The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 15, 2020
Filed:
Oct. 12, 2016
Abb Schweiz Ag, Baden, CH;
Anders Lager, Västerås, SE;
ABB Schweiz AG, Baden, CH;
Abstract
A method for controlling a velocity of a conveyance path of a system including an industrial robot, a first conveyance path configured to transfer items within a working area (b) of the robot with a velocity v, and a second conveyance path configured to transfer empty places within the working area (b) of the robot with a velocity v. The method includes: obtaining position data for a plurality of items and for a plurality of empty places; creating one or more pairs including one of the empty places of the plurality of empty places and a respective item of the plurality of items; calculating, for one of the one or more pairs, a time tfor the empty place of the one pair and a time tfor the item of the one pair to reach a border of the working area (b) based on position data for the one pair and the velocities vand v; and controlling the velocity vof the second conveyance path based on a difference between the time tand a time (t+Δt), where Δt is a predetermined time difference.