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公开(公告)号：US11660765B2
公开(公告)日：2023-05-30
申请号：US16958984
申请日：2018-02-21
Applicant: ABB Schweiz AG
Inventor： Daniel Eriksson , Görgen Johansson , Klas X Forsberg , Josef Holmner
IPC: B25J19/00
CPC classification number: B25J19/0004
Abstract: A method for recovery of a frictional brake device of an industrial device, the method including executing a recovery operation, the recovery operation including at least one movement of a second member of the industrial device relative to a first member of the industrial device, while engaging the brake device to apply braking energy to the movement; monitoring an actual value related to braking energy of the brake device during the recovery operation, the actual value being not related to speed of the movement; and stopping the recovery operation when the actual value reaches the at least one target value. An industrial device is also provided.
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公开(公告)号：US20210387335A1
公开(公告)日：2021-12-16
申请号：US17281624
申请日：2018-10-12
Applicant: ABB Schweiz AG
Inventor： Josef Holmner , Görgen Johansson
Abstract: A method for determining a dynamic friction torque of a frictional brake device of a joint of an industrial robot, the method including performing a disengaged brake movement of an electric motor of the joint while the brake device is disengaged; determining a disengaged brake torque value based on a torque reference of a control loop of the electric motor during the disengaged brake movement; performing an engaged brake movement of the electric motor while the brake device is engaged; determining an engaged brake torque value based on a torque reference of the control loop during the engaged brake movement; and determining the dynamic friction torque of the brake device based on a difference between the engaged brake torque value and the disengaged brake torque value. A control system and an industrial robot are also provided.
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3.发明申请公开(公告)号：US20200331152A1
公开(公告)日：2020-10-22
申请号：US16958984
申请日：2018-02-21
Applicant: ABB Schweiz AG
Inventor： Daniel Eriksson , Görgen Johansson , Klas X Forsberg , Josef Holmner
Abstract: A method for recovery of a frictional brake device of an industrial device, the method including executing a recovery operation, the recovery operation including at least one movement of a second member of the industrial device relative to a first member of the industrial device, while engaging the brake device to apply braking energy to the movement; monitoring an actual value related to braking energy of the brake device during the recovery operation, the actual value being not related to speed of the movement; and stopping the recovery operation when the actual value reaches the at least one target value. An industrial device is also provided.
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公开(公告)号：US10272571B2
公开(公告)日：2019-04-30
申请号：US15524992
申请日：2014-11-12
Applicant: ABB Schweiz AG
Inventor： Torgny Brogårdh , Peter Fixell , Görgen Johansson , Hans Andersson , Sven Hanssen , Stig Moberg , Siim Viilup , Mats Olsson
Abstract: An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.
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