公开(公告)号：WO2021229004A1

公开(公告)日：2021-11-18

申请号：PCT/EP2021/062735

申请日：2021-05-12

Applicant: ABB SCHWEIZ AG

Inventor： MELLANDER, Roger ,  DAHLGREN, Roger

IPC: B25J9/16 ,  G05B19/4068 ,  G05B19/4069 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1674 ,  B25J9/1676 ,  G05B2219/40225

Abstract: A method of controlling a robot manipulator (190) on the basis of a program (P1, P2, P3) containing a plurality of movement instructions. In the method, identification information related to a robot installation is obtained (215), and it is determined (216), on the basis of the identification information, whether any of the movement instructions relates to a location of the robot manipulator which is non-verified with respect to the robot installation, wherein a location is a pose, a path and/or a modulated path. If this is true, the method applies (224) a policy which restricts execution of the program.

公开(公告)号：WO2017128284A1

公开(公告)日：2017-08-03

申请号：PCT/CN2016/072713

申请日：2016-01-29

Applicant: ABB SCHWEIZ AG ,  GU, Hao ,  QI, Liwei ,  MELLANDER, Roger ,  WAPPLING, Daniel X.

Inventor： GU, Hao ,  QI, Liwei ,  MELLANDER, Roger ,  WAPPLING, Daniel X.

IPC: G06F3/041

CPC classification number: G06F3/0418

Abstract: It provides a method for calibrating a touchscreen panel (11) and the system (1), the industrial robot (10) and the touchscreen panel (11) using the same. The method including the steps of: (a) defining at least one area (20) of the touchscreen (112) with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot (10) on a plurality of first touch points on the at least one area (20) of the touchscreen (112); (c) recording a plurality of first position values on the plurality of first touch points on the at least one area(20) of the touchscreen (112); (d) determining a first calibration data for the kinematic model of the industrial robot (10) using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot (10) using the first calibration data; (f) recording a plurality of second position values on a plurality of second touch points on the at least one area (20) with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen (112) using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen (112) using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot (10) until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot (10).

Abstract translation: 它提供了一种用于校准触摸屏面板（11）和使用其的系统（1），工业机器人（10）和触摸屏面板（11）的方法。 该方法包括以下步骤：（a）以预定的精确度定义触摸屏（112）的至少一个区域（20）用于位置测量; （b）将所述工业机器人（10）的多个运动参数记录在所述触摸屏（112）的所述至少一个区域（20）上的多个第一触摸点上; （c）在触摸屏（112）的至少一个区域（20）上的多个第一触摸点上记录多个第一位置值; （d）使用所述运动学参数并使用所述第一位置值确定所述工业机器人（10）的运动学模型的第一校准数据; （e）使用第一校准数据计算校正工业机器人（10）的运动学模型的误差; （f）在所述至少一个区域（20）上的多个第二触摸点上记录多个第二位置值，其边界的至少一部分向外延伸; （g）使用运动学参数并使用第二位置值确定触摸屏（112）的第二校准数据; （h）使用所述第二校准数据来计算地校正所述触摸屏（112）的位置测量的误差; 并且针对工业机器人（10）的不同姿势迭代地重复步骤（b）至（h），直到迭代步骤不再导致工业机器人（10）的运动学模型的误差校正的显着改善。 p>

公开(公告)号：WO2020211927A1

公开(公告)日：2020-10-22

申请号：PCT/EP2019/059726

申请日：2019-04-16

Applicant: ABB SCHWEIZ AG

Inventor： MELLANDER, Roger ,  WÄPPLING, Daniel

IPC: B25J9/16

Abstract: A method of handling safety in a working area (12) of an industrial system (10), wherein at least one machine (14) is arranged to operate in the working area (12), at least one manually operable safety input device (16) is provided in the working area (12), and one or more of the at least one machine (14) and the at least one safety input device (16) is movable to different positions in the working area (12), the method comprising continuously or repeatedly determining whether one or more of the at least one the machine (14) is in proximity to one or more of the at least one safety input device (16); and associating at least one machine (14) with the at least one safety input device (16) upon determining that one or more of the at least one machine (14) is in proximity to one or more of the at least one safety input device (16), such that the at least one associated machine (14) can be brought to a safe state by means of the at least one safety input device (16).

公开(公告)号：WO2018091064A1

公开(公告)日：2018-05-24

申请号：PCT/EP2016/077624

申请日：2016-11-15

Applicant: ABB SCHWEIZ AG

Inventor： DAHLGREN, Roger ,  KULLÄNG, Roger ,  MELLANDER, Roger

IPC: B25J9/16

Abstract: The present invention relates to an industrial robot system comprising a plurality of robots, each robot including a robot controller (4) for controlling the motions of the robot, and at least one of safety sensor (2a-d) configured to detect hazardous situations in the vicinity of the robots and to produce sensor data. The system comprises an information sharing device (12) connected to the at least one safety sensor and to the robot controllers. The information sharing device is configured to distribute sensor data from the at least one safety sensor to the robot controllers. Each of the robot controllers is allowed to receive sensor data from the at least one safety sensor, and comprises a safety logic unit (14) configured to generate safety commands based on sensor data from the at least one safety sensor.

公开(公告)号：WO2022262986A1

公开(公告)日：2022-12-22

申请号：PCT/EP2021/066492

申请日：2021-06-17

Applicant: ABB SCHWEIZ AG

Inventor： MELLANDER, Roger ,  CARLSSON, Per

IPC: B25J9/16

Abstract: A robot system (10) comprises a first group of robot controllers (12, 16, 20, 26), each comprising a safety change control unit (55, 56, 60, 64) and each being connected to at least one corresponding manipulator (14, 16, 18, 22, 24, 28), where one robot controller (12) is a proxy robot controller. The safety change control unit (55) of the proxy receives a request to manually operate at least one joint of at least one of the manipulators via a first point of manual control (MPC1) at one of the robot controllers (12) and forwards it to the others (56, 60, 64), each safety change control unit (55, 56, 60, 64) determines a response to the request and at least one safety change control unit receives the responses from the other safety change control units, investigates if the responses and request match and denies the request in case at least one response does not match the request.

公开(公告)号：WO2021228382A1

公开(公告)日：2021-11-18

申请号：PCT/EP2020/063335

申请日：2020-05-13

Applicant: ABB SCHWEIZ AG

Inventor： MELLANDER, Roger ,  DAHLGREN, Roger

IPC: B25J9/16 ,  G05B19/4068 ,  G05B19/4069

Abstract: A method of controlling a robot manipulator (190) on the basis of a program (P1, P2, P3) containing a plurality of movement instructions. In the method, it is determined (216) whether any of the movement instructions relates to a non-verified location of the robot manipulator, wherein a location is a point, an orientation, a path and/or a modulated path. If this is true, the method applies (224) a policy which restricts execution of the program.

公开(公告)号：WO2021219191A1

公开(公告)日：2021-11-04

申请号：PCT/EP2020/061592

申请日：2020-04-27

Applicant: ABB SCHWEIZ AG

Inventor： MELLANDER, Roger ,  DAHLGREN, Roger

IPC: B25J9/16 ,  B25J9/1674 ,  G05B19/0428 ,  G05B2219/23464 ,  G05B2219/25068 ,  G05B2219/33125 ,  G05B2219/36547

Abstract: A robot controller (110) is configured to control operation of at least one industrial robot (120). The robot controller comprises: a processor (111); a memory (112) configured to store a current system configuration (C1) of the robot controller, and an editing interface (113) configured to enable modification of the current system configuration. It further comprises a stored fingerprint (F0) corresponding to the system configuration according to original manufacturer settings (C0); and a fingerprinting interface (114) configured to facilitate computation of a fingerprint (F1) based on the current system configuration. The stored (F0) and computed (F1) fingerprints may be compared to determine whether any modification has occurred.

公开(公告)号：WO2018233880A1

公开(公告)日：2018-12-27

申请号：PCT/EP2018/052877

申请日：2018-02-06

Applicant: ABB SCHWEIZ AG

Inventor： MATTHIAS, Björn ,  DING, Hao ,  MELLANDER, Roger ,  GROTH, Tomas

IPC: B25J9/16

Abstract: Method of determining a joint torque in a joint (1) of an articulated industrial robot (2), said robot having a first arm (4) and a second arm (6) which are coupled to each other by said joint (1) and which are movable relative to each other by an electric drive unit (8) coupled to said first (4) and second arm (6), wherein said electric drive unit (8) is controlled by an electronic control device (10) and wherein a measuring device (12) is assigned to said electric drive unit (8) which measures the electric current supplied to the drive unit (8), characterized in that an actual value of the torque (T A ) which is applied to said second arm (6) is determined from said measured electric current( I U , I V ) and that said electronic control device (10) compares said determined actual torque value (T A ) with a predetermined desired torque value (T D ) for said joint (1).

公开(公告)号：WO2018041327A1

公开(公告)日：2018-03-08

申请号：PCT/EP2016/070311

申请日：2016-08-29

Applicant: ABB SCHWEIZ AG

Inventor： SÖRENSSON, Christian ,  JOHANSSON, Görgen ,  MELLANDER, Roger

IPC: G01M3/02 ,  B25J11/00 ,  F16J15/00 ,  F16H21/00 ,  G01M3/40

CPC classification number: G01M3/40 ,  B25J9/1674 ,  B25J19/0062 ,  F16H57/0449 ,  F16J15/00 ,  G01M3/025

Abstract: The present invention relates to an industrial robot comprising a rotatable shaft, a gear unit (8) connected to the rotatable shaft and comprising a fluid lubricant, a space (14) arranged to receive lubricant leaking from the gear unit, and a leakage detecting device (1) configured to detect lubricant leaking into the sealed space. The robot is provided with a recess (16) having an opening (18) facing the space and arranged for receiving lubricant from the space, and the leakage detecting device comprises a sensor (22) configured to detect the presence of lubricant in the recess.

Abstract translation: 本发明涉及一种工业机器人，该工业机器人包括可旋转的轴，连接到该可旋转的轴并包括流体润滑剂的齿轮单元（8），布置成接收从该旋转轴泄漏的润滑剂的空间（14） 齿轮单元以及泄漏检测装置（1），所述泄漏检测装置（1）被构造成检测泄漏到密封空间中的润滑剂。 该机器人设有凹部（16），该凹部具有面向该空间的开口（18）并且被布置用于从该空间接收润滑剂，并且该泄漏检测装置包括传感器（22），该传感器构造成检测凹部中润滑剂的存在。

公开(公告)号：WO2017198301A1

公开(公告)日：2017-11-23

申请号：PCT/EP2016/061230

申请日：2016-05-19

Applicant: ABB SCHWEIZ AG

Inventor： KULLÄNG, Roger ,  MELLANDER, Roger ,  ALT, Jean-Christophe

IPC: B25J9/16 ,  B25J13/00 ,  B25J13/06 ,  G05B19/409

CPC classification number: G05B19/409 ,  B25J9/1674 ,  B25J13/06 ,  G05B2219/31156 ,  G05B2219/31348 ,  G05B2219/33192 ,  G05B2219/33284 ,  G05B2219/36159 ,  G05B2219/36162 ,  Y02P90/18

Abstract: The present invention relates to an industrial robot system comprising at least one robot (1) including a manipulator (2) movable about a plurality of axes, a robot controller (3) configured to control the motions of the manipulator, and a portable control unit (4) connected to the robot controller (3) through a wire (5). The portable control unit (4) has a user interface (6a- b) adapted to communicate with the robot controller (3) and to enable programming of the motions of the manipulator (2). The portable control unit (4) comprises a wireless communication device (8) for wireless connection to an external network. The portable control unit (4) is configured to receive data from the robot controller (3) and to transmit the received data to the external network by means of the wireless communication device (8). The invention also relates to a method for communication between at least one industrial robot and an external network.

Abstract translation: 本发明涉及一种工业机器人系统，该工业机器人系统包括至少一个机器人（1），机器人（1）包括可围绕多个轴线运动的机械手（2），机器人控制器（3），被配置为控制 操纵器以及通过电线（5）连接到机器人控制器（3）的便携式控制单元（4）。 便携式控制单元（4）具有用于与机器人控制器（3）通信并且能够编程机械手（2）的运动的用户界面（6a-b）。 便携式控制单元（4）包括用于无线连接到外部网络的无线通信设备（8）。 便携式控制单元（4）被配置为从机器人控制器（3）接收数据并且借助无线通信设备（8）将接收到的数据发送到外部网络。 本发明还涉及用于至少一个工业机器人与外部网络之间的通信的方法。