公开(公告)号：US09336960B2

公开(公告)日：2016-05-10

申请号：US13908392

申请日：2013-06-03

Applicant: ABB Technology AG

Inventor： Dietmar Gentsch

IPC: H01H3/46 ,  B29C45/16 ,  H01H33/666 ,  B29C67/00 ,  B29K77/00 ,  B29K105/12

CPC classification number: H01H3/46 ,  B29C45/16 ,  B29C67/00 ,  B29K2077/00 ,  B29K2105/12 ,  B29K2995/0006 ,  H01H33/666

Abstract: A method is disclosed of manufacturing a push rod for switching a vacuum interrupter by moulding the push rod with a plastic material. The push rod can include a core component configured for receiving a spring element. The push rod can also include a rod component which may include another second material, wherein a core component is embedded in the rod component to form the push rod.

Abstract translation: 公开了一种制造用于通过用塑料材料模制推杆来切换真空断路器的推杆的方法。 推杆可以包括构造成用于容纳弹簧元件的芯部件。 推杆还可以包括可以包括另外的第二材料的杆部件，其中芯部件嵌入在杆部件中以形成推杆。

公开(公告)号：US09000827B2

公开(公告)日：2015-04-07

申请号：US13512041

申请日：2010-12-01

Applicant: Sven Klaka ,  Samuel Hartmann

Inventor： Sven Klaka ,  Samuel Hartmann

IPC: H03K17/06 ,  H03K17/12

CPC classification number: H03K17/127 ,  H02M1/088 ,  H02M2001/325 ,  H03K17/06

Abstract: A system includes at least two power semiconductor chips being connected in parallel and including each a gate terminal for switching the power semiconductor chip in a blocking-state by a first gate voltage and for switching the power semiconductor chip in a conducting-state by a second gate voltage. The system includes further a control device adapted for applying the first or the second gate voltage to the gate terminals of the at least two power semiconductor chips. The control device is adapted for applying a third gate voltage to the gate terminal of the at least one remaining power semiconductor chip when a power semiconductor chip fails, and that the third gate voltage is higher than the second gate voltage.

Abstract translation: 一种系统包括并联连接的至少两个功率半导体芯片，每个功率半导体芯片包括：每个栅极端子，用于通过第一栅极电压将功率半导体芯片以阻塞状态切换，并将功率半导体芯片以导通状态切换第二栅极电压 栅极电压。 该系统还包括适于将第一或第二栅极电压施加到至少两个功率半导体芯片的栅极端子的控制装置。 所述控制装置适于在功率半导体芯片发生故障时向所述至少一个剩余功率半导体芯片的栅极端子施加第三栅极电压，并且所述第三栅极电压高于所述第二栅极电压。

公开(公告)号：US08577499B2

公开(公告)日：2013-11-05

申请号：US12532924

申请日：2008-11-19

Applicant: Per Emil Eliasson

Inventor： Per Emil Eliasson

IPC: G05B19/18

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: A device and method for optimizing a programmed movement path for an industrial robot holding a tool to carry out work along the path during a work cycle. The movement path includes information on positions and orientations for the tool at a plurality of target points on the movement path. The method includes for at least one of the target points: receiving a tolerance interval for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 一种用于优化用于工作机器人的编程移动路径的装置和方法，所述工业机器人保持工具在工作循环期间沿着路径执行工作。 移动路径包括关于移动路径上的多个目标点上的工具的位置和取向的信息。 该方法包括用于至少一个目标点：接收目标点中的工具的方位的公差间隔，确定机器人在目标点与路径上的一个或多个其他目标点之间的运动，用于 基于所确定的机器人的移动并且关于最小化周期时间，并且基于所选择的机器人程序来生成机器人程序，在所述公差间隔内的多个不同的刀具方向，选择所述不同刀具取向中的一个作为所述目标点的刀具方位 目标点上工具的方位。

公开(公告)号：US20110190938A1

公开(公告)日：2011-08-04

申请号：US13119435

申请日：2009-10-21

Applicant: Anders O. Ekelund ,  Steve Murphy

Inventor： Anders O. Ekelund ,  Steve Murphy

IPC: G05B19/409

CPC classification number: G05B19/409 ,  G05B2219/36162 ,  G05B2219/39443 ,  G05B2219/40099

Abstract: The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (1), the teach pendant comprising a graphical screen (6), and a native user interface program (9) which creates a graphical user interface and displays the user interface on the graphical screen. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more animated graphical objects, instructions for displaying the animated objects on the graphical screen, information on the behavior of the animated graphical objects, and instructions on how the user can interact with the animated graphical objects, and the processing component is configured to display the animated graphical objects on the screen and to set up a sandbox providing an isolation mechanism for safely running the application without disturbing the execution of normal teach pendant operations, and said user interface program is programmed to host directly the processing component and instructing it to load and display the application containing the animated graphical objects.

Abstract translation: 本发明涉及一种耦合到可编程机器人控制器（1）的机器人示教装置（2），所述示教装置包括图形屏幕（6）和原始用户界面程序（9），其创建图形用户界面和 在图形屏幕上显示用户界面。 机器人教导装置还包括能够接收包括一个或多个动画图形对象的应用的处理组件（10），用于在图形屏幕上显示动画对象的指令，关于动画图形对象的行为的信息以及关于如何 用户可以与动画图形对象交互，并且处理组件被配置为在屏幕上显示动画图形对象，并且设置沙盒，提供用于安全地运行应用程序的隔离机制，而不会干扰正常教学吊坠操作的执行， 并且所述用户界面程序被编程为直接托管处理组件并指示其加载和显示包含动画图形对象的应用。

公开(公告)号：US20100274385A1

公开(公告)日：2010-10-28

申请号：US12305090

申请日：2008-01-18

Applicant: Peter J. Eriksson

Inventor： Peter J. Eriksson

IPC: B25J9/16 ,  G06F9/50 ,  G05B19/414

CPC classification number: G06F9/5066 ,  G05B19/4141 ,  G05B2219/33334 ,  G05B2219/36395 ,  G05B2219/39252

Abstract: A control system for controlling at least one industrial robot, wherein the control system comprises a plurality of software modules (41-47) for handling various system functions of the control system, and a plurality of separate hardware units (50-53), each comprising a processing unit (30a-d) and a memory unit (26a-d) for storing one or more of said software modules, and each of the hardware units is configured to receive and execute one or more of the software modules. At least some of the software modules are arranged scalable with regard to the performance of the system functions dependent on the capacity of the hardware unit running the software module, and the control system comprises a resource-distributing unit (55) having knowledge of the capacity of the hardware units, the scalability of the software modules, and the demand on hardware capacity of the software modules, and the resource-distributing unit is configured to plan how to distribute said software modules among said hardware units in order to optimized the performance of the system functions.

Abstract translation: 一种用于控制至少一个工业机器人的控制系统，其中所述控制系统包括用于处理所述控制系统的各种系统功能的多个软件模块（41-47）和多个单独的硬件单元（50-53），每个 包括用于存储一个或多个所述软件模块的处理单元（30a-d）和存储单元（26a-d），并且每个硬件单元被配置为接收和执行一个或多个软件模块。 关于取决于运行软件模块的硬件单元的容量的系统功能的性能，至少一些软件模块被布置为可扩展的，并且控制系统包括具有容量知识的资源分配单元（55） 硬件单元的可扩展性，软件模块的可扩展性以及对硬件容量的需求以及资源分配单元被配置为规划如何在所述硬件单元之间分发所述软件模块，以便优化所述硬件单元的性能 系统功能。

公开(公告)号：US20100231158A1

公开(公告)日：2010-09-16

申请号：US12306723

申请日：2007-12-28

Applicant: Ingvar Jonsson

Inventor： Ingvar Jonsson

IPC: G05B11/42 ,  G05B11/32

CPC classification number: H02P5/46 ,  G05B19/258 ,  G05B19/318 ,  G05B19/378 ,  G05B2219/42033 ,  G05B2219/42186 ,  H05K7/1452

Abstract: Servo controller for controlling a plurality of motors including a master motor and a slave motor cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references for the master motor. The servo controller includes a master speed controller configured to calculate a reference torque for the master motor based on speed errors for the master motor. The slave speed controller is configured to calculate reference torques for the slave motor based on speed errors for the slave motor. Each of the reference torques includes a proportional torque part and an integral torque part. The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.

Abstract translation: 伺服控制器，用于控制包括主电动机和从动电动机的多个电动机，协同驱动可移动部件。 伺服控制器配置为根据主电机的位置参考值控制主电机和从动电机。 伺服控制器包括主速度控制器，其被配置为基于主电动机的速度误差来计算主电动机的参考转矩。 从速控制器被配置为基于从动马达的速度误差来计算从动马达的基准转矩。 每个参考转矩包括比例扭矩部分和整体转矩部分。 伺服控制器被配置为基于主电动机的速度误差和从动电机的速度误差来计算每个积分转矩部分，使得由于整体转矩部分引起的转矩将平均分配在主机和从机之间 电机或按照预定比例。

公开(公告)号：US20110203402A1

公开(公告)日：2011-08-25

申请号：US13127535

申请日：2009-03-16

Applicant: Lars Barkman ,  Mattias Linderas ,  Pascal Cabanne ,  Peter Bylund ,  Joachim Ljungkvist

Inventor： Lars Barkman ,  Mattias Linderas ,  Pascal Cabanne ,  Peter Bylund ,  Joachim Ljungkvist

IPC: B25J19/00

CPC classification number: B25J19/0025 ,  B25J9/0009

Abstract: A process turning disc connectable to an output shaft of a motor configured to rotate the process turning disc about a first center axis of the process turning disc. The process turning disc being configured to guide a cable or hose. A first flange is connectable to an end part of a robot arm. A second flange is connectable to a tool element. The flanges are spaced apart from each other by an intermediate connecting member. The connecting member is connected to the flanges. The connecting member provides a passage between the flanges. The passage is configured to receive and guide the cable/hose. The passage has an inlet side for the cable/hose and an outlet side for the cable/hose. A robot arm including the process turning disc, a robot including the robot arm and a method that utilizes the process turning disc.

Abstract translation: 可连接到电动机的输出轴的过程转盘，其被配置成围绕过程转盘的第一中心轴旋转过程转盘。 过程转盘被配置为引导电缆或软管。 第一法兰可连接到机器人手臂的端部。 第二法兰可连接到工具元件。 凸缘通过中间连接构件彼此间隔开。 连接构件连接到凸缘。 连接构件在凸缘之间提供通道。 通道被配置为接收和引导电缆/软管。 通道具有电缆/软管的入口侧和电缆/软管的出口侧。 包括处理转盘的机器人手臂，包括机器人手臂的机器人以及利用该转动盘的方法。

公开(公告)号：US20110142534A1

公开(公告)日：2011-06-16

申请号：US12996172

申请日：2009-06-03

Applicant: Torgny Brogårdh ,  Ove Kullborg ,  Ove Ode

Inventor： Torgny Brogårdh ,  Ove Kullborg ,  Ove Ode

IPC: F16C11/06 ,  B23P25/00

CPC classification number: F16C11/069 ,  F16C11/0647 ,  Y10T29/49886 ,  Y10T403/32786

Abstract: A method for manufacturing a joint. A ball is mounted on a pin. Spherical surfaces on at least two socket parts are machined. Grinding paste is applied on the ball and/or on the surfaces of the socket parts. The pin is connected to an equipment that rotates the ball. The ball is assembled between the socket parts. A pressure is applied between the socket parts and the ball. The ball is rotated and tilted over the working range of the joint. The ball and the socket parts are cleaned from the grinding paste. The joint is assembled by mounting the socket parts on a ball. A robot obtainable with the method.

Abstract translation: 一种接头的制造方法。 一个球安装在一个销上。 在至少两个插座部件上的球面被加工。 研磨膏应用在球和/或插座部件的表面上。 引脚连接到旋转球的设备。 球体组装在插座部件之间。 在插座部分和球之间施加压力。 球旋转并在接头的工作范围内倾斜。 将球和插座部件从研磨膏中清除。 通过将插座部件安装在球上来组装接头。 可以用该方法获得的机器人。

公开(公告)号：US07945349B2

公开(公告)日：2011-05-17

申请号：US12311039

申请日：2008-06-09

Applicant: Tommy Y. Svensson ,  Magnus K. Gustafsson ,  Mathias Haage

Inventor： Tommy Y. Svensson ,  Magnus K. Gustafsson ,  Mathias Haage

IPC: G05B19/04

CPC classification number: B25J9/1692 ,  B25J9/1671 ,  G05B2219/36404 ,  G05B2219/39021 ,  G05B2219/40099

Abstract: The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.

Abstract translation: 本发明涉及一种便于校准包括一个或多个物体（8）和工业机器人（1,2,3）的机器人单元的方法和系统，该机器人单元执行连接于该物体的工作，其中机器人单元被编程 通过离线编程工具，其包括用于基于对象的图形模型生成2D或3D图形的图形组件。 该系统包括位于离线编程站点处的计算机单元（10），并且被配置为存储用于每个对象的一系列校准点，并且生成包括所述对象的图形表示的图像序列（4） 校准和相对于物体的校准点，并且将图像传送到机器人，并且机器人被配置为在机器人单元的校准期间向机器人操作者显示所述图像序列，使得对于每个校准点，视图 包括目前的校准点和要校准的对象被显示给机器人操作者。

公开(公告)号：US20110106308A1

公开(公告)日：2011-05-05

申请号：US12532924

申请日：2008-11-19

Applicant: Per Emil Eliasson

Inventor： Per Emil Eliasson

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/36252 ,  G05B2219/40463 ,  G05B2219/40511

Abstract: A device and method for optimizing a programmed movement path for an industrial robot holding a tool to carry out work along the path during a work cycle. The movement path includes information on positions and orientations for the tool at a plurality of target points on the movement path. The method includes for at least one of the target points: receiving a tolerance interval for the orientation of the tool in the target point, determining movements of the robot between the target point and one or more of the other target points on the path for a plurality of different tool orientations within the tolerance interval, selecting one of the different tool orientations as the tool orientation for the target point based on the determined movements of the robot and with regard to minimizing cycle time, and generating a robot program based on the selected orientation of the tool at the target point.

Abstract translation: 一种用于优化用于工作机器人的编程移动路径的装置和方法，所述工业机器人保持工具在工作循环期间沿着路径执行工作。 移动路径包括关于移动路径上的多个目标点上的工具的位置和取向的信息。 该方法包括用于至少一个目标点：接收目标点中的工具的方位的公差间隔，确定机器人在目标点与路径上的一个或多个其他目标点之间的运动，用于 基于所确定的机器人的移动并且关于最小化周期时间，并且基于所选择的机器人程序来生成机器人程序，在所述公差间隔内的多个不同的刀具方向，选择所述不同刀具取向中的一个作为所述目标点的刀具方位 目标点上工具的方位。