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1. 发明申请

WO2016086369A1 PROTECTION APPARATUS, END EFFECTOR AND ROBOT 审中-公开
标题翻译：保护装置，终端效果器和机器人
公开(公告)号：WO2016086369A1
公开(公告)日：2016-06-09
申请号：PCT/CN2014/092925
申请日：2014-12-03
申请人： ABB TECHNOLOGY LTD , ZHU, Zhu , CAO, Xiaodong , HA, Yun , CAO, Kaiyuan
发明人： ZHU, Zhu , CAO, Xiaodong , HA, Yun , CAO, Kaiyuan
IPC分类号： B25J17/00 , F16J15/16
CPC分类号： B25J19/0075 , F16J15/3268
摘要： A protection apparatus is connected to an end effector which has a casting (9), a fixed part (5) fixed to the casting (9), a rotational part (4) rotatable relative to the fixed part (5), and a sealing part (1) provided in a circumference of the rotational part (4). The protection apparatus comprises a cover (2'), an annular elastically deformable sealing member (3) and a fixing member (10); therein the sealing member (3) is partly accommodated between the cover (2') and the rotational part (4); the cover (2') is attached to the fixed part (5), the cover (2') being adapted to cover the exterior of the fixed part (5) by the fixing member (10), so as to prevent the fixid part (5) from being exposed to an exterior; and the cover (2') and the sealing memver (3) are configured to jointly cover the sealing part (1) so as to prevent the sealing part (1) from being exposed to an exterior. It also provides an end effector an a robot. Compared with the existing prior arts, the proposed solution is compacted and easy to assemble.
摘要翻译：保护装置连接到具有铸件（9），固定到铸件（9）的固定部分（5）），相对于固定部分（5）可旋转的旋转部分（4）的端部执行器，以及密封设置在旋转部分（4）的圆周上的部分（1）。保护装置包括盖（2'），环形可弹性变形的密封件（3）和固定件（10）; 其中密封构件（3）部分地容纳在盖（2'）和旋转部分（4）之间; 盖（2'）安装在固定部分（5）上，盖（2'）适于通过固定部件（10）覆盖固定部分（5）的外部，以防止固定部分（5）暴露于外部; 并且盖（2'）和密封装置（3）构造成共同地覆盖密封部分（1），以防止密封部分（1）暴露于外部。它还提供了一个末端执行器和机器人。与现有的现有技术相比，提出的解决方案是压实和易于组装的。

2. 发明申请

WO2016045069A1 A ROUTING UNIT, A ROTARY JOINT AND A ROBOT 审中-公开
标题翻译：路线单元，旋转接头和机器人
公开(公告)号：WO2016045069A1
公开(公告)日：2016-03-31
申请号：PCT/CN2014/087489
申请日：2014-09-26
申请人： ABB TECHNOLOGY LTD , CAO, Kaiyuan , JIA, Jianqiang , CAO, Xiaodong , MAO, Huafeng
发明人： CAO, Kaiyuan , JIA, Jianqiang , CAO, Xiaodong , MAO, Huafeng
IPC分类号： H02G11/02
CPC分类号： B25J19/0029 , H02G11/02 , H02K7/116 , H02K7/14 , H02K11/0094 , H02K2211/03
摘要： A routing unit (10) comprises a first rotation portion (11), a second rotation portion (12) and one or more baffles (13); and said routing unit (10) is divided into two or more spaces (30) by said baffles (13), thereby each space (30) is capable of respectively enclosing a single member (20) therein; wherein said first rotation portion (11) rotates with respect to said second rotation portion (12); and a first portion of each single member (20) is connected to said first rotation portion (11) and a second portion of each single member (20) is connected to said second rotation portion (12). The present invention also provides a rotary joint comprising said routing unit and a robot comprising said rotary joint. Compared with the existing prior arts, the proposed solution is compact, easy for assembly or disassembly, and enables a large rotation range.
摘要翻译：路由单元（10）包括第一旋转部分（11），第二旋转部分（12）和一个或多个挡板（13）; 并且所述路由单元（10）由所述挡板（13）分成两个或更多个空间（30），从而每个空间（30）能够分别在其中包围单个构件（20）; 其中所述第一旋转部分（11）相对于所述第二旋转部分（12）旋转; 并且每个单个构件（20）的第一部分连接到所述第一旋转部分（11），并且每个单个构件（20）的第二部分连接到所述第二旋转部分（12）。本发明还提供一种包括所述路线单元和包括所述旋转接头的机器人的旋转接头。与现有技术相比，提出的解决方案紧凑，易于组装或拆卸，并能实现大的旋转范围。

3. 发明申请

WO2014201606A1 A ROTARY JOINT OF A ROBOT AND THE ROBOT INCLUDING THE SAME 审中-公开
标题翻译：机器人的旋转接头和包括它的机器人
公开(公告)号：WO2014201606A1
公开(公告)日：2014-12-24
申请号：PCT/CN2013/077325
申请日：2013-06-17
申请人： ABB TECHNOLOGY LTD. , CAO, Xiaodong , FENG, Tao , ZHU, Zhu
发明人： CAO, Xiaodong , FENG, Tao , ZHU, Zhu
IPC分类号： B25J17/00 , B25J15/00 , H02G11/02
CPC分类号： B25J19/0041 , B25J17/00 , B25J19/0029 , H02G11/02
摘要： The present application provides a rotary joint, including a hollow gear and a hollow wiring unit having a first flexible printed circuit board therein, to allow hose to pass through both the hollow gear and the hollow wiring unit. The present application also provides a robot comprising said rotary joint.
摘要翻译：本申请提供了一种旋转接头，包括中空齿轮和中空配线单元，其中具有第一柔性印刷电路板，以允许软管通过中空齿轮和中空配线单元。本申请还提供了一种包括所述旋转接头的机器人。

4. 发明申请

WO2014008668A1 STRUCTURE USED FOR ROBOT 审中-公开
标题翻译：结构用于机器人
公开(公告)号：WO2014008668A1
公开(公告)日：2014-01-16
申请号：PCT/CN2012/078633
申请日：2012-07-13
申请人： ABB TECHNOLOGY LTD , CAO, Xiaodong
发明人： CAO, Xiaodong
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J19/0029
摘要： A structure used for a robot is provided. The structure comprises a housing (1) and a tilt (2). The tilt (2) is coupled to the housing (1) and is arranged to be rotatable around a rotary axis (X) relative to the housing (1), wherein a cable (4) goes through the tilt (2). A first clamp member (201) is arranged on the tilt (2) used to fix the end of the cable (4) near the tilt (2), a second clamp member (101) is arranged on the housing (1), which is used to fix the other end of the cable (4). The length of the cable (4) between the first clamp member (201) and the second clamp member (101) enables the tilt (2) rotating between two limit positions thereof.
摘要翻译：提供了一种用于机器人的结构。该结构包括壳体（1）和倾斜（2）。倾斜（2）联接到壳体（1）并且被布置成相对于壳体（1）围绕旋转轴线（X）旋转，其中电缆（4）穿过倾斜（2）。第一夹紧构件（201）布置在用于将电缆（4）的端部固定在倾斜（2）附近的倾斜面（2）上，第二夹紧构件（101）布置在壳体（1）上，用于固定电缆的另一端（4）。第一夹紧构件（201）和第二夹紧构件（101）之间的电缆（4）的长度使得倾斜（2）能够在两个极限位置之间旋转。

5. 发明申请

WO2014008662A1 ROUTING STRUCTURES FOR ROBOT 审中-公开
标题翻译：机器人路线结构
公开(公告)号：WO2014008662A1
公开(公告)日：2014-01-16
申请号：PCT/CN2012/078611
申请日：2012-07-13
申请人： ABB TECHNOLOGY LTD , FENG, Tao , CAO, Xiaodong , HA, Yun
发明人： FENG, Tao , CAO, Xiaodong , HA, Yun
IPC分类号： B25J19/00
CPC分类号： B25J19/0029
摘要： A routing structure (200, 300, 400, 500) for a robot is provided. The routing structure (200, 300, 400, 500) comprises a rotary shaft (201) adapted to be rotatable around an axis; and a guide member (205) arranged to support cables (204) or hoses, such that the cables (204) or hoses are separated from the rotary shaft (201). By means of the guide member (205), the direction and shape of bending and twisting of the cables (204) or hoses would be predictable and unnecessary friction may be avoided. A rotary joint comprising the routing structure (200, 300, 400, 500) and a robot comprising the rotary joint are also provided.
摘要翻译：提供了一种用于机器人的路由结构（200,300,400,500）。路线结构（200,300,400,500）包括适于围绕轴线旋转的旋转轴（201）; 以及布置成支撑电缆（204）或软管的引导构件（205），使得电缆（204）或软管与旋转轴（201）分离。通过引导构件（205），电缆（204）或软管的弯曲和扭转的方向和形状是可预测的，并且可以避免不必要的摩擦。还提供了包括路由结构（200,300,400,500）和包括旋转接头的机器人的旋转接头。

6. 发明申请

WO2014008644A1 ROTARY JOINT WIRING UNIT 审中-公开
标题翻译：旋转接头单元
公开(公告)号：WO2014008644A1
公开(公告)日：2014-01-16
申请号：PCT/CN2012/078520
申请日：2012-07-11
申请人： ABB TECHNOLOGY LTD , CAO, Xiaodong , YAO, Tengzhou , FENG, Tao
发明人： CAO, Xiaodong , YAO, Tengzhou , FENG, Tao
IPC分类号： B25J19/00 , H01R35/04 , H02G11/00
CPC分类号： B25J19/0029 , H01R35/025 , H02G11/02
摘要： A wiring unit (200) comprising a first flexible printed circuit board (210) bent at one or more bending portions (240) to form at least a first portion (230) laid in a first plane and a second portion (235) laid in a second plane; a first rotation member (220) connected to the first portion (230); and a second rotation member (225) connected to the second portion (235), wherein as the first rotation member (220) rotates with respect to the second rotation member (225), at least one of the bending portions (240) shifts along the first flexible printed circuit board (210). A rotary joint comprising said wiring unit (200). A robot comprising said rotary joint. The wiring unit (200) is compact, enables a large rotation range, and has a long lifetime.
摘要翻译：一种布线单元（200），包括在一个或多个弯曲部分（240）处弯曲以形成至少布置在第一平面中的第一部分（230）的第一柔性印刷电路板（210）和放置在第一平面中的第二部分（235）第二架飞机连接到第一部分（230）的第一旋转构件（220）; 以及连接到所述第二部分（235）的第二旋转构件（225），其中当所述第一旋转构件（220）相对于所述第二旋转构件（225）旋转时，所述弯曲部分（240）中的至少一个沿着第一柔性印刷电路板（210）。一种包括所述接线单元（200）的旋转接头。一种包括所述旋转接头的机器人。接线单元（200）紧凑，能够实现大的旋转范围，寿命长。

7. 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.

8. 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.

9. 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.

10. 发明申请

WO2010147607A1 DISINFECTING PASSENGER CONVEYOR 审中-公开
标题翻译：消毒客船输送机
公开(公告)号：WO2010147607A1
公开(公告)日：2010-12-23
申请号：PCT/US2009/066219
申请日：2009-12-01
申请人： OTIS ELEVATOR COMPANY , ZHONG, Min , LI, Zhe , TANG, Fei , CAO, Xiaodong
发明人： ZHONG, Min , LI, Zhe , TANG, Fei , CAO, Xiaodong
IPC分类号： B66B11/02 , B66B31/02
CPC分类号： B66B11/024
摘要： A passenger conveyor includes a movable platform adapted to support a passenger, an ultraviolet light generation device mounted to disinfect a surface of the movable platform, a logic device adapted to detect an active and inactive state of the movable platform, and a controller. The controller is adapted to activate the ultraviolet light generation device when the logic device is in one of the active and inactive states, and deactivate the ultraviolet light generation device when the logic device is in the other of the active and inactive states.
摘要翻译：乘客输送机包括适于支撑乘客的可移动平台，安装成消除可移动平台表面的紫外线发生装置，适于检测可移动平台的主动和非活动状态的逻辑装置以及控制器。控制器适于在逻辑器件处于活动状态和非活动状态之一时激活紫外线发生器件，并且当逻辑器件处于活动状态和非活动状态中的另一状态时，激活紫外线发生器件。

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