPE, Stefan ,  KOLLBERG, Sten ,  ERIKSSON, Jan-Erik ,  LINDBERG, Carl-Fredrik ,  MOLANDER, Mats ,  LÖFGREN, Peter ,  TALLBÄCK, Göte ,  BEL FDHILA, Rebei ,  SAMUELSSON, Bertil

Inventor： KOLLBERG, Sten ,  ERIKSSON, Jan-Erik ,  LINDBERG, Carl-Fredrik ,  MOLANDER, Mats ,  LÖFGREN, Peter ,  TALLBÄCK, Göte ,  BEL FDHILA, Rebei ,  SAMUELSSON, Bertil

IPC: B22D11/115

CPC classification number: B22D11/115 ,  B22D11/16

Abstract: Control system for regulating the flow of liquid metal in a device for casting a metal, comprising detection means to measure a process variable, a control unit to evaluate the data from the detection means and means to automatically vary at least one process parameter in order to optimize casting conditions. The detection means measure a characteristic of the meniscus at least two points on the meniscus instantaneously throughout the casting process.

Abstract translation: 用于调节用于铸造金属的装置中的液态金属的流动的控制系统，包括用于测量过程变量的检测装置，用于评估来自检测装置的数据的控制单元和自动地改变至少一个过程参数的装置，以便 优化铸造条件。 检测装置在整个铸造过程中瞬间测量弯液面上至少两个点的弯月面的特征。

公开(公告)号：WO2004049539A1

公开(公告)日：2004-06-10

申请号：PCT/SE2003/001662

申请日：2003-10-27

Applicant: ABB AB ,  NOROOZIAN, Mojtaba ,  HALVARSSON, Per

Inventor： NOROOZIAN, Mojtaba ,  HALVARSSON, Per

IPC: H02J3/06

CPC classification number: G05F1/70

Abstract: A device (2) for control of a power flow in a three-phase ac transmission line (L2, La, Lb, Lc) has, for each of its phases (a, b, c), a transformer (12a, 12b, 12c) with a primary winding (121c) and a secondary winding (122c). The secondary winding is serially connected into the respective phase of the transmission line. A voltage dependent on a controllable part of the voltage between the other two phases of the transmission line is applied to the primary winding of the transformer.

Abstract translation: 用于控制三相交流传输线（L2，La，Lb，Lc）中的功率流的装置（2）对于每个相（a，b，c），具有变压器（12a，12b， 12c）和初级绕组（121c）和次级绕组（122c）。 次级绕组串联连接到传输线的相应的相位。 取决于传输线的其他两相之间的电压的可控部分的电压被施加到变压器的初级绕组。

公开(公告)号：WO2004046677A1

公开(公告)日：2004-06-03

申请号：PCT/SE2003/001795

申请日：2003-11-18

Applicant: ABB AB ,  LINDQVIST, Håkan

Inventor： LINDQVIST, Håkan

IPC: G01M7/08

CPC classification number: G01M17/0078

Abstract: A collision test device, comprising a tow rope (3), a means (9-14) for driving the tow rope (3), and a means (20) for connecting the tow rope to an object (1) that is to be accelerated by means of the moving tow rope (3) and subjected to a collision test. The collision test device further comprises a second means (21, 22) for connecting the tow rope (3) to said object (1) and operating as a brake device for subsequent deceleration of the object (1), and the second connecting means (21, 22) comprises a trolley (21) that is attached to the tow rope (3), to be able to conduct a pre-crash deceleration impact test.

Abstract translation: 一种碰撞试验装置，包括拖绳（3），用于驱动拖绳（3）的装置（9-14），以及用于将拖绳连接到将要被牵引的物体（1）的装置（20） 通过移动的牵引绳（3）加速并进行碰撞试验。 碰撞试验装置还包括用于将拖绳（3）连接到所述物体（1）并作为制动装置操作以用于物体（1）的后续减速的第二装置（21,22），并且所述第二连接装置 21,22）包括附接到所述拖绳（3）的手推车（21），以能够进行预碰撞减速冲击试验。

公开(公告)号：WO02061904A8

公开(公告)日：2004-05-27

申请号：PCT/SE0200106

申请日：2002-01-23

Applicant: ABB AB ,  GUDMUNDSSON MICHAEL ,  NORDIN SARA

Inventor： GUDMUNDSSON MICHAEL ,  NORDIN SARA

IPC: H02H1/00 ,  H02H3/04 ,  H02H3/02 ,  G01R31/02

CPC classification number: H02H3/048 ,  H02H1/0007

Abstract: The invention relates to a device for monitoring a surge arrester connected to a power network, comprising a registering unit (1) and means (63, 66) for attachment of the registering unit to the surge arrester. The registering unit comprises a grounding line (16), which is adapted to conduct a current flowing through the surge arrester to ground, means (4) for registration of a current passing through the gounding line (16) from the surge arrester, a member (9) for registration of current pulses passing through the surge arrester, and a storage member (5) for storing data concerning the current passing through the grounding line (16) from the surge arrester and data concerning registered current pulses. The registering unit (1) further comprises a field probe (17) connected to ground, a sensor (18) for registration of the current flowing between the field probe (17) and ground, and a time meter (3), the storage member (5) being adapted to store the data concerning the current passing through the grounding line (16) from the surge arrester and the data concerning the current flowing between the field probe 817) and ground associated to a time information determined by means of the time meter (3). The invention also relates to a system comprising one or several such registering units.

Abstract translation: 本发明涉及一种用于监测连接到电力网络的电涌放电器的装置，包括一个配准单元（1）和用于将配准单元连接到电涌放电器的装置（63,66）。 配准单元包括接地线（16），其适于将流过避雷器的电流传导到地面;用于将通过绕线（16）的电流从电涌放电器配准的装置（4） （9），用于登记通过避雷器的电流脉冲;以及存储部件（5），用于存储关于从避雷器通过接地线（16）的电流的数据和关于所登记的电流脉冲的数据。 登记单元（1）还包括连接到地面的场探头（17），用于将在场探头（17）和地之间流动的电流对准的传感器（18）和时间计（3），存储构件 （5）适于存储关于来自避雷器的通过接地线（16）的电流的数据和关于在场探头817之间流动的电流的数据）与通过时间确定的时间信息相关联的地 米（3）。 本发明还涉及一种包括一个或几个这样的配准单元的系统。

公开(公告)号：WO2004034559A1

公开(公告)日：2004-04-22

申请号：PCT/SE2003/001556

申请日：2003-10-07

Applicant: ABB AB ,  BLIDBERG, Ingemar ,  SVENSSON, Kjell ,  SILJESTRÖM, Roland

Inventor： BLIDBERG, Ingemar ,  SVENSSON, Kjell ,  SILJESTRÖM, Roland

IPC: H02M7/48

CPC classification number: H02M7/487

Abstract: In a method for control of a converter for conversion of dc voltage into ac voltage or dc voltage and vice versa, in which an output of the converter may alternatively be connected to a positive pole (7), a negative pole (8) or a centre (23) of a dc voltage side of the converter in the form of different so-called main states, there is carried out, when changing between main states via a so-called minor commutation loop, an extra sequence in the form of a delayed turn-on of semiconductor elements (13, 16) in one unit of the converter relative to semiconductor elements (14, 15) in another unit in a pair of units of the converter.

Abstract translation: 在用于控制用于将直流电压转换为交流电压或直流电压的转换器的方法中，反之亦然，其中转换器的输出可以可选地连接到正极（7），负极（8）或 转换器的直流电压侧的中心（23）以不同的所谓的主状态的形式，当通过所谓的次要换向循环在主状态之间变化时，执行以下形式的额外序列： 相对于转换器的一对单元中的另一单元中的半导体元件（14,15），半导体元件（13,16）的一个单位中的半导体元件（13,16）的延迟导通。