公开(公告)号：WO2009046761A1

公开(公告)日：2009-04-16

申请号：PCT/EP2007/060720

申请日：2007-10-09

Applicant: ABB Technology AB ,  WÄPPLING, Daniel ,  FAVOT, Guido ,  FORS, Michael

Inventor： WÄPPLING, Daniel ,  FAVOT, Guido ,  FORS, Michael

IPC: B25J15/00

CPC classification number: B25J17/0266 ,  B25J9/0051 ,  B25J15/04 ,  B25J15/0616

Abstract: The invention relates to an industrial robot device. The device has a swivel with attachment means for the attachment of a tool. According to the invention the attachment means includes at least two different attachment devices for two different kinds of tools. A first attachment device (9, 10) includes positioning means (9) defining a certain angular position of an attached tool relative to the swivel. A second attachment device (10) is arranged for allowing an arbitrary angular position of an attached tool relative to the swivel. The invention also relates to an industrial robot that is provided with the invented device and to a method for manipulating objects.

Abstract translation: 本发明涉及一种工业机器人装置。 该装置具有用于附接工具的连接装置的旋转件。 根据本发明，附接装置包括用于两种不同类型的工具的至少两个不同的附接装置。 第一附接装置（9,10）包括定位装置（9），其限定所连接的工具相对于旋转件的一定角度位置。 第二附接装置（10）布置成允许所连接的工具相对于旋转件的任意角度位置。 本发明还涉及一种设置有本发明的设备的工业机器人和用于操纵物体的方法。

公开(公告)号：WO2008074854A1

公开(公告)日：2008-06-26

申请号：PCT/EP2007/064285

申请日：2007-12-20

Applicant: ABB RESEARCH LTD ,  FORS, Michael ,  WÄPPLING, Daniel

Inventor： FORS, Michael ,  WÄPPLING, Daniel

IPC: B25J19/00

CPC classification number: B25J17/0266 ,  B25J9/0051 ,  B25J19/0075

Abstract: A manipulator of a parallel kinematic structure with a stationary element (2) comprising a base (10) adapted to be the load-carrying part of the manipulator, an enclosure (6) and attachment means (17). The base comprises a first part (15) and a second part (16) comprising the attachment means (17). The second part is adapted to frame said first part (15). The first part (15) and the second part (16) are connected and arranged such that the first part (15) is completely enclosed within the enclosure (6), and the second part (16) is partially exposed to a space outside said enclosure (6).

Abstract translation: 具有固定元件（2）的平行运动学结构的操纵器，其包括适于作为所述操纵器的承载部分的底座（10），外壳（6）和附接装置（17）。 基座包括第一部分（15）和包括附接装置（17）的第二部分（16）。 第二部分适于框架所述第一部分（15）。 第一部分（15）和第二部分（16）被连接和布置成使得第一部分（15）被完全封闭在外壳（6）内，并且第二部分（16）部分地暴露于外部 外壳（6）。

公开(公告)号：WO2007057390B1

公开(公告)日：2007-08-23

申请号：PCT/EP2006068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

Inventor： HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

IPC: B25J9/16

CPC classification number: B25J9/1674

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。

公开(公告)号：WO2007057390A3

公开(公告)日：2007-05-24

申请号：PCT/EP2006/068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG, Magnus ,  THULIN, Mats ,  FORS, Michael ,  MIKAELSSON, Pierre ,  THORS, Tommy ,  KOCK, Sönke ,  BEHNISCH, Kevin ,  ERIKSSON, Peter ,  BREDAHL, Jan ,  TORESSON, Bo

Inventor： HELLBERG, Magnus ,  THULIN, Mats ,  FORS, Michael ,  MIKAELSSON, Pierre ,  THORS, Tommy ,  KOCK, Sönke ,  BEHNISCH, Kevin ,  ERIKSSON, Peter ,  BREDAHL, Jan ,  TORESSON, Bo

IPC: B25J9/16

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

公开(公告)号：WO2007057390A2

公开(公告)日：2007-05-24

申请号：PCT/EP2006068443

申请日：2006-11-14

Applicant: ABB AB ,  HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

Inventor： HELLBERG MAGNUS ,  THULIN MATS ,  FORS MICHAEL ,  MIKAELSSON PIERRE ,  THORS TOMMY ,  KOCK SOENKE ,  BEHNISCH KEVIN ,  ERIKSSON PETER ,  BREDAHL JAN ,  TORESSON BO

IPC: B25J9/16

CPC classification number: B25J9/1674

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit, the robot or the control unit also comprising at least one first computer (10) running a servo controller. A motion limit is configured for at least one axis of said robot arm. A reference signal (1) for a robot position is sent to a robot controller (13) together with a measurement of a position of said robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator (4) for the purpose of limiting the motion of an arm of said robot.

Abstract translation: 一种用于控制布置有机器人控制单元的多轴工业机器人或机械手的方法，所述机器人或所述控制单元还包括运行伺服控制器的至少一个第一计算机（10）。 对于所述机器人手臂的至少一个轴构造运动限制。 用于机器人位置的参考信号（1）与所述机器人手臂的位置的测量一起发送到机器人控制器（13）。 处理参考位置，然后在评估器（4）中比较测量位置和处理的参考位置，以限制所述机器人的臂的运动。

公开(公告)号：WO2007046754A1

公开(公告)日：2007-04-26

申请号：PCT/SE2006/001197

申请日：2006-10-23

Applicant: ABB AB ,  MIKAELSSON, Pierre ,  TORESSON, Bo ,  HELLBERG, Magnus ,  FORS, Michael ,  THULIN, Mats

Inventor： MIKAELSSON, Pierre ,  TORESSON, Bo ,  HELLBERG, Magnus ,  FORS, Michael ,  THULIN, Mats

IPC: B25J18/00

CPC classification number: B25J18/00 ,  B25J9/0009 ,  Y10T74/20317 ,  Y10T74/20329

Abstract: An arm part (204) of a manipulator of an industrial robot has at each end thereof means for connecting the arm part to a gear and means for stiffening the end region of the arm part. At least one aperture (223, 224) is arranged in a hollow structure (221 ) of said stiffening means for providing access to connecting members (212).

Abstract translation: 工业机器人的操纵器的臂部（204）在其每一端具有用于将臂部连接到齿轮的装置和用于加强臂部的端部区域的装置。 至少一个孔（223,224）布置在所述加强装置的中空结构（221）中，用于提供对连接构件（212）的通路。