公开(公告)号：US20240426687A1

公开(公告)日：2024-12-26

申请号：US18820506

申请日：2024-08-30

Applicant: ABB SCHWEIZ AG

Inventor： Hao Gu ,  Yongkang Zhang ,  Yin Tian

IPC: G01L5/00 ,  B25J19/02

Abstract: A fixing apparatus for use with an industrial robot and a method of measuring a backlash of a gear. The industrial robot includes a first arm and a second arm connected to the first arm. The fixing apparatus includes a first securing component configured to couple to the first arm and a second securing component configured to couple to the second arm. When the first securing component is coupled to the first arm and the second securing component is coupled to the second arm, at least one of the first arm and the second arm is remained at a non-gravity position.

公开(公告)号：US20230184319A1

公开(公告)日：2023-06-15

申请号：US17995912

申请日：2020-05-06

Applicant: ABB Schweiz AG

Inventor： Zhiqiang Tao ,  Hao Gu ,  Wei Song ,  Bo Qiao ,  Lei Wang

IPC: F16H57/032 ,  F16H55/06 ,  F16H55/17

CPC classification number: F16H57/032 ,  F16H55/06 ,  F16H55/17 ,  F16H2057/0325

Abstract: Embodiments of the present disclosure relate to a gearbox housing. The gearbox housing has a housing body and an annular gear. The housing body comprises an annular support and a lateral portion provided at a side face of the annular support. The lateral portion has a hole formed thereon for an input shaft to pass through. The annular gear is provided inside of the housing body along a radial direction and adapted to couple to the annular support, wherein a plurality of teeth are circumferentially provided at an inner side of the annular gear. A gear wheel with an output shaft is adapted to couple to the plurality of teeth.

公开(公告)号：US11642800B2

公开(公告)日：2023-05-09

申请号：US16882888

申请日：2020-05-26

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Cheng Li

IPC: B25J19/02 ,  B25J9/16 ,  G05B19/401

CPC classification number: B25J19/021 ,  B25J9/1612 ,  G05B19/401 ,  G05B2219/36415 ,  G05B2219/37283 ,  G05B2219/39024

Abstract: An apparatus and method for calibrating or teaching a robot, the apparatus includes a reflective photoelectric sensor arranged on a gripper of the robot and a controller. The controller is configured to: cause the reflective photoelectric sensor to scan over a target object; monitor changes in an output signal from the reflective photoelectric sensor; for each detected change exceeding a threshold, determine a coordinate of a gripping component on the gripper in a robot coordinate system, to obtain a set of coordinates; determine a position of the target object in the robot coordinate system based on the set of coordinates and a predefined offset value (PO) between the reflective photoelectric sensor and the gripping component; and store the position of target object for future use in assembling objects.

公开(公告)号：US20220379499A1

公开(公告)日：2022-12-01

申请号：US17753630

申请日：2019-09-27

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jiafan Zhang ,  Yang Shu

IPC: B25J19/02 ,  B25J9/16

Abstract: Embodiments of present disclosure relates to an apparatus and a method for calibrating a laser displacement sensor for use with a robot. The apparatus comprises an auxiliary object arranged in a work space of the robot or held by the robot and comprising a planar surface adapted to be detected by the laser displacement sensor; and a controller configured to: determine a characteristic point on the planar surface of the auxiliary object based on a detection result from the laser displacement sensor; cause the laser displacement sensor to point at the characteristic point for plural times with the same angle and different distances to obtain an orientation of the laser displacement sensor; and cause the laser displacement sensor to point at the characteristic point for plural times with different angles and the same distance to obtain a relative position relationship between the laser displacement sensor and the robot.

公开(公告)号：US11493338B2

公开(公告)日：2022-11-08

申请号：US16161214

申请日：2018-10-16

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jihuan Tian ,  Cheng Li ,  Martin Kefer

IPC: G01C9/06 ,  G01B11/26 ,  G01D5/30

Abstract: An apparatus for detecting tilt of a fixture and method thereof. The apparatus includes a visible element having a pattern visibly distinguishable from its surrounding area; a part having a plane reflective surface being configured to be engaged with the fixture in alignment and being arranged to reflect light beams propagating directly from the visible element so as to produce a first virtual image of the visible element; an image capture device being disposed at same side of the visible element with respective to the part having a plane reflective surface and being configured to have a field of view covering the first virtual image and a second virtual image of the visible element produced by the part having a plane reflective surface, wherein the second virtual image was produced where the part having a plane reflective surface assumed a levelling orientation; and a controller being adapted for detecting tilt of the fixture using a deviation of the first virtual image from the second virtual image of the visible element in the field of view of the image capture device. By using the apparatus or method according to present invention, no optical means, such as lens, is used for converging the light beams projected by the visible element. It is thus possible to facilitate the assembly of the apparatus, miniaturize the apparatus and reduce costs thereof.

公开(公告)号：US11209078B2

公开(公告)日：2021-12-28

申请号：US16693921

申请日：2019-11-25

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Zhiqiang Tao

IPC: F16H55/17 ,  F16H55/06

Abstract: Embodiments of the present disclosure relate to a transmission gear and a deceleration mechanism including the same. The transmission gear includes a metal ring; and a plastic gear member integral with the metal ring by injection molding, the metal ring is coaxially wrapped in the plastic gear member and provided with a locating portion for locating the metal ring in an injection mold, the plastic gear member having an outer circumference that is tooth-shaped, and the plastic gear member being formed with an input hole thereon through which an input shaft passes, an outer ring surface of the metal ring being adjacent to the outer circumference, and an inner ring surface of the metal ring having a diameter greater than or equal to that of the input hole. Since almost no shrinkage occurs to the plastic gear member during injection molding, such a transmission gear has good dimensional accuracy, strength and rigidity.

公开(公告)号：US10745212B2

公开(公告)日：2020-08-18

申请号：US16166886

申请日：2018-10-22

Applicant: ABB Schweiz AG

Inventor： Zhaofu Chi ,  Hao Gu ,  Jibo Yang

IPC: B65G35/06 ,  B65G47/57 ,  B65G47/248 ,  B65G47/64 ,  B65G37/00

Abstract: An auxiliary conveyor, which is connected with a main conveyor including at least two conveying paths, the auxiliary conveyor including a conveying part configured to receive a load from one of the at least two conveying paths and convey the load through the other of the at least two conveying paths; and a driving part connected with the conveying part and configured to drive the conveying part to move from one of the at least two conveying paths to the other of the at least two conveying paths.

公开(公告)号：US20190283974A1

公开(公告)日：2019-09-19

申请号：US16434692

申请日：2019-06-07

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Zhaofu Chi ,  Jibo Yang

IPC: B65G35/06 ,  B65G54/02

Abstract: A magnetic conveying system for moving object between a first transfer system and a second transfer system transversely arranged, includes: a first carrier for transferring the object, having a first magnetic engaging part; and a first drive member, having a second magnetic engaging part interacting with the first magnetic engaging part to move the first carrier in a first transfer direction of the first transfer system to a transverse section of the first transfer system and the second transfer system; at least a portion of the second magnetic engaging part is arranged in a space between the transverse section and the first magnetic engaging part crossing an edge of the transverse section. This is helpful for keeping the magnetic coupling above a predetermined level when the first carrier enters into the transverse section from the first transfer system or moves away from the transverse section towards the first transfer system.

公开(公告)号：US20190049244A1

公开(公告)日：2019-02-14

申请号：US16161214

申请日：2018-10-16

Applicant: ABB Schweiz AG

Inventor： Hao Gu ,  Jihuan Tian ,  Cheng Li ,  Martin Kefer

IPC: G01C9/06

Abstract: An apparatus for detecting tilt of a fixture and method thereof. The apparatus includes a visible element having a pattern visibly distinguishable from its surrounding area; a part having a plane reflective surface being configured to be engaged with the fixture in alignment and being arranged to reflect light beams propagating directly from the visible element so as to produce a first virtual image of the visible element; an image capture device being disposed at same side of the visible element with respective to the part having a plane reflective surface and being configured to have a field of view covering the first virtual image and a second virtual image of the visible element produced by the part having a plane reflective surface, wherein the second virtual image was produced where the part having a plane reflective surface assumed a levelling orientation; and a controller being adapted for detecting tilt of the fixture using a deviation of the first virtual image from the second virtual image of the visible element in the field of view of the image capture device. By using the apparatus or method according to present invention, no optical means, such as lens, is used for converging the light beams projected by the visible element. It is thus possible to facilitate the assembly of the apparatus, miniaturize the apparatus and reduce costs thereof.

公开(公告)号：US20240308078A1

公开(公告)日：2024-09-19

申请号：US18576694

申请日：2021-09-22

Applicant: ABB SCHWEIZ AG

Inventor： Kun Chang ,  Hao Gu ,  Lei Mao

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1692 ,  B25J9/1653 ,  B25J13/089

Abstract: A method and an electronic device for calibrating a robot. The method includes obtaining at least two sets of positional data of a first reference point in a base coordinate system of the robot, the first reference point fixedly arranged on the external axis, the at least two sets of positional data corresponding to at least two positions of the first reference point during movement of the external axis. The method includes determining a transformation relationship between the base coordinate system and an user coordinate system of the external axis according to the at least two sets of positional data, determining the calibrated user coordinate system based on the base coordinate system and the transformation relationship, and controlling the robot to process an object arranged on the external axis under the calibrated user coordinate system.