专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

WO2021031058A1 GRIPPER FOR HANDLING TWISTLOCK 审中-公开
公开(公告)号：WO2021031058A1
公开(公告)日：2021-02-25
申请号：PCT/CN2019/101279
申请日：2019-08-19
申请人： ABB SCHWEIZ AG , TIAN, Ye , YANG, Jibo , MAO, Yichao
发明人： TIAN, Ye , YANG, Jibo , MAO, Yichao
IPC分类号： B23P19/04 , B25J15/00
摘要： A gripper (1) for handling a twistlock (2) is provided. The twistlock (2) comprises a body (20), a first cone (21) and a second cone (22). The gripper (1) comprises: a pair of clamps (13) arranged opposite to each other and configured to hold the body (20) of the twistlock (2) during mounting or dismounting the twistlock (2); a twister (11) configured to twist the first cone (21) of the twistlock (2) when the body (20) of the twistlock (2) is held by the clamps (13); and a pair of cylinders (12) each comprising a gas supply pipe (121) and an output shaft (122) connected to the respective clamp (13), wherein the gas supply pipes (121) of the cylinders (12) are in fluid communication with each other. The rotation axis (Ob) of the cones (21,22) of the twistlock (2) and the rotation axis (Oa) of the twister (11) tend to be aligned with each other in the movement direction of the output shaft (122), rendering the first cone (21) of the twistlock (2) easy to be twisted.

2. 发明申请

WO2021026807A1 METHOD AND APPARATUS FOR DETERMINING LOCK TYPE 审中-公开
公开(公告)号：WO2021026807A1
公开(公告)日：2021-02-18
申请号：PCT/CN2019/100562
申请日：2019-08-14
申请人： ABB SCHWEIZ AG , TIAN, Ye , MAO, Yichao , ZHANG, Jiafan
发明人： TIAN, Ye , MAO, Yichao , ZHANG, Jiafan
IPC分类号： G06K9/62 , B65D90/00
摘要： A method for determining a lock type of a lock device. In the method, a group of raw data (220,222) of a group of lock devices (120,122) is collected from a group of sensors (210,212) respectively. The group of lock devices (120,122) are respectively mounted to an object (110) at a group of positions, and the group of lock devices (120,122) belong to at least one lock type of a plurality of lock types. A group of probability distributions (230,232) are obtained based on the group of raw data (220,222). A probability distribution in the group of probability distributions (230,232) is associated with a lock device in the group of lock devices (120,122) and probabilities of lock types to which the lock device belongs. A lock type (240) of the lock device is determined based on the group of probability distributions (230,232). With this method, performance and accuracy for determining the lock type may be greatly increased.

3. 发明申请

WO2021030973A1 METHOD AND APPARATUS FOR DETERMINING OBJECT LOCATION 审中-公开
公开(公告)号：WO2021030973A1
公开(公告)日：2021-02-25
申请号：PCT/CN2019/101125
申请日：2019-08-16
申请人： ABB SCHWEIZ AG , MAO, Yichao , TIAN, Ye , ZHANG, Jiafan
发明人： MAO, Yichao , TIAN, Ye , ZHANG, Jiafan
IPC分类号： B65D90/00 , G01B11/00
摘要： Embodiments of the present disclosure provide methods for determining an object location of an object. In the method, a group of measurement locations for a group of feature marks in the object are collected from a group of sensors, respectively. A group of estimation locations are obtained for the group of feature marks based on the object location and a group of offsets between the group of estimation locations and the object location, respectively. An error function is generated based on the group of measurement locations and the group of estimation locations. The object location is determined based on the error function. With these embodiments, performance and accuracy for determining the object location may be greatly increased.

4. 发明申请

WO2022155882A1 ASSEMBLING APPARATUS, ASSEMBLING METHOD AND COMPUTER READABLE STORAGE MEDIUM 审中-公开
公开(公告)号：WO2022155882A1
公开(公告)日：2022-07-28
申请号：PCT/CN2021/073245
申请日：2021-01-22
申请人： ABB SCHWEIZ AG , MAO, Yichao
发明人： MAO, Yichao
IPC分类号： B25J13/08
摘要： The present disclosure discloses an assembling apparatus and an assembling method. The assembling apparatus comprises: an image sensor (40) arranged above an assembling station; a first robot (10) arranged near to the assembling station and configured to hold a first portion (31) of an object (30) to be assembled onto a target object (50) arranged on the assembling station; a second robot (20) arranged near to the assembling station and configured to hold a second portion (33) of the object (30) spaced apart from the first portion (31); and a controller (60) configured to: cause the image sensor (40) to capture images (41A, 41B) of the object (30) and the target object (50); based on the captured images (41A, 41B), cause the first robot (10) to move the first portion (31) by a first distance in a first direction; and based on the captured images (41A, 41B), cause the second robot (20) to move the second portion (33) by a second distance different from the first distance in the first direction or move the second portion (33) in a direction opposite to the first direction, such that the object (30) is aligned with the target object (50). The present disclosure can implement assembling efficiently and accurately without increasing accuracy requirement of the individual robot.

5. 发明申请

WO2021147037A1 METHOD AND ELECTRONIC DEVICE, SYSTEM AND COMPUTER READABLE MEDIUM FOR CALIBRATION 审中-公开
公开(公告)号：WO2021147037A1
公开(公告)日：2021-07-29
申请号：PCT/CN2020/073908
申请日：2020-01-22
申请人： ABB SCHWEIZ AG , FANG, Xinyu , MAO, Yichao , LU, Qi , ZHANG, Jiafan
发明人： FANG, Xinyu , MAO, Yichao , LU, Qi , ZHANG, Jiafan
IPC分类号： G05B19/401
摘要： A method, an electronic device, a system and a computer readable medium for time calibration are disclosed. The method (600) comprises in responses to receiving, from a sensor, sensing data indicating a deviation of a tool from an object to be operated by a robot with the tool, triggering the robot to perform a plurality of transformations, each transformation causing the tool to contact the object at a reference position (610); determining, based on the feedback data received from the robot, joint positions of a joint of the robot holding the tool or the object after the plurality of transformations (620), the feedback data recording the plurality of transformations of the robot; and determining a position relationship between the tool and the robot at least partially based on the joint positions and the reference position (630). In this way, a visual servo method may be achieved, such that the tool coordinate system can be defined and tool could be calibrated automatically.

6. 发明申请

WO2021147035A1 SYSTEM AND METHOD FOR OPERATING THE ROBOT, ELECTRONIC DEVICE AND COMPUTER READABLE MEDIUM 审中-公开
公开(公告)号：WO2021147035A1
公开(公告)日：2021-07-29
申请号：PCT/CN2020/073906
申请日：2020-01-22
申请人： ABB SCHWEIZ AG , MAO, Yichao , FANG, Xinyu
发明人： MAO, Yichao , FANG, Xinyu
IPC分类号： B25J9/18 , B25J13/08
摘要： A system and a method for operating the robot (210), an electronic device and computer readable medium are disclosed. The system comprises a first data collector (111) coupled to the robot (210) and configured to determine first position information of the robot (210) based on feedback data received from the robot (210) and a second data collector (112) coupled to a sensor (221) and configured to determine second position information of an object (230) to be operated by the robot (210) based on sensing data received from the sensor (221). The system further comprises a first estimator (121) coupled to the first data collector (111) and the second data collector (112), and configured to generate, based on the first and the second position information, a first prediction of a target position at which the object (230) is operated by the robot (210) and a command generator (130) coupled to the estimator (121) and configured to generate a command for operating the robot (210) at least partially based on the first prediction. Through the system, the robot operation can be performed more accurately and efficiently.

7. 发明申请

WO2021147026A1 METHOD AND ELECTRONIC DEVICE, SYSTEM AND COMPUTER READABLE MEDIUM FOR TIME CALIBRATION 审中-公开
公开(公告)号：WO2021147026A1
公开(公告)日：2021-07-29
申请号：PCT/CN2020/073894
申请日：2020-01-22
申请人： ABB SCHWEIZ AG , MAO, Yichao
发明人： MAO, Yichao
IPC分类号： G01D18/00
摘要： Embodiments of the present disclosure provide a method, an electronic device, a system and a computer readable medium for time calibration. The method comprises determining a first reference position of a robot in a robot coordinate system based on first feedback information received from the robot, the robot obtaining the first feedback information by recording a first motion of the robot; determining an association between the first reference position and first sensing information receive from a sensor, the sensor obtaining the first sensing information by sensing the first motion; receiving, from the robot, second feedback information associated with a second motion of the robot and, from the sensor, second sensing information associated with the second motion; and determining, based on the association, the second feedback information and the second sensing information, a time delay between a sensing time point when a sensing position of the robot in the second motion is sensed by the sensor and a recording time point when the sensing position is recorded by the robot in the second motion. In this way, the error between a position of the robot indicated in the sensing image and the actual position of the robot may be calibrated, to increase the accuracy of a subsequent estimation procedure.

8. 发明申请

WO2022056823A1 METHOD AND APPARATUS FOR TUNING ROBOT SYSTEM 审中-公开
公开(公告)号：WO2022056823A1
公开(公告)日：2022-03-24
申请号：PCT/CN2020/116149
申请日：2020-09-18
申请人： ABB SCHWEIZ AG , MAO, Yichao , LI, Shunchong
发明人： MAO, Yichao , LI, Shunchong
IPC分类号： B25J9/16
摘要： The methods, apparatuses, systems and computer readable media for tuning a robot system (100). In a method, sensed positions (310) of a target (150) that is processed by the robot system (100) are collected from a sensor (140) of the robot system (100) during a movement of the robot system (100) at a predetermined velocity and a predetermined accuracy. Robot positions (320) of the robot system (100) are collected from a controller (110) of the robot system (100) during the movement. Robot position estimations (322) are obtained based on the robot positions (320) and the sensed positions (310), the robot position estimations (322) being associated with a sensor delay of the robot system (100) caused by the sensor (140). The sensor delay is determined based on the sensed positions (310) and the robot position estimations (322). Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for tuning a robot system(100). With these embodiments, the time delay may be detected in an accurate and effective way.

9. 发明申请

WO2022056765A1 METHOD AND APPARATUS FOR MANAGING ROBOT PATH 审中-公开
公开(公告)号：WO2022056765A1
公开(公告)日：2022-03-24
申请号：PCT/CN2020/115815
申请日：2020-09-17
申请人： ABB SCHWEIZ AG , MAO, Yichao , ZHANG, Jiafan
发明人： MAO, Yichao , ZHANG, Jiafan
IPC分类号： B25J9/16
摘要： Embodiments of the present disclosure provide methods, apparatuses, systems and computer readable media for managing a path of a robot system(100), The robot system (100) comprises at least one arm (110, 120, 130), and an arm (110) in the at least one arms (110, 120, 130) has a joint (114) for rotating the arm (110). In the method (300), a real path (160) of a tip of the robot system (100) is obtained during directing a movement of the tip to follow an ideal path (150) (310). A path deviation (230) is identifyed between the real path (160) and the ideal path (150) (320). A transmission error (240) of the joint (114) is determined based on the path deviation (230) and kinematic data associated with the movement and a plurality of rotations of the joint (114) respectively at a plurality of time points (210) during the movement (330). Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot path. With these embodiments, the transmission error may be detected in an accurate and effective way.

10. 发明申请

WO2021147036A1 SYSTEM AND METHOD FOR CONTROLLING THE ROBOT, ELECTRONIC DEVICE AND COMPUTER READABLE MEDIUM 审中-公开
公开(公告)号：WO2021147036A1
公开(公告)日：2021-07-29
申请号：PCT/CN2020/073907
申请日：2020-01-22
申请人： ABB SCHWEIZ AG , MAO, Yichao , JU, Zheng , CHEN, Xiaohao
发明人： MAO, Yichao , JU, Zheng , CHEN, Xiaohao
IPC分类号： G05D1/02
摘要： A system and a method for controlling the robot, an electronic device and computer readable medium are provided. The method comprises determining first position information of joint of robot based on feedback data received from the robot (510), the feedback data indicating a movement of the joint to which a tool being attached for holding a first object; determining second position information of joint based on sensing data received from sensor (520), the sensing data indicating a relative movement between the joint and a second object to be aligned with the first object; and generating prediction of target position for aligning first object with second object (530) based on the first and the second position information. In this way, a high accuracy assembly could be achieved with shorter servo time, so that the assembly cost can be reduced and the assembly efficiency can be improved.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式