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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

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。

3. 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。

4. 发明申请

WO2015077953A1 ROTARY JOINT OF ROBOT AND ROBOT INCLUDING 审中-公开
标题翻译：机器人和机器人的旋转接头包括
公开(公告)号：WO2015077953A1
公开(公告)日：2015-06-04
申请号：PCT/CN2013/088020
申请日：2013-11-28
申请人： ABB TECHNOLOGY LTD , FENG, Tao , CAO, Kaiyuan , HA, Yun
发明人： FENG, Tao , CAO, Kaiyuan , HA, Yun
IPC分类号： B25J17/00 , B25J19/00 , H05K1/02 , H02G11/00
CPC分类号： B25J19/0041 , H01R12/61 , H01R35/025 , H05K1/189 , H05K3/3405 , H05K2201/10287
摘要： A rotary joint of a robot and the robot including are disclosed. The rotary joint comprises a wiring unit (4) having a main portion (12) of a flexible printed circuit (FPC) board (1) therein. Said rotary joint further comprises a protective unit (3) fixed to said wiring unit (4), in which an end portion (11) of said FPC board (1) is connected to a group of cables (2). Compared with the existing prior arts, the proposed solutions prevent the damage of FPC during assembly and/or disassembly of robots, while not losing compactness.
摘要翻译：公开了一种机器人的旋转接头和机器人。旋转接头包括其中具有柔性印刷电路板（FPC）板（1）的主要部分（12）的布线单元（4）。所述旋转接头还包括固定到所述接线单元（4）的保护单元（3），其中所述FPC基板（1）的端部（11）连接到一组电缆（2）。与现有的现有技术相比，提出的解决方案可防止机器人组装和/或拆卸过程中FPC的损坏，同时不会损坏机器人的紧凑性。

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

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.

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

WO2022193060A1 PRESSURE RELIEF COMPONENT, GEARBOX AND ROBOT 审中-公开
公开(公告)号：WO2022193060A1
公开(公告)日：2022-09-22
申请号：PCT/CN2021/080761
申请日：2021-03-15
申请人： ABB SCHWEIZ AG , CAO, Xiaodong , HA, Yun , YU, Hui
发明人： CAO, Xiaodong , HA, Yun , YU, Hui
IPC分类号： F16H57/02 , F16H57/04
摘要： A pressure relief component, a gearbox and a robot. The pressure relief component (100) for a gearbox (200) comprises: a body (101) arranged to close an internal chamber (201) of the gearbox (200) and comprising a groove (1011), the groove (1011) formed on a side of the body (101) adjacent to the internal chamber (201) to form a cavity (1013) in the body (101), wherein the cavity (1013) is in fluid communication with a pressure source providing a predetermined pressure; and an elastic member (102) arranged at an opening of the groove (1011) to isolate the cavity (1013) from the internal chamber (201), the elastic member (102) adapted to deform in response to a pressure difference between the cavity (1013) and the internal chamber(201). With the pressure relief component (100), when the pressure within the internal chamber (201) is increased during the operation of the gearbox (200), the elastic member (102) will deform towards the cavity (1013) because the pressure within the cavity (1013) remains basically constant. The deformation of the elastic member (102) towards the cavity (1013) will increase the volume of the internal chamber (201) and thus reduce the pressure within the internal chamber (201) according to the relationship between the volume and pressure. In this way, the pressure relief component (100) can efficiently reduce the pressure within the internal chamber (201), thereby improve the sealing performance.

9. 发明申请

WO2018102965A1 SEALING ARRANGEMENT FOR USE IN ROBOT JOINT 审中-公开
公开(公告)号：WO2018102965A1
公开(公告)日：2018-06-14
申请号：PCT/CN2016/108582
申请日：2016-12-05
申请人： ABB SCHWEIZ AG , GONG, Yuhong , CAO, Xiaodong , HA, Yun , FU, Xinguo , LIANG, Linjian
发明人： GONG, Yuhong , CAO, Xiaodong , HA, Yun , FU, Xinguo , LIANG, Linjian
IPC分类号： B25J19/00 , B25J21/00 , F16J15/32
摘要： A sealing arrangement (100) for use in a robot joint (200) is provided. The sealing arrangement (100) comprises: a circular sealing assembly (110) arranged between a swing (2) and a base (1) of the robot joint (200) in a longitudinal direction (Y), the circular sealing assembly (110) defining a tubular cavity (120) in a circumferential direction (C) and having a gas inlet (111) and a gas outlet (112); and an air channel (1a) coupled to the gas inlet (111) and operable to continuously conduct pressured air flow into the cavity (120) to maintain an air pressure inside the cavity (120) above an air pressure outside the cavity (120), and thereby a high-speed airflow out of the gas outlet (112).

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