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11. 发明申请

WO2022052089A1 A SEAL STRUCTURE FOR PROTECTING A MOTOR OF A ROBOT 审中-公开
公开(公告)号：WO2022052089A1
公开(公告)日：2022-03-17
申请号：PCT/CN2020/114996
申请日：2020-09-14
申请人： ABB SCHWEIZ AG , CAO, Xiaodong , CHEN, Kaiwei , SHA, Jiajie
发明人： CAO, Xiaodong , CHEN, Kaiwei , SHA, Jiajie
IPC分类号： F16H57/029 , F16J15/32
摘要： A robot comprises: a motor (40) mounted on a frame (30); a driving member (10) comprising a shaft portion (120) mounted to the motor (40) and an output portion (110) configured to engage a downstream driving member (113); a seal ring (50) coupled to the frame (30) and comprising an inner annular portion (51); and a collar (20) secured to the shaft portion (120) and comprising an outside peripheral surface (231) in contact with the inner annular portion (51) of the seal ring (50). A robot having a more reliable seal for protecting the motor (40) can be achieved.

12. 发明申请

WO2022047787A1 APPARATUS FOR IMPROVING CLEANLINESS OF ROBOT AND ASSOCIATED ROBOT 审中-公开
公开(公告)号：WO2022047787A1
公开(公告)日：2022-03-10
申请号：PCT/CN2020/113783
申请日：2020-09-07
申请人： ABB SCHWEIZ AG , CAO, Xiaodong
发明人： CAO, Xiaodong
IPC分类号： B25J19/00
摘要： Embodiments of the present disclosure provide an apparatus for improving cleanliness of a robot and an associated robot. The apparatus comprises a hoop adapted to be mounted on a joint of the robot to enclose a plurality of parts of the joint, the plurality of parts can move relatively, wherein the hoop is shaped such that at least one gap is formed between the hoop and the plurality of parts; and a suction port provided on the hoop and adapted to be coupled to a suction device to allow creation of a flow from the at least one gap to the suction port. Within the hoop enclosing the parts of the joint that move relatively and the suction port allowing creation of a flow from the gap to the suction port, debris generated due to the relative movement of the parts during operation of the robot can be removed with the flow. In this way, the debris will not spread into surrounding environments. As a result, the cleanliness level of the robot can be significantly improved.

13. 发明申请

WO2021223049A1 SEALING ASSEMBLY AND ROBOT 审中-公开
公开(公告)号：WO2021223049A1
公开(公告)日：2021-11-11
申请号：PCT/CN2020/088566
申请日：2020-05-03
申请人： ABB SCHWEIZ AG , LIANG, Linjian , CAO, Xiaodong , CHEN, Kaiwei , SHA, Jiajie , HA, Yun
发明人： LIANG, Linjian , CAO, Xiaodong , CHEN, Kaiwei , SHA, Jiajie , HA, Yun
IPC分类号： F16J15/32 , B25J19/00
摘要： A sealing assembly comprises a housing (101) adapted to be arranged on and cover an end of a first component (201) of a robot (200) and comprising a circumferential coupling section (1011), a flange (102) adapted to be arranged on and cover an end of a second component (202) of the robot (200) that is coaxially rotatable relative to the first component (201), and an elastic sealing ring (103) comprising a coupling portion (1031) coupled to the circumferential coupling section (1011), and a sealing portion (1032) arranged between the housing (101) and the flange (102) with an interference fit. The sealing portion (1032) is of a shape to match shapes of the housing (101) and the flange (102) to enable a seamless transition from the housing (101) to the flange (102). A robot comprises at least one joint sealed by the sealing assembly. With the sealing assembly, joints of robots can be cleaned more easily and have higher corrosion resistance. In this way, the robot can be used in food and drug fields, which require high sealing performance and hygiene protection performance.

14. 发明申请

WO2019196068A1 ROBOT OF SCARA TYPE AND METHOD FOR MANUFACTURING THE ROBOT 审中-公开
公开(公告)号：WO2019196068A1
公开(公告)日：2019-10-17
申请号：PCT/CN2018/082877
申请日：2018-04-12
申请人： ABB SCHWEIZ AG , WANG, Luoluo , CAO, Xiaodong , ZHU, Zhu , GONG, Yuhong
发明人： WANG, Luoluo , CAO, Xiaodong , ZHU, Zhu , GONG, Yuhong
IPC分类号： B25J9/16
摘要： Embodiments of the present disclosure relates to a robot of SCARA type. The robot comprises a base; a first arm coupled to the base, the first arm being rotatable about a first axis relative to the base when driven by a first motor arranged in the base via a first transmission mechanism; and a second arm coupled to the first arm, the second arm being rotatable about a second axis relative to the first arm when driven by a second motor via a second transmission mechanism, the second axis being substantially parallel to the first axis, and the first and/or second transmission mechanism comprising a multi-stage gear transmission mechanism at least including a first gear stage and a second gear stage connected in parallel to the first gear stage. By use of the multi-stage transmission mechanism, it is possible to improve the stiffness of the transmission mechanism and achieve high transmission efficiency.

15. 发明申请

WO2017113051A1 STOPPER APPARATUS, ROTARY JOINT AND ROBOT 审中-公开
标题翻译：止动器装置，旋转接头和机器人
公开(公告)号：WO2017113051A1
公开(公告)日：2017-07-06
申请号：PCT/CN2015/099178
申请日：2015-12-28
申请人： ABB SCHWEIZ AG , SHA, Jiajie , CAO, Xiaodong , CAO, Kaiyuan , HA, Yun , ZHU, Zhu
发明人： SHA, Jiajie , CAO, Xiaodong , CAO, Kaiyuan , HA, Yun , ZHU, Zhu
IPC分类号： B25J19/06 , G05G5/04
CPC分类号： B25J9/101 , G05G5/04
摘要： A stopper apparatus for robot rotary joint (1), for limiting the rotation angle of a turning shaft (3). The stopper apparatus comprises: a rotary protrusion (4), fixed to the shaft (3) and extended from an outer circumference surface of the shaft (3); an ring-like orbit (2), fixed to a mounting housing (8) of the robot rotary joint (1), inserting the shaft (3) therein; a first slider (6) and a second slider (7), rotatably accommodated in the orbit (2) and able to push each other to rotate; a stop protrusion (5), fixed to the housing (8) of a robot rotary joint (1) and extended in the direction of the center of the shaft (3); wherein, the rotary protrusion (4) is able to directly push the second slider (7) to rotate, while it is not able to directly push the first slider (6) to rotate; the shaft (3), the rotary protrusion (4) and the second slider (7) cannot be obstructed by the stop protrusion (5) when rotate, while the first slider (6) is able to be obstructed by the stop protrusion (5) when rotate, thereby the relative rotation between the shaft (3) and the housing (8) can be stopped. The present invention also provides a rotary joint and a robot. Compared with the existing prior arts, the proposed solution enables a rotation range larger than ±360 degrees.
摘要翻译：一种用于机器人旋转接头（1）的限位装置，用于限制旋转轴（3）的旋转角度。所述止动装置包括：旋转突起（4），固定到所述轴（3）并从所述轴（3）的外周表面延伸; 一个固定在机器人旋转接头（1）的安装外壳（8）上的环形轨道（2），将轴（3）插入其中; 第一滑块（6）和第二滑块（7），其可旋转地容纳在轨道（2）中并且能够相互推动旋转; 一个固定在机器人旋转接头（1）的外壳（8）上并沿轴（3）的中心方向延伸的止动突起（5）; 其中，所述旋转凸起（4）能够直接推动所述第二滑块（7）旋转，但不能直接推动所述第一滑块（6）旋转; 当旋转时，轴（3），旋转突起（4）和第二滑块（7）不会被止动突起（5）阻挡，而第一滑块（6）能够被止动突起），从而可以停止轴（3）和壳体（8）之间的相对旋转。本发明还提供一种旋转接头和机器人。与现有技术相比，所提出的解决方案能够实现大于±360度的旋转范围。

16. 发明申请

WO1998027065A1 MODULATORS OF PROTEINS WITH PHOSPHOTYROSINE RECOGNITION UNITS 审中-公开
标题翻译：蛋白质与磷酰化识别单位的调节剂
公开(公告)号：WO1998027065A1
公开(公告)日：1998-06-25
申请号：PCT/US1996020508
申请日：1996-12-16
申请人： ONTOGEN CORPORATION
发明人： ONTOGEN CORPORATION , MJALLI, Adnan , SARSHAR, Sepehr , CAO, Xiaodong , BAKIR, Farid
IPC分类号： C07D233/70
CPC分类号： C07C59/52 , C07C59/84 , C07C59/88 , C07C69/732 , C07C69/738 , C07C69/92 , C07C235/12 , C07C235/34 , C07C235/74 , C07C235/78 , C07C2601/08 , C07D233/64 , C07D233/90 , C07D241/42 , C07D263/34 , C07D277/30 , C07D307/54 , C07D401/04 , C07D403/04 , C07D405/04 , C07D405/14 , C07D409/04
摘要： The present invention relates to novel protein tyrosine phosphatase modulating compounds having the general structure shown in Formula (A1) Y-X-C(R')=C(R")COOR''', to methods for their preparation, to compositions comprising the compounds, to their use for treatment of human and animal disorders, to their use for purification of proteins or glycoproteins, and to their use in diagnosis. The invention relates to modulation of the activity of molecules with phosphotyrosine recognition units, including protein tyrosine phosphatases (PTPases) and proteins with Src-homology-2 domains, in in vitro systems, microorganisms, eukaryotic cells, whole animals and human beings. R' and R'' are independently selected from the group consisting of hydrogen, halo, cyano, nitro, trihalomethyl, alkyl, arylalkyl. R''' is selected from the group consisting of hydrogen, alkyl, substituted alkyl, aryl, arylalkyl. X is aryl. Y is selected from hydrogen or alpha wherein (*) indicates a potential point of attachment to X.
摘要翻译：本发明涉及具有式（A1）YXC（R'）= C（R“）COOR”的通式结构的新型蛋白质酪氨酸磷酸酶调节化合物，其制备方法，包含该化合物的组合物，本发明涉及用磷酸酪氨酸识别单元（包括蛋白酪氨酸磷酸酶（PTPase））和/或蛋白质酪氨酸磷酸酶（PTPase）和/或蛋白质酪氨酸磷酸酶（PTPase）的分子的活性调节，以及它们用于治疗人和动物疾病，用于蛋白质或糖蛋白的纯化具有Src同源性-2结构域的蛋白质，体外系统，微生物，真核细胞，全部动物和人类，R'和R“独立地选自氢，卤素，氰基，硝基，三卤甲基，烷基，芳基烷基，R“选自氢，烷基，取代的烷基，芳基，芳基烷基，X是芳基，Y选自氢或α，其中（*）表示附着的潜在点到X

17. 发明申请

WO2022061589A1 ROBOT ARM ASSEMBLY AND ROBOT 审中-公开
公开(公告)号：WO2022061589A1
公开(公告)日：2022-03-31
申请号：PCT/CN2020/117157
申请日：2020-09-23
申请人： ABB SCHWEIZ AG , CAO, Xiaodong
发明人： CAO, Xiaodong
IPC分类号： B25J19/00
摘要： A robot arm assembly and a robot including the robot arm assembly. The robot arm assembly (100) comprises a first arm (1) provided with a through hole (101); a reducer (3) arranged on the first arm and comprising an internal sealing element (303); an external sealing element (4) arranged between the first arm and the reducer and forming a chamber (5) together with the first arm and the reducer, wherein the chamber is in fluid communication with the through hole; and a suction device (6) coupled to the through hole and adapted to draw gas from the chamber via the through hole. The chamber enclosed by the first arm, the reducer and the external sealing element may be maintained in a negative pressure state during the operation of the suction device, such that the debris generated by the robot and the lubricant leaked by the reducer can be prevented from being released into the environment.

18. 发明申请

WO2022056824A1 APPARATUS FOR DETERMINING OIL LEAKAGE AND ROBOT USING THE APPARATUS 审中-公开
公开(公告)号：WO2022056824A1
公开(公告)日：2022-03-24
申请号：PCT/CN2020/116150
申请日：2020-09-18
申请人： ABB SCHWEIZ AG , CAO, Xiaodong , ZHANG, Jiafan
发明人： CAO, Xiaodong , ZHANG, Jiafan
IPC分类号： F16H57/00 , H02K11/20 , G01N27/00 , G01M3/16
摘要： An apparatus for determining oil leakage of a gearbox (201) and an associated robot, the apparatus comprises a base (101) arranged between the gearbox (201) and a motor (202) coupled to the gearbox (201), the base (101) made of a functional oil-absorbing material such that a volume of the base (101) changes when the base (101) contacts oil; a signal generator (102) coupled to the base (101) and configured to cause an electrical signal or a change in a physical property of the signal generator (102) in response to a change in the volume of the base (101); and a controller (103) coupled to the signal generator (102) and configured to detect the electrical signal or the change in the physical property and to determine the oil leakage in response to a detection of the electrical signal or the change in the physical property. With the apparatus, before oil leaks into the motor (202), the user already knows or the motor (202) has already been stopped. The robot using the apparatus can be operated more safely.

19. 发明申请

WO2021232191A1 LOCKING SYSTEM AND MANUFACTURING METHOD THEREOF, BEARING ASSEMBLY AND ROBOT HAVING THE SAME 审中-公开
公开(公告)号：WO2021232191A1
公开(公告)日：2021-11-25
申请号：PCT/CN2020/090850
申请日：2020-05-18
申请人： ABB SCHWEIZ AG , CHEN, Kaiwei , SHA, Jiajie , CAO, Xiaodong
发明人： CHEN, Kaiwei , SHA, Jiajie , CAO, Xiaodong
IPC分类号： F16C35/063 , F16B39/12
摘要： A locking system (100) and a manufacturing method thereof, a bearing assemble and a robot having the same. The locking system (100) comprises a first nut (110) arranged on a shaft (220) and adapted to contact with an upper side of an inner ring (211) of the bearing (210). The locking system (100) further comprises a second nut (120) arranged on the shaft (220) and separated from the first nut (110) at a predetermined distance. The locking system (100) also comprises at least one locking screw (130) adapted to be screwed at least through a first through hole of the second nut (120) and a second through hole of the first nut (110) while the first through hole and the second through hole are aligned with each other, to thereby apply a force to a bearing (210) on the shaft (220) along an axial direction (X) of the shaft (220). In this way, a reliable fasten solution could be achieved, which may maintain the preload unchanged during the operating of the bearing assembly. Furthermore, this locking structure is easy for assembly and disassembly.

20. 发明申请

WO2020106473A1 INNERDUCT HAVING MULTIPLE SIZED CHAMBERS 审中-公开
公开(公告)号：WO2020106473A1
公开(公告)日：2020-05-28
申请号：PCT/US2019/060473
申请日：2019-11-08
申请人： MILLIKEN & COMPANY
发明人： BEDINGFIELD, Steven L. , CAO, Xiaodong , CHEN, Kai , LIU, Jun
IPC分类号： H02G3/04 , D03D13/00 , G02B6/44
摘要： A flexible innerduct having a seam region and a chamber region, where the innerduct structure contains at least two flexible, longitudinal chambers, each chamber designed for enveloping at least one cable. The flexible innerduct comprises at least one strip of textile material, where each strip of textile material comprises a first edge and a second edge and extends in the longitudinal direction. All of the first and second edges of the strips are located in the seam region. Each strip of textile material extends outwards from the seam region, folds about a fold axis located in the chamber margin region and returns to the seam region forming a chamber. The chamber length, defined to be the distance between the seam region and the fold axis of the chamber, is different between at least two of the flexible, longitudinal chambers.

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