公开(公告)号：US20220193925A1

公开(公告)日：2022-06-23

申请号：US17594713

申请日：2019-05-15

Applicant: ABB Schweiz AG

Inventor： Mohammadali Honarpardaz ,  Sead Travancic

IPC: B25J15/02 ,  B25J15/04

Abstract: A tool changing system for an industrial robot, the tool changing system including a tool; a base member for arrangement in a manipulator of the industrial robot and for holding the tool; and a tool storage for holding the tool when released from the base member; and a base member force device configured to force the tool to the base member in any orientation of the base member when the tool is held by the base member; and a tool storage force device configured to force the tool to the tool storage in any orientation of the tool storage when the tool is held by the tool storage. A method of handling a tool by an industrial robot is also provided.

公开(公告)号：US11478929B2

公开(公告)日：2022-10-25

申请号：US16348463

申请日：2016-11-09

Applicant: ABB Schweiz AG

Inventor： Johan Wessén ,  Ivan Lundberg ,  Sead Travancic

IPC: B25J9/16 ,  G05B19/418 ,  G06F9/448

Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method comprises the steps of defining a plurality of rules, each rule comprising a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state; defining a plurality of nodes, each node comprising a system state; and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre- condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by an edge, each edge comprising an action or actions required for a transition between the respective pre- and post-condition system states.

公开(公告)号：US20190270202A1

公开(公告)日：2019-09-05

申请号：US16348463

申请日：2016-11-09

Applicant: ABB Schweiz AG

Inventor： Johan Wessén ,  Ivan Lundberg ,  Sead Travancic

IPC: B25J9/16 ,  G05B19/418

Abstract: A method for determining possible transitions of system states in an industrial system with a plurality of agents with discrete agent states. The method includes the step of defining a plurality of rules, each rule having a pre-condition of at least one agent state that is to be changed, a post-condition of the at least one agent state, and an action or actions resulting in a corresponding transition of the at least one agent state. The method further includes the step of defining a plurality of nodes, each node having a system state. The method further includes the step of and evaluating for a plurality of pairs of nodes, whereby one node of each pair acts as a pre-condition node and the other node of each pair acts as a post-condition node, whether the pair can, given the rules, be directly connected by means of an edge. Each edge includes an action or actions required for a transition between the respective pre- and post-condition system states. By determining possible direct transitions between the system states offline, fast runtime decisions by system's controller are allowed to take place.