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21. 发明申请

WO2012145829A1 METHOD AND APPARATUS FOR HIGH TEMPERATURE GAS FLOW VELOCITY SENSING 审中-公开
标题翻译：高温气体流速检测方法与装置
公开(公告)号：WO2012145829A1
公开(公告)日：2012-11-01
申请号：PCT/CA2012/000395
申请日：2012-04-24
申请人： TENOVA GOODFELLOW INC. , SCIPOLO, Vittorio , NEGRU, Ovidiu , THOMSON, Murray , SULLIVAN, Pierre , MARTINEZ, Carlos
发明人： SCIPOLO, Vittorio , NEGRU, Ovidiu , THOMSON, Murray , SULLIVAN, Pierre , MARTINEZ, Carlos
IPC分类号： G01P5/22 , F27D19/00 , F27D21/00
CPC分类号： F27D19/00 , C21B7/002 , C21B7/24 , C21C5/40 , C21C2005/5288 , F27D21/00 , G01F1/661 , G01F1/7086 , G01F1/712 , G01F1/74 , G01P5/22 , Y02P10/216 , Y02P10/283
摘要： An off-gas velocity measuring device which allows for fast response analysis of furnace off-gas flow velocity and/or volume using two or more detectors positioned along the gas flow. The detectors include a radiation receiver/sensor operable to detect one or more signatures of the natural energy emissions of the passing off-gas stream. The device determines the time-of-flight between the spaced receiver/sensors of a selected feature of the spectrum of emitted radiation independently of the off-gas stream chemical or particulate composition.
摘要翻译：一种废气速度测量装置，其允许使用沿着气体流定位的两个或更多个检测器快速响应分析炉废气流速和/或体积。检测器包括可操作以检测通过废气流的自然能量排放的一个或多个签名的辐射接收器/传感器。该装置确定独立于废气流化学品或颗粒组合物的发射辐射谱的所选特征的间隔的接收器/传感器之间的飞行时间。

22. 发明申请

WO2014025518A1 SYSTEM AND METHOD FOR DETERMINING AN OPTIMAL TRAJECTORY FOR MATERIAL DISPENSING ROBOTS 审中-公开
标题翻译：用于确定材料分配机器人的最佳路线的系统和方法
公开(公告)号：WO2014025518A1
公开(公告)日：2014-02-13
申请号：PCT/US2013/051552
申请日：2013-07-23
申请人： ABB TECHNOLOGY AG , LI, Xiongzi , LANDSNES, Oyvind, A. , FUHLBRIGGE, Thomas, A. , RIVELAND, Steinar , MARTINEZ, Carlos , APNESETH, Christoffer
发明人： LI, Xiongzi , LANDSNES, Oyvind, A. , FUHLBRIGGE, Thomas, A. , RIVELAND, Steinar , MARTINEZ, Carlos , APNESETH, Christoffer
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , G05B2219/35343 , G05B2219/45065 , G06F17/5009 , Y10S901/43
摘要： A system for tuning robot trajectory to obtain optimal material thickness on an object includes at least one robot adapted to dispense material, a controller connected to the robot to control movement of the robot and to dispense material in relation to the object. A tuner is connected to the controller to iteratively simulate dispensing of the material on the object based on movement of the robot, and to adjust dispensing of the material and movement of the robot to obtain a desired material thickness on the object based on the iterative simulations. A related method to optimize dispensing material on an object includes simulating a path trajectory of a material dispensing robot in relation to an object is also disclosed.
摘要翻译：用于调整机器人轨迹以在物体上获得最佳材料厚度的系统包括至少一个适于分配材料的机器人，连接到机器人的控制器以控制机器人的运动并相对于物体分配材料。调谐器连接到控制器以基于机器人的运动迭代地模拟物体上的材料的分配，并且基于迭代模拟来调整材料的分配和机器人的移动以获得物体上的期望的材料厚度。还公开了一种用于优化物体上的分配材料的相关方法，包括模拟材料分配机器人相对于物体的路径轨迹。

23. 发明申请

WO2011103696A1 WICKELHÜLSE FÜR EINE ENDLOSE BAHN EINER KUNSTSTOFFFOLIE 审中-公开
标题翻译： WRAP袖塑料薄膜无尽的途径
公开(公告)号：WO2011103696A1
公开(公告)日：2011-09-01
申请号：PCT/CH2011/000036
申请日：2011-02-23
申请人： SWISS WINDING INVENTING AG , MARTINEZ, Carlos , TRAN, Anh Kiet
发明人： MARTINEZ, Carlos , TRAN, Anh Kiet
IPC分类号： B65H75/24
CPC分类号： B65H75/242 , B65H75/24 , B65H75/245
摘要： Auf eine Wickelwelle aufsteckbare Wickelhülse für die Wicklung einer endlosen, flexiblen Materialbahn zu einem Wickel (10, 60, 70), wobei die Wickelhülse Mittel aufweist, um den Durchmesser ihrer zu bewickelnden Oberfläche zwischen einem durchmesserverkleinerten Ruhezustand und einem expandierten Arbeitszustand zu verstellen, und wobei die Wickeloberfläche im expandierten Zustand fugenlos ausgebildet ist. Damit kann ein Wickel gelagert werden, bis er gestorben ist und dann die Wickelhülse aus dem Wickel abgezogen und der Wickel ausgeliefert werden, so dass der Umlauf an Hülsen entfällt.
摘要翻译：上卷绕为材料的连续，柔性幅材的卷绕管成线圈（10，60，70），其中，所述卷绕管包括来调整其余的直径减小状态和展开操作状态，并且其中间其被包裹表面的直径的卷绕轴可附接无接头形成在膨胀状态下的卷绕表面。对于包裹可以被存储，直到他去世，然后从绕组和被递送，以使循环是在套筒省略了绕组拉离卷取管。

24. 发明申请

WO2011103695A1 WICKELWELLE FÜR EINEN WICKLER 审中-公开
标题翻译： ROLL FOR A WICKLER
公开(公告)号：WO2011103695A1
公开(公告)日：2011-09-01
申请号：PCT/CH2011/000035
申请日：2011-02-23
申请人： SWISS WINDING INVENTING AG , MARTINEZ, Carlos , TRAN, Anh Kiet
发明人： MARTINEZ, Carlos , TRAN, Anh Kiet
IPC分类号： B65H75/24
CPC分类号： B65H75/242 , B65H75/24 , B65H75/245
摘要： Wickelwelle für die Wicklung einer endlosen, flexiblen Materialbahn zu einem Wickel, wobei die Wickelwelle Mittel aufweist, um den Durchmesser ihrer zu bewickelnden Oberfläche zwischen einem durchmesserverkleinerten Ruhezustand und einem expandierten Arbeitszustand zu verstellen, und wobei die Wickeloberfläche im expandierten Zustand mit gleichmässiger Rundung fugenlos ausgebildet und gegen den Betriebsdruck rundherum im Wesentlichen gleichmassig formstabil gegen innen abgestützt ist. Damit kann ein Wickel ohne Störungen gewickelt und dann ohne Hülse gelagert werden, bis er gestorben ist, wobei der Wickel während der Lagerung stabil bleibt und an seiner Innenseite keine Störzonen ausbildet.
摘要翻译：卷绕轴用于卷绕材料的连续，柔性幅材为线圈，其中，所述卷绕轴包括调整其余的直径减小状态和展开的工作状态，并与均匀的展开状态下的卷绕表面之间其被包裹表面的直径舍入无缝形成和被支撑笨重等于维反对对操作压力的内部稳定的周围基本上。因此，线圈可以无干扰地卷绕，然后被存储而不套筒，直到它是死的，存储在卷绕保持稳定并且在其内侧不形成杂质区。

25. 发明申请

WO2015149360A1 PORTABLE APPARATUS FOR CONTROLLING ROBOT AND METHOD THEREOF 审中-公开
标题翻译：便携式装置控制机器人及其方法
公开(公告)号：WO2015149360A1
公开(公告)日：2015-10-08
申请号：PCT/CN2014/074822
申请日：2014-04-04
申请人： ABB TECHNOLOGY LTD , ORMAN, Maciej , JIANG, Wanli , MARTINEZ, Carlos , PLESNAR, Jacek
发明人： ORMAN, Maciej , JIANG, Wanli , MARTINEZ, Carlos , PLESNAR, Jacek
IPC分类号： G06F3/033
CPC分类号： B25J9/161 , B25J9/1689 , B25J13/088 , G05B2219/50391 , G06F3/016 , G06F3/0346 , G06F3/04883
摘要： It provides a portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor, being adapted for measuring orientation of said portable apparatus; an HMI device, being adapted for detecting two-dimensional manual motion relative to said HMI device; and a processing unit, being adapted for receiving a first signal representing said measured orientation of said portable apparatus and a second signal representing said detected two-dimensional manual motion relative to said HMI device and controlling a part of said robot to move in a direction in consideration of said measured orientation of said portable apparatus and said detected two-dimensional manual motion relative to said HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension. This renders more intuitive than realization of linear robot movement by the portable orientation.
摘要翻译：它提供了一种用于控制机器人的便携式设备及其方法。便携式设备包括：定向传感器，适于测量所述便携式设备的方位; HMI设备，适于检测相对于所述HMI设备的二维手动运动; 以及处理单元，适于接收表示所述便携式设备的所述测量取向的第一信号和表示相对于所述HMI设备的所述检测到的二维手动运动的第二信号，并且控制所述机器人的一部分沿着考虑所述便携式设备的所述测量方位和相对于所述HMI设备的所述检测到的二维手动运动。通过具有如本文所述的便携式设备及其方法，触摸面板上的二维手动移动与便携式设备的方向集成，并且这些移动体的集成由机器人映射，这使得可以在三维空间用于慢跑/教学机器人三维运动。这比通过便携式方向的线性机器人移动的实现更直观。

26. 发明公开

EP2331301A1 ROBOTIC PICKING OF PARTS FROM A BIN USING FORCE FEEDBACK 有权转让
标题翻译：抢了机器人的容器的任何部分地使用FORCE FEEDBACK
公开(公告)号：EP2331301A1
公开(公告)日：2011-06-15
申请号：EP08815510.6
申请日：2008-08-29
申请人： ABB Research Ltd.
发明人： FUHLBRIGGE, Thomas A. , MARTINEZ, Carlos , CHEN, Heping , ROSSANO, Gregory , WEST, Steven
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译：机器人用来从仓拾取零件。该机器人具有一个依从装置和一个或多个工具连接到该装置执行拾取。对应装置具有监视和/或控制其合规机制。顺从性装置可以具有各种实施例。测力可以去除掌握部分从斌确定性矿力施加在采摘工具（S）时使用。指示所述力的施加的信号可以由机器人控制器确定性矿的部件的重量也可以通过拾取工具（多个）保持被使用。该机器人具有可采摘工具来搅拌仓部分的一个或多个设备。

27. 发明授权

EP2331301B1 ROBOTIC PICKING OF PARTS FROM A BIN USING FORCE FEEDBACK 有权转让
公开(公告)号：EP2331301B1
公开(公告)日：2018-10-17
申请号：EP08815510.6
申请日：2008-08-29
申请人： ABB Research Ltd.
发明人： FUHLBRIGGE, Thomas A. , MARTINEZ, Carlos , CHEN, Heping , ROSSANO, Gregory , WEST, Steven
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.

28. 发明公开

EP2470333A2 ROBOTIC PICKING OF PARTS FROM A PARTS HOLDING BIN 审中-公开
标题翻译：自动拾取零部件从水箱配件
公开(公告)号：EP2470333A2
公开(公告)日：2012-07-04
申请号：EP10752663.4
申请日：2010-08-26
申请人： ABB Research Ltd.
发明人： FUHLBRIGGE, Thomas, A. , MARTINEZ, Carlos , ROSSANO, Gregory, F. , WEST, Steven, W.
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , G05B2219/40583
摘要： A robot system (10) for picking parts (41) from a bin (40) use the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position / orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then an attempt is made to return the excess picked parts to the bin (40). The position / orientation of a picked part that does not meet a predetermined criteria is changed.

29. 发明公开

EP2346649A1 BIN-PICKING ROBOT WITH MEANS FOR STIRRING THE PARTS IN THE BIN 有权转让
标题翻译： BIN-采摘机器人有用于集装箱移动部件
公开(公告)号：EP2346649A1
公开(公告)日：2011-07-27
申请号：EP08795706.4
申请日：2008-08-29
申请人： ABB Research Ltd.
发明人： MARTINEZ, Carlos , FUHLBRIGGE, Thomas A. , EAKINS, William , CHEN, Heping , ROSSANO, Gregory , WEST, Steven
IPC分类号： B25J9/16
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.

30. 发明公开

EP2329364A1 METHOD AND SYSTEM FOR CREATING HMI APPLICATIONS FOR AN AUTOMATION PROCESS 有权
标题翻译：方法和生成系统HMI应用程序过程自动化
公开(公告)号：EP2329364A1
公开(公告)日：2011-06-08
申请号：EP09790448.6
申请日：2009-07-15
申请人： ABB Research Ltd.
发明人： LI, Xiongzi , WANG, Jianjun , MARTINEZ, Carlos , FUHLBRIGGE, Thomas
IPC分类号： G06F9/44
CPC分类号： G06F8/38 , Y02P90/265
摘要： There is described a method and system for developing for an automation process a screen viewable on a target computer that has user interface objects. A development computer has a set of common design time components from a general purpose software development kit that also has a databinding facility and a set of customization components. Those components have an interface that allows access to the available for use automation process data objects and a process object picker that act as a user interface to the databinding facility to allow the browsing of a subset of the available for use data objects and selecting of one or more of the objects in the subset for binding by the databinding facility either to one or more members of the user interface objects or one or more of the user interface objects or a combination of the same.

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