公开(公告)号：TW200932452A

公开(公告)日：2009-08-01

申请号：TW097133324

申请日：2008-08-29

Applicant: ABB科技公司 ABB TECHNOLOGY AB

Inventor： 彼得G 胥密特 SCHMIDT, PETER G. ,  蓋 費茲 FELTZ, GUY

IPC: B25J

CPC classification number: B25J15/0019 ,  B23D35/008 ,  B25J11/0055 ,  B25J15/04 ,  B25J15/0616 ,  B25J19/023 ,  B26D3/10 ,  B26D5/00 ,  B26D7/10 ,  B26D7/1863 ,  B26F1/3806

Abstract: 本發明涉及一種用於工作件處理的機器人工具,其具有一連接元件用於連接至一機器人,其中,一切割刀刃藉由一固持元件被固持在一預設位置,在該情況下,該固持元件可藉由該連接元件被連接至該機器人。

Abstract in simplified Chinese: 本发明涉及一种用于工作件处理的机器人工具,其具有一连接组件用于连接至一机器人,其中,一切割刀刃借由一固持组件被固持在一默认位置,在该情况下,该固持组件可借由该连接组件被连接至该机器人。

公开(公告)号：WO2011042293A1

公开(公告)日：2011-04-14

申请号：PCT/EP2010/063783

申请日：2010-09-20

Applicant: ABB TECHNOLOGY AB ,  BJÖRKMAN, Mathias ,  NORRLÖF, Mikael

Inventor： BJÖRKMAN, Mathias ,  NORRLÖF, Mikael

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/34314 ,  G05B2219/39361 ,  G05B2219/40498 ,  G05B2219/40507 ,  G05B2219/50181 ,  Y02P80/114

Abstract: The present invention relates to a method for reducing the energy consumption of an industrial robot comprising a manipulator (8) having a plurality of arms that are movable relative each other about a plurality of axes. The method comprises: defining a model for the energy consumption of the robot dependent on the movements of the axes of the robot, including a relation between the energy consumed due to friction and the speed of the axes, and the energy consumed due to gravity acting on the arms considering the fact that the energy consumed due to gravity can be reduced during standstill one or more of the axes if the axes are mechanically locked, storing a control program specifying a geometric path to be followed by the robot, determining, during at least a part of the work cycle, speed profiles for the axes of the robot when following the specified geometric path with regard to minimizing the energy consumption of the robot and determining whether or not an axis should be mechanically locked during standstill in order to reduce the energy consumption, based on said model for the energy consumption of the robot, and a maximum allowed time for carrying out the robot movement during said part of the work cycle, provided that it is permitted to complete the geometric path in a shorter time than the maximum allowed time, and calculating reference values for the motors of the robot based on the determined speed profiles.

Abstract translation: 本发明涉及一种用于降低工业机器人的能量消耗的方法，其包括具有可相对于多个轴线相对移动的多个臂的操纵器（8）。 该方法包括：根据机器人的轴线的运动，定义机器人能量消耗的模型，包括由于摩擦而消耗的能量与轴的速度之间的关系，以及由于重力作用而消耗的能量 考虑到如果轴被机械锁定，则在停止一个或多个轴期间可以减少由于重力而消耗的能量的事实，存储指定机器人将遵循的几何路径的控制程序，在期间确定 至少一部分工作循环，当遵循指定的几何路径时关于机器人的能量消耗最小化的机器人的轴的速度分布，以及在静止期间确定轴应该是否被机械锁定以便减少 基于所述机器人的能量消耗的所述模型的能量消耗，以及在所述部分期间执行机器人移动的最大允许时间 工作循环，只要允许在比最大允许时间短的时间内完成几何路径，并且基于确定的速度曲线来计算机器人的电动机的参考值。

公开(公告)号：WO2011042049A1

公开(公告)日：2011-04-14

申请号：PCT/EP2009/062961

申请日：2009-10-06

Applicant: ABB TECHNOLOGY AB ,  NORRLÖF, Mikael ,  BJÖRKMAN, Mattias

Inventor： NORRLÖF, Mikael ,  BJÖRKMAN, Mattias

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/34314 ,  G05B2219/39361 ,  G05B2219/40498 ,  G05B2219/40507 ,  G05B2219/50181 ,  Y02P80/114

Abstract: The present invention relates to an industrial robot system comprising a robot including a manipulator (8) having a plurality of arms that are movable relative each other about a plurality of axes and motors for actuating the movements of the axes, and a program storage (10) for storing a control program defining work to be carried out by the robot during a work cycle. The system further comprises: data storage (34) storing a model for the energy consumption of the robot depending on the movements of the axes of robot, and an energy optimization module (32) configured to determine, for at least a part of the work cycle, movements for the manipulator with regard to minimizing the energy consumption of the robot based on said control program, said model for the energy consumption of the robot, and a maximum allowed time for carrying out the work during said part of the work cycle, and a computing unit (21 ) configured to calculate reference values for the motors of the robot based on the determined robot movements.

Abstract translation: 技术领域本发明涉及一种工业机器人系统，其包括机器人，该机器人具有操作器（8），所述操纵器具有可相对于多个轴线相对移动的多个臂以及用于致动所述轴的运动的马达，以及程序存储器 ），用于存储在工作循环期间定义由机器人执行的工作的控制程序。 所述系统还包括：数据存储器（34），其根据所述机器人的轴的运动而存储所述机器人能量消耗的模型;以及能量优化模块（32），其被配置为：对于所述工作的至少一部分 循环，关于基于所述控制程序，所述机器人的能量消耗的所述模型和用于在所述工作周期的所述部分期间执行工作的最大允许时间来最小化所述机器人的能量消耗的所述机械手的运动， 以及计算单元（21），被配置为基于所确定的机器人运动来计算所述机器人的马达的参考值。

公开(公告)号：WO2011029476A1

公开(公告)日：2011-03-17

申请号：PCT/EP2009/061786

申请日：2009-09-11

Applicant: ABB TECHNOLOGY AB ,  WÄPPLING, Daniel ,  MURPHY, Steve

Inventor： WÄPPLING, Daniel ,  MURPHY, Steve

IPC: G05B19/418 ,  B25J9/16

CPC classification number: G05B19/4182 ,  B25J9/1687 ,  G05B2219/39102 ,  G05B2219/40007 ,  G05B2219/40037 ,  G05B2219/40451 ,  G05B2219/40554 ,  G05B2219/45048 ,  Y02P90/083

Abstract: A pick and place system comprises at least one input conveyor (101), at least one output conveyor (103), at least one pick and place robot (R1, R2) and control circuitry (105). Available picking positions on an input conveyor (101) at which a respective item (107) can be picked are determined as well as available placing positions on an output conveyor (103) at which a respective item (107) can be placed. For the available picking positions and the available placing positions, a respective picking time and placing time is calculated, and the at least one robot (R1, R2) is instructed to pick items (107) at the picking positions and place the items at the placing positions in an order determined by the respective picking times and placing times.

Abstract translation: 拾取和放置系统包括至少一个输入输送机（101），至少一个输出输送机（103），至少一个拾取和放置机器人（R1，R2）和控制电路（105）。 确定可以拾取相应物品（107）的输入输送机（101）上的可用拾取位置以及可以放置相应物品（107）的输出输送机（103）上的可用放置位置。 对于可用的拾取位置和可用的放置位置，计算相应的拾取时间和放置时间，并且指示至少一个机器人（R1，R2）在拾取位置拾取物品（107），并将物品放置在 以相应的采摘时间和放置时间确定的顺序放置位置。

公开(公告)号：WO2010057528A1

公开(公告)日：2010-05-27

申请号：PCT/EP2008/065873

申请日：2008-11-19

Applicant: ABB Technology AB ,  ELIASSON, Per Emil

Inventor： ELIASSON, Per Emil

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: The present invention relates to a device and method for optimizing a programmed movement path (5) for an industrial robot (1) holding a tool (3) to carry out work along the path during a work cycle, wherein the movement path comprises information on positions and orientations for the tool at a plurality of target points (7) on the movement path. The method comprises for at least one of the target points the following steps: receiving a tolerance interval (α) for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 本发明涉及一种用于优化用于工业机器人（1）的编程移动路径（5）的装置和方法，所述工业机器人保持工具（3）在工作循环期间沿着所述路径执行工作，其中所述移动路径包括关于 在移动路径上的多个目标点（7）上的工具的位置和取向。 该方法包括以下步骤中的至少一个目标点：接收用于目标点中的工具的方位的公差间隔（a），确定目标点与另一个目标中的一个或多个之间的机器人的移动 基于所确定的机器人的移动，并且关于最小化周期时间，选择不同的刀具方向之一作为目标点的刀具方位，并且生成 基于目标点上工具的选定方向的机器人程序。

公开(公告)号：WO2010022765A1

公开(公告)日：2010-03-04

申请号：PCT/EP2008/061107

申请日：2008-08-26

Applicant: ABB TECHNOLOGY AB ,  GAO, Yang

Inventor： GAO, Yang

IPC: H02M7/12 ,  H02M7/48

CPC classification number: H02M1/36

Abstract: The present invention relates to a drive unit for at least one electric motor. The drive unit comprises: a control power supply (+18V) for supplying the drive unit with control power, a power source (1 ) producing direct current to one or more inverters (2), at least one inverter producing current to the motor, an energy storage (C) arranged at the output of the power source for smoothing direct current and storing energy recovered during braking of the motor, and a discharge circuit (8, 10) for discharging the energy stored in said energy storage, wherein the discharge circuit includes a power resistor (8) arranged to discharge the energy stored in the energy storage. The drive unit further comprises a first and a second switch (5,6) arranged between the power source and the energy storage, and the switches are arranged such that they are in default positions when there is no control power in the drive unit, and the drive unit is arranged such that the power source is disconnected from the motor and the energy storage is discharged via said power resistor when the switches are in their default positions.

Abstract translation: 本发明涉及一种用于至少一个电动机的驱动单元。 驱动单元包括：用于向驱动单元提供控制电力的控制电源（+ 18V），向一个或多个逆变器（2）产生直流电流的电源（1），至少一个向电动机产生电流的逆变器， 设置在所述电源的输出端的能量存储器（C），用于平滑直流电并且存储在所述电动机的制动期间回收的能量;以及放电电路（8,10），用于对存储在所述能量存储器中的能量进行放电，其中所述放电 电路包括布置成放电存储在能量存储器中的能量的功率电阻器（8）。 所述驱动单元还包括布置在所述电源和所述能量存储器之间的第一开关和第二开关，并且所述开关被布置成使得当所述驱动单元中不存在控制电力时，所述开关处于默认位置;以及 驱动单元布置成使得电源从电动机断开，并且当开关处于其默认位置时，能量存储器经由所述功率电阻器放电。

公开(公告)号：WO2009106407A3

公开(公告)日：2009-09-03

申请号：PCT/EP2009/051213

申请日：2009-02-04

Applicant: ABB TECHNOLOGY AB ,  BROGÅRDH, Torgny

Inventor： BROGÅRDH, Torgny

IPC: G01L5/16

Abstract: The invention relates to a multi-DOF sensor for an industrial robot, which robot has at least two DOF. The multi-DOF sensor is arranged for sensing at least one force and is constituted by a plurality of one-DOF sensors (11, 12). A first end face of each one-DOF sensor (11, 12) is connected to a surface of a first body (31 a, 31 b) and a second end face of each one-DOF sensor (11, 12) is connected to a surface of a second body. The invention also relates to an industrial robot comprising the invented multi-DOF sensor.

公开(公告)号：WO2009049682A1

公开(公告)日：2009-04-23

申请号：PCT/EP2007/061212

申请日：2007-10-19

Applicant: ABB TECHNOLOGY AB ,  AUDIBERT, Raoul

Inventor： AUDIBERT, Raoul

IPC: G05B19/418

CPC classification number: G05B19/41825 ,  G05B2219/39105 ,  G05B2219/40054 ,  G05B2219/40498 ,  Y02P90/087 ,  Y02P90/20

Abstract: An industrial robot (1) for tending a machine (4) including a machaine part (5) providing a repetitive sequence of movements. The robot including a robot controller (3) comprising a program storage for storing a path of programmed positions for the robot and a path of programmed positions for the machine part, and a motion planner configured to plan the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other. The motion planner is configured to calculate expected positions of the machine part along the path based on the planned motion of the machine part. The robot controller is configured to receive information on actual positions of the machine part, to compare the actual positions with the expected positions of the machine part, and to generate a signal (S) to slow down or stop the motion of the machine part when the actual position is ahead of the expected position of the machine part.

Abstract translation: 1.一种用于抚养机器（4）的工业机器人（1），其包括提供重复的运动顺序的机械部分（5）。 所述机器人包括机器人控制器（3），所述机器人控制器（3）包括用于存储所述机器人的编程位置的路径的程序存储器和所述机器部件的编程位置的路径，以及被配置为计划所述机器人的运动和运动的运动计划器 基于机器人和机器部件的编程位置的机器部件，使得机器人的运动和机器部件的运动彼此协调。 运动计划器被配置为基于机器部件的计划运动来计算机器部件沿着路径的预期位置。 机器人控制器被配置为接收关于机器部件的实际位置的信息，以将实际位置与机器部件的预期位置进行比较，并且生成用于减慢或停止机器部件的运动的信号（S），当 实际位置超出机器部件的预期位置。

公开(公告)号：WO2008154957A1

公开(公告)日：2008-12-24

申请号：PCT/EP2007/056186

申请日：2007-06-21

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

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

IPC: H04L12/413

CPC classification number: H04L25/0266 ,  H04L12/40032

Abstract: The present invention relates to a communication interface bet ween a control unit (1) and a high voltage unit (2). The interface comprises a serial communication link (3) between the control unit and the high voltage unit. The interface comprises a signal transformer (10) arranged as an isolation barrier (13) between the control unit and the high voltage unit to ensure personal safety.

Abstract translation: 本发明涉及一种控制单元（1）和高压单元（2）的通信接口。 该接口包括控制单元和高压单元之间的串行通信链路（3）。 接口包括在控制单元和高压单元之间布置为隔离屏障（13）的信号变压器（10），以确保人身安全。

公开(公告)号：WO2008113807A3

公开(公告)日：2008-11-06

申请号：PCT/EP2008053241

申请日：2008-03-18

Applicant: ABB TECHNOLOGY AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/401 ,  G05B19/4099

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G05B19/401 ,  G05B19/4083 ,  G05B2219/36404 ,  G05B2219/39008 ,  G05B2219/40387

Abstract: The present invention relates to an apparatus for automatically fine-tuning a robot program for carrying out a material removal process on an object (1) by means of a robot (4). The apparatus comprising a measuring system (3) configured to measure the geometry of the object, and at least one computing device (5) having program code comprising code configured to: control the robot to pick a reference object processed with a desired process result, and move the reference object into the measuring range of the measuring system, receive measurements of the geometry of processed parts of the reference object, control the robot to pick a not processed work object of the same type as the reference object, control the robot to perform the material removal process on the work object in accordance with the programmed robot path, control the robot to move the work object into the measuring range of the measuring system, receive measurements of the geometry of the work object after the removal process, calculate deviations between the geometry of the processed work object and the processed reference object, determine whether the calculated deviations are acceptable, and if the deviations are acceptable store the adjusted robot path, and if the deviations are not acceptable adjust the robot path based on the geometrical deviations and repeat the procedure for a new object.

Abstract translation: 本发明涉及一种用于通过机器人（4）自动微调用于对物体（1）进行材料去除处理的机器人程序的装置。 该装置包括被配置为测量物体的几何形状的测量系统（3），以及具有程序代码的至少一个计算设备（5），该程序代码包括代码，所述代码被配置为：控制所述机器人选择用期望的处理结果处理的参考对象， 将参考对象移动到测量系统的测量范围内，接收参考对象的已处理部件几何尺寸，控制机器人选取与参考对象相同类型的未处理工件，控制机器人 根据编程的机器人路径对工件进行材料去除处理，控制机器人将工件移动到测量系统的测量范围内，在去除过程后接收工件的几何尺寸，计算偏差 在所处理的工件对象的几何和被处理的参考对象之间，确定所计算的偏差是否可接受， f偏差是可接受的，可以存储调整后的机器人路径，如果偏差是不可接受的，则可以根据几何偏差来调整机器人路径并重复新对象的过程。