公开(公告)号：US20220258332A1

公开(公告)日：2022-08-18

申请号：US17624686

申请日：2019-07-24

Applicant: ABB Schweiz AG

Inventor： Jonas Haulin ,  Hao Gu ,  Tao Feng ,  Kangjian Wang

IPC: B25J9/10

Abstract: Embodiments of the present disclosure provide a robot. The robot arm link includes a first arm link; a hollow shaft extending along a first axis thereof and coupled to the first arm link; a first stage reduction assembly coupled to a power source of the robot; and a second stage reduction assembly comprising: an input coupled to an output of the first stage reduction assembly and adapted to rotate about a second axis offset from the first axis; and an output coaxially arranged on a periphery of the hollow shaft and adapted to engage with the input to cause a rotation of the first arm link via the hollow shaft.

公开(公告)号：US20250108510A1

公开(公告)日：2025-04-03

申请号：US18863780

申请日：2022-05-13

Applicant: ABB Schweiz AG

Inventor： Jonas Haulin ,  Tomas Groth ,  Stefan Romberg ,  Richard Roberts ,  Tobias Berninger

IPC: B25J9/16 ,  B25J19/00

Abstract: A method of controlling an industrial robot, including a robot controller, a programming interface, which is separate from the robot controller, and a robot manipulator with a plurality of actuators. The method includes: receiving a first release signal via a first safe input means; receiving actuator-selection data, which indicates one or more of the actuators, via an arbitrary input means at the programming interface; receiving a second release signal via a second safe input means at the programming interface after having received the actuator-selection data; and, in response to determining that the first and second release signals are still received, causing the actuators indicated by the actuator-selection data to enter a movement-without-drive-power mode.

公开(公告)号：US20240017411A1

公开(公告)日：2024-01-18

申请号：US18475574

申请日：2023-09-27

Applicant: ABB Schweiz AG

Inventor： Arne Wahrburg ,  Nima Enayati ,  Debora Clever ,  Mikael Norrlöf ,  Mattias Björkman ,  Giacomo Spampinato ,  Jonas Haulin

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1664 ,  B25J13/089 ,  B25J9/1653

Abstract: A method for controlling displacement of a robot from an initial pose to a target pose includes providing a movement command, which specifies at least the target pose and an nominal path to be followed from the initial pose to the target pose; associating with the command an allowed deviation from the nominal path; identifying a real path that deviates from the nominal path by no more than the allowed deviation; and controlling the robot to move along said real path.

公开(公告)号：US20240066702A1

公开(公告)日：2024-02-29

申请号：US18261156

申请日：2021-01-21

Applicant: ABB Schweiz AG

Inventor： Mikael Norrlöf ,  Arne Wahrburg ,  Debora Clever ,  Nima Enayati ,  Jonas Haulin ,  Mattias Björkman ,  Giacomo Spampinato

IPC: B25J9/16 ,  B25J13/00 ,  B25J19/06

CPC classification number: B25J9/1674 ,  B25J9/1605 ,  B25J9/1664 ,  B25J13/006 ,  B25J19/06

Abstract: A method of handling safety of an industrial robot in a workspace, the method including providing a geometric region by a monitoring system, where the geometric region is defined in relation to the industrial robot and/or in relation to the workspace, and where the geometric region is associated with at least one condition for being fulfilled by the industrial robot; communicating the geometric region from the monitoring system to a robot control system of the industrial robot; determining a movement of the industrial robot by the robot control system based on the geometric region and the at least one condition; executing the movement by the industrial robot; and monitoring, by the monitoring system, the execution of the movement with respect to the geometric region and the at least one condition.