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    Collaborative Robot
    1.
    发明申请
    Collaborative Robot 审中-公开

    公开(公告)号：WO2021259487A1

    公开(公告)日：2021-12-30

    申请号：PCT/EP2020/067973

    申请日：2020-06-25

    Applicant: ABB SCHWEIZ AG

    Inventor： BYNER, Christoph ,  MATTHIAS, Björn ,  STAAB, Harald ,  ROBERTS, Richard

    IPC: B25J13/08 ,  B25J19/06 ,  B25J9/16 ,  B25J13/085 ,  B25J9/1674 ,  G05B2219/40202

    Abstract: A robot (1) comprises at least one articulate arm having for members (3, 4-1,..., 4-5, 5) a base (3), an end effector (5) and a plurality of links (4-1,..., 4-6), wherein each link (4-1,..., 4-6) is movably connected to two others of said members (3, 4-1, f 4-6, 5) by respective joints (7-1,..., 7-6), at least one sensor (10, 9) for detecting an external force acting on any one of the members (3, 4-1, f 4-6, 5), and a controller (6) for controlling movements of the joints (7-1,..., 7-6), so as to move the end effector (5) along a pre-programmed path (12). In case of the sensor (9, 10) detecting an external force, the controller (6) is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.

    LIVE OBJECT DETECTION METHOD
    2.
    发明申请
    LIVE OBJECT DETECTION METHOD 审中-公开

    公开(公告)号：WO2019052832A1

    公开(公告)日：2019-03-21

    申请号：PCT/EP2018/073421

    申请日：2018-08-31

    Applicant: ABB SCHWEIZ AG

    Inventor： DECKER, Andreas ,  BYNER, Christoph ,  LEHMENT, Nicolas ,  MATTHIAS, Björn ,  ROBERTS, Richard ,  BOCK-KRAUSEN, Leopold

    IPC: G01S7/41 ,  G01S13/34 ,  G01S13/88

    CPC classification number: G01S13/881 ,  G01S7/415 ,  G01S13/343

    Abstract: The present invention is about a method for distinguishing between animate and inanimate objects in a monitored area, comprising the steps of: a) emitting (S1) a frequency-modulated wave into said area and receiving (S2) a reflected wave from said area; b) identifying (S8), within the spectrum of the reflected wave, at least one object-related frequency range (k,…, k+3) associated to a reflecting object; c) extracting (S3) from said reflected wave a spectral component (k,…) corresponding to at least a sub-range of said object-related frequency range ([k,…, k+3]), d) monitoring (S5, S7) the phase (ϕ k ) of said spectral component (k); and e)deciding (S8) that the object is animate if fluctuations (σ(δϕ k )) of said phase (ϕ k ) exceed a predetermined threshold.

    A SYSTEM FOR TESTING THE PADDING OF A ROBOTIC MANIPULATOR
    3.
    发明申请
    A SYSTEM FOR TESTING THE PADDING OF A ROBOTIC MANIPULATOR 审中-公开

    公开(公告)号：WO2021259459A1

    公开(公告)日：2021-12-30

    申请号：PCT/EP2020/067611

    申请日：2020-06-24

    Applicant: ABB SCHWEIZ AG

    Inventor： MATTHIAS, Bjoern ,  BYNER, Christoph ,  CLEVER, Debora ,  KIRSTEN, Rene

    IPC: G01L5/00 ,  G01M7/08 ,  G01M99/00 ,  G01L5/22 ,  G01L5/0052 ,  G01L5/226 ,  G01M99/007

    Abstract: The invention relates to a system for testing the padding of a robotic manipulator, the system comprising: at least one sensor; a processing unit; and an output unit. The at least one sensor is configured to acquire sensor data of a robotic manipulator. The at least one sensor is configured to provide the sensor data to the processing unit. The processing unit is configured to determine information relating to padding applied to the robotic manipulator, wherein the determination comprises a comparison of the sensor data with reference data. The output unit is configured to output the information relating to the padding applied to the robotic manipulator.

    ROBOTIC SYSTEM COMPRISING A MOVABLE ROBOT
    4.
    发明申请
    ROBOTIC SYSTEM COMPRISING A MOVABLE ROBOT 审中-公开

    公开(公告)号：WO2021058095A1

    公开(公告)日：2021-04-01

    申请号：PCT/EP2019/075771

    申请日：2019-09-24

    Applicant: ABB SCHWEIZ AG

    Inventor： MATTHIAS, Bjoern ,  KIRSTEN, Rene ,  BYNER, Christoph

    IPC: B25J9/16

    Abstract: A robotic system comprises at least one robot (1; 1A, 1B, 1C) actively or passively mobile between at least first and second locations (A, B, …, E), and a first safety configuration being defined at least for said first location (A). A first data carrier (9A) associated to the first safety configuration is located in said first location (A), and the robot (1; 1A, 1B, 1C) comprises a reader (8) adapted to read the first data carrier (9A) when the robot (1; 1A, 1B, 1C) is in said first location (A).

    COLLISION DETECTOR
    5.
    发明申请
    COLLISION DETECTOR 审中-公开

    公开(公告)号：WO2020259806A1

    公开(公告)日：2020-12-30

    申请号：PCT/EP2019/066820

    申请日：2019-06-25

    Applicant: ABB SCHWEIZ AG

    Inventor： MATTHIAS, Bjoern ,  BYNER, Christoph ,  STAAB, Harald

    IPC: B25J19/06 ,  F16P3/12

    Abstract: A collision detector for detecting a collision of two objects (1, 8) comprises a cushion body (7) which is adapted to be mounted on a first one of said objects (1) and has an internal cavity (10) that is compressible by an impact of the second object (8), and a pressure sensor (14) which is responsive to a pressure inside said internal cavity (10). The cushion body (7) has a pinhole (20, 22) by which the internal cavity (10) communicates with a space which is the environment or a second cavity (21).

    ABSTANDSMESSSYSTEM, -VERFAHREN UND DIESES VERWENDENDES ROBOTERSYSTEM
    6.
    发明申请
    ABSTANDSMESSSYSTEM, -VERFAHREN UND DIESES VERWENDENDES ROBOTERSYSTEM 审中-公开

    公开(公告)号：WO2018215185A1

    公开(公告)日：2018-11-29

    申请号：PCT/EP2018/061354

    申请日：2018-05-03

    Applicant: ABB SCHWEIZ AG

    Inventor： MATTHIAS, Björn ,  ROBERTS, Richard ,  DECKER, Andreas ,  BYNER, Christoph ,  LEHMENT, Nicolas

    IPC: G01S7/40 ,  B25J9/16 ,  G01S13/34 ,  G01S13/88

    Abstract: Ein Abstandsmesssystem umfasst einen ein frequenzveränderliches Abtastsignal, insbesondere Radarsignal, emittierenden Sender (13), einen Empfänger (23) und eine Auswerteeinheit (11) zum Berechnen eines Abstands zu einem das Abtastsignal reflektierenden Objekt (12, 27) anhand einer Differenz (Δf) zwischen den Frequenzen des emittierten und des empfangenen Abtastsignals. Die Änderungsrate der Frequenz des Abtastsignals weist in einem ersten Betriebsmodus des Abstandsmesssystems einen ersten endlichen Wert (I) und in einem zweiten Betriebsmodus einen zweiten endlichen Wert (II) auf. Die Auswerteeinheit (11) ist eingerichtet, einen ersten Abstand (r1) anhand einer im ersten Betriebsmodus ermittelten Frequenzdifferenz (Δf1) zu berechnen, einen zweiten Abstand (r2) anhand einer im zweiten Betriebsmodus ermittelten Frequenzdifferenz (Δf2) zu berechnen und die Übereinstimmung zwischen erstem und zweitem Abstand zu beurteilen.

    SYSTEM UND VERFAHREN ZUR SIMULATION EINES ORTSABHÄNGIGEN UND MEHRSTUFIGEN PRODUKTIONSPROZESSES
    8.
    发明公开
    SYSTEM UND VERFAHREN ZUR SIMULATION EINES ORTSABHÄNGIGEN UND MEHRSTUFIGEN PRODUKTIONSPROZESSES 审中-公开
    SYSTEM UND VERFAHREN ZUR SIMULATION EINESORTSABHÄNGIGENUND MEHRSTUFIGEN PRODUKTIONSPROZESSES

    公开(公告)号：EP3191903A1

    公开(公告)日：2017-07-19

    申请号：EP14771509.8

    申请日：2014-09-12

    Applicant: ABB Schweiz AG

    Inventor： WEBER, Peter ,  MAUSER, Nicolas ,  BYNER, Christoph ,  LISTMANN, Kim ,  BECKER, Oliver ,  REISINGER, Thomas

    IPC: G05B19/418

    CPC classification number: G05B19/4188 ,  G05B2219/31054 ,  G05B2219/32085 ,  G05B2219/32339 ,  Y02P90/04 ,  Y02P90/24 ,  Y02P90/26

    Abstract: The invention relates to a system for simulating a location-dependent and multi-stage production process for an object (52, 56, 50), comprising a computing device with a simulation program which can be executed thereon, wherein the system is provided for providing interaction points (14, 16, 18, 20, 60, 62) along a movement path of the object (52, 56, 50) by means of a graphic interaction program module (134, 136, 138), wherein a respective pre-defined parametrizable simulation program module (64, 66, 68, 98, 102, 106, 110) for simulating a production step can be provided at one and/or between two predefined interaction points (14, 16, 18, 20, 60, 62) on the object (52, 56, 58), and wherein the system is provided for determining and applying at least one parameter for the parametrization of a respective simulation program module (64, 66, 68, 98, 102, 106, 110) automatically on the basis of the object properties defined in the data structure (72, 74, 76, 96, 100, 104, 108) for the respective interaction point (14, 16, 18, 20, 60, 62). The invention further relates to a corresponding method.

    Abstract translation: 本发明涉及一种用于模拟对象（52,56,50）的依赖于位置和多阶段的生产过程的系统，该系统包括具有可在其上执行的模拟程序的计算设备，其中系统被提供用于提供 通过图形交互程序模块（134,136,138）沿着所述对象（52,56,50）的移动路径的交互点（14,16,18,20,60,62），其中， 可以在两个预定义的交互点（14,16,18,20,60,62）之一和/或之间提供用于模拟生产步骤的可定义的可参数化的模拟程序模块（64,66,68,98,102,106,110） ）在所述对象（52,56,58）上的位置，并且其中所述系统被提供用于确定并应用用于相应模拟程序模块（64,66,68,98,102,106,110）的参数化的至少一个参数， 自动根据数据结构（72,74,76,96,100,104,108）中定义的对象属性 互动点（14,16,18,20,60,62）。 本发明还涉及相应的方法。

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