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公开(公告)号：US09701023B2
公开(公告)日：2017-07-11
申请号：US14649186
申请日：2013-12-03
Applicant: ABB Technology AG
Inventor： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth , Harald Staab
CPC classification number: B25J9/1689 , G05B2219/40195 , G05B2219/40399 , Y10S901/06 , Y10S901/30
Abstract: A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.
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公开(公告)号：US20160229050A1
公开(公告)日：2016-08-11
申请号：US15016578
申请日：2016-02-05
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Thomas A. Fuhlbrigge , Biao Zhang
IPC: B25J9/00
CPC classification number: B25J13/025 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G06F3/016 , G06F2203/014 , G06F2203/015 , Y10S901/04
Abstract: One exemplary embodiment is a system comprising an operator input device structured to move in response to operator-applied force and to selectably output feedback force to the operator. A first computing system is structured to receive input from the operator input device and provide an output. A second computing system is structured to receive the output and provide a robot control command subject to a force constraint. An industrial robot system is in operative communication with the second computing system and comprises a robotic arm structured to move in response to the command. The second computing system is structured process the output to impose a force constraint using a dual threshold hysteresis control. The first computing system is structured to apply a feedback force to the operator input device correlated to force associated with the industrial robot system.
Abstract translation: 一个示例性实施例是包括被构造为响应于操作者施加的力而移动并且可选择地向操作者输出反馈力的操作者输入装置的系统。 第一计算系统被构造成从操作者输入装置接收输入并提供输出。 第二计算系统被构造成接收输出并提供受力约束的机器人控制命令。 工业机器人系统与第二计算系统操作性地通信，并且包括被构造为响应于该命令而移动的机器人手臂。 第二计算系统被结构化处理输出以使用双阈值滞后控制施加力约束。 第一计算系统被构造成将反馈力施加到与工业机器人系统相关联的力相关联的操作者输入装置。
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3.发明申请公开(公告)号：US20150314448A1
公开(公告)日：2015-11-05
申请号：US14649186
申请日：2013-12-03
Applicant: ABB TECHNOLOGY AG
Inventor： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth , Harald Staab
IPC: B25J9/16
CPC classification number: B25J9/1689 , G05B2219/40195 , G05B2219/40399 , Y10S901/06 , Y10S901/30
Abstract: A machine remotely located from a control station has at least one actuated mechanism. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that includes an instruction which when executed transfers control of the machine from the controller to the control station. The program code can have a task frame associated with the predetermined function performed by the machine with the task frame divided into a first set controlled by the controller and a second set controlled from the control station. The system can also have two or more remotely located control stations only one of which can control the machine at a given time.
Abstract translation: 远离控制站的机器具有至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 机器位置处的控制器具有程序代码，该程序代码包括当执行时将控制器从控制器控制到控制站的指令。 程序代码可以具有与由机器执行的预定功能相关联的任务帧，其中任务帧被划分为由控制器控制的第一组和从控制站控制的第二组。 该系统还可以具有两个或多个远程位置的控制站，其中一个控制站可以在给定时间内控制机器。
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公开(公告)号：US20150314442A1
公开(公告)日：2015-11-05
申请号：US14652111
申请日：2013-12-13
Applicant: ABB Technology AG
Inventor： Remus Boca , Srinivas Nidamarthi , Thomas A. Fuhlbrigge
IPC: B25J9/16
CPC classification number: B25J9/1664 , B25J9/1656 , B25J9/1697 , G05B2219/35444
Abstract: A system for generating instructions for operating a robot to perform work on a workpiece has a 3D model or models of a robot scene that provides robot scene data. The system also has data of one or both hands of a gesture made with the one or both hands and a computation device that has program code configured to process the robot scene data and the gesture data to generate an instruction to operate the robot.
Abstract translation: 用于生成用于操作机器人以在工件上进行工作的指令的系统具有提供机器人场景数据的机器人场景的3D模型或模型。 该系统还具有由一只或两只手形成的手势的一只手或两只手的数据，以及具有被配置成处理机器人场景数据和手势数据以产生操作该机器人的指令的程序代码的计算装置的数据。
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公开(公告)号：US09132551B2
公开(公告)日：2015-09-15
申请号：US14075136
申请日：2013-11-08
Applicant: ABB Technology AG
Inventor： Biao Zhang , Harald Staab , Jianjun Wang , George Q. Zhang , Remus Boca , Sangeun Choi , Thomas A. Fuhlbrigge , Soenke Kock , Heping Chen
CPC classification number: B25J9/1689 , B25J13/006 , G05B2219/33192 , G05B2219/33242 , G05B2219/34466 , G05D1/0022 , G05D1/0282 , H04L67/125
Abstract: A teleoperated robot system has a watchdog to determine if the rate of data transmission from a computing device such as a robot controller located in the station used by the operator of the teleoperated robot to the remotely located industrial robot has fallen below a minimum data rate or the time for transmission of data has exceeded a maximum time. Upon the occurrence of either or both of the foregoing, one or more types of corrective action are undertaken to bring the teleoperated robot and the processes performed by the robot.
Abstract translation: 遥控机器人系统具有看门狗，用于确定来自位于远程操作机器人的操作者所使用的站内的诸如机器人控制器的计算设备到远程工业机器人的数据传输速率是否已经低于最小数据速率或 数据传输的时间已超过最大时间。 在发生前述任何一个或两者时，进行一种或多种类型的纠正动作以使远程操作的机器人和机器人执行的处理。
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Patent Agency Ranking
公开(公告)号：US09643318B2
公开(公告)日：2017-05-09
申请号：US14648995
申请日：2013-12-03
Applicant: ABB Technology AG
Inventor： Jianjun Wang , Biao Zhang , George Q. Zhang , Harald Staab , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
CPC classification number: B25J9/1689 , B25J9/1676 , G05B2219/40117 , G05B2219/40131 , G05B2219/40168
Abstract: A machine that has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. An interface at the control station allows an operator to select one or more virtual constraints on operation of the machine when the machine is performing a predetermined function. The virtual constraints are transmitted over the two way real-time communication link to the machine location. The machine has predetermined safety limits that are stored in a controlling device at the machine location. The stored predetermined safety limits are extracted and automatically mapped to the control station using the two way real-time communication link. The controlling device maps the predetermined safety limits to the virtual constraints.
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公开(公告)号：US20170063183A1
公开(公告)日：2017-03-02
申请号：US14839957
申请日：2015-08-29
Applicant: ABB Technology AG
Inventor： Ghanshyam Shrestha , Darren Tremelling , George Q. Zhang , Thomas A. Fuhlbrigge , Remus Boca , Jeremy Newkirk
Abstract: An electrical machine includes a stator and a rotor in magnetic communication with the stator. The stator and/or the rotor include a unitary structure having a plurality of laminations and a plurality of spacing structures integral with the plurality of laminations. Each lamination of the plurality of laminations is disposed adjacent to another lamination of the plurality of laminations. Each spacing structure of the plurality of spacing structures is disposed between adjacent laminations, and is constructed to space the adjacent laminations apart from each other.
Abstract translation: 电机包括定子和与定子磁连通的转子。 定子和/或转子包括具有多个叠片的整体结构和与所述多个叠片一体的多个间隔结构。 多个叠片的每个层叠被布置成与多个叠片的另一层叠相邻。 多个间隔结构的每个间隔结构设置在相邻的叠片之间，并被构造成将相邻的叠片彼此分开。
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公开(公告)号：USD742801S1
公开(公告)日：2015-11-10
申请号：US29508514
申请日：2014-11-07
Applicant: ABB TECHNOLOGY AG
Designer： Gregory F. Rossano , William Eakins , Daniel T. Lasko , Thomas A. Fuhlbrigge , Andrew M. Salm , George Zhang
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公开(公告)号：US20160346928A1
公开(公告)日：2016-12-01
申请号：US15169517
申请日：2016-05-31
Applicant: ABB Technology AG
Inventor： George Q. Zhang , David P. Gravel , Soenke Kock , Thomas A. Fuhlbrigge , Heping Chen , Sangeun Choi , Arnold Bell , Biao Zhang
IPC: B25J9/16
Abstract: A method for robotic adaptive production includes modifying program instructions online while performing production activities in response to detecting a change in the production environment. A robotic adaptive production method includes modifying program instructions online while performing production activities to minimize a production task cycle time or improve a production task quality. A robotic adaptive production method includes estimating a relationship between a control parameter and a sensor input; and modifying the control parameter online to achieve an updated parameter based on the estimating. A robotic adaptive production method includes receiving sensor input relating to robotic performance during the performance of production tasks and online optimizing a process parameter based on robotic performance during the performance of the production tasks. A robotic adaptive production method includes determining the position and/or orientation of a feature based on a learned position and/or orientation of another feature and on a geometric relationship.
Abstract translation: 一种用于机器人自适应生产的方法包括在响应于检测生产环境的变化而在执行生产活动的同时在线修改程序指令。 机器人自适应生产方法包括在执行生产活动的同时在线修改程序指令以最小化生产任务周期时间或提高生产任务质量。 机器人自适应生产方法包括估计控制参数和传感器输入之间的关系; 并且在线修改控制参数以基于估计来实现更新的参数。 机器人自适应生产方法包括在执行生产任务期间接收与机器人性能相关的传感器输入，并且在执行生产任务期间基于机器人性能在线优化过程参数。 机器人自适应生产方法包括基于学习的位置和/或另一特征的取向以及几何关系确定特征的位置和/或取向。
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公开(公告)号：US20160254669A1
公开(公告)日：2016-09-01
申请号：US15153892
申请日：2016-05-13
Applicant: ABB Technology AG
Inventor： Biao Zhang , Remus Boca , Jeremy Newkirk , Thomas A. Fuhlbrigge , George Q. Zhang , Xiongzi Li
CPC classification number: H02J3/36 , B29C64/106 , B29C64/20 , B33Y30/00 , G05B2219/39156 , G05B2219/49023 , H02M5/458
Abstract: A robotic 3D printing system has a six degree of freedom (DOF) robot that holds the platform on which the 3D part is built on. The system uses the dexterity of the 6 DOF robot to move and rotate the platform relative to the 3D printing head, which deposits the material on the platform. The system allows the part build in 3D directly with a simple printing head and depositing the material along the gravity direction. The 3D printing head can be fixed relative to robot base, or moved in the X-Y plane with 2 or 3 DOF, or held by another robot or robots. The robot movement can be calibrated to improve the accuracy and efficiency for high precision 3D part printing.
Abstract translation: 机器人3D打印系统具有六自由度（DOF）机器人，其保持建立3D部件的平台。 该系统使用6自由度机器人的灵活性来移动和旋转相对于3D打印头的平台，3D打印头将材料沉积在平台上。 该系统允许使用简单的打印头直接在3D中构建零件，并沿重力方向沉积材料。 3D打印头可以相对于机器人底座固定，或者在X-Y平面上用2或3 DOF移动，或由另一个机器人或机器人保持。 可以校准机器人运动，以提高高精度3D部件打印的精度和效率。
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