公开(公告)号：WO2022058015A1

公开(公告)日：2022-03-24

申请号：PCT/EP2020/076002

申请日：2020-09-17

Applicant: ABB SCHWEIZ AG

Inventor： SKAAR, Andreas ,  NESE, Stian ,  JENSEN, Cato Andre ,  MOSSIGE, Morten

IPC: B25J9/16 ,  B05B12/12 ,  G05B19/408 ,  B25J9/00 ,  B05B12/08

Abstract: A robot controller (112, 114, 631, 632) is adapted to execute a program (610) comprising an indication of a setpoint speed of a robot arm (120), an indication of a contemporaneous setpoint fluid flow per unit time of a spray gun (122) supported by the robot arm, and an indication of a contemporaneous further setpoint quantity of the spray gun. The robot controller is configured to obtain an estimate of actual speed of the robot arm; determine whether the estimate deviates from the setpoint speed; and, in case of a deviation, adjust the setpoint fluid flow per unit time in accordance with a first compensation function. In an embodiment, the robot controller is further configured to concurrently adjust, in case of a deviation, the further setpoint quantity in accordance with a second compensation function, which is different from the first compensation function.

公开(公告)号：WO2021047753A1

公开(公告)日：2021-03-18

申请号：PCT/EP2019/074017

申请日：2019-09-10

Applicant: ABB SCHWEIZ AG

Inventor： MOSSIGE, Morten ,  LANDSNES, Øyvind ,  GUNASELVAM KASTHURI THILAGAM, Aravindhan ,  SKAAR, Andreas ,  FINNESTAD,, Yngve

IPC: B05B15/50 ,  B05B3/10 ,  B05B13/04

Abstract: A method of determining a degree of clogging of discharge holes (34) of an apparatus (12) for applying a coating medium (14) to an object (16), the method comprising conducting air through the discharge holes (34); determining an output air pressure between an air flow regulator (32) of the apparatus (12) and the discharge holes (34), the air flow regulator (32) being arranged to regulate a flow of the air; and determining a degree of clogging of the discharge holes (34) based on the output air pressure. An apparatus (12) for applying a coating medium (14) to an object (16), a calibration system (60) comprising an apparatus (12) and a blocking device (62), an industrial robot (10) comprising an apparatus (12), and a method of determining clogging characteristics of an apparatus (12), are also provided.

公开(公告)号：WO2022128092A1

公开(公告)日：2022-06-23

申请号：PCT/EP2020/086707

申请日：2020-12-17

Applicant: ABB SCHWEIZ AG

Inventor： TRYDAL, Jakob ,  MOSSIGE, Morten ,  FINNESTAD, Yngve

IPC: B05B12/08 ,  B05B15/55 ,  G01N29/02 ,  B05B13/04

Abstract: A method of determining a characteristic of a fluid in an apparatus (14a, 14b) for applying a coating medium (16) to an object (18), the apparatus comprising a fluid line (24); an outlet (20); a first coating medium source (28); a second coating medium source (30); a cleaning medium source (32); and a valve arrangement (22) configured to independently bring each of the first coating medium source, the second coating medium source and the cleaning medium source in communication with the outlet through the fluid line; where the method comprises conducting a fluid through the fluid line, the fluid comprising the first coating medium, the second coating medium and/or the cleaning medium; sending ultrasonic waves to the fluid in the fluid line; sensing echo signals induced in the fluid by the ultrasonic waves; converting the echo signals to electronic response data (54); and determining a parameter value of at least one parameter of the fluid in the fluid line based on the electronic response data.

公开(公告)号：WO2023061552A1

公开(公告)日：2023-04-20

申请号：PCT/EP2021/078046

申请日：2021-10-11

Applicant: ABB SCHWEIZ AG

Inventor： SKAAR, Andreas ,  MOSSIGE, Morten

IPC: B25J9/16

Abstract: A method of generating a program (C) for controlling an industrial robot, comprising: receiving a tentative control point (P1, P2, P3, P4, P5) to be executed by a manipulator of the industrial robot, wherein the tentative control point is entered using a handheld or body-worn input device (220) with a motion tracking capability; generating a tentative path segment (S12, S23, S34, S45) connecting the tentative control point with a preceding control point; evaluating the tentative path segment's feasibility using a predefined computer model (M) of the manipulator; and providing feedback indicating an outcome of the evaluation.

公开(公告)号：WO2022184226A1

公开(公告)日：2022-09-09

申请号：PCT/EP2021/055010

申请日：2021-03-01

Applicant: ABB SCHWEIZ AG

Inventor： FINNESTAD, Yngve ,  TRYDAL, Jakob ,  MOSSIGE, Morten ,  SANDVIK, Bjarne

IPC: B05B3/10 ,  B05B12/14 ,  B05B15/55 ,  G01F1/66 ,  B05B15/555 ,  F16L55/48 ,  B05B12/00 ,  B05B13/04

Abstract: A method of monitoring cleaning of an apparatus (14a) for applying a coating medium (16) to an object (18), the apparatus (14a) comprising a rotatable deflecting element (44) for atomizing the coating medium (16); and a cleaning medium line (58) for conducting a cleaning medium to the deflecting element (44); where the method comprises commanding performance of a cleaning operation comprising delivery of the cleaning medium through the cleaning medium line (58) towards the deflecting element (44) while rotating the deflecting element (44); collecting operational values of at least one operational parameter of the apparatus (14a) for the cleaning operation; comparing the operational values with reference values of the at least one operational parameter for the cleaning operation; and determining whether the cleaning operation was successful or unsuccessful based on the comparison.