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公开(公告)号：US12103167B2
公开(公告)日：2024-10-01
申请号：US17616046
申请日：2019-07-17
Applicant: ABB Schweiz AG
Inventor： Jiafan Zhang , Hao Gu
CPC classification number: B25J19/0029 , B25J9/0009 , B25J18/00
Abstract: Robot arm link (100) comprises a body made of non-metallic material, a transmission cable (102) made of conducive material and embedded within the body (101), and at least one connector (103) arranged on the body (101) and coupled to the transmission cable (102), each connector (103) adapted to be electrically connected to a connector (1031) of a further robot arm link (1001) of a same specification, a sensor (301), or a power source (302) of the robot (200). By embedding the transmission cable (102) within the non-metallic material to form the robot arm link (100), there is no need to consider how to route the cable (102) and thus the difficulty of cable routing design can be significantly reduced. Furthermore, the efficiency of robot assembly and maintenance can be increased accordingly. In addition, the cables (102) arranged in the robot arm links (101) are not easily damaged, thereby increasing the service life of the robot.
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公开(公告)号：US12064882B2
公开(公告)日：2024-08-20
申请号：US17296756
申请日：2018-12-24
Applicant: ABB Schweiz AG
Inventor： Heqing Sun , Jiafan Zhang
IPC: B25J9/16
CPC classification number: B25J9/1674 , G05B2219/39412
Abstract: Methods and devices for diagnosing a robot. The method includes obtaining a first signal generated by a rotating component of the robot during operation of the robot. The first signal includes motion information of the rotating component. The first signal is preprocessed to filter out a part of the motion information in the first signal. The preprocessed first signal or spectrum information about the preprocessed first signal is sent to a server for diagnosing the robotU. A second signal is received from the server, wherein the second signal includes diagnostic information indicating whether a sub-component of the rotating component has a failure.
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公开(公告)号：US20230392655A1
公开(公告)日：2023-12-07
申请号：US18267284
申请日：2021-01-22
Applicant: ABB Schweiz AG
Inventor： Jiafan Zhang , Kaiyuan Cao
CPC classification number: F16D55/02 , H02K7/1023 , B25J19/0004 , F16D2121/22
Abstract: A brake apparatus, a motor, and a robot. The brake apparatus includes a first ring connected to a shaft and being rotatable together with the shaft. Wherein the first ring includes a first set of magnets. The brake apparatus also includes a second ring, which is spaced apart from the first ring by a gap, and includes a second set of magnets, the second set of magnets being magnetically coupled to the first set of magnets such that the second ring tends to rotate along with the first ring. The brake apparatus includes a first member connected to the second ring and being rotatable together with the second ring; and a second member being switchable between a first state and a second state. An impact force will not be transmitted to the shaft when the shaft is rotating, and thus a damping effect can be achieved during braking.
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Patent Agency Ranking
公开(公告)号：US11835420B2
公开(公告)日：2023-12-05
申请号：US17296674
申请日：2018-12-24
Applicant: ABB Schweiz AG
Inventor： Heqing Sun , Jiafan Zhang
IPC: G01M13/045 , B25J9/16 , B25J19/00 , G01H1/12 , G05B19/4063
CPC classification number: G01M13/045 , B25J9/1674 , B25J19/0095 , G01H1/12 , G05B19/4063 , G05B2219/39001 , G05B2219/39056
Abstract: Methods and devices for diagnosing a robot. A method includes obtaining a spectrum of a motion signal generated by a rotating component of the robot during operation of the robot. A frequency amplitude of a sub-component of the rotating component is determined from the spectrum, based on a physical characteristic and a speed of the sub-component. A failure of the sub-component is detected by comparing the frequency amplitude with a threshold amplitude.
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公开(公告)号：US11820006B2
公开(公告)日：2023-11-21
申请号：US17753630
申请日：2019-09-27
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Jiafan Zhang , Yang Shu
CPC classification number: B25J19/022 , B25J9/1692
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.
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公开(公告)号：US20220335735A1
公开(公告)日：2022-10-20
申请号：US17635969
申请日：2019-08-16
Applicant: ABB Schweiz AG
Inventor： Yichao Mao , Ye Tian , Jiafan Zhang
Abstract: Embodiments of the present disclosure provide methods for determining an object location of an object. In the method, a group of measurement locations for a group of feature marks in the object are collected from a group of sensors, respectively. A group of estimation locations are obtained for the group of feature marks based on the object location and a group of offsets between the group of estimation locations and the object location, respectively. An error function is generated based on the group of measurement locations and the group of estimation locations. The object location is determined based on the error function. With these embodiments, performance and accuracy for determining the object location may be greatly increased.
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公开(公告)号：US20220241990A1
公开(公告)日：2022-08-04
申请号：US17624548
申请日：2019-07-24
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Jiafan Zhang , Jibo Yang , Kangjian Wang
Abstract: Embodiments of the present disclosure provide a robot. The robot comprises a joint housing and an internal engaging member arranged on an inner surface of the joint housing; a second arm link comprising a flange; and a moving assembly at least partially arranged in the joint housing and comprising an input shaft adapted to rotate about an axis of the input shaft; and at least one intermediate member coupled to the output flange and adapted to be driven by the input shaft to rotate while engaging with the internal engaging member, to cause a relative movement between the first and second arm links. By integrating the relative static parts of the gearbox, such as the joint housing and the output flange to the robot arm links, high connection strength of connections between robot arm links can be achieved in a more cost-efficient and space-saving manner.
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公开(公告)号：US20210396307A1
公开(公告)日：2021-12-23
申请号：US17296743
申请日：2018-12-10
Applicant: ABB Schweiz AG
Inventor： Hao Gu , Jibo Yang , Han Chen , Wei Song , Jiafan Zhang
IPC: F16H57/032 , B25J9/10
Abstract: A housing for a plastic gearbox and associated plastic gearbox and a robot. The housing includes a body including an inner engaging portion circumferentially arranged on an inner surface of the body, the inner engaging portion adapted to be engaged with a transmission assembly of the plastic gearbox; and an adjusting mechanism arranged around the body and operable to squeeze the body inwardly to reduce an inner diameter of the body. By using the adjusting mechanism to squeeze the body of the housing inwardly, the fit error between the inner engaging portion and the transmission assembly can be compensated in an efficient way. Furthermore, the adjusting mechanism is a part of the housing and thus the body of the housing which is made of plastic does not need to be too thick, which makes injection molding easier and manufacturing precision improved.
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