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公开(公告)号：US10730180B2
公开(公告)日：2020-08-04
申请号：US15825914
申请日：2017-11-29
申请人： ABB Schweiz AG
IPC分类号： B25J9/16 , B25J13/02 , B25J13/06 , B25J13/08 , B25J11/00 , G06F3/0484 , G06K9/20 , G06K9/62 , G06K9/78
摘要： A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI is correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member is correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which is based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.
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公开(公告)号：US10651590B1
公开(公告)日：2020-05-12
申请号：US16182059
申请日：2018-11-06
申请人： ABB Schweiz AG
发明人： Martin Krucinski , Stefan J. Raaijmakers , William J. Eakins , Gregory A. Cole , Sangeun Choi , Thomas A. Fuhlbrigge
摘要： A conductor arrangement includes a first connector having a first connector body made from an electrically insulated material and including a first electrical conductor. A pin extends from the first connector body and includes a core made from an electrically conductive material. The core is electrically connected with the first electrical conductor. A second connector has a second connector body made from an electrically insulated material and includes a second electrical conductor. A socket extends through the second connector body between two opposed openings. A sleeve made from an electrically conductive material is disposed along the socket and is electrically connected with the second electrical conductor. An electrical connection between the first and second electrical conductors is established when the pin is fully disposed within the socket such that the core is electrically connected with the sleeve.
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公开(公告)号：US20180154518A1
公开(公告)日：2018-06-07
申请号：US15825914
申请日：2017-11-29
申请人： ABB Schweiz AG
IPC分类号： B25J9/16 , G06F3/0484 , B25J11/00 , B25J13/02 , B25J13/06 , B25J13/08 , G06K9/20 , G06K9/62 , G06K9/78
CPC分类号： B25J9/161 , B25J9/1671 , B25J9/1689 , B25J9/1692 , B25J9/1697 , B25J11/0055 , B25J13/025 , B25J13/065 , B25J13/085 , G05B2219/39014 , G05B2219/40219 , G06F3/04842 , G06K9/209 , G06K9/6202 , G06K9/78 , Y10S901/02 , Y10S901/09 , Y10S901/41 , Y10S901/47
摘要： A teleoperated robotic system that utilizes a graphical user interface (GUI) to perform work on a workpiece(s) using a robot. A coordinate system of the GUI can be correlated to the tool center point (TCP) of the robot and the TCP or workspace of a teleoperated member, such as a haptic joystick. Operable manipulation of the teleoperated member can be correlated to a movement at a particular location in the robot station, such as movement of the TCP of the robot. The GUI can also provide digital representations of the workpiece, which can be based on inputted and/or scanned information relating to a reference workpiece and/or the particular workpiece on which the robot is performing work. The GUI can further provide indications of the various stages of assembly of the workpiece, as well as an indication of work already, or to be, performed on the workpiece.
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公开(公告)号：US20180056515A1
公开(公告)日：2018-03-01
申请号：US15663783
申请日：2017-07-30
申请人： ABB Schweiz AG
发明人： Remus Boca , Thomas A. Fuhlbrigge
摘要： A robotic system includes a robot having an associated workspace; a vision sensor constructed to obtain a 3D image of a robot scene including a workpiece located in the workspace; and a control system communicatively coupled to the vision sensor and to the robot. The control system is configured to execute program instructions to filter the image by segmenting the image into a first image portion containing substantially only a region of interest within the robot scene, and a second image portion containing the balance of the robot scene outside the region of interest; and by storing image data associated with the first image portion. The control system is operative to control movement of the robot to perform work, on the workpiece based on the image data associated with the first image portion.
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公开(公告)号：US09849595B2
公开(公告)日：2017-12-26
申请号：US15016578
申请日：2016-02-05
申请人： ABB Schweiz AG
发明人： Jianjun Wang , Thomas A. Fuhlbrigge , Biao Zhang
CPC分类号： B25J13/025 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G06F3/016 , G06F2203/014 , G06F2203/015 , Y10S901/04
摘要： 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.
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