公开(公告)号：WO2018068852A1

公开(公告)日：2018-04-19

申请号：PCT/EP2016/074527

申请日：2016-10-13

Applicant: ABB SCHWEIZ AG

Inventor： TRANGÄRD, Arne ,  SIRKETT, Daniel ,  LUNDBERG, Ivan

IPC: G01F11/26 ,  B65G47/14

Abstract: A component dispenser (10) comprises a reservoir (30), a dosing volume (40) and a pick surface (80). The component dispenser (10) is configured to displace a selection of components (60) from the reservoir (30) into the dosing volume (40) as a result of a first sequence of movements of the component dispenser (10), and to displace the selection of components (60) from the dosing volume (40) onto the pick surface (80) as a result of a second sequence of movements of the component dispenser (10). The component dispenser (10) is further configured to return any components (60) remaining on the pick surface (80) back into the reservoir (30) as a result of a third sequence of movements of the component dispenser (10). The component dispenser (10) very simple as it is configured to be actuated by external means yet it is well adapted for the task of dispensing components (60) in automated industrial systems.

Abstract translation: 组分分配器（10）包括储存器（30），定量容积（40）和拾取表面（80）。 部件分配器（10）构造成由于部件分配器（10）的第一序列运动而将选择的部件（60）从储存器（30）移位到剂量容积（40）中， 由于部件分配器（10）的第二次运动序列，从剂量体积（40）到拾取表面（80）上选择部件（60）。 部件分配器（10）进一步被配置为由于部件分配器（10）的第三顺序的运动而将留在拾取表面（80）上的任何部件（60）返回到储存器（30）中。 组件分配器（10）非常简单，因为其被配置为通过外部装置致动，但它非常适合于在自动化工业系统中分配组件（60）的任务。

公开(公告)号：WO2017220105A1

公开(公告)日：2017-12-28

申请号：PCT/EP2016/064131

申请日：2016-06-20

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B08B3/02 ,  B25J19/00 ,  B05B15/02

CPC classification number: B08B3/024 ,  B05B15/555 ,  B25J9/0093 ,  B25J19/0058

Abstract: A cleaning apparatus for cleaning of an elongated object (9A, 9B) including an annular cleaning part (2) and an upper part (3). The annular cleaning part (2) includes a plurality of inwardly directed nozzles (5) arranged to be connected to a fluid supply (6) for passing of fluid to the nozzles (5). The annular cleaning part (2) is further arranged suspended from the upper part (3) by means of retractable suspensions (4) arranged to be actuated by at least one actuator (7) arranged to the upper part (3). The cleaning apparatus (1) also includes a cleaning control unit (8) arranged to automatically control the at least one actuator (7) according to control instructions in order to move the annular cleaning part (2) over the elongated object (9A, 9B)by actuating the retractable suspensions (4). The disclosure also relates to a system (13) for cleaning industrial robots (14A, 14B) and a method for cleaning an industrial robot (14A, 14B).

Abstract translation: 一种用于清洁包括环形清洁部（2）和上部部件（3）的细长物体（9A，9B）的清洁设备。 环形清洁部件（2）包括多个向内指向的喷嘴（5），所述多个向内指向的喷嘴布置成连接到用于将流体传送到喷嘴（5）的流体供应（6）。 环形清洁部件2进一步布置成通过布置成由布置到上部部件3的至少一个致动器7致动的可缩回悬架4悬挂在上部部件3上。 所述清洁设备（1）还包括清洁控制单元（8），所述清洁控制单元布置成根据控制指令自动地控制所述至少一个致动器（7），以便将所述环形清洁部分（2）移动到所述细长物体（9A，9B） ）通过致动可伸缩悬架（4）。 本公开还涉及用于清洁工业机器人（14A，14B）的系统（13）和用于清洁工业机器人（14A，14B）的方法。

公开(公告)号：WO2017045716A1

公开(公告)日：2017-03-23

申请号：PCT/EP2015/071289

申请日：2015-09-17

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  FRANSSON, Peter

IPC: B25J9/16

CPC classification number: B25J9/0093 ,  G01B11/002 ,  G01B11/26 ,  G01G19/414 ,  G01G19/52 ,  H04N1/1008

Abstract: The present invention relates to a component feeder (1) comprising a stationary picking surface (2) for receiving components (14) to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device (5) including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.

Abstract translation: 本发明涉及一种包括用于接纳被拾取的部件（14）的固定拾取表面（2）的组件进给器（1），包括图像单元的视觉系统，所述图像单元被布置成拍摄分布在拾取表面上的部件的图像， 包括适于检测拾取表面上的部件的存在和视觉系统的一个或多个负载传感器的装置（5）被配置为在检测到拾取表面上的部件的存在时自动触发图像单元拍摄图像。

公开(公告)号：WO2016198085A1

公开(公告)日：2016-12-15

申请号：PCT/EP2015/062675

申请日：2015-06-08

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B65G47/90 ,  B25J15/00 ,  B23K9/133 ,  B23K9/28 ,  B23K26/20 ,  B23K31/12

CPC classification number: B65G47/90 ,  B23K9/1336 ,  B23K9/173 ,  B23K9/282 ,  B23K26/032 ,  B23K26/21 ,  B23K26/32 ,  B23K31/12 ,  B23K2203/10 ,  B25J9/0051 ,  B25J15/00

Abstract: The present invention relates to a method and a system for picking metal components (3), wherein the system comprises a mechanical unit (4) arranged to carry the components, and a picking device for picking the components. The picking device comprises a welding gun (10) carried by the mechanical unit and a consumable welding wire (12), and the picking device is arranged so that a temporary weld joint is formed between the welding wire and the metal component upon picking the component.

Abstract translation: 本发明涉及一种用于拾取金属部件（3）的方法和系统，其中所述系统包括布置成承载部件的机械单元（4）和用于拾取部件的拾取装置。 拾取装置包括由机械单元承载的焊枪（10）和可消耗焊丝（12），并且拾取装置被布置成使得在拾取部件时在焊丝和金属部件之间形成临时焊接接头 。

公开(公告)号：WO2018072808A1

公开(公告)日：2018-04-26

申请号：PCT/EP2016/074830

申请日：2016-10-17

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B08B3/02 ,  B08B7/00 ,  B23K26/146

Abstract: A cleaning device and method for controlling a laser focus inside a fluid beam (2). The cleaning device (1) includes a fluid assembly (9) arranged to produce the fluid beam (2). The fluid assembly (9) includes an enclosure (10) with a fluid inlet port (11), an outlet orifice (12),and a fluid flow path (13) between the fluid inlet port (11) and the outlet orifice (12). The enclosure (10) includes a laser input port (24). The cleaning device (1) further includes an optical assembly (20) including a laser beam optic arrangement (23) configured to direct a first laser beam (5) through the laser input port (24) and further through the outlet orifice (12) and to focus the first laser beam (5) inside the fluid beam (2), and a sensing arrangement (26) configured to emit a sensing signal (28) through the outlet orifice (12), to receive a reflected signal (29), and to determine length data of the fluid beam (2) based on the reflected signal (29). The optical assembly (20) is further arranged to regulate the laser beam optic arrangement (23) based on the determined length data in order to control the focus of the first laser beam (5).

Abstract translation: 用于控制流体射束（2）内的激光聚焦的清洁装置和方法。 清洁装置（1）包括布置成产生流体束（2）的流体组件（9）。 流体组件（9）包括具有流体入口端口（11），出口孔口（12）和流体入口端口（11）与出口孔口（12）之间的流体流动路径（13）的外壳（10） ）。 外壳（10）包括激光输入端口（24）。 该清洁装置（1）还包括光学组件（20），该光学组件包括被配置为将第一激光束（5）引导通过激光输入端口（24）并且进一步通过出口孔（12）的激光束光学装置（23） 并将第一激光束（5）聚焦在流体射束（2）内;以及感测装置（26），其被配置为通过出口孔（12）发射感测信号（28），以接收反射信号（29） 并基于反射信号（29）确定流体射束（2）的长度数据。 光学组件（20）还被布置为基于所确定的长度数据来调节激光束光学装置（23），以便控制第一激光束（5）的焦点。

公开(公告)号：WO2017133756A1

公开(公告)日：2017-08-10

申请号：PCT/EP2016/052130

申请日：2016-02-02

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  POUECH, Jeremy ,  FRANSSON, Peter

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/40611

Abstract: A method for calibrating a robot system (10) comprising a planar pick surface (90) comprises: bringing a robot gripper (30) to a first location against the pick surface (90); and generating a first image of the robot gripper (30) from below. When knowing that a certain identifiable part of the robot gripper (30) in images always lies against the planar pick surface (90), the position and orientation of the pick surface (90) in relation to a manipulator coordinate frame (70) can be fully defined if the robot gripper's (30) orientation in relation to the pick surface (90) is known, or if there are images on identifiable parts of the robot gripper (30) in at least three different positions against the pick surface (90).

Abstract translation: 一种用于校准包括平面拾取表面（90）的机器人系统（10）的方法，包括：使机器人抓爪（30）抵靠所述拾取表面（90）到达第一位置; 并从下方产生机器人手爪（30）的第一图像。 当知道图像中的机器人手爪30的某个可识别部分总是抵靠平面拾取表面90时，拾取表面90相对于操纵器坐标框架70的位置和方向可以是 如果机器人手爪（30）相对于拾取表面（90）的取向是已知的，或者如果机器人手爪（30）的可识别部分在至少三个不同位置上具有抵靠拾取表面（90）的图像，

公开(公告)号：WO2019141345A1

公开(公告)日：2019-07-25

申请号：PCT/EP2018/050966

申请日：2018-01-16

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B25J15/04

CPC classification number: B25J15/0475 ,  B25J15/0425 ,  B25J15/0491

Abstract: Attachment system (18) for an industrial robot (10), the attachment system (18) comprising a base member(28) having a base (30) and a locking member (32) movable relative to the base (30) between a locking position and an unlocking position; and an attachment member (26); wherein the attachment member (26) comprises an engageable structure (34) configured to be engaged by the locking member (32) when the locking member (32) adopts the locking position, in order to fix the attachment member (26) to the base member (28); and wherein the attachment system (18) further comprises an engaging biasing member (64) configured to bias the locking member (32) towards the engageable structure (34), when the locking member (32) engages the engageable structure (34) in the locking position. An industrial robot (10) comprising an attachment system (18) and a method for handling the industrial robot (10) are also provided.

公开(公告)号：WO2018162080A1

公开(公告)日：2018-09-13

申请号：PCT/EP2017/055694

申请日：2017-03-10

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B25J9/16 ,  B25J19/02

Abstract: A method performed by a robotic system (1), for identifying single objects (6) from a random assortment of objects (6). The robotic system (1) picks, among a random assortment of objects (6) on a presentation surface (33), an object (6) from the presentation surface (33) at a determined picking point (42). The robotic system (1) removes any remaining objects from the presentation surface (33). The robotic system (1) places the picked object (6) on the presentation surface (33). The robotic system (1) further analyzes the picked object (6) on the presentation surface (33), in order to identify a single object (6).

公开(公告)号：WO2017108074A1

公开(公告)日：2017-06-29

申请号：PCT/EP2015/080766

申请日：2015-12-21

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  POUECH, Jeremy

IPC: G06T7/00 ,  G06K9/00 ,  G06T1/00

CPC classification number: G06K9/00664 ,  G06T1/0014 ,  G06T7/74 ,  G06T2207/30164

Abstract: A method for identification of a preferred orientation pose for an object comprises the following steps: producing a plurality of images of the object positioned in different orientation poses on a presentation surface (100); forming groups of images that are considered similar to each other, such that each formed group of images represents one orientation pose for the object (200); evaluating the frequency of the images in each group, and thereby obtaining the frequency of each orientation pose(300); and identifying a preferred orientation pose based on the frequency of each orientation pose(400). A component feeder (1) comprises a presentation surface (3) on which objects (5) are presented, and further it comprises an imaging system (7) for producing images of the object when placed on the presentation surface, and a computer unit (50) arranged to form groups of images and to evaluate the frequency of the images in each group.

Abstract translation: 一种用于识别对象的优选定向姿势的方法，包括以下步骤：在呈现表面（100）上产生定位在不同定向姿势的对象的多个图像; 形成被认为彼此相似的图像组，使得每个形成的图像组代表对象（200）的一个方位姿势; 评估每个组中图像的频率，从而获得每个定向姿态的频率（300）; 以及基于每个定向姿势的频率来识别优选的定向姿势（400）。 组件进给器（1）包括其上呈现物体（5）的呈现表面（3），并且还包括用于在被放置在呈现表面上时产生物体图像的成像系统（7），以及计算机单元 50）被安排来形成图像组并评估每个组中图像的频率。

公开(公告)号：WO2018108255A1

公开(公告)日：2018-06-21

申请号：PCT/EP2016/080857

申请日：2016-12-13

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel

IPC: B25J15/10 ,  B25J15/12 ,  B25J19/00

CPC classification number: B25J15/103 ,  B25J15/106 ,  B25J15/12 ,  B25J19/0083

Abstract: The present invention relates to a robot gripper (1) comprising a tubular part (3a), and a gripping member (5) comprising a movable part (12) arranged linearly movable inside the tubular part (3a) to effect a linear movement, and grip claws (7) adapted to be opened and closed by means of the movements of the movable part. The grip claws (7) are rigidly connected to the movable part (12) and by that linearly movable in relation to the tubular part (3a) between a retracted position and an extended position, and the grip claws are adapted to be opened in the extended position and closed in the retracted position.