公开(公告)号：US11613018B2

公开(公告)日：2023-03-28

申请号：US16297030

申请日：2019-03-08

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Gregory F. Rossano ,  Jordi Artigas ,  Harald Staab ,  Thomas A. Fuhlbrigge ,  Carlos Martinez ,  Sangeun Choi ,  Jianjun Wang ,  Xiongzi Li

IPC: G06Q20/20 ,  B25J9/16 ,  B65G47/90 ,  G06Q10/087

Abstract: Systems and methods for automatic restocking different items in retail store environments having POS locations for the items are disclosed. The method includes, for a first item of the different items, storing at least one first item parameter uniquely identifying the first item. The method includes determining, based on the at least one first item parameter, a first autonomous movement control scheme for manipulation of the first item by a robotic arm. The method includes executing, by the robotic arm, the first control scheme, the executing including shelving the first item on the shelf. The method includes evaluating, by a processor or a user of the robotic arm, the executing for the first item according to at least one predetermined first performance criteria. The method includes determining and storing, based on the evaluating, an updated first control scheme for subsequent executing by the robotic arm for the first item.

公开(公告)号：US20190036337A1

公开(公告)日：2019-01-31

申请号：US16149907

申请日：2018-10-02

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Remus Boca ,  Jeremy Newkirk ,  Thomas A. Fuhlbrigge ,  George Q. Zhang ,  Xiongzi Li

IPC: H02J3/36 ,  B33Y30/00 ,  H02M5/458 ,  B29C64/106 ,  B29C64/20

Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot (12) that holds the platform (16) on which the 3D pad (15) is built on. The system uses the dexterity of the 6 DOF robot to move and rotate rue platform relative to the 3D printing head (18), which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head is held by another robot (14) or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.

公开(公告)号：US10828778B2

公开(公告)日：2020-11-10

申请号：US15827334

申请日：2017-11-30

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Xiongzi Li ,  George Q. Zhang

IPC: B25J9/16

Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.

公开(公告)号：US20200282560A1

公开(公告)日：2020-09-10

申请号：US16297030

申请日：2019-03-08

Applicant: ABB Schweiz AG

Inventor： Gregory A. Cole ,  Gregory F. Rossano ,  Jordi Artigas ,  Harald Staab ,  Thomas A. Fuhlbrigge ,  Carlos Martinez ,  Sangeun Choi ,  Jianjun Wang ,  Xiongzi Li

IPC: B25J9/16 ,  G06Q10/08 ,  B65G47/90

Abstract: Systems and methods for automatic restocking different items in retail store environments having POS locations for the items are disclosed. The method includes, for a first item of the different items, storing at least one first item parameter uniquely identifying the first item. The method includes determining, based on the at least one first item parameter, a first autonomous movement control scheme for manipulation of the first item by a robotic arm. The method includes executing, by the robotic arm, the first control scheme, the executing including shelving the first item on the shelf. The method includes evaluating, by a processor or a user of the robotic arm, the executing for the first item according to at least one predetermined first performance criteria. The method includes determining and storing, based on the evaluating, an updated first control scheme for subsequent executing by the robotic arm for the first item.

公开(公告)号：US10528034B2

公开(公告)日：2020-01-07

申请号：US15687201

申请日：2017-08-25

Applicant: ABB Schweiz AG

Inventor： George Q. Zhang ,  Xiongzi Li ,  Daniel X. Wappling ,  Anders Spaak ,  Biao Zhang ,  Remus Boca ,  Thomas A. Fuhlbrigge

IPC: B33Y10/00 ,  B33Y30/00 ,  B33Y50/02 ,  G05B19/4099 ,  B25J9/16 ,  G05B17/02

Abstract: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.

公开(公告)号：US20190160678A1

公开(公告)日：2019-05-30

申请号：US15827334

申请日：2017-11-30

Applicant: ABB Schweiz AG

Inventor： Biao Zhang ,  Xiongzi Li ,  George Q. Zhang

IPC: B25J9/16

Abstract: A method for operating a robot includes: creating a production robot program for execution on a robotic controller, wherein the robot program defines a robot path; performing an offline simulation of robot motion along the robot path using the production robot program; analyzing loads between a robot end effector and an object along the robot path, based on the offline simulation, to identify a maximum load experienced during the simulation; tuning production robot program parameters to reduce the maximum load if the maximum load is not within a predefined limit; generating a test robot program to test the end effector and the object with the maximum load within the predefined limit; testing the end effector with the object online using the test robot program; repeating the tuning and testing until no objects are dropped during the testing; and operating the robot during production using tuned robot program parameters.

公开(公告)号：US10296675B2

公开(公告)日：2019-05-21

申请号：US14983645

申请日：2015-12-30

Applicant: ABB SCHWEIZ AG

Inventor： Xiongzi Li ,  Steinar Riveland ,  Oeyvind A. Landsnes ,  Christoffer Apneseth ,  Masao Hara ,  Jianjun Wang

IPC: G06F7/60 ,  G06F17/50 ,  G06F17/16 ,  B25J9/16

Abstract: A simulation system to determine an optimal trajectory path for a robot with an attached implement includes a trajectory simulator which provides a simulated trajectory path for an implement, an implement model database which comprises motion data of the implement, and a logger that associates a time stamp of the implement's motion during the simulated trajectory path to generate logger data. A profile is determined by the logger data received from the logger which identifies implement motion that exceeds predetermined thresholds, and a tuner adjusts the simulated trajectory path so as to reduce the number of times predetermined thresholds are exceeded.

公开(公告)号：US20170351245A1

公开(公告)日：2017-12-07

申请号：US15687201

申请日：2017-08-25

Applicant: ABB Schweiz AG

Inventor： George Q. Zhang ,  Xiongzi Li ,  Daniel X. Wappling ,  Anders Spaak ,  Biao Zhang ,  Remus Boca ,  Thomas A. Fuhlbrigge

IPC: G05B19/4099 ,  B33Y50/02 ,  B33Y10/00 ,  B25J9/16 ,  B33Y30/00

Abstract: One exemplary embodiment is a method comprising generating robot control code from one or more files including part geometry parameters, material addition parameters, and robot system parameters. The robot control code includes instructions to control position and material output of an additive manufacturing tool adjustable over six degrees of freedom. The method includes simulating execution of the robot control code to generate a virtual part file including virtual part geometry parameters and material addition parameters, analyzing the virtual part geometry parameters and material addition parameters relative to the one or more files, and executing the robot control code with the controller to produce the part with robot system if the analyzing indicates that the virtual part satisfies one or more conditions.