公开(公告)号：DE69734016T2

公开(公告)日：2006-06-08

申请号：DE69734016

申请日：1997-06-11

Applicant: ABB AB VAESTERAAS

Inventor： NISSFOLK RAFAEL ,  LUNDSTROEM CHRISTER

IPC: B25J17/02 ,  B25J19/00

Abstract: PCT No. PCT/SE97/01016 Sec. 371 Date Jan. 12, 1999 Sec. 102(e) Date Jan. 12, 1999 PCT Filed Jun. 11, 1997 PCT Pub. No. WO97/47441 PCT Pub. Date Dec. 18, 1997A robot arm comprises an assembly (6) rotatable relative to a part (2) of the arm about an axis extending at an angle to a longitudinal axis of the arm part, said assembly comprising a drive unit (8) and a member (9) driven by the drive unit. A cable (35, 36) comprising one or more lines for communication of energy for driving and/or control purposes extends between the arm part (2) and the drive unit (8). The assembly (6) comprises an axle pin (13) rotatably supported relative to the arm part (2). The cable extends in a space (48) provided in the assembly and comprising a first part space (49) provided in the axle pin (13), the cable being coiled in screw-line-shape in said first part space, and a second part space (50), in which the cable extends from the first part space (49) to the drive unit. The two part spaces (49, 50) are separated from each other in a sealed manner by means of a separation element (51) which has first sealing members for adjoining sealingly to a wall delimiting the space and second members for sealed passage of the cable.

公开(公告)号：DE60005824T2

公开(公告)日：2004-08-05

申请号：DE60005824

申请日：2000-06-20

Applicant: ABB AB VAESTERAAS

Inventor： LUNDSTROEM CHRISTER ,  NISSFOLK RAFAEL

IPC: B25J17/00 ,  B25J9/10 ,  B25J19/00

Abstract: An industrial robot including a manipulator having a control system. The manipulator includes a common gear housing having first and second inner compartments connected with a passage channel. First and second gears are arranged in the first and second inner compartments and are adapted to move the manipulator. A cooling and lubricant medium is disposed in the common gear housing and circulates between the first and second inner compartments through the passage channel.

公开(公告)号：DE69910620T2

公开(公告)日：2004-06-17

申请号：DE69910620

申请日：1999-10-14

Applicant: ABB AB VAESTERAAS

Inventor： LUNDSTROEM CHRISTER ,  THIEDE GUNNAR

IPC: B25J19/00 ,  H02G11/00 ,  B25J17/00

Abstract: Guide (20) for a loop of a flexible line (40) between a pair of rotatable parts (12, 14) of an industrial robot (10) that rotate relative to one another around an axis (18), whereby the loop includes a pair of strands (42, 44) of the line joined by a bend (46) that extend around axis (18) with their outsides engaged with the respective parts so that the loop is caused to perform a movement around the axis (18) when the parts rotate relative to one another. To reduce wear on the cover of the line and to facilitate replacing the line, it is suggested that, among other things, the engagement consists of a separate groove (22, 32) arranged for each strand (42 respectively 44).

公开(公告)号：DE69910620D1

公开(公告)日：2003-09-25

申请号：DE69910620

申请日：1999-10-14

Applicant: ABB AB VAESTERAAS

Inventor： LUNDSTROEM CHRISTER ,  THIEDE GUNNAR

IPC: B25J19/00 ,  H02G11/00 ,  B25J17/00

Abstract: Guide (20) for a loop of a flexible line (40) between a pair of rotatable parts (12, 14) of an industrial robot (10) that rotate relative to one another around an axis (18), whereby the loop includes a pair of strands (42, 44) of the line joined by a bend (46) that extend around axis (18) with their outsides engaged with the respective parts so that the loop is caused to perform a movement around the axis (18) when the parts rotate relative to one another. To reduce wear on the cover of the line and to facilitate replacing the line, it is suggested that, among other things, the engagement consists of a separate groove (22, 32) arranged for each strand (42 respectively 44).

公开(公告)号：DE69734016D1

公开(公告)日：2005-09-22

申请号：DE69734016

申请日：1997-06-11

Applicant: ABB AB VAESTERAAS

Inventor： NISSFOLK RAFAEL ,  LUNDSTROEM CHRISTER

IPC: B25J17/02 ,  B25J19/00

Abstract: PCT No. PCT/SE97/01016 Sec. 371 Date Jan. 12, 1999 Sec. 102(e) Date Jan. 12, 1999 PCT Filed Jun. 11, 1997 PCT Pub. No. WO97/47441 PCT Pub. Date Dec. 18, 1997A robot arm comprises an assembly (6) rotatable relative to a part (2) of the arm about an axis extending at an angle to a longitudinal axis of the arm part, said assembly comprising a drive unit (8) and a member (9) driven by the drive unit. A cable (35, 36) comprising one or more lines for communication of energy for driving and/or control purposes extends between the arm part (2) and the drive unit (8). The assembly (6) comprises an axle pin (13) rotatably supported relative to the arm part (2). The cable extends in a space (48) provided in the assembly and comprising a first part space (49) provided in the axle pin (13), the cable being coiled in screw-line-shape in said first part space, and a second part space (50), in which the cable extends from the first part space (49) to the drive unit. The two part spaces (49, 50) are separated from each other in a sealed manner by means of a separation element (51) which has first sealing members for adjoining sealingly to a wall delimiting the space and second members for sealed passage of the cable.

公开(公告)号：DE60005824D1

公开(公告)日：2003-11-13

申请号：DE60005824

申请日：2000-06-20

Applicant: ABB AB VAESTERAAS

Inventor： LUNDSTROEM CHRISTER ,  NISSFOLK RAFAEL

IPC: B25J17/00 ,  B25J9/10 ,  B25J19/00

Abstract: An industrial robot including a manipulator having a control system. The manipulator includes a common gear housing having first and second inner compartments connected with a passage channel. First and second gears are arranged in the first and second inner compartments and are adapted to move the manipulator. A cooling and lubricant medium is disposed in the common gear housing and circulates between the first and second inner compartments through the passage channel.