公开(公告)号：US11863105B2

公开(公告)日：2024-01-02

申请号：US17261475

申请日：2018-07-25

Applicant: ABB Schweiz AG

Inventor： Yang Gao

IPC: H02P5/74 ,  B25J9/12 ,  B25J9/16

CPC classification number: H02P5/74 ,  B25J9/12 ,  B25J9/1664

Abstract: A method for controlling an electric motor, the method including determining a planned reference speed of the electric motor; determining a pulse-width modulation (PWM) switching frequency based on the planned reference speed; and controlling the electric motor with an alternating current produced by PWM switching with the determined PWM switching frequency. A control system for controlling an electric motor and an industrial robot including a control system, are also provided.

公开(公告)号：US20210011460A1

公开(公告)日：2021-01-14

申请号：US16978273

申请日：2018-03-09

Applicant: ABB SCHWEIZ AG

Inventor： Yang Gao

IPC: G05B19/4155 ,  H02P27/08 ,  B25J9/12

Abstract: A method of controlling a drive including one respective inverter associated with each of a plurality of servomotors in a robot. The method includes providing a PWM frequency corresponding to a frequency of switching instances for respective semiconductor switches in each of the inverters, whereby for each inverter time is divided into consecutive control cycles forming a sequence of control cycles of the inverter, each control cycle containing two, and only two, of the switching instances for each of the semiconductor switches. The method also includes spreading the respective control cycle sequences of the inverters over time such that the control cycles of each inverter are time shifted in respect to the control cycles of each of the other inverters in the power converter.

公开(公告)号：US20230166403A1

公开(公告)日：2023-06-01

申请号：US17997005

申请日：2020-04-24

Applicant: ABB Schweiz AG

Inventor： Yang Gao ,  Roger Kulläng ,  Mikael Norrlöf ,  Mattias Björkman ,  Per Willför

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1682 ,  B25J9/1602 ,  G05B19/4155 ,  G05B2219/50391

Abstract: An industrial robot system including a first robot. The first robot includes a first manipulator with a base and a tool movable in relation to the base about a plurality of axes, and a first primary controller having a primary robot functionality, the primary robot functionality including control of manipulator motion. The industrial robot system further includes a plurality of secondary controllers, each having a secondary robot functionality, wherein the primary robot functionality is different from all of the secondary robot functionalities, and wherein an overall robot functionality is defined by the primary robot functionality and one or more secondary robot functionalities.

公开(公告)号：USD1019578S1

公开(公告)日：2024-03-26

申请号：US29765469

申请日：2021-01-08

Applicant: ABB Schweiz AG

Designer： Chunping Zhang ,  Yang Gao ,  Fawei Zhang

Abstract: FIG. 1 illustrates a front view of the controller.
FIG. 2 illustrates a rear side view of the controller shown in FIG. 1.
FIG. 3 illustrates a left side view of the controller shown in FIG. 1.
FIG. 4 illustrates a right side view of the controller shown in FIG. 1.
FIG. 5 illustrates a top view of the controller shown in FIG. 1.
FIG. 6 illustrates a bottom view of the controller shown in FIG. 1.
FIG. 7 illustrates a perspective view of the controller shown in FIG. 1; and,
FIG. 8 illustrates another perspective view of the controller shown in FIG. 1.
The broken lines in the drawing are for illustrative purposes only and form no part of the claimed design.

公开(公告)号：US20210328527A1

公开(公告)日：2021-10-21

申请号：US17261475

申请日：2018-07-25

Applicant: ABB Schweiz AG

Inventor： Yang Gao

IPC: H02P5/74 ,  B25J9/12

Abstract: A method for controlling an electric motor, the method including determining a planned reference speed of the electric motor; determining a pulse-width modulation (PWM) switching frequency based on the planned reference speed; and controlling the electric motor with an alternating current produced by PWM switching with the determined PWM switching frequency. A control system for controlling an electric motor and an industrial robot including a control system, are also provided.

公开(公告)号：US20230405806A1

公开(公告)日：2023-12-21

申请号：US18251318

申请日：2021-02-04

Applicant: ABB Schweiz AG

Inventor： Shanghua Li ,  Liming Liu ,  Damian Kowal ,  Tomas Botold ,  Bin Liu ,  Zach Pan ,  Rajib Mikail ,  Yang Gao

IPC: B25J9/10

CPC classification number: B25J9/104

Abstract: A self-contained actuator for use in a robot manipulator includes: a housing, in which are arranged in axial sequence a gear, a motor, a brake, a sensor and a motor drive. The motor drive includes wide-bandgap/WBG electronics and is arranged in heat-dissipating relationship with a free end of the housing. Through the motor and some further components, there is provided a central channel for receiving a cable connected to at least one further actuator of the robot manipulator. The channel may be angled or straight. In embodiments where the motor drive is hollow, the central channel extends between the axial ends of the actuator. There is further provided an all-in-one industrial robot comprising a robot manipulator, in which one or more self-contained actuators with the above characteristics are installed and a robot controller is physically integrated.

公开(公告)号：USD991193S1

公开(公告)日：2023-07-04

申请号：US29812623

申请日：2021-10-22

Applicant: ABB Schweiz AG

Designer： Fawei Zhang ,  Yang Gao

Abstract: FIG. 1 is a front elevation view of a first embodiment of a robot controller;
FIG. 2 is a back elevation view of the first embodiment of the robot controller;
FIG. 3 is a left side view of the first embodiment of the robot controller;
FIG. 4 is a right side view of the first embodiment of the robot controller;
FIG. 5 is a top plan view of the first embodiment of the robot controller;
FIG. 6 is a bottom plan view of the first embodiment of the robot controller;
FIG. 7 is a perspective view of the first embodiment of the robot controller;
FIG. 8 is another perspective view of the first embodiment of the robot controller;
FIG. 9 is a front elevation view of a second embodiment of a robot controller;
FIG. 10 is a back elevation view of the second embodiment of the robot controller;
FIG. 11 is a left side view of the second embodiment of the robot controller;
FIG. 12 is a right side view of the second embodiment of the robot controller;
FIG. 13 is a top plan view of the second embodiment of the robot controller;
FIG. 14 is a bottom plan view of the second embodiment of the robot controller;
FIG. 15 is a perspective view of the second embodiment of the robot controller; and,
FIG. 16 is another perspective view of the second embodiment of the robot controller.
The even spaced broken lines in the drawings depict portions of the robot controller that form no part of the claimed design. The dash-dot-dash broken lines define the boundaries of the claimed design and form no part thereof.

公开(公告)号：US11614729B2

公开(公告)日：2023-03-28

申请号：US16978273

申请日：2018-03-09

Applicant: ABB SCHWEIZ AG

Inventor： Yang Gao

IPC: G05B19/4155 ,  B25J9/12 ,  H02P27/08

Abstract: A method of controlling a drive including one respective inverter associated with each of a plurality of servomotors in a robot. The method includes providing a PWM frequency corresponding to a frequency of switching instances for respective semiconductor switches in each of the inverters, whereby for each inverter time is divided into consecutive control cycles forming a sequence of control cycles of the inverter, each control cycle containing two, and only two, of the switching instances for each of the semiconductor switches. The method also includes spreading the respective control cycle sequences of the inverters over time such that the control cycles of each inverter are time shifted in respect to the control cycles of each of the other inverters in the power converter.