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1. 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。

2. 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。

3. 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。

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

WO2021016783A1 PLANETARY GEARBOX, ASSEMBLY METHOD THEREOF, ASSOCIATED ROBOT JOINT AND ROBOT 审中-公开
公开(公告)号：WO2021016783A1
公开(公告)日：2021-02-04
申请号：PCT/CN2019/098122
申请日：2019-07-29
申请人： ABB SCHWEIZ AG , SONG, Wei , GU, Hao , FENG, Tao
发明人： SONG, Wei , GU, Hao , FENG, Tao
IPC分类号： F16H1/28 , B66D1/22
摘要： A planetary gearbox, an assembly method thereof, an associated robot joint and a robot are provided. The planetary gearbox (100) comprises a housing (104) extending along a first axis (X1); a first coupling member (1041) arranged on an inner circumference of the housing (104); an input component (101) operable to rotate about the first axis (X1); at least one intermediate component (102), each intermediate component (102) comprising a second coupling member (1021) and adapted to be driven by the input component (101) to rotate about a second axis (X2) offset from the first axis (X1) with the second coupling member (1021) engaging with the first coupling member (1041); and an output component (103) coupled to the at least one intermediate component (102) and operable to rotate about the first axis (X1) with rotation of the at least one intermediate component (102), wherein at least one of the first coupling member (1041) and the second coupling member (1021) comprises a synchronous belt (105). By using the synchronous belt as at least of the first and second coupling members, the assembly cost and difficulty of the planetary gearbox can be significantly reduced while overcoming the shortcomings of friction-based cycloidal gearboxes. Furthermore, the synchronous belt can be easily replaced when it is worn out, reducing the maintenance cost and difficulty. In addition, compared to the traditional cycloid reducer, the engaging pins are no longer needed, which promotes the cycloid reducer to be further lightweight.

6. 发明申请

WO2009099834A2 WAFER LEVEL CHIP SCALE PACKAGE AND PROCESS OF MANUFACTURE 审中-公开
标题翻译：晶片级芯片级封装和制造工艺
公开(公告)号：WO2009099834A2
公开(公告)日：2009-08-13
申请号：PCT/US2009/032242
申请日：2009-01-28
申请人： ALPHA & OMEGA SEMICONDUCTOR, LTD. , FENG, Tao , HEBERT, Francois , SUN, Ming , HO, Yueh-Se
发明人： FENG, Tao , HEBERT, Francois , SUN, Ming , HO, Yueh-Se
IPC分类号： H01L23/48 , H01L23/52
CPC分类号： H01L29/7827 , H01L21/76898 , H01L23/481 , H01L24/03 , H01L24/05 , H01L24/06 , H01L24/16 , H01L24/81 , H01L29/0657 , H01L29/41741 , H01L29/4175 , H01L29/45 , H01L29/49 , H01L29/7802 , H01L2224/02371 , H01L2224/03464 , H01L2224/0347 , H01L2224/0401 , H01L2224/05644 , H01L2224/05647 , H01L2224/05655 , H01L2224/06181 , H01L2224/06183 , H01L2224/16225 , H01L2224/16227 , H01L2224/81815 , H01L2924/01005 , H01L2924/01006 , H01L2924/01013 , H01L2924/01029 , H01L2924/01033 , H01L2924/01047 , H01L2924/0105 , H01L2924/01074 , H01L2924/01075 , H01L2924/01078 , H01L2924/01079 , H01L2924/01082 , H01L2924/014 , H01L2924/1305 , H01L2924/13055 , H01L2924/1306 , H01L2924/13091 , H01L2924/30105 , H01L2924/30107 , H01L2924/00
摘要： Power wafer level chip scale package (CSP) and process of manufacture are enclosed. The power wafer level chip scale package includes all source, gate and drain electrodes located on one side of the device, which is convenient for mounting to a printed circuit board (PCB) with solder paste.
摘要翻译：封装了功率晶圆级芯片尺寸封装（CSP）和制造工艺。功率晶圆级芯片尺寸封装包括位于器件一侧的所有源极，栅极和漏极电极，便于用锡膏安装到印刷电路板（PCB）上。

7. 发明申请

WO2021081864A1 A REDUCER AND AN INDUSTRIAL ROBOT 审中-公开
公开(公告)号：WO2021081864A1
公开(公告)日：2021-05-06
申请号：PCT/CN2019/114583
申请日：2019-10-31
申请人： ABB SCHWEIZ AG , FENG, Tao , FU, Xinguo , XU, Xiao
发明人： FENG, Tao , FU, Xinguo , XU, Xiao
IPC分类号： F16H57/04
摘要： A reducer (100) comprises a casing (2), a low speed output part (3) coupled to the casing (2), a high speed input part (4), and a blocking film (6). The high speed input part (4) is coupled to the casing (2) and comprises an input shaft (41). An internal space (5) is enclosed by the casing (2). The low speed output part (3) and the high speed input part (4) are filled with a lubricant. The input shaft (41) comprises a channel (42) communicating the internal space (5) and an external environment. The blocking film (6) is arranged on the input shaft (41) to block the channel (42) and is permeable to air and non-permeable to the lubricant．In this way, the influence of the lubricant on the vent capability of the film could be reduced, such that the internal pressure could be released in time. An industrial robot comprising this reducer (100) is also provided.

8. 发明申请

WO2022193062A1 PRESSURE RELIEF COMPONENT, GEARBOX AND ROBOT 审中-公开
公开(公告)号：WO2022193062A1
公开(公告)日：2022-09-22
申请号：PCT/CN2021/080765
申请日：2021-03-15
申请人： ABB SCHWEIZ AG , FU, Xinguo , LI, Mao , FENG, Tao
发明人： FU, Xinguo , LI, Mao , FENG, Tao
IPC分类号： B25J9/08
摘要： A pressure relief component (100) for a gearbox (200), comprising: a gas-permeable film (101) arranged adjacent to an internal chamber (201) of the gearbox (200) for receiving lubricant and adapted to allow passage of gas but prevent passage of the lubricant; and a fixing member (102) arranged on a side of the gas-permeable film (101) away from the internal chamber (201) to hermetically fix the gas-permeable film (101) in position, the fixing member (102) comprising a through hole (1023) for the gas passing through the gas-permeable film (101) from the internal chamber (201) to escape. With the pressure relief component (100) comprising the gas-permeable film (101) and the fixing member (102), during the operation of a gearbox (200), gas within the internal chamber (201) can pass through the gas-permeable film (101) and escape to the external environment. In this way, the pressure within the internal chamber (201) can be maintained at a relatively low level. This ensures the sealing system of the gearbox (200) works within a safe pressure range, thereby ensuring the effectiveness of the sealing system and improving the reliability of the gearbox (200).The disclosure also provides a gearbox (200) and a robot.

9. 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.

10. 发明申请

WO2019109273A1 BALL SCREW SPLINE ASSEMBLY AND RELATED METHOD 审中-公开
公开(公告)号：WO2019109273A1
公开(公告)日：2019-06-13
申请号：PCT/CN2017/114857
申请日：2017-12-06
申请人： ABB SCHWEIZ AG , XU, Xiao , FENG, Tao
发明人： XU, Xiao , FENG, Tao
IPC分类号： B25J9/00
摘要： A ball screw spline assembly comprises: a ball screw spline (500) including a first nut (520) including a first mounting surface (522) adapted to receive a first fastening element (230) for installing the first nut (520) to a housing; a second nut (530) including a second mounting surface (532) adapted to receive a second fastening element (240) for installing the second nut (530) to the housing; and a shaft (510) passing through the first nut (520) and the second nut (530); the housing including a first portion (600) and a second portion (650), wherein the first portion (600) extends in a direction substantially parallel to the shaft (510), and the second portion (650) extends in a direction substantially perpendicular to the shaft (510); a connecting plate (540) coupling the second nut (530) to the first portion (600), wherein the first nut (520) is installed to the second portion (650); wherein the first mounting surface (522) and the second mounting surface (532) are located within a space defined by the first portion (600), the second portion (650) and the connecting plate (540), such that the ball screw spline (500) is integrally installable to the housing. And a method for installing the ball screw spline is also disclosed. The ball screw spline (500) is integrally installable to the housing, and thus there is no need to remove the spline nut from the shaft (510) when installing and maintaining the ball screw spline (500). With the bolts adapted to be received within the housing without protruding from the housing, the robot arm comprising the ball screw spline assembly can be compact since the pulley no longer interferes with the bolts mounted on the spline nut.

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