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公开(公告)号：US20210162596A1
公开(公告)日：2021-06-03
申请号：US17169575
申请日：2021-02-08
Applicant: ABB Schweiz AG
Inventor： Debora Clever , Fan Dai , Hao Ding , Tomas Groth , Bjoern Matthias , Arne Wahrburg
IPC: B25J9/16
Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
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公开(公告)号：US10035267B2
公开(公告)日：2018-07-31
申请号：US15235141
申请日：2016-08-12
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Christoph Winterhalter , Hao Ding
CPC classification number: B25J9/1676 , B25J9/1697 , G05B2219/40202 , G05B2219/40409 , G05B2219/40414
Abstract: A robot system, and method for controlling it, for collaborative robot applications has a movable robot arm and a controller, wherein the controller is provided to control the movement of the distal end of the robot arm along a movement path according to at least a sequence of coordinate data and respective commands of a robot program and wherein the controller is provided to determine exact movement speed and course of the movement path between consecutive coordinates according to a set of parameters. At least two alternatively selectable sets of parameters are provided which both are related to a respective individual comfort level of a respective collaborative human worker.
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公开(公告)号：US20210205994A1
公开(公告)日：2021-07-08
申请号：US17211895
申请日：2021-03-25
Applicant: ABB Schweiz AG
Inventor： Fan Dai , Rene Kirsten , Bjoern Matthias
IPC: B25J9/16 , B25J13/08 , G05B19/4155 , G08C17/02
Abstract: A robotic system includes: at least one robot; a robot controller for controlling an operation of the at least one robot; a robot sensor system with at least one robot sensor, the robot sensor system being coupled to the robot controller to detect a presence of an object in a robot safety zone, which robot safety zone at least partially surrounds the at least one robot; and at least one automated vehicle for supplying the at least one robot. The at least one vehicle has at least one vehicle sensor for detecting a presence of an object in a vehicle safety zone, which vehicle safety zone at least partially surrounds the at least one vehicle. The robot controller determines an entry of the at least one vehicle into the robot safety zone. The robot controller adjusts at least a part of the robot safety zone.
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公开(公告)号：US10788576B2
公开(公告)日：2020-09-29
申请号：US16690162
申请日：2019-11-21
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Richard Roberts , Andreas Decker , Christoph Byner , Nicolas Lehment
Abstract: A distance measuring system includes: at least one emitter, which emits a frequency-variable scanning signal; at least one receiver; and an analysis unit for computing a distance to an object reflecting the scanning signal on the basis of a difference between the frequencies of the emitted and the received scanning signal. The rate of change of the frequency of the scanning signal in a first operating mode of the distance measuring system has a first finite value. The rate of change of the frequency in a second operating mode has a second finite value. The analysis unit is configured to compute a first distance on the basis of a frequency difference ascertained in the first operating mode, to compute a second distance on the basis of a frequency difference ascertained in the second operating mode, and to evaluate the correspondence between first and second computed distance.
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公开(公告)号：US20200122337A1
公开(公告)日：2020-04-23
申请号：US16720019
申请日：2019-12-19
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Hao Ding , Roger Mellander , Tomas Groth
Abstract: A method of determining a joint torque in a joint of an articulated industrial robot, the robot having a first arm and a second arm which are coupled to each other by the joint and which are movable relative to each other by an electric drive unit coupled to the first and second arm, includes: controlling the electric drive unit by an electronic control device; assigning a measuring device to the electric drive unit, the measuring device measuring an electric current supplied to the drive unit; determining an actual value of the torque which is applied to the second arm from the measured electric current; and comparing, using the electronic control device, the determined actual torque value with a predetermined desired torque value for the joint.
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Patent Agency Ranking
公开(公告)号：US11992954B2
公开(公告)日：2024-05-28
申请号：US17211895
申请日：2021-03-25
Applicant: ABB Schweiz AG
Inventor： Fan Dai , Rene Kirsten , Bjoern Matthias
IPC: B25J9/16 , B25J13/08 , G05B19/4155 , G08C17/02 , G05B19/418
CPC classification number: B25J9/1676 , B25J13/08 , G05B19/4155 , G08C17/02 , G05B19/41895 , G05B2219/37631 , G05B2219/40339
Abstract: A robotic system includes: at least one robot; a robot controller for controlling an operation of the at least one robot; a robot sensor system with at least one robot sensor, the robot sensor system being coupled to the robot controller to detect a presence of an object in a robot safety zone, which robot safety zone at least partially surrounds the at least one robot; and at least one automated vehicle for supplying the at least one robot. The at least one vehicle has at least one vehicle sensor for detecting a presence of an object in a vehicle safety zone, which vehicle safety zone at least partially surrounds the at least one vehicle. The robot controller determines an entry of the at least one vehicle into the robot safety zone. The robot controller adjusts at least a part of the robot safety zone.
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公开(公告)号：US20200376666A1
公开(公告)日：2020-12-03
申请号：US16999084
申请日：2020-08-21
Applicant: ABB Schweiz AG
Inventor： Nolwenn Briquet-Kerestedjian , Hao Ding , Rene Kirsten , Bjoern Matthias , Pedro Rodriguez , Arne Wahrburg
Abstract: A robot system includes: a robot arm having a plurality of links and joints by which one of the links is connected to another; sensors for determining, for any one of the joints, an angular velocity of the joint and a torque to which the joint is subject; a neural network connected to the sensors, the neural network receiving therefrom angular velocity and torque data, the neural network being trained to distinguish, based on the angular velocity and torque data, between a normal operation condition of the robot arm, a condition in which the robot arm collides with an outside object, and a condition where a person deliberately interacts with the robot arm; and a controller for controlling motion of the robot arm, a mode of operation of which is variable depending on an operation condition signal output by the neural network. One operation mode is a leadthrough mode.
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公开(公告)号：US20200164516A1
公开(公告)日：2020-05-28
申请号：US16777918
申请日：2020-01-31
Applicant: ABB SCHWEIZ AG
Inventor： Nicolas Lehment , Andreas Decker , Richard Roberts , Bjoern Matthias , Jihuan Tian
Abstract: A method for controlling a robot includes the steps of: deciding whether there is a non-permanent object in a vicinity of the robot; if there is a non-permanent object, deciding whether the object qualifies for extended protection or not; and defining a safety zone around the object which the robot must not enter or in which a maximum allowed speed of the robot is less than outside the safety zone. The safety zone extends to a greater distance from the object if the object qualifies for extended protection than if it does not.
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公开(公告)号：US12214508B2
公开(公告)日：2025-02-04
申请号：US17702141
申请日：2022-03-23
Applicant: ABB Schweiz AG
Inventor： Bjoern Matthias , Rene Kirsten , Christoph Byner
IPC: B25J9/16
Abstract: A robotic system and method includes at least one robot actively or passively mobile between at least first and second locations, and a first safety configuration being defined at least for said first location. A first data carrier associated to the first safety configuration is located in said first location, and the robot comprises a reader adapted to read the first data carrier when the robot is in said first location.
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公开(公告)号：US20240231301A1
公开(公告)日：2024-07-11
申请号：US18557923
申请日：2021-05-04
Applicant: ABB Schweiz AG
Inventor： Zhibo Pang , Bjoern Matthias
IPC: G05B19/042
CPC classification number: G05B19/0428 , G05B2219/14012
Abstract: A safety network for supporting one or more devices in intermittent use, the safety network being susceptible of verification and/or validation as a safety loop and including a safety controller configured to
assess the integrity of the safety network, and
monitor safety sensors and cause safety actuators to respond to any detected safety events in accordance with safety rules.
The safety network implements safety representatives, each configured to
maintain a virtual representation of an associated device in intermittent use, including at least one virtual safety sensor and/or virtual safety actuator,
make the virtual representation available for integrity assessment and monitoring by the safety controller, and
perform wireless data synchronization between the virtual representation and the associated device.
The virtual representation further includes an activation indicator, which determines a safety rule for the safety controller's monitoring and/or for the safety representative's data synchronization.
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