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.

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

IPC: B25J9/16 ,  B25J9/12 ,  B25J19/00

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.

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

IPC: B25J19/00 ,  B25J13/08

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.