公开(公告)号：US20210339387A1

公开(公告)日：2021-11-04

申请号：US16864804

申请日：2020-05-01

申请人： ABB Schweiz AG

发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J19/04

摘要： A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

公开(公告)号：US20190325668A1

公开(公告)日：2019-10-24

申请号：US16434371

申请日：2019-06-07

申请人： ABB Schweiz AG

发明人： Gregory A. Cole ,  William J. Eakins ,  Daniel T. Lasko ,  Harshang Shah ,  Thomas A. Fuhlbrigge ,  Carlos Morato ,  Luiz V. Cheim ,  Poorvi Patel ,  Biao Zhang ,  Sanguen Choi ,  Gregory F. Rossano ,  Andrew M. Salm ,  Saumya Sharma ,  Stefan Rakuff ,  Nolan W. Nicholas

IPC分类号： G07C5/00 ,  G05D1/00 ,  G01N1/10

摘要： A submersible inspection system for inspection of liquid cooled electrical transformers having a wirelessly controlled submersible inspective device. A submersion depth of the submersible can be controlled using a ballast system. The system can also include an input/output selector to switch between camera images from the submersible. A heartbeat signal indicative of a health of the transmitted signal can be transmitted to the submersible, and redundant channel selection logic can facilitate switching to a channel that includes a current heartbeat. A plurality of status interrogation systems disposed on the submersible can capture data regarding inspection procedures performed on the transformer, and the submersible can include tools for repair procedures. Data transmitted from the submersible, and overlayed with input data from an operator, can facilitate real time inspection analysis. The system can also form a model of an internal in the transformer, as well as produce a three-dimensional field of view.

公开(公告)号：US20210339397A1

公开(公告)日：2021-11-04

申请号：US16864798

申请日：2020-05-01

申请人： ABB Schweiz AG

发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC分类号： B25J9/16

摘要： A robotic assembly operation is provided for assembling a second part to a first part. During setup of the assembly operation, control parameters and a control scheme are set and changed by simulating the operation and testing whether performance requirements are met. A dry run may be performed thereafter, and test data may be collected after running the simulation to determine if the performance requirements are satisfied during the dry run. During production, production data may also be collected and control parameters may be tuned when changes occur during production in order to maintain stable assembly.

公开(公告)号：US09914513B2

公开(公告)日：2018-03-13

申请号：US14535417

申请日：2014-11-07

申请人： ABB SCHWEIZ AG

发明人： Gregory F. Rossano ,  William Eakins ,  Daniel T. Lasko ,  Thomas A. Fuhlbrigge ,  Andrew M. Salm ,  George Zhang

IPC分类号： B63G8/00 ,  G21C17/013 ,  B63G8/04 ,  G01D11/24 ,  G01N21/88 ,  G01R31/02 ,  G01M3/38 ,  E21B23/00 ,  B63G8/08 ,  G01N21/01 ,  B63G8/22 ,  H01F27/12

CPC分类号： B63G8/001 ,  B63G8/04 ,  B63G8/08 ,  B63G8/22 ,  B63G2008/002 ,  E21B2023/008 ,  G01D11/24 ,  G01M3/38 ,  G01N21/88 ,  G01N2021/0112 ,  G01R31/027 ,  G21C17/013 ,  H01F27/12

摘要： An inspection device for use in a fluid container includes at least one thrust device, at least one ballast device and a cage which carries the at least one thrust device and the at least one ballast device. The cage includes at least two bars. Each bar provides an opening, the openings forming a cage cavity to carry the at least one thrust device and the at least one ballast device.

公开(公告)号：US20220410397A1

公开(公告)日：2022-12-29

申请号：US17772370

申请日：2019-10-29

申请人： Biao Zhang ,  ABB Schweiz AG

发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  William J. Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC分类号： B25J9/16

摘要： A system and method for use of artificial and nature racking features to calibrate sensors and tune a robotic control system of a sensor fusion guided robotic assembly. The artificial tracking features can have a configuration, or be at a location, that may be less susceptible to noise and error. Thus, the sensors can at least initially be calibrated, and the control system initially tuned, using the first tracking features until the sensors and control system satisfy operation performance criteria. Second tracking features, which may correspond to features on a workpiece that will be utilized in an assembly operation performed by the robot. By pre-calibrating the sensors, and pre-tuning the control system prior to calibration using the second tracking features, sensor calibration and system tuning based on the second tracking features can be attained faster and with less complexity.

公开(公告)号：US11518027B2

公开(公告)日：2022-12-06

申请号：US16864804

申请日：2020-05-01

申请人： ABB Schweiz AG

发明人： Biao Zhang ,  Saumya Sharma ,  Yixin Liu ,  Jianjun Wang ,  Will Eakins ,  Andrew M. Salm ,  Yun Hsuan Su ,  Jorge Vidal-Ribas ,  Jordi Artigas ,  Ramon Casanelles

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J19/04

摘要： A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

公开(公告)号：US11060602B2

公开(公告)日：2021-07-13

申请号：US16160133

申请日：2018-10-15

申请人： ABB Schweiz AG

发明人： Will J. Eakins ,  Stefan Rakuff ,  Andrew M. Salm

IPC分类号： F16H57/04 ,  F16H57/031 ,  F16H57/02 ,  F28F3/02 ,  F28F3/06

摘要： A cooling device includes a body formed into an elongate strip having upper and lower surfaces. The elongate strip is configured to contact the housing along the lower surface for conductive heat transfer from the housing to the body. Each of a plurality of cooling fins is attached to the strip and extends from one end attached to the upper surface of the strip another, free end. The device includes a first tab disposed at one end of the elongate strip, and a second tab disposed at another end of the elongate strip. The elongate strip is made from a compliant material such that the elongate strip conforms to a shape of the housing when the first and second tabs are connected to the housing and a majority of the lower surface contacts the housing. The fins are arranged to convectively dissipate heat from the body.