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1. 发明申请

WO2021081746A1 APPARATUS FOR HOLDING CABLES OF ROBOT AND ASSOCIATED ROBOT 审中-公开
公开(公告)号：WO2021081746A1
公开(公告)日：2021-05-06
申请号：PCT/CN2019/113953
申请日：2019-10-29
申请人： ABB SCHWEIZ AG , SHA, Jiajie , CAO, Xiaodong , HA, Yun , CHEN, Yinong
发明人： SHA, Jiajie , CAO, Xiaodong , HA, Yun , CHEN, Yinong
IPC分类号： B25J9/12
摘要： An apparatus (100) is for holding cables (201) of a robot. The apparatus (100) comprises: a body (101) extending along an axis and comprising a circumferential wall (1011) to space the cables (201) arranged in the body (101) from a first part (202) of the robot, and a slit (1012) formed on the circumferential wall (1011) across an entire length of the circumferential wall (1011) along the axis, the slit (1012) is adapted for the cables (201) to pass through radially to allow the cables (201) to be arranged in the body (101). With the slit (1012) formed across the entire length of the circumferential wall (1011) along the axis, the cables (201) can be easily arranged in the body (101) radially through the slit (1012). In this way, the cables (201) can be arranged in the apparatus (100) without having to remove the large connector (204), thereby improving assembly.

2. 发明申请

WO2021046795A1 ROBOT, CONNECTION ASSEMBLY AND ASSEMBLY METHOD THEREOF 审中-公开
公开(公告)号：WO2021046795A1
公开(公告)日：2021-03-18
申请号：PCT/CN2019/105607
申请日：2019-09-12
申请人： ABB SCHWEIZ AG , LIU, Bin , CAO, Xiaodong
发明人： LIU, Bin , CAO, Xiaodong
IPC分类号： F16H57/031 , F16H57/04 , F16H57/023
摘要： A connection assembly for connecting a motor to a gearbox is provided. The connection assembly comprises a sealing housing coupled to the gearbox to form a cavity for receiving a lubricant to lubricate an input of the gearbox; and an intermediate member arranged to at least partially pass through the gearbox or the sealing housing to connect an output of the motor to the input of the gearbox for transmission. With the sealing housing to from a cavity and the intermediate member for connecting the output of the motor to the input of the gearbox, the lubricant would not leak into the motor, thus improving the stability and service life of the motor and even the robot. Furthermore, the motor and/or the gearbox can be removed from or installed on each other in an easier way, for example, merely by decoupling the motor from the intermediate member without the need to dump and refill the lubricant.

3. 发明申请

WO2019109330A1 ROBOT OF SCARA TYPE AND METHOD FOR MANUFACTURING THE ROBOT 审中-公开
公开(公告)号：WO2019109330A1
公开(公告)日：2019-06-13
申请号：PCT/CN2017/115197
申请日：2017-12-08
申请人： ABB SCHWEIZ AG , WANG, Luoluo , CAO, Xiaodong , YU, Hui , ZHU, Zhu
发明人： WANG, Luoluo , CAO, Xiaodong , YU, Hui , ZHU, Zhu
IPC分类号： B25J9/00 , B25J18/00
摘要： A robot (100) of SCARA type comprises: a base (101); a first arm (102) coupled to the base (101), the first arm (102) being rotatable about a first axis (X1) relative to the base (101) when driven by a first motor (201) arranged in the base (101) via a first transmission mechanism (221); a second arm (103) coupled to the first arm (102), the second arm (103) being rotatable about a second axis (X2) relative to the first arm (102) when driven by a second motor (202) via a second transmission mechanism (222), wherein the second motor (202) is arranged in the base (101) or the first arm (102), and the second axis (X2) is substantially parallel to the first axis (X1); and an operating unit (104) arranged in the second arm (103) and including an operating shaft (801), wherein the operating shaft (801) is movable along a third axis (X3) relative to the second arm (103) when driven by a third motor (203) arranged in the base (101) or the first arm (102) via a third transmission mechanism (223), wherein the third axis (X3) is substantially parallel to the first and second axes (X1, X2), and wherein the operating shaft (801) is rotatable about the third axis (X3) relative to the second arm (103) when driven by a fourth motor (204) arranged in the base (101) or the first arm (102) via a fourth transmission mechanism (224). The load of the robot (100) around the first and second axes (X1, X2) may be reduced, and the heat generated by the motors can be dissipated into the floor or working table quickly.

4. 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.

5. 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.

6. 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.

7. 发明申请

WO2017091967A1 ROBOT JOINT AND ROBOT INCLUDING THE SAME 审中-公开
标题翻译：机器人关节和机器人包括同一个
公开(公告)号：WO2017091967A1
公开(公告)日：2017-06-08
申请号：PCT/CN2015/096088
申请日：2015-12-01
申请人： ABB SCHWEIZ AG , CAO, Kaiyuan , CAO, Xiaodong , HA, Yun , ZHU, Zhu , SHA, Jiajie
发明人： CAO, Kaiyuan , CAO, Xiaodong , HA, Yun , ZHU, Zhu , SHA, Jiajie
IPC分类号： B25J17/02
CPC分类号： B25J17/00 , B25J19/0025
摘要： It provides a robot joint and a robot using the same. The robot joint comprises a first part (4) and a second part (5) configured to be rotatable with each other around a joint axis (40); and a flexible printed circuit board (2) including a first fixing point (71) and a second fixing point (61) respectively fastened to the first part (4) and the second part (5); wherein: the flexible printed circuit board (2) prior to bending is spiral-shaped, and with the relative rotation of the first part (4) and the second part (5), the flexible printed circuit board (2) is bent at various bending portions. This makes the robot joint more compact with larger rotation range and long lifetime in a cost effective way.
摘要翻译：它提供了一种机器人关节和使用该机器人关节的机器人。该机器人关节包括被构造成围绕关节轴线（40）彼此可旋转的第一部分（4）和第二部分（5）; 以及柔性印刷电路板（2），所述柔性印刷电路板包括分别紧固到所述第一部分（4）和所述第二部分（5）的第一固定点（71）和第二固定点（61）; 其中：弯曲之前的柔性印刷电路板（2）是螺旋形的，并且随着第一部分（4）和第二部分（5）的相对旋转，柔性印刷电路板（2）以各种弯曲部分。这使得机器人关节更紧凑，旋转范围更大，使用寿命更长，成本效益更高。

8. 发明申请

WO2022261894A1 HYGIENIC ASSEMBLY AND HYGIENIC ROBOT 审中-公开
公开(公告)号：WO2022261894A1
公开(公告)日：2022-12-22
申请号：PCT/CN2021/100596
申请日：2021-06-17
申请人： ABB SCHWEIZ AG , WANG, Kangjian , CHENG, Shifu , ZHANG, Tao , LI, Haiwei , CAO, Xiaodong
发明人： WANG, Kangjian , CHENG, Shifu , ZHANG, Tao , LI, Haiwei , CAO, Xiaodong
IPC分类号： F16H57/02 , B25J19/00 , A47L11/40
摘要： It is related to a hygienic assembly (10) and a hygienic robot (1). The hygienic assembly (10) comprises: a housing (12) adapted to be connected to a reduction box (60) of a joint (6) of the robot (1) and comprising an opening (121); a flange (104) having a first end (141) for connecting to an output member (602) of the reduction box (60) and a second end (142) for connecting to an end effector; and a seal member (103) comprising an outer ring (131) fixed to an inner circumferential surface (1211) of the opening (121) and a seal lip (133) slidably contacting an outer circumferential surface (143) of the flange (104). A shield structure is created for the reduction box (60), and an outer surface of the joint (6) of the robot (1) will be easy to clean. Moreover, the shield structure is easy to disassemble when the reduction box (60) needs to be maintained or when checking for leakage.

9. 发明申请

WO2022226979A1 SEALING ASSEMBLY AND ROBOT 审中-公开
公开(公告)号：WO2022226979A1
公开(公告)日：2022-11-03
申请号：PCT/CN2021/091395
申请日：2021-04-30
申请人： ABB SCHWEIZ AG , CAO, Xiaodong
发明人： CAO, Xiaodong
IPC分类号： F16J15/16 , B25J19/00
摘要： Embodiments of the present disclosure provide a sealing assembly and a robot. The sealing assembly comprises a rigid abutting sleeve hermetically and fixedly arranged on an end of a first component of a robot and axially extending into a ring-shaped groove formed at an end of a second component of the robot, the second component being coaxially rotatable relative to the first component; and a rotatory seal arranged in the ring-shaped groove and axially extending beyond or flush with an end surface of the second component, the rotatory seal comprising: a coupling portion; and a deformable portion extending radially inward from the coupling portion to abut against an outer surface of the rigid abutting sleeve at an angle exceeding a predetermined threshold. 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 the food and drug fields, which require high sealing performance and hygiene protection performance. Furthermore, the sealing assembly according to embodiments of the present disclosure has the advantages of fewer parts, easy processing, simple assembly and low tolerance requirements for workpieces.

10. 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.

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