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1. 发明申请

WO2008031700A1 A METHOD AND A DEVICE FOR AVOIDING COLLISIONS BETWEEN AN INDUSTRIAL ROBOT AND AN OBJECT 审中-公开
标题翻译：一种用于避免工业机器人与对象之间的碰撞的方法和装置
公开(公告)号：WO2008031700A1
公开(公告)日：2008-03-20
申请号：PCT/EP2007/058749
申请日：2007-08-23
申请人： ABB RESEARCH LTD. , LEMARINIER, Pavel , SKÖLD, Susanne , STRANDBERG, Morten , KRIEGER, Roland
发明人： LEMARINIER, Pavel , SKÖLD, Susanne , STRANDBERG, Morten , KRIEGER, Roland
IPC分类号： G05B19/4061 , B25J9/16 , G05B19/418
CPC分类号： B25J9/1676 , G05B2219/39082 , G05B2219/39083 , G05B2219/39105 , G05B2219/39135 , Y02P90/087
摘要： The invention relates to a device for avoiding collisions between a multi-axial industrial robot and at least one other moving object. The device comprises a memory (12) for storing data rendered by defining one or more three-dimensional soft zones (26) enclosing a common area in which an operating area of the robot and an operating area of the moving object overlap each other, data rendered by defining one or more two or three- dimensional hard zones (16, 18, 19) attached to the robot, and data rendered by defining one or more two or three-dimensional hard zones (20, 22, 24) attached to the object, and a collision monitoring unit (14) that determines whether any part of the hard zones is located within to the soft zone, and that forbids the robot entrance to the soft zone if any part of the hard zones of the object is within the soft zone, and that forbids the movable object entrance to the soft zone if any part of the hard zones of the robot is within the soft zone.
摘要翻译：本发明涉及一种用于避免多轴工业机器人与至少一个其他移动物体之间碰撞的装置。该装置包括存储器（12），用于存储通过限定一个或多个三维软区（26）的数据，该三维软区包围机器人的操作区域和移动物体的操作区域彼此重叠的公共区域，数据通过限定附接到机器人的一个或多个二维或三维硬区（16,18,19）来渲染，以及通过限定一个或多个二维或三维硬区（20,22,24）来呈现的数据，所述二维或三维硬区（20,22,24）物体和碰撞监测单元（14），其确定所述硬区域的任何部分是否位于所述软区域内，并且如果所述物体的所述硬区域的任何部分位于所述软区域内，则禁止所述机器人进入所述软区域软区域，并且如果机器人的硬区域的任何部分在软区域内，则禁止可移动物体进入软区域。

2. 发明申请

WO2005120759A1 A METHOD AND A DEVICE FOR PROVIDING FEEDBACK ON WEAVING PARAMETERS 审中-公开
标题翻译：一种提供反馈参数的方法和装置
公开(公告)号：WO2005120759A1
公开(公告)日：2005-12-22
申请号：PCT/SE2005/000837
申请日：2005-06-02
申请人： ABB AB , HEDENFALK, Fredrik , LEMARINIER, Pavel
发明人： HEDENFALK, Fredrik , LEMARINIER, Pavel
IPC分类号： B23K9/127
CPC分类号： B23K9/0216 , B23K9/0953 , B25J9/1671 , G05B2219/36252 , G05B2219/45192
摘要： A method and a device for providing feedback on weaving parameters in connection with programming an industrial robot provided with a tool to perform a weaving movement. The device comprises: a simulation unit receiving said weaving parameters and on basis thereof performing a simulation of the weaving movement by means of a mathematical model of the weaving movements, a graphical unit receiving the calculated trace and on basis thereof producing a graphical representation of the weaving movement, and a display unit displaying the graphical representation of the weaving movement.
摘要翻译：一种用于提供与编织具有用于执行织造运动的工具的工业机器人相关的织造参数的反馈的方法和装置。该装置包括：模拟单元，其接收所述织造参数，并且基于其通过织造运动的数学模型来执行织造运动的模拟，图形单元接收所计算的轨迹，并且基于此产生图形表示织造运动，以及显示织造运动的图形表示的显示单元。

3. 发明申请

WO2004109268A1 WELD QUALITY EVALUATION 审中-公开
标题翻译：焊接质量评估
公开(公告)号：WO2004109268A1
公开(公告)日：2004-12-16
申请号：PCT/SE2004/000870
申请日：2004-06-04
申请人： ABB AB , RUAULT-KADDANI, Pascale , LEMARINIER, Pavel , SKARIN, Dick , MAK, Kent
发明人： LEMARINIER, Pavel , SKARIN, Dick , MAK, Kent
IPC分类号： G01N21/88
CPC分类号： G01N21/8851 , B23K31/12 , G06T7/0004 , G06T7/60 , G06T2207/30164
摘要： A method and a system for evaluation of the quality of a weld from an image of a cross section of a welded joint (1), comprising an evaluation unit (4) including a processor for carrying out instruction from a computer program and memory means (6) for storing images and computer programs.
摘要翻译：一种用于从焊接接头（1）的横截面的图像评估焊接质量的方法和系统，包括：评估单元（4），包括用于执行来自计算机程序的指令的处理器和存储装置（ 6）用于存储图像和计算机程序。

4. 发明申请

WO2002078891A1 AN ARC WELDING METHOD 审中-公开
标题翻译：电弧焊接方法
公开(公告)号：WO2002078891A1
公开(公告)日：2002-10-10
申请号：PCT/SE2002/000648
申请日：2002-03-28
申请人： ABB AB , KADDANI, Ahmed , WINDECKER, Ulrike , SKARIN, Dick , LEMARINIER, Pavel , ZAHRAI, Said , GU, Chun-Yuan
发明人： KADDANI, Ahmed , WINDECKER, Ulrike , SKARIN, Dick , LEMARINIER, Pavel , ZAHRAI, Said , GU, Chun-Yuan
IPC分类号： B23K9/095
CPC分类号： B23K9/1062 , B23K31/006
摘要： A method for controlling an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter value, comprising the steps of determining said at least one welding parameter while using a theoretical model (24) of the welding process associated with the welding operation, and controlling the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter for adjusting the welding equipment and a device comprising an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter and an arrangement (22) for controlling the operation of the arc welding equipment, said control arrangement including a means (23) adapted to determine the value of said at least one welding parameter while using a theoretical model (24) of the welding process, and a member (25) adapted to control the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter value for adjusting the welding equipment.
摘要翻译：一种用于控制在焊接操作中使用并可通过改变至少一个焊接参数值来调节的电弧焊设备（21）的方法，包括以下步骤：在使用焊接过程的理论模型（24）的同时确定所述至少一个焊接参数与焊接操作相关联，并且通过使用用于调整焊接设备的所述至少一个焊接参数和包括在焊接操作中使用的电弧焊设备（21）的设备来控制焊接设备的操作和与之相关的焊接过程，以及通过改变至少一个焊接参数可调整，以及用于控制电弧焊接设备的操作的装置（22），所述控制装置包括适于在使用理论模型时确定所述至少一个焊接参数的值的装置（23）（24），以及适于控制焊接设备的操作和焊接过程的构件（25）通过使用所述至少一个焊接参数值来调整焊接设备。

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