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公开(公告)号：US20220252147A1
公开(公告)日：2022-08-11
申请号：US17624560
申请日：2019-07-29
Applicant: ABB Schweiz AG
Abstract: Embodiments of the present disclosure provide a planetary gearbox. The planetary gearbox includes a housing extending along a first axis; a first coupling member arranged on an inner circumference of the housing; an input component operable to rotate about the first axis; at least one intermediate component, each intermediate component comprising a second coupling member and adapted to be driven by the input component to rotate about a second axis offset from the first axis with the second coupling member engaging with the first coupling member; and an output component coupled to the at least one intermediate component and operable to rotate about the first axis with rotation of the at least one intermediate component, wherein at least one of the first coupling member and the second coupling member comprises a synchronous belt.
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22.发明授权公开(公告)号：US10786904B2
公开(公告)日：2020-09-29
申请号：US15719243
申请日：2017-09-28
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Qingwei Li , Jinsong Li , Jihuan Tian , Liwei Qi , Jianjiang Wang
IPC: B25J9/16 , G06F3/041 , B25J11/00 , G05B19/401 , G05B19/414
Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen; (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.
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公开(公告)号：US20200282576A1
公开(公告)日：2020-09-10
申请号：US16882888
申请日：2020-05-26
Applicant: ABB Schweiz AG
IPC: B25J19/02 , B25J9/16 , G05B19/401
Abstract: An apparatus for use with a robot is disclosed. 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 between the reflective photoelectric sensor and the gripping component; and store the position of target object for future use in assembling objects. A method, a robot and a computer program product are also disclosed. The apparatus and the method provide a new solution for calibrating or teaching the robot.
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公开(公告)号：US20200182345A1
公开(公告)日：2020-06-11
申请号：US16693921
申请日：2019-11-25
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Zhiqiang Tao
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.
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25.发明申请公开(公告)号：US20200061837A1
公开(公告)日：2020-02-27
申请号：US16674916
申请日：2019-11-05
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Qingwei Li , Jinsong Li , Jihuan Tian , Liwei Qi , Jianjiang Wang
IPC: B25J9/16 , G06F3/041 , G05B19/401 , B25J11/00
Abstract: Disclosed are systems and methods to provide a method for calibrating a touchscreen coordinate system of a touchscreen with an industrial robot coordinate system of an industrial robot for industrial robot commissioning and industrial robot system and control system using the same. In one form the systems and methods include attaching an end effector to the industrial robot; (a) moving the industrial robot in a compliant way until a stylus of the end effector touches a point on the touchscreen, (b) recording a position of the stylus of the end effector in the industrial robot coordinate system when it touches the point of the touchscreen; (c) recording a position of the touch point on the touchscreen in the touchscreen coordinate system; and calculating a relation between the industrial robot coordinate system and the touchscreen coordinate system based on the at least three positions of the end effector stylus and the at least three positions of the touch points.
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Patent Agency Ranking
26.发明申请公开(公告)号：US20200019136A1
公开(公告)日：2020-01-16
申请号：US16584090
申请日：2019-09-26
Applicant: ABB Schweiz AG
Inventor： Cheng Li , Hao Gu , Jihuan Tian
IPC: G05B19/401 , B25J9/16
Abstract: The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot including an operational tool and an application camera, the commissioning tool including a touchscreen and a stylus, the method including: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.
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公开(公告)号：US20190232499A1
公开(公告)日：2019-08-01
申请号：US16377869
申请日：2019-04-08
Applicant: ABB Schweiz AG
Inventor： Jiajing Tan , Hao Gu , Jinsong Li , Yan Xu , Shaojie Cheng , Lei Mao
IPC: B25J9/16
CPC classification number: B25J9/1692 , B25J9/1617 , B25J9/1664 , G01B21/042 , G05B19/404 , G05B2219/39021
Abstract: A method for calibration of work piece mounted in a predetermined manner to a work object and a robot system using the same. The work object has a first surface, a second surface and a third surface, and wherein the work object frame of reference is defined by a first coordinate line, a second coordinate line, and a third coordinate line at intersections of the first surface, the second surface and the third surface converging on a point. The method includes: touching a first number of locations on the first surface of the work object positioned by the robot touch probe to measure their actual locations on the first surface in the robot frame of reference, and storing the measured first coordinates for the measured locations; touching a second number of locations on the second surface of the work object positioned by the robot touch probe to measure their actual locations on the second surface in the robot frame of reference, and storing the measured second coordinates for the measured locations; touching a third number of locations on the third surface of the work object positioned by the robot touch probe to measure their actual locations on the third surface in the robot frame of reference, and storing the measured third coordinates for the measured locations; calculating orientation and origin of the work object frame of reference from the robot frame of reference based on the measured first, second and third coordinates for the measured locations, where the work object is positioned in the robot cell. The method provides all the necessary data to determine orientation and origin of the actual work object frame of reference relative to the robot frame of reference. The method also enables the robot to perform machine operations accurately at locations on a work object.
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28.发明申请公开(公告)号：US20180364866A1
公开(公告)日：2018-12-20
申请号：US16048773
申请日：2018-07-30
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Liwei Qi , Roger Mellander , Daniel X. Wappling
Abstract: A method for calibrating a touchscreen panel and the system, the industrial robot and the touchscreen panel using the same. The method including the steps of: (a) defining at least one area of the touchscreen with predetermined accuracy for position measuring; (b) recording a plurality of kinematic parameters of the industrial robot on a plurality of first touch points on the at least one area of the touchscreen; (c) recording a plurality of first position values on the plurality of first touch points on the at least one area of the touchscreen; (d) determining a first calibration data for the kinematic model of the industrial robot using the kinematic parameters and using the first position values; (e) computationally correcting errors of the kinematic model of the industrial robot 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 with at least a portion of its border extending outwards; (g) determining a second calibration data for the touchscreen using the kinematic parameters and using the second position values; (h) computationally correcting errors of position measurement of the touchscreen using the second calibration data; and iteratively repeating the steps (b) through (h) for different postures of the industrial robot until the iteration step no longer results in significant improvement of the error correction of the kinematic model of the industrial robot.
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公开(公告)号：US20180208414A1
公开(公告)日：2018-07-26
申请号：US15934065
申请日：2018-03-23
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Zhaofu Chi , Jibo Yang
Abstract: The present disclosure provides a conveying apparatus and a transmitting system. The conveying apparatus includes: a magnetic rack movable along a first direction, having a plurality of magnetic rack magnetic teeth arranged in the first direction, adjacent ones of the magnetic rack magnetic teeth having different polarities; at least one first magnetic gear rotatable about at least one first axis, respectively, wherein each first magnetic gear has a plurality of first magnetic gear magnetic teeth and adjacent ones of the first magnetic gear magnetic teeth have different polarities; at least one second magnetic gear rotatable about at least one second axis, wherein each second magnetic gear has a plurality of second magnetic gear magnetic teeth and adjacent ones of the second magnetic gear magnetic teeth have different polarities; wherein: at least one first magnetic gear, in combination with at least one second magnetic gear, forms at least one magnetic gear set, respectively; the magnetic rack and second magnetic gear may magnetically engage in a non-contact state with different first magnetic gear teeth of the first magnetic gear belonging to the same magnetic gear set via the magnetic rack magnetic teeth and the second magnetic gear teeth, respectively; and when the at least one second magnetic gear is used as a driving gear to output power, the power may be transmitted to the magnetic rack through at least one first magnetic gear so as to move it along the first direction.
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公开(公告)号：US12247651B2
公开(公告)日：2025-03-11
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: F16H57/02 , F16H1/32 , F16H49/00 , F16H55/02 , F16H55/17 , F16H57/023 , F16H57/032 , F16H55/06
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.
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