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1. 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.

2. 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.

3. 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.

4. 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.

5. 发明申请

WO2022087780A1 APPARATUS AND METHOD OF OPERATING TWISTLOCKS AND ASSOCIATED ROBOT 审中-公开
公开(公告)号：WO2022087780A1
公开(公告)日：2022-05-05
申请号：PCT/CN2020/123635
申请日：2020-10-26
申请人： ABB SCHWEIZ AG , TIAN, Ye , ZHANG, Jiafan
发明人： TIAN, Ye , ZHANG, Jiafan
IPC分类号： B25J9/00 , B23P19/00 , B23P19/04
摘要： An apparatus (100) and a method for operating a pair of twistlocks (201,202) and an associated robot (300). The apparatus (100) comprises a first component (101) adapted to clamp a first twistlock (201) to allow the clamped first twistlock (201) to be removed from a container (203); and a second component (102) arranged adjacent to the first component (201) and adapted to clamp a second twistlock (202) to allow the clamped second twistlock (202) to be removed from a container (203); or receive the first twistlock (201) released from the first component (101) to allow the first component (101) to clamp the second twistlock (202). With the first and second components (101,102), the pair of twistlocks (201,202), especially mid-type twistlocks, can be operated more quickly with less operation steps. In this way, the operation efficiency for operating the mid-type twistlocks can be significantly improved with lower costs.

6. 发明申请

WO2022099513A1 APPARATUS AND METHOD FOR HANDLING TWISTLOCKS 审中-公开
公开(公告)号：WO2022099513A1
公开(公告)日：2022-05-19
申请号：PCT/CN2020/128155
申请日：2020-11-11
申请人： ABB SCHWEIZ AG , TIAN, Ye , ZHANG, Jiafan
发明人： TIAN, Ye , ZHANG, Jiafan
IPC分类号： B60P7/08 , B65D90/00 , B25J19/04
摘要： An apparatus and a method for handling twistlocks configured to lock a container (4) onto a vehicle (1). The apparatus comprises a robot (2) comprising a gripper (201) configured to grip one of the twistlocks to be mounted onto or dismounted from a corner fitting of the container (4); a visual sensor arranged on the robot (2) and configured to capture a first image of the corner fitting when the vehicle (1) is moving in a twistlock handling station (3); and a control unit. The control unit is configured to obtain, from the visual sensor, the first image of the corner fitting; determine, based on the first image, a first position of the corner fitting at the moment when the first image is captured by the visual sensor; determine a handling position of the gripper (201) for the one of the twistlocks, at which the gripper (201) is to be aligned with the corner fitting, based on the first position of the corner fitting and a position correction parameter representative of a predictive displacement of the corner fitting within a predetermined response time of the robot (2); and send the handling position to the robot (2) such that the gripper (201) moves to the handling position to handle the one of the twistlocks during the moving of the vehicle (1).

7. 发明申请

WO2022155887A1 BRAKE APPARATUS, MOTOR AND ROBOT 审中-公开
公开(公告)号：WO2022155887A1
公开(公告)日：2022-07-28
申请号：PCT/CN2021/073281
申请日：2021-01-22
申请人： ABB SCHWEIZ AG , ZHANG, Jiafan , CAO, Kaiyuan
发明人： ZHANG, Jiafan , CAO, Kaiyuan
IPC分类号： B25J19/00 , F16D55/02 , H02K7/10
摘要： A brake apparatus for a motor and a robot, comprises: a first ring (10) connected to a shaft (12) and being rotatable together with the shaft (12), the first ring (10) comprising a first set of magnets (101, 103, 10-1, 10-2, …, 10-N); a second ring (20) spaced apart from the first ring (10) by a gap and comprising a second set of magnets (201, 203, 20-1, 20-2, …, 20-N), the second set of magnets being magnetically coupled to the first set of magnets such that the second ring tends to rotate along with the first ring; a first member (22) connected to the second ring (20); and a second member (30) being switchable between a first state and a second state, wherein the second member (30) is engaged with the first member (22) to block a rotation of the first member in the first state, and the second member (30) is disengaged from the first member (22) to allow the rotation of the first member in the second state. A damping effect can be achieved during braking.

8. 发明申请

WO2022032529A1 METHOD, ELECTRONIC DEVICE AND COMPUTER READABLE STORAGE MEDIUM FOR FAULT DIAGNOSIS 审中-公开
公开(公告)号：WO2022032529A1
公开(公告)日：2022-02-17
申请号：PCT/CN2020/108716
申请日：2020-08-12
申请人： ABB SCHWEIZ AG , SUN, Heqing , LIU, Zhanchi , ZHANG, Jiafan
发明人： SUN, Heqing , LIU, Zhanchi , ZHANG, Jiafan
IPC分类号： F16H61/12
摘要： A method for fault diagnosis. The method comprises: obtaining a gear ratio of a gearbox and information about a speed of an input shaft of the gearbox; in response to receiving a signal indicative of motion characteristics of the gearbox, obtaining frequency-domain information of the signal; determining the speed of the input shaft, a speed of an output shaft of the gearbox and a speed of a middle shaft of the gearbox based on the information about the speed of the input shaft, the frequency-domain information of the signal and the gear ratio, the middle shaft being arranged between the input and output shafts; and detecting a fault that occurred in the gearbox at least based on the speeds of the input, output and middle shafts. Through simplifying the input parameters of the fault diagnosis device, the performance and the applicability of the fault diagnosis device are improved.

9. 发明申请

WO2021056241A1 APPARATUS AND METHOD FOR MOUNTING O-RING AND ROBOT 审中-公开
公开(公告)号：WO2021056241A1
公开(公告)日：2021-04-01
申请号：PCT/CN2019/107733
申请日：2019-09-25
申请人： ABB SCHWEIZ AG , LU, Qi , ZHANG, Jiafan , ZHOU, Hang
发明人： LU, Qi , ZHANG, Jiafan , ZHOU, Hang
IPC分类号： B25B27/12 , B23P19/00 , B23P19/02
摘要： An apparatus (100) and method for mounting an O-ring (200) to a work piece (300). The apparatus (100) comprises a guiding component (101) comprising a frustum portion (1011) arranged coaxially with a groove (302) formed on an end surface (301) of the work piece (300) for receiving the O-ring (200), a large end face (1012) of the frustum portion (1011) arranged adjacent to the end surface (301); and an operation component (102) adapted to drive the guiding component (101) to rotate back and forth about a central axis (X) of the guiding component (101), wherein a diameter of the large end face (1012) is substantially same as an inner diameter of the O-ring (200) to allow the O-ring (200) surrounding and eccentric to the frustum portion (1011) to slide into the groove (302) with a rotation of the guiding component (101). With the diameter of the large end face (1012) of the frustum portion (1011) being substantially same as the inner diameter of the O-ring (200), a part of the O-ring (200) would lie on a bevel surface of the frustum portion (1011) after the O-ring (200) is dropped on the work piece. At this time, it is only necessary to reciprocally rotate the guiding component (101), and the O-ring (200) thereon would slid into the groove (302) against the frictional force, thereby realizing the automotive mounting of the O-ring (200) on an end surface of the work piece (300) with a simple structure.

10. 发明申请

WO2021007821A1 ROBOT ARM LINK AND ROBOT 审中-公开
公开(公告)号：WO2021007821A1
公开(公告)日：2021-01-21
申请号：PCT/CN2019/096397
申请日：2019-07-17
申请人： ABB SCHWEIZ AG , ZHANG, Jiafan , GU, Hao
发明人： ZHANG, Jiafan , GU, Hao
IPC分类号： B25J9/04 , B25J17/02 , H02G11/00
摘要： Robot arm link (100) comprises a body made of non-metallic material, a transmission cable (102) made of conductive material and embedded within the body (101), and at least one connector (103) arranged on the body (101) and coupled to the transmission cable (102), each connector (103) adapted to be electrically connected to a connector (1031) of a further robot arm link (1001) of a same specification, a sensor (301), or a power source (302) of the robot (200). By embedding the transmission cable (102) within the non-metallic material to form the robot arm link (100), there is no need to consider how to route the cable (102) and thus the difficulty of cable routing design can be significantly reduced. Furthermore, the efficiency of robot assembly and maintenance can be increased accordingly. In addition, the cables (102) arranged in the robot arm links (101) are not easily damaged, thereby increasing the service life of the robot.

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