公开(公告)号：JP2008200846A

公开(公告)日：2008-09-04

申请号：JP2008124489

申请日：2008-05-12

Applicant: Abb Ab ,  エービービー エービー

Inventor： BROGAARDH TORGNY

IPC: B25J9/06 ,  B25J11/00 ,  B25J9/10 ,  B25J17/00 ,  F16H21/46

CPC classification number: B25J9/1065 ,  Y10S414/13 ,  Y10T74/20317

Abstract: PROBLEM TO BE SOLVED: To provide a device for relative movement of two elements that is simply constructed, is able to arrange two elements adjacently, and has necessary rigidity and strength. SOLUTION: The device for relative movement of two elements 1, 2 comprises two link arrangements 5, 6 coupled in series by a connection arrangement 4. The first link arrangement 5 comprises at least three links 9, 14 which are substantially equal in length and parallel, the links being positioned in a substantially triangular relation viewed along the longitudinal direction of the links, between the connection arrangement 4 and the element 2. The second link arrangement 6 comprises at least one parallelogram acting between the connection arrangement 4 and the element 1. First and second force applying arrangements 17, 18 are adapted to cause the first link arrangement 5 to pivot. A third force applying arrangement 33 is adapted to cause the second link arrangement 6 to pivot. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了提供简单构造的两个元件的相对运动的装置，能够相邻地布置两个元件，并且具有必要的刚度和强度。 解决方案：用于两个元件1,2的相对运动的装置包括通过连接装置4串联耦合的两个连杆装置5,6。第一连杆装置5包括至少三个连杆9,14，它们在 在连接装置4和元件2之间，链节沿着连杆的纵向方向被定位成基本三角形的关系。第二连杆装置6包括至少一个平行四边形，其作用在连接装置4和 第一和第二施力装置17,18适于使第一连杆装置5枢转。 第三力施加装置33适于使第二连杆装置6枢转。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：WO2007082594A2

公开(公告)日：2007-07-26

申请号：PCT/EP2006068274

申请日：2006-11-09

Applicant: ABB AB ,  KULLBORG OVE ,  ODE OVE ,  BROGAARDH TORGNY

Inventor： KULLBORG OVE ,  ODE OVE ,  BROGAARDH TORGNY

IPC: B25J9/10 ,  F16H49/00

CPC classification number: B25J9/1025 ,  F16H49/001

Abstract: The invention relates to a drive unit 1 comprising an electric rotating actuator with a stator 7 and a rotor 6. The drive unit further comprises a speed reducer 5. The speed reducer 5 comprises a wave generator 20 and a flex spline 22. The stator 7, the rotor 6, the wave generator 20 and the flex spline 22 are designed with an centre opening and are all arranged integrated in a common housing 1a such that a tubular passage 31, 59, 82a is provided for through the common housing 1a.

Abstract translation: 本发明涉及包括具有定子7和转子6的电动旋转致动器的驱动单元1.驱动单元还包括减速器5.减速器5包括波发生器20和挠曲花键22。定子7 转子6，波形发生器20和挠曲花键22被设计成具有中心开口，并且都集成在公共壳体1a中，使得通过共用壳体1a设置管状通道31,59,82a。

公开(公告)号：WO2005063453A8

公开(公告)日：2005-11-10

申请号：PCT/SE2004001908

申请日：2004-12-16

Applicant: ABB AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J9/02 ,  B25J9/06 ,  B25J17/02 ,  B66C23/00

CPC classification number: B25J17/0266 ,  B25J9/0072 ,  Y10T74/20305 ,  Y10T74/20335

Abstract: The present invention relates to an industrial robot comprising: a platform (16) arranged for carrying the object, a first arm (7) arranged for influencing the platform in a first movement and comprising a first actuator having a first path (1) and a first carriage (4) linearly movable along the first path, a second arm (8) arranged for influencing the platform in a second movement, comprising a second actuator having a second path (2) and a second carriage (5) linearly movable along the first path, a third arm arranged for influencing the platform in a third movement, and a control unit controlling the movements of the platform. The first and second arm are arranged rotatable in such way that the platform is movable between opposite sides of a second plane (D) passing through and continuously following the first and second carriage The control unit comprises control means adapted to upon command perform a reconfiguration of the platform and the arms of the robot, wherein the reconfiguration comprises moving the platform between opposite sides of the second plane.

Abstract translation: 工业机器人技术领域本发明涉及一种工业机器人，该工业机器人包括：布置成用于承载物体的平台（16）;布置成用于以第一运动影响平台的第一臂（7），并且包括具有第一路径（1） 包括具有第二路径（2）和第二滑架（5）的第二致动器，所述第二滑架可沿所述第一路径线性移动，第二臂（8）设置成用于影响所述平台的第二移动， 第一路径，布置成用于以第三移动影响平台的第三臂，以及控制平台的移动的控制单元。 第一和第二臂可旋转地布置成使得平台可在第二平面（D）的相对侧之间移动，第二平面（D）穿过并连续地跟随第一和第二滑架。控制单元包括控制装置，其适于在命令时执行 机器人的平台和臂，其中重构包括在第二平面的相对侧之间移动平台。

公开(公告)号：WO2008055918A3

公开(公告)日：2008-07-10

申请号：PCT/EP2007061962

申请日：2007-11-07

Applicant: ABB AB ,  BROGAARDH TORGNY ,  KULLBORG OVE ,  ODE OVE

Inventor： BROGAARDH TORGNY ,  KULLBORG OVE ,  ODE OVE

IPC: F16C11/06

CPC classification number: F16C11/0647 ,  B25J9/0072 ,  B25J17/0266 ,  F16C11/086 ,  Y10T74/20317 ,  Y10T74/20329 ,  Y10T403/32762

Abstract: The invention relates to a joint comprising a male unit (12) and a female unit (15, 16). The external surface of the male unit (12) is of complementary shape to the internal surface of the female unit (15, 16). The units cooperate and have shapes allowing rotational movement in at least one degree of freedom of the male unit within the female unit. The female unit (15, 16) comprises two socket parts (15, 16). According to the invention biasing means (21 ) is provided for biasing each of the socket parts (15, 16) towards the male unit (12).

Abstract translation: 本发明涉及一种包括阳性单元（12）和阴性单元（15,16）的接头。 阳部件（12）的外表面与阴部件（15,16）的内表面形状互补。 这些单元协作并且具有允许在阴性单元内的阳性单元的至少一个自由度上旋转运动的形状。 母单元（15,16）包括两个插座部分（15,16）。 根据本发明，偏置装置（21）被设置用于朝着凸形单元（12）偏置每个插座部分（15,16）。

公开(公告)号：WO2007096322A2

公开(公告)日：2007-08-30

申请号：PCT/EP2007051549

申请日：2007-02-19

Applicant: ABB AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

CPC classification number: G05B19/423 ,  B25J9/1633 ,  B25J13/085 ,  G01L5/162 ,  G05B2219/36425 ,  G05B2219/36433 ,  G05B2219/39439 ,  G05B2219/39529 ,  G05B2219/40599 ,  G05B2219/41114

Abstract: The invention relates to a system for controlling the position and orientation of an object (1,3). The system comprises a measuring assembly (6) including a first (7) and a second part (8), wherei n the first part is adapted to receive forces and torques from a user, and a sensor (9) adapted to measure forces and torques caused by changes in position and orientation of the first part in relation to the second part, and a data processing unit (18) arranged to receive measured data from said sensor and based thereon to control the position and orientation of the object. The sensor comprises a semiconductor chip with integrated sensor elements. The measuring assembly comprises a spring arrangement (11) mounted between the first and second parts and mechanically connected to the sensor, for converting forces and torques from the user to changes in position and orientation of said first part in relation to said second part, and said sensor is adapted to measure forces and torques from the spring arrangement caused by the changes in position and orientation of the first part.

Abstract translation: 本发明涉及一种用于控制物体（1,3）的位置和取向的系统。 该系统包括包括第一部分（7）和第二部分（8）的测量组件（6），其中第一部分适于接收来自使用者的力和扭矩，以及传感器（9），适于测量力和 由第一部分相对于第二部分的位置和取向的变化引起的转矩和数据处理单元（18）被布置成从所述传感器接收测量数据，并基于此控制物体的位置和方向。 传感器包括具有集成传感器元件的半导体芯片。 测量组件包括安装在第一和第二部件之间并机械地连接到传感器的弹簧装置（11），用于将来自使用者的力和扭矩转换成相对于所述第二部分改变所述第一部件的位置和方向，以及 所述传感器适于测量由第一部件的位置和取向的变化引起的弹簧装置的力和扭矩。

公开(公告)号：WO2006089887A3

公开(公告)日：2007-01-11

申请号：PCT/EP2006060140

申请日：2006-02-21

Applicant: ABB AB ,  BROGAARDH TORGNY

Inventor： BROGAARDH TORGNY

IPC: B25J9/16

CPC classification number: B25J9/1623 ,  B25J9/1692 ,  G05B2219/39032 ,  G05B2219/39053 ,  G05B2219/40267

Abstract: A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot, wherein the method comprises: mounting a measuring tip (15) on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points (18,) on the surface of at least one geometrical structure (1) on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.

Abstract translation: 一种用于校准包括多个可动链节和多个致动器的工业机器人的方法，所述多个致动器执行所述链节和所述机器人的移动，其中所述方法包括：将测量尖端（15）安装在所述机器人上或其附近 移动所述机器人使得所述测量尖端与所述机器人上或其附近的至少一个几何结构（1）的表面上的多个测量点（18）接触，读取并存储所述机器人的位置 用于每个测量点的执行器，以及基于几何结构的几何模型，机器人的运动学模型以及用于测量点的致动器的存储位置来估计机器人的多个运动学参数。

公开(公告)号：SE0402750D0

公开(公告)日：2004-11-10

申请号：SE0402750

申请日：2004-11-10

Applicant: ABB AB

Inventor： FIXELL PETER ,  DURINDER NIKLAS ,  BROGAARDH TORGNY

IPC: B25J20060101 ,  B25J9/16 ,  B25J

公开(公告)号：SE524818C2

公开(公告)日：2004-10-05

申请号：SE0300409

申请日：2003-02-13

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/42 ,  G05B19/423 ,  G05B19/4097

Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.

公开(公告)号：SE0300409L

公开(公告)日：2004-08-14

申请号：SE0300409

申请日：2003-02-13

Applicant: ABB AB

Inventor： BROGAARDH TORGNY

IPC: B25J9/16 ,  G05B19/42 ,  G05B19/423 ,  G05B19/4097

Abstract: A method and a system for programming an industrial robot to move relative to defined positions on an object. The system includes a geometrical model of the object, the real object, and an industrial robot. A plurality of measuring points are generated corresponding to different points on the surface of the real object expressed in a coordinate system associated with the robot. The system further includes a calibration module arranged to determine orientation and position of the geometrical model of the object relative to the coordinate system associated with the robot, a calculating module arranged to calculate the deviation between the measuring points and corresponding points on the geometrical model, and an adjusting module arranged to adjust the defined positions based on the calculated deviations.

公开(公告)号：SE0202283L

公开(公告)日：2004-03-17

申请号：SE0202283

申请日：2002-07-18

Applicant: ABB AB

Inventor： BROGAARDH TORGNY ,  WAEPPLING DANIEL ,  KULLBORG OVE ,  KOCK SOENKE ,  OESTERLEIN ROLAND

IPC: B25J20060101 ,  B25J9/08 ,  B25J9/10 ,  B25J17/02