公开(公告)号：EP2679351A1

公开(公告)日：2014-01-01

申请号：EP13183473.1

申请日：2003-06-26

Applicant: ABB AS

Inventor： Krogedal, Arnulf

IPC: B25J17/02 ,  B25J19/00

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

Abstract: A robot wrist comprises a first wrist part (1) configured to be mounted to a robot arm, a second wrist part (2) rotatable in relation to the first wrist part (1) about a first axis of rotation (A 1 ), a third wrist part (3) rotatable in relation to the second wrist part (2) about a second axis of rotation (A 2 ), and a protection hose (4) extending through the robot wrist. The first axis of rotation (A 1 ) intersects with the second axis of rotation (A 2 ) within a boundary wall of the protection hose (4) in at least one position of the robot wrist. Intersection of the first and the second axes of rotation (A 1 , A 2 ) within the boundary wall of the protection hose (4) is achieved by making the second wrist part (2) compact in the longitudinal direction of the protection hose (4), and wide in the radial direction of the same. As a result the protection hose (4) is arranged in a single circular arc in a bent position of the robot wrist, which in its turn results in an improved service life of the protection hose (4).

Abstract translation: 机器人手腕包括构造成安装到机器人臂的第一腕部（1），围绕第一旋转轴线（A 1）相对于第一腕部（1）旋转的第二腕部（2）， 围绕第二旋转轴线（A 2）相对于第二腕部部分（2）旋转的第三手腕部分（3）和延伸穿过机器人手腕的保护软管（4）。 第一旋转轴线（A 1）在机械手腕的至少一个位置处与保护软管（4）的边界壁内的第二旋转轴线（A 2）相交。 在保护软管（4）的边界壁内的第一和第二旋转轴线（A 1，A 2）的交点通过使第二腕部（2）在保护软管（4）的纵向方向上紧凑 ），并且在径向方向上宽。 因此，保护​​软管（4）在机器人手腕的弯曲位置处布置成单个圆弧，这又导致保护软管（4）的使用寿命的改善。

公开(公告)号：EP1701824B1

公开(公告)日：2011-07-13

申请号：EP04806401.8

申请日：2004-12-20

Applicant: ABB AS

Inventor： BRYNE, Gisle

IPC: B25J9/16 ,  G05B19/418

CPC classification number: B25J9/1682 ,  G05B2219/39146 ,  G05B2219/39151 ,  Y02P90/18 ,  Y02P90/28

Abstract: The invention is a method, controller and control system for controlling a robot that is used in concert with at least one other robot to perform an operation on one or more work objects. Each robot controller checks whether a common reference value is not acceptable, and if so, provides a signal for the robot to wait before proceeding to the next task. Each robot controller also checks whether the target object is in the correct position or not; and also checks whether or not another robot has stopped. If either another robot has stopped and/or if the work object is not in the right position, the robot waits. The invention is particularly advantageous for automated painting whereby a production line may be re-started more quickly again after a stoppage or production delay.

公开(公告)号：EP2036616B1

公开(公告)日：2011-06-08

申请号：EP07116571.6

申请日：2007-09-17

Applicant: ABB AS

Inventor： Søyland, Svein ,  Rodriguez, José

IPC: B05B5/16 ,  F16L11/127 ,  F16L11/12

CPC classification number: B05B12/1481 ,  B05B5/1608 ,  F16L11/127

公开(公告)号：EP1772879B1

公开(公告)日：2010-07-28

申请号：EP05027996.7

申请日：2005-12-21

Applicant: ABB AS

Inventor： Henne, Tormod

IPC: H01H9/02 ,  H01H3/02 ,  B25J13/06 ,  B25J19/06 ,  B25J13/02

CPC classification number: H01H9/0214 ,  B25J13/02 ,  B25J13/065 ,  B25J19/06 ,  H01H3/022 ,  H01H3/0253 ,  H01H2009/0083 ,  H01H2217/048

公开(公告)号：EP1824646B1

公开(公告)日：2010-06-30

申请号：EP04769519.2

申请日：2004-09-30

Applicant: ABB AS

Inventor： BRYNE, Gisle ,  ANFINDSEN, Ole, Arnt

IPC: B25J9/00 ,  B25J9/16 ,  B05B13/02 ,  B05B12/14 ,  B62D65/00

CPC classification number: B05B13/0292 ,  B05B13/0452

公开(公告)号：EP1827706B1

公开(公告)日：2010-06-02

申请号：EP04769464.1

申请日：2004-09-23

Applicant: ABB AS

Inventor： ANFINDSEN, Ole Arnt ,  EKENBERG, Tor ,  MIKALSEN, Kenneth

IPC: B05B5/16

CPC classification number: B05B5/1633 ,  B05B12/1463

公开(公告)号：EP2090408A1

公开(公告)日：2009-08-19

申请号：EP08101548.9

申请日：2008-02-13

Applicant: ABB AS

Inventor： Landsnes, Øyvind A.

IPC: B25J9/16

CPC classification number: B25J9/1674 ,  G05B2219/40213 ,  G05B2219/40216

Abstract: The present invention relates to a system for visualizing process errors that occur in connection with processing a workpiece by means of a process tool (3) and an industrial robot (5) moving the tool along a path in relation to the workpiece during the processing. The system is configured to store information on process errors and information on where on the robot path the error occurred upon detecting the process errors and to present a visualization of the robot path (10) and the position of the stored errors (13) in relation to the robot path.

Abstract translation: 本发明涉及一种用于通过处理工具（3）和工业机器人（5）在处理过程中使工具沿着相对于工件的路径移动来处理工件时发生的过程错误的可视化系统。 该系统被配置为在检测到过程错误时存储关于过程错误的信息和关于错误发生在机器人路径上的何处的信息并且呈现关于机器人路径（10）的可视化和存储的错误（13）的位置关系 到机器人路径。

公开(公告)号：EP1973022A2

公开(公告)日：2008-09-24

申请号：EP08103730.1

申请日：2008-04-25

Applicant: ABB AS

Inventor： Landsnes, Øyvind ,  Espedal, Egil

IPC: G05B23/02 ,  B25J9/16

CPC classification number: G05B23/0213 ,  G05B23/0235 ,  G05B23/0272 ,  G05B2219/32191 ,  Y02P90/22

Abstract: A method for accessing statistical analysis data on industrial devices of an industrial production line, wherein the method comprises:
- integrating statistical analysis tools into the industrial devices,
- generating statistical data using the integrated statistical analysis tools on the devices,
- presenting the statistical analysis data on devices, resulting in access to the analyzed statistical data on the devices.

Abstract translation: 一种用于访问工业生产线工业设备上的统计分析数据的方法，其中所述方法包括：将统计分析工具集成到所述工业设备中， - 使用所述设备上的综合统计分析工具生成统计数据， - 呈现所述统计分析 设备上的数据，导致访问设备上分析的统计数据。

公开(公告)号：EP1952894A1

公开(公告)日：2008-08-06

申请号：EP07101494.8

申请日：2007-01-31

Applicant: ABB AS

Inventor： Mikalsen, Kenneth

IPC: B05B12/14

CPC classification number: B05B12/1481 ,  B08B9/055 ,  B08B9/0555 ,  F16L2101/20 ,  F16L2101/40

Abstract: A method for pushing paint out of a paint line (14) in an automated painting or coating apparatus by introducing a fluid plug means into the paint line of the automated painting or coating apparatus and using a second liquid to push the fluid plug through the paint line.

Abstract translation: 通过将流体塞装置引入自动喷涂或涂布装置的涂装线中并使用第二液体将流体塞推动通过涂料，将自动喷涂或涂布装置中的油漆线（14）上的油漆推出方法 线。

公开(公告)号：EP1772879A2

公开(公告)日：2007-04-11

申请号：EP05027996.7

申请日：2005-12-21

Applicant: ABB AS

Inventor： Henne, Tormod

IPC: H01H9/02 ,  H01H3/02 ,  B25J13/06 ,  B25J19/06

CPC classification number: H01H9/0214 ,  B25J13/02 ,  B25J13/065 ,  B25J19/06 ,  H01H3/022 ,  H01H3/0253 ,  H01H2009/0083 ,  H01H2217/048

Abstract: A live handle switch in the form of a hand operated safety switch for an industrial robot or a machine is described. The live handle comprises a safety certified switch for operating a robot or other machine safely while under manual control. The live handle switch may be comprised in a portable robot controller of the TPU Teach Pendant unit type. Such a TPU may comprise control means for moving a robot in three or more degrees of freedom. In other aspects of the invention a system comprising a robot and a control unit and the live handle switch are described.

Abstract translation: 描述了用于工业机器人或机器的手动安全开关形式的活动手柄开关。 活动手柄包括安全认证的开关，用于在手动控制下安全地操作机器人或其他机器。 实时手柄开关可以包括在TPU示教器单元类型的便携式机器人控制器中。 这样的TPU可以包括用于以三个或更多自由度移动机器人的控制装置。 在本发明的其它方面，描述了包括机器人和控制单元以及实时手柄开关的系统。