公开(公告)号：WO2014202136A1

公开(公告)日：2014-12-24

申请号：PCT/EP2013/062794

申请日：2013-06-19

Applicant: ABB TECHNOLOGY LTD

Inventor： MELIN, Torbjörn ,  SACKLIN, Jimmy

IPC: G02B6/44

CPC classification number: G02B6/4497 ,  G02B6/4416 ,  G02B6/4417 ,  G02B6/4459 ,  G02B6/46 ,  H01B9/005

Abstract: A tool for opening an extruded profiled body of a power cord assembly device. According to the invention, it comprises at least one pair of guide means s (41a, 41b) and at least one support means (46), said pair of guide means (41a, 41b) and said support means (46) being arranged in a frame (44), wherein a first guide means(41a) of said pair of guide means (41a, 41b) is arranged and shaped to releasably connect to the an interconnection area (5a) of the profiled body (4), and wherein a second guide means(41b) of said guide means (41a, 41b)is arranged and shaped to releasably connect to a second interconnection area (5b) of the profiled body (4), said support means (46) being provided with a support member (48) adapted to bear against a portion of the first wall (6) opposite to the slit (15), the distance of the guide means (41a, 41b) relative to the support means being such that the slit (15) is widened in the area of the elongation of the profiled body where the tool is applied, hereby allowing a fibre optic cable (30) to be introduced into the chamber (16).

Abstract translation: 一种用于打开电源线组装装置的挤压成形体的工具。 根据本发明，它包括至少一对导向装置s（41a，41b）和至少一个支撑装置（46），所述一对导向装置（41a，41b）和所述支撑装置（46）被布置在 框架（44），其中所述一对引导装置（41a，41b）的第一引导装置（41a）被布置和成形以可释放地连接到成型体（4）的互连区域（5a），并且其中 所述引导装置（41a，41b）的第二引导装置（41b）被布置和成形以可释放地连接到成型体（4）的第二互连区域（5b），所述支撑装置（46）设置有支撑 构件（48）适于承受与狭缝（15）相对的第一壁（6）的一部分，引导装置（41a，41b）相对于支撑装置的距离使得狭缝（15）为 在施加工具的成型体的伸长范围内变宽，从而允许将光纤电缆（30）引入腔室（16）。

公开(公告)号：WO2014198308A1

公开(公告)日：2014-12-18

申请号：PCT/EP2013/062084

申请日：2013-06-12

Applicant: ABB TECHNOLOGY LTD

Inventor： HASLER, Jean-Philippe ,  KHEIR, Jan

IPC: H02J3/18

CPC classification number: G05B19/042 ,  G05B19/106 ,  G05B2219/2639 ,  H02J3/18 ,  H02J3/1857 ,  H02M2007/4835 ,  Y02E40/26

Abstract: The invention relates to methods and devices for controlling unbalanced active power flow in a three-phase modular multilevel converter 20. The converter 20 comprises a first and second converter 4, 5 both comprising three phase legs arranged in a wye- connection. The first and second converters 4, 5 are interconnected in a double-wye connection, and their neutral paths are independently floating. The method 200 comprises: detecting an active power flow in the phase legs; determining a zero-sequence voltage, the determination providing magnitude and phase of the zero-sequence voltage; re-computing the magnitude of the zero- sequence voltage while keeping the phase of the zero-sequence voltage fixed, the magnitude being re-computed with the requirement that the resulting voltage over the phase legs is smaller than or equal to a maximum allowed leg voltage, the re-computed magnitude and the phase giving a re-computed zero-sequence voltage; imposing the re-computed zero-sequence voltage on the neutral point of the first and second converters, thereby reducing the active power flow determining remaining active power based on the re-computed magnitude of the zero-sequence voltage; determining a DC current giving a product with a DC voltage of the first and second converters 4, 5 that will counteract remaining active power; and imposing the DC current on the phase legs.

Abstract translation: 本发明涉及用于控制三相模块化多电平转换器20中的不平衡有功功率流的方法和装置。转换器20包括一个第一和第二转换器4,5，两个转换器4,5均包括布置在三角形连接中的三相支路。 第一和第二转换器4,5以双重双向连接互连，并且其中性路径独立地浮置。 方法200包括：检测相腿中的有功功率流; 确定零序电压，所述确定提供零序电压的幅度和相位; 重新计算零序电压的大小，同时保持零序电压的相位固定，该幅值将被重新计算，要求相位支路上产生的电压小于或等于最大允许支路 电压，重新计算的幅度和给出重新计算的零序电压的相位; 在所述第一和第二转换器的中性点上施加重新计算的零序电压，从而基于所述零序电压的重新计算的幅度来减少确定剩余有功功率的有功功率流; 确定产生具有将抵消剩余有功功率的第一和第二转换器4,5的直流电压的产品的直流电流; 并在相位腿施加直流电流。

公开(公告)号：WO2014190483A1

公开(公告)日：2014-12-04

申请号：PCT/CN2013/076314

申请日：2013-05-28

Applicant: ABB TECHNOLOGY LTD ,  Kong, Peng ,  Cheng, Shaojie

Inventor： Kong, Peng ,  Cheng, Shaojie

IPC: B25J13/06 ,  B23K9/095

CPC classification number: B23K26/0884 ,  G05B19/40937 ,  G05B2219/36283 ,  G05B2219/45104 ,  Y02P90/265

Abstract: A method and apparatus for managing laser process parameters in a robotic laser cell (100). The method may comprise displaying, in a teach pendant unit TPU (113) of the robotic laser cell (100), the laser process parameters, wherein the laser process parameters are stored in a table process parameter table at a robot controller (112) of the robotic laser cell (100); and performing an operation on the laser process parameters in the TPU (113). All laser process parameters may be collectively managed in the TPU (113). Thus, task such as setting laser process parameters, which would have been rather difficult, may become an easy job, due to reuse of verified parameters in a parameter table that is created by laser expert or programmer.

Abstract translation: 一种用于管理机器人激光单元（100）中的激光工艺参数的方法和装置。 该方法可以包括在机器人激光单元（100）的示教单元TPU（113）中显示激光过程参数，其中激光过程参数存储在机器人控制器（112）的表处理参数表中 机器人激光单元（100）; 以及对所述TPU（113）中的激光加工参数进行操作。 所有激光工艺参数可以在TPU（113）中集中管理。 因此，由于激光专家或编程人员创建的参数表中的已验证参数的重用，使诸如设置激光加工参数（这将是相当困难的）的任务可能变得容易。

公开(公告)号：WO2014180501A1

公开(公告)日：2014-11-13

申请号：PCT/EP2013/059580

申请日：2013-05-08

Applicant: ABB TECHNOLOGY LTD

Inventor： HEDENFALK, Fredrik ,  FORTELL, Håkan

IPC: G05B19/042

CPC classification number: G05B19/0428

Abstract: A method for providing presentation of tactile feedback in an industrial robot system (6), comprising a portable operator control device (4), at least one manipulator (1 ) and a robot control unit (2) for controlling the at least one manipulator, said robot control unit comprising a processor (20) and a first communication module (24) for communicating with the operator control device, said operator control device comprising a processor (40), a second communication module (44) for communicating with the robot control unit and a presentation device (52) for providing tactile feedback to a user being in physical contact with the operator control device (4). The method comprises configuring the processor (40) of the operator control device (4) and/or the processor (20) of the robot control unit (2) to enable tactile feedback indication on the presentation device (52) upon the occurrence of a set of events, configuring the processor (40) of the operator control device (4) to control the presentation device (52) to provide tactile feedback indication upon the occurrence of a set of events, and/or configuring the processor (20) of the robot control unit (2) to control the operator control device (4) to control the presentation device (52) to provide tactile feedback indication upon the occurrence of a set of events, and selecting a subset of events for presentation of tactile feedback indication in the operator control device (4). A corresponding industrial robot system and a portable operator control device are also disclosed.

Abstract translation: 一种用于在工业机器人系统（6）中提供触觉反馈的方法，包括便携式操作员控制装置（4），至少一个操纵器（1）和用于控制所述至少一个操纵器的机器人控制单元（2） 所述机器人控制单元包括处理器（20）和用于与操作员控制装置通信的第一通信模块（24），所述操作员控制装置包括处理器（40），第二通信模块（44），用于与机器人控制 单元和呈现装置（52），用于向与操作者控制装置（4）物理接触的用户提供触觉反馈。 所述方法包括配置所述机器人控制单元（2）的所述操作者控制装置（4）和/或所述处理器（20）的所述处理器（40）和/或所述机器人控制单元（2）的所述处理器（20） 配置一组事件，配置操作员控制装置（4）的处理器（40）以控制呈现设备（52）在发生一组事件时提供触觉反馈指示，和/或将处理器（20）配置为 所述机器人控制单元（2）控制所述操作员控制装置（4），以控制所述呈现装置（52）在出现一组事件时提供触觉反馈指示，以及选择用于呈现触觉反馈指示的事件子集 在操作者控制装置（4）中。 还公开了相应的工业机器人系统和便携式操作员控制装置。

公开(公告)号：WO2014166027A1

公开(公告)日：2014-10-16

申请号：PCT/CN2013/073797

申请日：2013-04-07

Applicant: ABB TECHNOLOGY LTD. ,  LI, Youyi ,  LIU, Kai ,  BRNCIC, Ivo ,  SHI, Zhanpeng

Inventor： LI, Youyi ,  LIU, Kai ,  BRNCIC, Ivo ,  SHI, Zhanpeng

IPC: H02H3/28

CPC classification number: H02H9/02 ,  H02H3/006 ,  H02H3/28 ,  H02H3/283 ,  H02H7/045

Abstract: The present invention discloses a method for detecting fault and current differential protection system thereof. The method for detecting fault comprises: calculating fault component currents; calculating the operate current and restraint current of all terminals; and adjusting the operate level by adapting an operate-restraint characteristic according to the fault component, it has very small operate area for external fault, which makes it very reliable even for the case with serious CT saturation. While a very big operate area for internal fault makes it very sensitive for internal fault even for heavy load and high resistance fault.

Abstract translation: 本发明公开了一种用于检测故障和电流差动保护系统的方法。 检测故障的方法包括：计算故障分量电流; 计算所有端子的工作电流和约束电流; 通过根据故障分量调整运行限制特性来调整运行电平，对于外部故障具有非常小的操作区域，即使对于严重的CT饱和情况也是如此。 虽然内部故障的非常大的操作区域对于内部故障甚至对于重负载和高电阻故障也非常敏感。

公开(公告)号：WO2014166026A1

公开(公告)日：2014-10-16

申请号：PCT/CN2013/073794

申请日：2013-04-07

Applicant: ABB TECHNOLOGY LTD. ,  YAO, Dawei ,  YANG, Xiaobo ,  YUAN, Chunming

Inventor： YAO, Dawei ,  YANG, Xiaobo ,  YUAN, Chunming

IPC: H02G7/16

CPC classification number: H02G1/02 ,  H02G7/16

Abstract: Methods for de-icing transmission lines in a 4-terminal (or 3-terminal) bipolar series MTDC system include: bypassing each converter (R 1 -, R 2 -, I2-, I1-) of a kind of pole in all terminals and making all transmission lines of the kind of pole functioned under metallic return mode; and reconnecting the converter in parallel with a converter (R 1 +, R 2 +, I2+, I1+) of a contrary pole in the same terminal individually. For de-icing the target transmission lines, the de-icing operation can be realized without impact on other unselected transmission lines. Hence, the methods are more practical and flexible for de-icing implementation on series MTDC system.

Abstract translation: 在四端（或三端）双极串联MTDC系统中除冰传输线的方法包括：绕过所有端子中的一种极的每个转换器（R1-，R2-，I2-，I1-），并使 所有这些极点的传输线在金属返回模式下起作用; 并将转换器与相同端子中相反极的转换器（R1 +，R2 +，I2 +，I1 +）并联连接。 为了对目标传输线进行除冰，可以实现除冰操作而不影响其他未选择的传输线。 因此，该方法对于系列MTDC系统的除冰实现更为实用和灵活。

公开(公告)号：WO2014161603A1

公开(公告)日：2014-10-09

申请号：PCT/EP2013/057227

申请日：2013-04-05

Applicant: ABB TECHNOLOGY LTD

Inventor： LUNDBERG, Ivan

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1607 ,  B25J9/1697 ,  G05B2219/39008 ,  Y10S901/09

Abstract: The disclosure relates to a method and a system for calibrating a first coordinate system R f of a robot unit with a second coordinate system C f of an object identification unit, wherein the robot unit comprises a robot arm with an end effector and the object identification unit comprises a camera unit. The calibration is performed using a calibration marker on the end effector. The method determines the intrinsic and the extrinsic parameters of the camera unit in two steps, a first step where the intrinsic parameters and a rotational part of the extrinsic parameters are determined, and a second step where a translational part of the extrinsic parameters are determined.

Abstract translation: 本公开涉及一种用于用物体识别单元的第二坐标系Cf校准机器人单元的第一坐标系Rf的方法和系统，其中所述机器人单元包括具有末端执行器的机器人手臂，并且所述物体识别单元包括 相机单元。 使用末端执行器上的校准标记进行校准。 该方法分两步确定摄像机单元的固有参数和外在参数，第一步骤确定外在参数的固有参数和旋转部分，以及确定外在参数的平移部分的第二步骤。

公开(公告)号：WO2014154241A1

公开(公告)日：2014-10-02

申请号：PCT/EP2013/056288

申请日：2013-03-25

Applicant: ABB TECHNOLOGY LTD

Inventor： NAMI, Alireza ,  WANG, Liwei ,  DIJKHUIZEN, Frans

IPC: H02M1/32 ,  H02M7/49

CPC classification number: H02M1/32 ,  H02M7/49 ,  H02M2007/4835

Abstract: A multilevel converter (10) converting between AC and DC comprises phase arms with cells between a DC pole and an AC terminal, where the cells comprise single voltage contribution cells and double voltage contribution cells (DVCA), where a double voltage contribution cell comprises a first section (SEC1) with a first group of series connected switching units in parallel with a first energy storage element (C1), a second section (SEC2) with a second group of series connected switching units in parallel with a second energy storage element (C2)and an interconnecting switch (IS) interconnecting the first and the second sections and connected between a positive end of the first energy storage element (C1) and a negative end of the second energy storage element (C2).

Abstract translation: 在AC和DC之间转换的多电平转换器（10）包括具有DC极和AC端子之间的电池的相臂，其中电池包括单电压贡献单元和双电压贡献单元（DVCA），其中双电压贡献单元包括 第一部分（SEC1），具有与第一能量存储元件（C1）并联的第一组串联连接的开关单元;第二部分（SEC2），具有与第二能量存储元件并联的第二组串联连接的开关单元 C2）和互连开关（IS），互连第一和第二部分并且连接在第一能量存储元件（C1）的正端和第二能量存储元件（C2）的负端之间。

公开(公告)号：WO2014139551A1

公开(公告)日：2014-09-18

申请号：PCT/EP2013/054829

申请日：2013-03-11

Applicant: ABB TECHNOLOGY LTD

Inventor： VARTIAINEN, Elina ,  LARSSON, Magnus ,  ALFREDSSON, Fredrik ,  BRÖNMARK, Jonas

IPC: G05B19/409 ,  G05B23/02

CPC classification number: G06F17/30528 ,  G05B19/409 ,  G05B23/0272 ,  G05B2219/23406 ,  G05B2219/24001 ,  G05B2219/35422 ,  G06F17/30241 ,  G06F17/3053 ,  G06F17/30554 ,  G06F17/30867 ,  H04W4/02 ,  H04W4/80 ,  H04W64/003 ,  H04W88/02

Abstract: The invention relates to a method, searching arrangement and a computer program product for searching for process control objects in a process control system (10). A searching unit (22; 38) providing a search function receives, from a user, a first search term regarding process control objects in the process control system, obtains the position of the user in the process control system, searches for process control objects using the first search term, and presents the results of the search, where the presented results depend on the user position.

Abstract translation: 本发明涉及一种用于在过程控制系统（10）中搜索过程控制对象的方法，搜索装置和计算机程序产品。 提供搜索功能的搜索单元（22; 38）从用户接收到关于过程控制系统中的过程控制对象的第一搜索项，获取用户在过程控制系统中的位置，使用 第一个搜索项，并显示搜索的结果，其中呈现的结果取决于用户的位置。

公开(公告)号：WO2014131244A1

公开(公告)日：2014-09-04

申请号：PCT/CN2013/075260

申请日：2013-05-07

Applicant: ABB TECHNOLOGY LTD ,  CHEN, Jiansheng ,  ZHANG, Sufeng ,  SCHMIDT, Lars ,  MENG, Delun ,  DOU, Wanwan ,  FENG, Yong ,  KANG, Chunlei ,  QIAO, Li

Inventor： CHEN, Jiansheng ,  ZHANG, Sufeng ,  SCHMIDT, Lars ,  MENG, Delun ,  DOU, Wanwan ,  FENG, Yong ,  KANG, Chunlei ,  QIAO, Li

IPC: D21H13/00

CPC classification number: D21J3/00

Abstract: The present invention relates to an electrically insulating pressboard with excellent dielectric strength in oil and low moisture absorption and to an electrical device comprising the same, wherein the pressboard are made from polysulfonamide fibrid and polysulfonamide fiber.

Abstract translation: 本发明涉及一种在油中具有优异的介电强度和低吸湿性的电绝缘压板，以及包括该电绝缘压板的电气装置，其中压板由聚磺酰胺纤丝状体和聚磺酰胺纤维制成。