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公开(公告)号：US20170266820A1
公开(公告)日：2017-09-21
申请号：US15610425
申请日：2017-05-31
申请人： ABB Schweiz AG
发明人： Zhu Zhu , Xiaodong Cao , Yun Ha , Kaiyuan Cao
IPC分类号： B25J19/00 , F16J15/3268
CPC分类号： B25J19/0075 , F16J15/3268
摘要： The present application discloses a protection apparatus, The protection apparatus is connected to an end effector which includes a casting, a fixed part fixed to the casting, a rotational part rotatable relative to the fixed part, and a sealing part provided in a circumference of the rotational part. The protection apparatus comprises a cover, an annular elastically deformable sealing member and a fixing member; the sealing member is partly accommodated between the cover and the rotational part; the cover is attached to the fixed part, the cover being adapted to cover the exterior of the fixed part by the fixing member, so as to prevent the fixed part from being exposed to an exterior; and the cover and the sealing member are configured to jointly cover the sealing part to prevent the sealing part from being exposed to an exterior. The present invention also provides an end effector and a robot.
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公开(公告)号：US20230392655A1
公开(公告)日：2023-12-07
申请号：US18267284
申请日：2021-01-22
申请人： ABB Schweiz AG
发明人： Jiafan Zhang , Kaiyuan Cao
CPC分类号： F16D55/02 , H02K7/1023 , B25J19/0004 , F16D2121/22
摘要： A brake apparatus, a motor, and a robot. The brake apparatus includes a first ring connected to a shaft and being rotatable together with the shaft. Wherein the first ring includes a first set of magnets. The brake apparatus also includes a second ring, which is spaced apart from the first ring by a gap, and includes a second set of magnets, the second set of magnets being magnetically coupled to the first set of magnets such that the second ring tends to rotate along with the first ring. The brake apparatus includes a first member connected to the second ring and being rotatable together with the second ring; and a second member being switchable between a first state and a second state. An impact force will not be transmitted to the shaft when the shaft is rotating, and thus a damping effect can be achieved during braking.
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公开(公告)号：US10647009B2
公开(公告)日：2020-05-12
申请号：US15468660
申请日：2017-03-24
申请人： ABB Schweiz AG
发明人： Kaiyuan Cao , Jianqiang Jia , Xiaodong Cao , Huafeng Mao
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B25J19/00 , H02G11/02 , H02K7/14 , H02K11/00 , H02K7/116
摘要： The present application discloses a routing unit. A routing unit comprises a first rotation portion, a second rotation portion and one or more baffles; and the routing unit is divided into two or more spaces by the baffles, thereby each space is capable of respectively enclosing a single member therein; wherein the first rotation portion rotates with respect to the second rotation portion; and a first portion of each single member is connected to the first rotation portion and a second portion of each member is connected to the second rotation portion. The present application also provides a rotary joint comprising the routing unit and a robot comprising the rotary joint. Compared with the existing prior arts, embodiments of the proposed solution are compact, easy for assembly or disassembly, and enable a large rotation range.
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公开(公告)号：US20170197319A1
公开(公告)日：2017-07-13
申请号：US15468660
申请日：2017-03-24
申请人： ABB Schweiz AG
发明人： Kaiyuan Cao , Jianqiang Jia , Xiaodong Cao , Huafeng Mao
CPC分类号： B25J19/0029 , H02G11/02 , H02K7/116 , H02K7/14 , H02K11/0094 , H02K2211/03
摘要： The present application discloses a routing unit. A routing unit comprises a first rotation portion, a second rotation portion and one or more baffles; and the routing unit is divided into two or more spaces by the baffles, thereby each space is capable of respectively enclosing a single member therein; wherein the first rotation portion rotates with respect to the second rotation portion; and a first portion of each single member is connected to the first rotation portion and a second portion of each member is connected to the second rotation portion. The present application also provides a rotary joint comprising the routing unit and a robot comprising the rotary joint. Compared with the existing prior arts, embodiments of the proposed solution are compact, easy for assembly or disassembly, and enable a large rotation range.
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公开(公告)号：US10603801B2
公开(公告)日：2020-03-31
申请号：US15610425
申请日：2017-05-31
申请人： ABB Schweiz AG
发明人： Zhu Zhu , Xiaodong Cao , Yun Ha , Kaiyuan Cao
IPC分类号： B25J19/00 , F16J15/3268
摘要： The present application discloses a protection apparatus. The protection apparatus is connected to an end effector which includes a casting, a fixed part fixed to the casting, a rotational part rotatable relative to the fixed part, and a sealing part provided in a circumference of the rotational part. The protection apparatus comprises a cover, an annular elastically deformable sealing member and a fixing member; the sealing member is partly accommodated between the cover and the rotational part; the cover is attached to the fixed part, the cover being adapted to cover the exterior of the fixed part by the fixing member, so as to prevent the fixed part from being exposed to an exterior; and the cover and the sealing member are configured to jointly cover the sealing part to prevent the sealing part from being exposed to an exterior. The present invention also provides an end effector and a robot.
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公开(公告)号：US20190118374A1
公开(公告)日：2019-04-25
申请号：US15962326
申请日：2018-04-25
申请人： ABB Schweiz AG
发明人： Jiajie Sha , Xiaodong Cao , Kaiyuan Cao , Yun Ha , Zhu Zhu
摘要： A stopper apparatus for robot rotary joint, for limiting the rotation angle of a turning shaft. The stopper apparatus includes: a rotary protrusion, fixed to the shaft and extended from an outer circumference surface of the shaft; a ring-like orbit, fixed to a mounting housing of the robot rotary joint, inserting the shaft therein; a first slider and a second slider, rotatably accommodated in the orbit and able to push each other to rotate; a stop protrusion, fixed to the housing of a robot rotary joint and extended in the direction of the center of the shaft; the rotary protrusion is able to directly push the second slider to rotate, while it is not able to directly push the first slider to rotate; the shaft, the rotary protrusion and the second slider cannot be obstructed by the stop protrusion when rotate, while the first slider is able to be obstructed by the stop protrusion when rotate, thereby the relative rotation between the shaft and the housing 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.
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公开(公告)号：US20180222063A1
公开(公告)日：2018-08-09
申请号：US15943231
申请日：2018-04-02
申请人： ABB Schweiz AG
发明人： Kaiyuan Cao , Xiaodong Cao , Yun Ha , Zhu Zhu , Jiajie Sha
CPC分类号： B25J19/0025 , B25J17/00 , B25J17/02 , B25J19/0029 , H01R35/025 , H05K1/0393
摘要： A robot joint and a robot using the robot joint is provided. The robot joint includes a first part and a second part configured to be rotatable with each other around a joint axis. A flexible printed circuit board is further included with a first fixing point and a second fixing point respectively fastened to the first part and the second part. The flexible printed circuit board is spiral-shaped prior to bending. With the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions. This makes the robot joint more compact with a larger rotation range and a long lifetime in a cost effective way.
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公开(公告)号：US10661437B2
公开(公告)日：2020-05-26
申请号：US15962326
申请日：2018-04-25
申请人： ABB Schweiz AG
发明人： Jiajie Sha , Xiaodong Cao , Kaiyuan Cao , Yun Ha , Zhu Zhu
摘要： A stopper apparatus for robot rotary joint, for limiting the rotation angle of a turning shaft. The stopper apparatus includes: a rotary protrusion, fixed to the shaft and extended from an outer circumference surface of the shaft; a ring-like orbit, fixed to a mounting housing of the robot rotary joint, inserting the shaft therein; a first slider and a second slider, rotatably accommodated in the orbit and able to push each other to rotate; a stop protrusion, fixed to the housing of a robot rotary joint and extended in the direction of the center of the shaft; the rotary protrusion is able to directly push the second slider to rotate, while it is not able to directly push the first slider to rotate; the shaft, the rotary protrusion and the second slider cannot be obstructed by the stop protrusion when rotate, while the first slider is able to be obstructed by the stop protrusion when rotate, thereby the relative rotation between the shaft and the housing 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.
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公开(公告)号：USD847890S1
公开(公告)日：2019-05-07
申请号：US29575457
申请日：2016-08-25
申请人： ABB Schweiz AG
设计人： Bin Liu , Hui Yu , Jing Wu , Kaiyuan Cao , Said Zahrai , Heng Xie , Bing Xu
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公开(公告)号：US10112311B2
公开(公告)日：2018-10-30
申请号：US15166126
申请日：2016-05-26
申请人： ABB Schweiz AG
发明人： Tao Feng , Kaiyuan Cao , Yun Ha
摘要： Disclosed is a wiring unit having a main portion of a flexible printed circuit (FPC) board therein. Said rotary joint further comprises a protective unit fixed to said wiring unit, in which an end portion of said FPC board is connected to a group of cables. Also disclosed is a robot comprising said rotary joint. 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.
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