公开(公告)号：WO2011154034A1

公开(公告)日：2011-12-15

申请号：PCT/EP2010/057951

申请日：2010-06-08

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  LARSSON, Jan

Inventor： SIRKETT, Daniel ,  LARSSON, Jan

IPC: B25J15/04 ,  B25J19/00

CPC classification number: B25J15/04 ,  B25J19/0029

Abstract: The invention relates to a tool flange (1 ) arranged on an arm of an industrial robot for connecting a tool to the arm. The tool flange (1 ) comprises a body (2) having a primary surface (3) adapted to connect to the tool. Further, the tool flange (1 ) comprises a protrusion (5) projecting from the primary surface (3), and arranged to engage with a recess arranged in the tool to provide rotational alignment between the tool and the tool flange (1 ). The tool flange (1 ) is provided with a through-hole stretching through the protrusion (5) and the body (2), and adapted to receive a tube (8) arranged for distributing process media to the tool, and to connect to a corresponding process media connection arranged on the tool.

Abstract translation: 本发明涉及一种布置在工业机器人的臂上的工具法兰（1），用于将工具连接到臂上。 工具凸缘（1）包括具有适于连接到工具的主表面（3）的主体（2）。 此外，工具凸缘（1）包括从主表面（3）突出的突起（5），并且布置成与布置在工具中的凹部接合以在工具和工具凸缘（1）之间提供旋转对准。 工具凸缘（1）设置有穿过突起（5）和主体（2）延伸的通孔，并且适于接收布置成用于将工艺介质分配到工具的管（8），并且连接到 相应的工艺介质连接布置在工具上。

公开(公告)号：WO2013104417A1

公开(公告)日：2013-07-18

申请号：PCT/EP2012/050361

申请日：2012-01-11

Applicant: ABB RESEARCH LTD ,  TRANGÄRD, Arne ,  SIRKETT, Daniel ,  WÄPPLING, Daniel ,  SPUTLAK, David ,  ZELAYA DE LA PARRA, Hector ,  WESTRÖM, Jakob ,  THULIN, Mats ,  THORS, Tommy ,  FENG, Xiaolong ,  OLSSON, Mats

Inventor： TRANGÄRD, Arne ,  SIRKETT, Daniel ,  WÄPPLING, Daniel ,  SPUTLAK, David ,  ZELAYA DE LA PARRA, Hector ,  WESTRÖM, Jakob ,  THULIN, Mats ,  THORS, Tommy ,  FENG, Xiaolong ,  OLSSON, Mats

IPC: B25J9/04

CPC classification number: B25J9/046

Abstract: The invention relates to an industrial robot having a plurality of frame parts (1-7) that are movable in relation to each other and a plurality of joints (8-13). The joints include pivot joints (8-13) providing a pivotal movement around joint axes (A1-A6) that are connected by the respective pivot joint (8-13). At least one of said pivot joints (8-13) is unitarily driven by first and second drive means. Each drive means includes a motor (21a, 21b, 31a, 31b) and a gearbox (22a, 22b, 32a, 32b). The drive means are arranged to solely actuate movement around a single joint axis (A2, A3). According to the invention the first and the second drive means are arranged symmetrically in relation to a plane perpendicular to the joint axis (A2, A3) in order to mitigate the problem of uneven heat distribution at the respective joint.

Abstract translation: 本发明涉及一种具有可相对移动的多个框架部件（1-7）和多个接头（8-13）的工业机器人。 接头包括枢转接头（8-13），其通过相应的枢转接头（8-13）连接的围绕接合轴线（A1-A6）提供枢转运动。 所述枢转接头（8-13）中的至少一个由第一和第二驱动装置整体驱动。 每个驱动装置包括马达（21a，21b，31a，31b）和齿轮箱（22a，22b，32a，32b）。 驱动装置被布置成仅围绕单个关节轴线（A2，A3）致动运动。 根据本发明，第一和第二驱动装置相对于垂直于接头轴线（A2，A3）的平面对称地布置，以便减轻各个接头处的不均匀分布的问题。

公开(公告)号：WO2011107144A1

公开(公告)日：2011-09-09

申请号：PCT/EP2010/052579

申请日：2010-03-02

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  NÅHLS, Jan-Erik

Inventor： SIRKETT, Daniel ,  NÅHLS, Jan-Erik

IPC: B25J15/04

CPC classification number: B25J15/04 ,  B25J19/0029

Abstract: The invention relates to a system for electrically connecting a tool to a robot wrist. The system includes a first component being a tool flange (5) arranged for rotation around a robot axis, and a second component, which includes an electric cabling and a connector (23) permanently connected to each other. The connector (23) has a plurality of poles (21) and the electric cabling includes a plurality of conductors. Each conductor is permanently connected to a respective pole (21). The tool flange (5) and the connector (23) are mutually adapted for attaching the connector (23) to the tool flange (5). According to the invention the tool flange (5) has eccentric mounting means (29a, 29b) arranged for eccentric attachment of the connector (23) on the tool flange (5). The invention also relates to the components of the system, to a wrist including the system and to an industrial robot provided with such a wrist. The invention also relates to a method for establishing electric connection through a plurality of conductors to a tool flange of a wrist of an industrial robot. The method is based on the use of a system according to the invention.

Abstract translation: 本发明涉及一种用于将工具电连接到机器人手腕的系统。 该系统包括第一部件，其是布置成围绕机器人轴线旋转的工具凸缘（5），以及包括彼此永久连接的电缆和连接器（23）的第二部件。 连接器（23）具有多个极（21），并且电缆包括多个导体。 每个导体永久地连接到相应的极（21）。 工具凸缘（5）和连接器（23）相互适于将连接器（23）附接到工具凸缘（5）。 根据本发明，工具凸缘（5）具有偏心安装装置（29a，29b），用于将连接器（23）偏心地安装在工具凸缘（5）上。 本发明还涉及系统的部件，涉及包括该系统的手腕以及设置有该腕部的工业机器人。 本发明还涉及一种用于建立通过多个导体到工业机器人手腕的工具凸缘的电连接的方法。 该方法基于使用根据本发明的系统。

公开(公告)号：WO2011047724A1

公开(公告)日：2011-04-28

申请号：PCT/EP2009/063922

申请日：2009-10-22

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  LUNDBERG, Ivan ,  VITTOR, Timothy

Inventor： SIRKETT, Daniel ,  LUNDBERG, Ivan ,  VITTOR, Timothy

IPC: B25J19/00

CPC classification number: B25J19/0091

Abstract: The invention relates to a robot part (1, 2) such as a robot arm or a robot joint, surrounded by an impact absorbing structure. According to the invention, the impact absorbing structure has a shroud (3) surrounding the robot part (1, 2). The shroud (3) is mounted on two spacing elements (6, 8) such that an interspace is formed between the shroud (3) and the robot part (1, 2). At least one of the spacing elements (6, 8) mounts the shroud (3) elastically. The invention also relates to a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.

Abstract translation: 本发明涉及一种由冲击吸收结构包围的诸如机器人手臂或机器人关节的机器人部件（1,2）。 根据本发明，冲击吸收结构具有围绕机器人部分（1,2）的护罩（3）。 护罩（3）安装在两个间隔元件（6,8）上，使得在护罩（3）和机器人部件（1,2）之间形成间隙。 间隔元件（6,8）中的至少一个弹性地安装护罩（3）。 本发明还涉及通过向机器人部件提供根据本发明的冲击吸收结构来保护机器人部件的方法。

公开(公告)号：WO2010091722A1

公开(公告)日：2010-08-19

申请号：PCT/EP2009/051551

申请日：2009-02-11

Applicant: ABB RESEARCH LTD ,  TRANGÄRD, Arne ,  KULLBORG, Camilla ,  SIRKETT, Daniel ,  ANDERSSON, Hans ,  LUNDBERG, Ivan ,  WÄPPLING, Daniel

Inventor： TRANGÄRD, Arne ,  KULLBORG, Camilla ,  SIRKETT, Daniel ,  ANDERSSON, Hans ,  LUNDBERG, Ivan ,  WÄPPLING, Daniel

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/009 ,  B25J9/0087 ,  B25J9/1682 ,  G05B2219/39109

Abstract: The invention relates to an industrial robot having two arms (1, 2). According to the invention at least one of the arms includes abutment means (11, 12) arranged to abut the other arm.

Abstract translation: 本发明涉及具有两个臂（1,2）的工业机器人。 根据本发明，至少一个臂包括邻接装置（11,12），该邻接装置被布置成邻接另一个臂。

公开(公告)号：WO2014029432A1

公开(公告)日：2014-02-27

申请号：PCT/EP2012/066355

申请日：2012-08-22

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  NYLEN, Per ,  LUNDBERG, Ivan

Inventor： SIRKETT, Daniel ,  NYLEN, Per ,  LUNDBERG, Ivan

IPC: B65G47/14 ,  B65G47/91 ,  H05K13/02

CPC classification number: B65D83/04 ,  B65G47/1471 ,  B65G47/91 ,  B65G65/00 ,  B65G2201/02 ,  H05K13/028

Abstract: A component feeder (100) comprises a distributer for distributing components (20) from a bulk storage on a pick surface (10), and a retaining wall (40) preventing the components (20) from escaping the pick surface (10). The retaining wall (40) is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall (40) allows a robot gripper (30) to push the retaining wall (40) aside when picking a component (20) close to the retaining wall (40).

Abstract translation: 组件进料器（100）包括分配器，用于从拾取表面（10）上的大容量存储器分配部件（20），以及阻止部件（20）逸出拾取表面（10）的挡土墙（40）。 挡土墙（40）是柔性的，使得其在施加力时变形，并且当不再施加力时，挡土墙呈现其原始形状。 当拾取靠近挡土墙（40）的部件（20）时，柔性挡土墙（40）允许机械手夹持器（30）推动挡土墙（40）。

公开(公告)号：WO2012010332A1

公开(公告)日：2012-01-26

申请号：PCT/EP2011/051748

申请日：2011-02-07

Applicant: ABB RESEARCH LTD ,  LUNDBERG, Ivan ,  SIRKETT, Daniel ,  LARSSON, Jan

Inventor： LUNDBERG, Ivan ,  SIRKETT, Daniel ,  LARSSON, Jan

IPC: B25J15/00 ,  B25J19/06

CPC classification number: B25J19/063 ,  B25J15/0019

Abstract: An industrial robot comprises a collapsible process force applicator 200 with a housing 210, a tip 320, and a biasing mechanism for keeping the tip 320 in a first position in relation to the housing 210. For safety reasons, the tip 320 is configured to move away from the first position when a predetermined force on the tip 320 is exceeded. The collapsible process force applicator 200 is mounted downstream from the last axis, and it is positioned such that its actuation does not occasion a torque on the wrist axes of the robot.

Abstract translation: 工业机器人包括具有壳体210的可折叠过程力施加器200，尖端320和用于将尖端320相对于壳体210保持在第一位置的偏置机构。为了安全起见，尖端320被配置为移动 当超过尖端320上的预定力时远离第一位置。 可折叠加工力施加器200安装在最后轴线的下游，并且其定位成使得其致动不会在机器人的手腕轴上产生扭矩。

公开(公告)号：WO2009080373A1

公开(公告)日：2009-07-02

申请号：PCT/EP2008/054671

申请日：2008-04-17

Applicant: ABB RESEARCH LTD ,  LUNDBERG, Ivan ,  SIRKETT, Daniel ,  TRANGÄRD, Arne ,  FUHLBRIGGE, Thomas ,  KULLBORG, Camilla ,  ANDERSSON, Hans

Inventor： LUNDBERG, Ivan ,  SIRKETT, Daniel ,  TRANGÄRD, Arne ,  FUHLBRIGGE, Thomas ,  KULLBORG, Camilla ,  ANDERSSON, Hans

IPC: B25J19/06 ,  F16D27/01 ,  F16D7/00

CPC classification number: B25J19/063 ,  H02K49/10 ,  H02K49/108

Abstract: The present invention relates to an industrial robot with at least one arm section mechanically connected to a robot body. A safety coupling (5) is provided between at least the distal part (102b) of the arm section and the rotor body. According to the invention the safety coupling (5) is a magnetic coupling.

Abstract translation: 本发明涉及一种工业机器人，其具有与机器人主体机械连接的至少一个臂部分。 至少在臂部的远端部分（102b）和转子体之间设置安全联接器（5）。 根据本发明，安全联接（5）是磁耦合。

公开(公告)号：WO2013113367A1

公开(公告)日：2013-08-08

申请号：PCT/EP2012/051502

申请日：2012-01-31

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  TRANGÄRD, Arne ,  LUNDBERG, Ivan ,  MACKENZIE, Ryan ,  JABER, André

Inventor： SIRKETT, Daniel ,  TRANGÄRD, Arne ,  LUNDBERG, Ivan ,  MACKENZIE, Ryan ,  JABER, André

IPC: B65G47/14

CPC classification number: B65G47/19 ,  B65G47/1478

Abstract: A component feeder (10) comprises a lift (50) for elevating a selection of components (30) from a bulk storage, and a pick surface (100) adjacent to the lift (50) for receiving the selection of components (30). A spreader (80) gives the selection of components (30) a push for spreading the selection of components (30) from the lift (50) on the pick surface (100). The combination of a vertical lift (50) and a separate pick surface (100) adjacent to the lift (50) enables the bulk storage being positioned right below the pick surface (100). The area of the pick surface (100) is large in relation to the total footprint of the component feeder (10).

Abstract translation: 部件进给器（10）包括用于从大容量存储器升高部件（30）的选择的升降机（50）和邻近升降机（50）的拾取表面（100），用于接收部件（30）的选择。 扩展器（80）给出部件选择（30），用于从拾取表面（100）上的升降机（50）扩展部件（30）的选择。 与升降机（50）相邻的垂直升降机（50）和单独的拾取表面（100）的组合使得大容量存储器位于拾取表面（100）正下方。 拾取表面（100）的面积相对于部件供给器（10）的总占地面积很大。

公开(公告)号：WO2011107143A1

公开(公告)日：2011-09-09

申请号：PCT/EP2010/052578

申请日：2010-03-02

Applicant: ABB RESEARCH LTD ,  SIRKETT, Daniel ,  LUNDBERG, Ivan ,  LARSSON, Jan

Inventor： SIRKETT, Daniel ,  LUNDBERG, Ivan ,  LARSSON, Jan

IPC: B25J19/00

CPC classification number: B25J9/0009 ,  B25J17/0283 ,  B25J19/0029 ,  B25J19/0091

Abstract: The invention relates to a robot wrist (2) including an inner wrist part (6) and at least one manoeuvre connection means (12, 13). According to the invention, the inner wrist part (6) includes solid-shaft transmission components. The wrist further includes an outer shroud (8a, 8b). The manoeuvre connection means (12, 13) is arranged inside the outer shroud (8a, 8b). The invention also relates to an industrial robot (101) including such a wrist.

Abstract translation: 本发明涉及一种包括内腕部（6）和至少一个机动连接装置（12,13）的机器人手腕（2）。 根据本发明，内腕部（6）包括实心轴传动部件。 手腕还包括外护罩（8a，8b）。 机动连接装置（12,13）布置在外护罩（8a，8b）的内部。 本发明还涉及包括这种手腕的工业机器人（101）。