公开(公告)号：WO2022194349A1

公开(公告)日：2022-09-22

申请号：PCT/EP2021/056645

申请日：2021-03-16

Applicant: ABB SCHWEIZ AG

Inventor： KULLÄNG, Roger ,  EKELUND, Anders

IPC: B25J9/16

Abstract: The invention is concerned with a robot control system and a method of controlling a robot where the robot control system (12) comprises a human-machine interface (16; 30); a real robot control environment (26) comprising a real robot (38) and a real robot controller (36) controlling the real robot (38) and a cloud-hosted robot control environment (14) comprising a virtual robot controller (20), which is a replica of the real robot controller (36), where the human-machine interface (16; 30) is configured to transfer a robot change instruction (RCI) from a user to the cloud-hosted robot control environment (14), the virtual robot controller (20) is configured to validate the robot change instruction (RCI) and the real robot controller (36) is configured to apply the validated robot change instruction (VRCI) when controlling the real robot (38).

公开(公告)号：WO2019120571A1

公开(公告)日：2019-06-27

申请号：PCT/EP2017/084460

申请日：2017-12-22

Applicant: ABB SCHWEIZ AG

Inventor： VARTIAINEN, Elina ,  BRÖNMARK, Jonas ,  KULLÄNG, Roger ,  NYLEN, Olov ,  MUSTAPIC, Goran ,  LANDIN-SVENSSON, Kjell ,  KAPANEN, Mats

IPC: G05B19/409 ,  G05B19/042

CPC classification number: G05B19/409 ,  G05B2219/25064 ,  G05B2219/25067 ,  G05B2219/31418 ,  G05B2219/40099

Abstract: The present disclosure relates to the area of robotic control, and in particular to managing a system configuration of a robot controller. According to a first aspect, the disclosure relates to a method for managing a system configuration of a robot controller configured to control operation of a robot. The method comprises capturing S1 a snapshot of the robot controller, the snapshot comprising a current system configuration of the robot controller and storing S2 the captured snapshot in the backup archive. The method further comprises generating S3, on the display representing one or more snapshots stored in the backup archive presented in chronological order and upon receiving S4, from the input device, user input selecting one of the displayed elements, retrieving S5, from the backup archive information corresponding to the snapshot represented by the selected element, and providing S6 the retrieved system configuration. The method also relates to a corresponding control system.

公开(公告)号：WO2022228681A1

公开(公告)日：2022-11-03

申请号：PCT/EP2021/061267

申请日：2021-04-29

Applicant: ABB SCHWEIZ AG

Inventor： WILLFÖR, Per ,  KULLÄNG, Roger ,  EKELUND, Anders

IPC: B25J9/16 ,  B25J9/22 ,  B25J9/00 ,  G05B19/423 ,  G05B19/425

Abstract: A method of programming a manipulator (12), the method comprising providing a movement path (40) for execution by the manipulator (12), the movement path (40) comprising a plurality of points (42a-42e) including a start point (42a) and an end point (42e) and at least one movement segment (44a-44d) between the plurality of points (42a-42e); moving the manipulator (12) to a path modifying position (56a-56c); and modifying the movement path (40) from the start point (42a) to the end point (42e) based on the path modifying position (56a-56c) upon receiving a modification input (58a-58c) from a user (16). A control system (14) for programming a manipulator (12), and an industrial robot (10) comprising the manipulator (12) and a control system (14), are also provided.

公开(公告)号：WO2017202439A1

公开(公告)日：2017-11-30

申请号：PCT/EP2016/061537

申请日：2016-05-23

Applicant: ABB SCHWEIZ AG

Inventor： BREIVOLD, Hongyu Pei ,  SANDSTRÖM, Kristian ,  RIZVANOVIC, Larisa ,  LEHTOLA, Marko ,  KULLÄNG, Roger ,  AZHAR, Saad

IPC: B25J9/16

CPC classification number: B25J9/1682 ,  B25J9/161 ,  B25J9/1617 ,  B25J9/1661 ,  G05B19/4185 ,  G05B2219/33104 ,  G05B2219/33334 ,  G05B2219/39167 ,  G05B2219/39252

Abstract: The invention concerns a method, arrangement and computer program product for distributing processing for a first robot in a cell among more than one processing entities (44). The arrangement comprises a processing entity determining unit (44) that obtains (50) data about current limitations in the processing environment of a prospective processing entity intended to perform a processing task for the first robot,determines (52), based on the processing environment limitations, whether a performance requirement will be fulfilled or not if the task is performed in the prospective processing entity, and assigns(54) the processing task for processing in the prospective processing entity or in at least one other processing entity based on the determining of whether the performance requirement is fulfilled or not.

Abstract translation: 本发明涉及一种用于在一个以上的处理实体（44）中为单元中的第一机器人分配处理的方法，装置和计算机程序产品。 该装置包括：处理实体确定单元（44），其获得（50）关于旨在执行第一机器人的处理任务的预期处理实体的处理环境中的当前限制的数据;基于处理环境确定（52） 限制，如果任务在预期处理实体中被执行，则性能要求是否将被满足，并且基于确定在预期处理实体中或在至少一个其他处理实体中分配（54）处理任务以用于处理 性能要求是否满足。

公开(公告)号：WO2021213683A1

公开(公告)日：2021-10-28

申请号：PCT/EP2020/061538

申请日：2020-04-24

Applicant: ABB SCHWEIZ AG

Inventor： GAO, Yang ,  KULLÄNG, Roger ,  NORRLÖF, Mikael ,  BJÖRKMAN, Mattias ,  WILLFÖR, Per

IPC: B25J9/16 ,  G05B19/414

Abstract: The invention relates to an industrial robot system comprising a first robot (12). The first robot comprises a first manipulator (13) with a base (14) and a tool (16) movable in relation to the base (14) about a plurality of axes, and a first primary controller (20) having a primary robot functionality, the primary robot functionality including control of manipulator motion. The industrial robot system further comprises a plurality of secondary controllers (28, 29, 30, 31, 32, 36, 100), each having a secondary robot functionality, wherein the primary robot functionality is different from all of said secondary robot functionalities, and wherein an overall robot functionality is defined by the primary robot functionality and one or more secondary robot functionalities.

公开(公告)号：WO2017198301A1

公开(公告)日：2017-11-23

申请号：PCT/EP2016/061230

申请日：2016-05-19

Applicant: ABB SCHWEIZ AG

Inventor： KULLÄNG, Roger ,  MELLANDER, Roger ,  ALT, Jean-Christophe

IPC: B25J9/16 ,  B25J13/00 ,  B25J13/06 ,  G05B19/409

CPC classification number: G05B19/409 ,  B25J9/1674 ,  B25J13/06 ,  G05B2219/31156 ,  G05B2219/31348 ,  G05B2219/33192 ,  G05B2219/33284 ,  G05B2219/36159 ,  G05B2219/36162 ,  Y02P90/18

Abstract: The present invention relates to an industrial robot system comprising at least one robot (1) including a manipulator (2) movable about a plurality of axes, a robot controller (3) configured to control the motions of the manipulator, and a portable control unit (4) connected to the robot controller (3) through a wire (5). The portable control unit (4) has a user interface (6a- b) adapted to communicate with the robot controller (3) and to enable programming of the motions of the manipulator (2). The portable control unit (4) comprises a wireless communication device (8) for wireless connection to an external network. The portable control unit (4) is configured to receive data from the robot controller (3) and to transmit the received data to the external network by means of the wireless communication device (8). The invention also relates to a method for communication between at least one industrial robot and an external network.

Abstract translation: 本发明涉及一种工业机器人系统，该工业机器人系统包括至少一个机器人（1），机器人（1）包括可围绕多个轴线运动的机械手（2），机器人控制器（3），被配置为控制 操纵器以及通过电线（5）连接到机器人控制器（3）的便携式控制单元（4）。 便携式控制单元（4）具有用于与机器人控制器（3）通信并且能够编程机械手（2）的运动的用户界面（6a-b）。 便携式控制单元（4）包括用于无线连接到外部网络的无线通信设备（8）。 便携式控制单元（4）被配置为从机器人控制器（3）接收数据并且借助无线通信设备（8）将接收到的数据发送到外部网络。 本发明还涉及用于至少一个工业机器人与外部网络之间的通信的方法。

公开(公告)号：WO2018091064A1

公开(公告)日：2018-05-24

申请号：PCT/EP2016/077624

申请日：2016-11-15

Applicant: ABB SCHWEIZ AG

Inventor： DAHLGREN, Roger ,  KULLÄNG, Roger ,  MELLANDER, Roger

IPC: B25J9/16

Abstract: The present invention relates to an industrial robot system comprising a plurality of robots, each robot including a robot controller (4) for controlling the motions of the robot, and at least one of safety sensor (2a-d) configured to detect hazardous situations in the vicinity of the robots and to produce sensor data. The system comprises an information sharing device (12) connected to the at least one safety sensor and to the robot controllers. The information sharing device is configured to distribute sensor data from the at least one safety sensor to the robot controllers. Each of the robot controllers is allowed to receive sensor data from the at least one safety sensor, and comprises a safety logic unit (14) configured to generate safety commands based on sensor data from the at least one safety sensor.

公开(公告)号：WO2017144078A1

公开(公告)日：2017-08-31

申请号：PCT/EP2016/053722

申请日：2016-02-23

Applicant: ABB SCHWEIZ AG

Inventor： KULLÄNG, Roger

IPC: B25J9/16 ,  G06F9/44

CPC classification number: B25J9/1602 ,  G05B2219/31333 ,  G05B2219/31418 ,  G05B2219/31422 ,  G05B2219/34038 ,  G05B2219/34258 ,  G05B2219/34404 ,  G06F8/656 ,  G06F8/71

Abstract: The present invention relates to a method for controlling an industrial robot (1). The method is performed by a robot controller system, the robot controller system comprises a local part (3) connected to an industrial robot and a remote cloud part (4) connectable to the local part. The local part comprises a first real-time partition (5) and a second non-real-time partition (6), and the method comprises the steps of: storing (10) a local cache of a complete file system of the robot controller system in the second non-real-time partition (6); storing (11) the complete file system in the remote cloud part (4); and controlling (15) the industrial robot in real time from the first real-time partition (5).

Abstract translation: 本发明涉及一种用于控制工业机器人（1）的方法。 该方法由机器人控制器系统执行，机器人控制器系统包括连接到工业机器人的本地部分（3）和可连接到本地部分的远程云部分（4）。 本地部分包括第一实时分区（5）和第二非实时分区（6），并且该方法包括以下步骤：存储（10）机器人控制器的完整文件系统的本地高速缓存 系统在第二非实时分区（6）中; 将整个文件系统存储（11）到远程云部分（4）中; 并从第一实时分区（5）实时控制（15）工业机器人。