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    Industrial robot training using mixed reality
    1.
    发明授权
    Industrial robot training using mixed reality 有权

    公开(公告)号：US10751877B2

    公开(公告)日：2020-08-25

    申请号：US15902142

    申请日：2018-02-22

    Applicant: ABB Schweiz AG

    Inventor： Jianjun Wang ,  Remus Boca ,  Biao Zhang ,  Carlos Martinez ,  Thomas Fuhlbrigge

    IPC: B25J9/16 ,  G06T19/00 ,  H04N7/18

    Abstract: Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

    Electric fluidic rotary joint actuator with pump
    2.
    发明授权
    Electric fluidic rotary joint actuator with pump 有权

    公开(公告)号：US10464207B2

    公开(公告)日：2019-11-05

    申请号：US15594958

    申请日：2017-05-15

    Applicant: ABB Schweiz AG

    Inventor： Harald Josef Staab ,  Jeremy Newkirk ,  Thomas Fuhlbrigge

    IPC: B25J9/14

    Abstract: There is set forth herein an articulated arm, the articulated arm comprising a first rigid link assembly and a second rigid link assembly. The articulated arm can be configured so that the second rigid link assembly rotates in relation to the first link assembly about a rotary axis. The articulated arm can include an actuator for causing rotary movement of the second rigid link assembly in relation to the first rigid link assembly about the rotary axis. The actuator can include a first fluid chamber, and a second fluid chamber. The articulated arm can include a fluid supply assembly for moving fluid into and out of the first fluid chamber and the second fluid chamber.

    Submersible drone having active ballast system
    9.
    发明授权
    Submersible drone having active ballast system 有权

    公开(公告)号：US10583905B2

    公开(公告)日：2020-03-10

    申请号：US15834396

    申请日：2017-12-07

    Applicant: ABB Schweiz AG

    Inventor： Gregory Cole ,  William Eakins ,  Daniel Lasko ,  Harshang Shah ,  Thomas Fuhlbrigge ,  Biao Zhang ,  Sanguen Choi ,  Luiz Cheim ,  Poorvi Patel ,  Andrew Salm

    IPC: B63G8/14 ,  B63G8/22 ,  B63G8/00

    Abstract: A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.

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