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1.发明授权Method for changing a tool of an industrial robot and system comprising an industrial robot and a tool 有权用于与工业机器人和一个工具改变工具和工业机器人系统的方法
公开(公告)号：EP1798007B1
公开(公告)日：2008-06-18
申请号：EP05025015.8
申请日：2005-11-16
申请人： ABB Research Ltd.
IPC分类号： B25J15/04
CPC分类号： B25J15/0491 , B25J15/04 , B25J19/0045
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2.发明公开Press die with a contactless power supply, production system comprising same and method for supplying electrical power to said die 审中-公开按与非接触供电工具，包含用于电力供给系统和方法本压制工具该制剂
公开(公告)号：EP1800769A1
公开(公告)日：2007-06-27
申请号：EP05028539.4
申请日：2005-12-22
申请人： ABB RESEARCH LTD.
CPC分类号： B21D37/14 , B29C43/58 , B29C2043/5808 , B29C2043/5833 , B30B15/02
摘要： The invention is a die (22b) for an industrial press (1) arranged with a wireless communication device (14) and a contactless power supply (10,12). Power and/or control cables are not necessary between a stationary press (1) and the die (22b) or other moving part arranged with the press (1). One or more sensors on the moving part of the die (22b) may be contactlessly powered and wirelessly controlled. The wireless communication member (14) of the die (22b) may transmit data from one or more sensors on the die (22b) to a press control unit (24) or other control unit (25). The power supply (10,12) includes a primary power supply member (2,8) and secondary power supply member (13,15). In other aspects of the invention a method and a system are described.
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3.发明公开Integration of diagnostics and control in a component-based production line 审中-公开在生产基于植物的成分的诊断和控制装置一体化
公开(公告)号：EP1022631A2
公开(公告)日：2000-07-26
申请号：EP99203127.8
申请日：1999-09-24
申请人： ABB RESEARCH LTD.
IPC分类号： G05B19/418
CPC分类号： G05B19/4184 , G05B19/41845 , G05B19/41865 , Y02P90/14 , Y02P90/16 , Y02P90/20
摘要： The invention relates to the integration of diagnostics and control in a production line based on process components (10). Preferably, the control system and the diagnostic system are built as a hierarchical and highly distributed system, where as much as possible of the pre-processing and low-level diagnostics is accomplished at the lower levels of the system. At the process component level, diagnostics (12) are integrated with the control software (11) controlling the process hardware of the production line. The production line is typically comprised of a number of cells of process components, and each cell is controlled by a cell controller (20). At the cell level, diagnostics (22) are integrated in the cell control software (21) of the cell controllers (20). For example, diagnostic functions could be integrated with the control software programs by extending the IEC 1131-3 SFC language with diagnostic functions, or pre-compiling the source code of the control program and adding code for diagnostic functions.
摘要翻译： 本发明涉及一种在生产线中的集成诊断和控制的基于过程组件（10）。 优选地，控制系统和诊断系统被构建为一个分层和高度分散的系统，其中，尽可能地预加工和低级别的诊断是在较低级别的系统来实现的。在该过程组件级别， 诊断（12）被集成与控制所述生产线的过程中硬件控制软件（11）。 该生产线通常包括一个数字处理部件的单元中的，并且每个小区由小区控制器（20）控制。 在细胞水平，诊断（22）集成在所述单元控制器（20）的小区的控制软件（21）。 对于实施例，诊断功能可以通过扩展带诊断功能，或预编译控制程序的源代码和用于诊断功能添加代码的IEC 1131-3 SFC语言的控制软件程序集成。
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4.发明公开Manipulator with control means and a remote main controller communicating via wireless means 审中-公开操作员Steuerungsmitteln und einer Steuerungseinheit
公开(公告)号：EP1837132A1
公开(公告)日：2007-09-26
申请号：EP06005630.6
申请日：2006-03-20
申请人： ABB RESEARCH LTD.
IPC分类号： B25J9/16
CPC分类号： B25J9/161
摘要： The manipulator according to the invention exhibits an improved structure since the communication between the main controller (1) in the remote unit and the controllers (7) in the workplace unit is performed via a wireless communication channel (12) which is preferably a radio channel. Accordingly, no cables are required to connect the main controller (1) and the control units (7) for communication purposes. However, the controllers (7) of the manipulator according to the invention are connected to encoders (6) or resolvers (6) to receive information about the actual position of the controlled manipulator axis (N). Further, the controllers (7) of a manipulator according to the invention are connected to drivers (5) for supplying power to the motors (3) causing the movement of the manipulator. Thus, the controller performs the control of the manipulator movements in a direct and local manner, however, being remotely controlled by the main controller via a wireless communication channel.
摘要翻译： 根据本发明的机械手表现出改进的结构，因为远程单元中的主控制器（1）和工作单元中的控制器（7）之间的通信是经由无线通信信道（12）执行的，无线通信信道（12）优选地是无线电信道 。 因此，为了通信目的，不需要电缆连接主控制器（1）和控制单元（7）。 然而，根据本发明的操纵器的控制器（7）连接到编码器（6）或旋转变压器（6），以接收关于受控操纵器轴线（N）的实际位置的信息。 此外，根据本发明的操纵器的控制器（7）连接到用于向电动机（3）供电的驱动器（5），引起机械手的移动。 因此，控制器以直接和局部的方式执行操纵器运动的控制，然而，通过无线通信信道由主控制器远程控制。
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5.发明公开Method for changing a tool of an industrial robot and system comprising an industrial robot and a tool 有权用于与工业机器人和一个工具改变工具和工业机器人系统的方法
公开(公告)号：EP1798007A1
公开(公告)日：2007-06-20
申请号：EP05025015.8
申请日：2005-11-16
申请人： ABB RESEARCH LTD.
IPC分类号： B25J15/04
CPC分类号： B25J15/0491 , B25J15/04 , B25J19/0045
摘要： The invention is a method for changing a tool (12) for a robot or manipulator (5) comprising a wireless communication device (14) for control and/or data communication on the tool (12). Communication or control cables are not necessary between the robot arm (5) and the moveable robot tool (12). The one or more wireless communication members (14) comprised on the robot tool may also be powered by the contactless power supply in another embodiment. In other aspects of the invention a system, and a computer program for carrying out the method are described.
摘要翻译： 本发明是用于改变包括用于在所述工具（12）控制和/或数据通信的无线通信设备（14）的机器人或者机械（5）的工具（12）的方法。 通信或控制电缆不使机器人手臂（5）和所述可移动机器人工具（12）之间必要的。 包括在机器人工具的一个或多个无线通信部件（14）因此，可以通过在其他的实施方式的非接触式电源供电。 在本发明的系统，以及用于执行该方法的计算机程序的其它方面进行描述。
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6.发明公开Integration of diagnostics and control in a component-based production line 审中-公开在生产基于植物的成分的诊断和控制装置一体化
公开(公告)号：EP1022631A3
公开(公告)日：2000-09-13
申请号：EP99203127.8
申请日：1999-09-24
申请人： ABB RESEARCH LTD.
IPC分类号： G05B19/418
CPC分类号： G05B19/4184 , G05B19/41845 , G05B19/41865 , Y02P90/14 , Y02P90/16 , Y02P90/20
摘要： The invention relates to the integration of diagnostics and control in a production line based on process components (10). Preferably, the control system and the diagnostic system are built as a hierarchical and highly distributed system, where as much as possible of the pre-processing and low-level diagnostics is accomplished at the lower levels of the system. At the process component level, diagnostics (12) are integrated with the control software (11) controlling the process hardware of the production line. The production line is typically comprised of a number of cells of process components, and each cell is controlled by a cell controller (20). At the cell level, diagnostics (22) are integrated in the cell control software (21) of the cell controllers (20). For example, diagnostic functions could be integrated with the control software programs by extending the IEC 1131-3 SFC language with diagnostic functions, or pre-compiling the source code of the control program and adding code for diagnostic functions.
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