公开(公告)号：US20230405806A1

公开(公告)日：2023-12-21

申请号：US18251318

申请日：2021-02-04

Applicant: ABB Schweiz AG

Inventor： Shanghua Li ,  Liming Liu ,  Damian Kowal ,  Tomas Botold ,  Bin Liu ,  Zach Pan ,  Rajib Mikail ,  Yang Gao

IPC: B25J9/10

CPC classification number: B25J9/104

Abstract: A self-contained actuator for use in a robot manipulator includes: a housing, in which are arranged in axial sequence a gear, a motor, a brake, a sensor and a motor drive. The motor drive includes wide-bandgap/WBG electronics and is arranged in heat-dissipating relationship with a free end of the housing. Through the motor and some further components, there is provided a central channel for receiving a cable connected to at least one further actuator of the robot manipulator. The channel may be angled or straight. In embodiments where the motor drive is hollow, the central channel extends between the axial ends of the actuator. There is further provided an all-in-one industrial robot comprising a robot manipulator, in which one or more self-contained actuators with the above characteristics are installed and a robot controller is physically integrated.