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1. 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.

2. 发明申请

WO2021012200A1 ROBOT AND ASSEMBLY METHOD THEREOF 审中-公开
公开(公告)号：WO2021012200A1
公开(公告)日：2021-01-28
申请号：PCT/CN2019/097395
申请日：2019-07-24
申请人： ABB SCHWEIZ AG , HAULIN, Jonas , GU, Hao , FENG, Tao , WANG, Kangjian
发明人： HAULIN, Jonas , GU, Hao , FENG, Tao , WANG, Kangjian
IPC分类号： B25J17/00
摘要： A robot (100) is provided. The robot comprises a first arm link (1011); a hollow shaft (102) extending along a first axis (X1) thereof and coupled to the first arm link (1011); a first stage reduction assembly (103) coupled to a power source (P) of the robot (100); and a second stage reduction assembly (104) comprising: an input (1041) coupled to an output of the first stage reduction assembly (103) and adapted to rotate about a second axis (X2) offset from the first axis (X1); and an output (1042) coaxially arranged on a periphery of the hollow shaft (102) and adapted to engage with the input (1041) to cause a rotation of the first arm link (1011) via the hollow shaft (102). By using the above mentioned two-stage transmission assembly between the power source (P) and the hollow shaft (102), the hollow shaft (102) can be driven by off-the-shelf components with relative low cost. Furthermore, as it is only necessary to replace or maintain the damaged gear stage without having to replace the entire drive train, maintenance will be more convenient and less costly.

3. 发明申请

WO2021012199A1 ROBOT AND ASSEMBLY METHOD THEREOF 审中-公开
公开(公告)号：WO2021012199A1
公开(公告)日：2021-01-28
申请号：PCT/CN2019/097391
申请日：2019-07-24
申请人： ABB SCHWEIZ AG , GU, Hao , ZHANG, Jiafan , YANG, Jibo , WANG, Kangjian
发明人： GU, Hao , ZHANG, Jiafan , YANG, Jibo , WANG, Kangjian
IPC分类号： B25J17/00 , B25J9/08
摘要： A robot and an assembly method thereof are provided. A robot (100) comprises: a first arm link (101) comprising a joint housing(1011) and an internal engaging member (1012) arranged on an inner surface of the joint housing (1011); a second arm link (102) comprising an output flange (1021); and a moving assembly (104) at least partially arranged in the joint housing (1011). The moving assembly (104) comprises: an input shaft (1041) adapted to rotate about an axis (X) of the input shaft (1041); and at least one intermediate member (1042) coupled to the output flange (1021) and adapted to be driven by the input shaft (1041) to rotate while engaging with the internal engaging member (1012), to cause a relative movement between the first and second arm links (101, 102). By integrating the relative static parts of the gearbox, high connection strength of connections between the robot arm links can be achieved in a more cost-efficient and space-saving manner.

4. 发明申请

WO2018195969A1 A CABLE HARNESS MANAGEMENT MODULE AND A ROBOT 审中-公开
公开(公告)号：WO2018195969A1
公开(公告)日：2018-11-01
申请号：PCT/CN2017/082529
申请日：2017-04-28
申请人： ABB SCHWEIZ AG , ZHANG, Shimin , WANG, Kangjian
发明人： ZHANG, Shimin , WANG, Kangjian
IPC分类号： B25J19/00
摘要： A cable harness management module (200) for a robot joint and a robot including at least one robot joint having such a cable harness management module (200). The cable harness management module (200) includes a base plate (210) and a rotatable element (230) which matches with the base plate (210) and can rotate relative to the base plate (210). At least the base plate (210) and the rotatable element (230) form a space for receiving the cable harness (240) including a first end (241) and a second end (242). The cable harness management module (200) further includes a first fastening member (212) for fastening the first end (241) onto the base plate (210), and a second fastening member (232) for fastening the second end (242) onto the rotatable element (230). The cable harness (240) can reel on the rotatable element (230) or unreel therefrom when the rotatable element (230) rotates with the robot joint. The cable harness management module (200) may also include a mounting member (211b-1, 211b-2, 211b-3, 211b-4) for removably mounting the base plate (210) to the robot joint. The cable harness management module (200) protects the cable harness inside the compact space from abrasion and lengthen the lifetime of the cable harness.

5. 发明申请

WO2016078043A1 A CABLE-MANAGEMENT SYSTEM, A ROTARY JOINT AND A ROBOT 审中-公开
标题翻译：电缆管理系统，旋转接头和机器人
公开(公告)号：WO2016078043A1
公开(公告)日：2016-05-26
申请号：PCT/CN2014/091699
申请日：2014-11-19
申请人： ABB TECHNOLOGY LTD , ZHANG, Shimin , WANG, Kangjian
发明人： ZHANG, Shimin , WANG, Kangjian
IPC分类号： B25J19/00 , B25J17/00
CPC分类号： B25J19/0025 , B25J17/00 , B25J19/0029 , Y10S901/28
摘要： Disclosed are a cable-management system, a rotary joint and a robot. The system holds a plurality of cables arranged in the rotary joint connected to an articulated arm having a first and a second rotary shaft portions (18, 19). The cables are divided into the outer group of cables (28) and the inner group of cables (29). The system comprises a first cable guide (40), a second cable guide (50) and at least four fixing members (60); the first cable guide has a circular tube-shaped space, and the outer group of cables is partly accommodated between the first cable guide and the second cable guide; the second cable guide has a circular tube-shaped space, and the inner group of cables is partly accommodated between the second cable guide and the first rotary shaft portion (18); the fixing members respectively secure both ends of the outer group of cables or the inner group of cables on and along the first and second rotary shaft portions (18, 19) in a form in which the cables are arranged in parallel with each other, so that remaining portions of the outer group of cables or the inner group of cables are bent and suspended along the first and second rotary shaft portions in a U-shape. Compared with the existing prior arts, the proposed solution is compact and enables a large rotation range.
摘要翻译：公开了一种电缆管理系统，旋转接头和机器人。该系统保持连接到具有第一和第二旋转轴部分（18,19）的关节臂的旋转接头中的多个电缆。电缆分为外部电缆组（28）和电缆组（29）。该系统包括第一电缆引导件（40），第二电缆引导件（50）和至少四个固定件（60）; 第一电缆引导件具有圆形管状空间，并且外部电缆组部分地容纳在第一电缆引导件和第二电缆引导件之间; 第二缆索引导件具有圆形的管状空间，并且内部组的电缆部分地容纳在第二电缆引导件和第一旋转轴部分之间; 所述固定部件分别将所述外部电缆组或所述内部组的电缆固定在所述第一和第二旋转轴部分（18,19）上并沿着所述电缆彼此平行布置的形式，因此外部组电缆或内部组电缆的剩余部分沿着第一和第二旋转轴部分以U形弯曲和悬挂。与现有的现有技术相比，提出的解决方案是紧凑的，能够实现大的旋转范围。

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