GB2164506A - Coupling device between relatively rotatable members - Google Patents
Coupling device between relatively rotatable members Download PDFInfo
- Publication number
- GB2164506A GB2164506A GB08522425A GB8522425A GB2164506A GB 2164506 A GB2164506 A GB 2164506A GB 08522425 A GB08522425 A GB 08522425A GB 8522425 A GB8522425 A GB 8522425A GB 2164506 A GB2164506 A GB 2164506A
- Authority
- GB
- United Kingdom
- Prior art keywords
- conductors
- flexible
- members
- relatively rotatable
- cable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 11
- 238000010168 coupling process Methods 0.000 title claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 11
- 239000004020 conductor Substances 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 239000000758 substrate Substances 0.000 claims abstract description 6
- 239000013307 optical fiber Substances 0.000 claims abstract description 5
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 238000010438 heat treatment Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 239000004033 plastic Substances 0.000 claims description 2
- 229920003023 plastic Polymers 0.000 claims description 2
- 238000012216 screening Methods 0.000 claims description 2
- 239000004840 adhesive resin Substances 0.000 claims 2
- 229920006223 adhesive resin Polymers 0.000 claims 2
- 238000005096 rolling process Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 229920005989 resin Polymers 0.000 description 3
- 239000011347 resin Substances 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 229920002799 BoPET Polymers 0.000 description 1
- 239000004215 Carbon black (E152) Substances 0.000 description 1
- 239000005041 Mylar™ Substances 0.000 description 1
- 239000004952 Polyamide Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000003989 dielectric material Substances 0.000 description 1
- 229930195733 hydrocarbon Natural products 0.000 description 1
- 150000002430 hydrocarbons Chemical class 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 229920002647 polyamide Polymers 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000010615 ring circuit Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R35/00—Flexible or turnable line connectors, i.e. the rotation angle being limited
- H01R35/02—Flexible line connectors without frictional contact members
- H01R35/025—Flexible line connectors without frictional contact members having a flexible conductor wound around a rotation axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/44—Mechanical structures for providing tensile strength and external protection for fibres, e.g. optical transmission cables
- G02B6/4439—Auxiliary devices
- G02B6/4457—Bobbins; Reels
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G11/00—Arrangements of electric cables or lines between relatively-movable parts
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Insulated Conductors (AREA)
Abstract
A coupling device for connecting two relatively rotating members 5,6 consists of a flexible web incorporating two or more conductors, e.g. a flexible printed circuit 1, disposed in a convoluted S- form between the said members, each end being secured to a respective rotating member that is provided with a respective input and output connection e.g., electrical connectors. Preferably the conductors are interspersed with thin constant tension springs 8 each end being secured to a respective rotating member. The flexible conductors may also be in the form of optical fibres laid in parallel on a flexible substrate for use in optical fibre transmission systems, or in the form of micro bore flexible tubes laid in parallel on a flexible substrate for use in hydraulic/pneumatic power transmission systems. The relatively rotatable members may be mounted on a common axis and either radially or axially spaced (e.g. Figs. 3, 4, not shown). In use, the limits of relative rotation of the members 5,6 are defined by the points where the bend in the web 1 travels to the respective ends 2, 3. <IMAGE>
Description
SPECIFICATION
Coupling device between relatively rotatable members
The present invention is concerned with coupling devices between relatively rotatable members and especially directed to such devices when used for maintaining an electrical circuit between two relatively rotatable members.
The traditional method of transmitting electrical signals between two relatively rotatable members is to use slip rings which are generally constructed from a series of conductive rings held in a dielectric material with several brushes in contact with the periphery of the rings. Such devices are subject to wear; thus as the brush slides across the ring wear takes place resulting in the provision of particles of ring and brush which build up adjacent to individual slip ring circuits eventually causing a breakdown between electrical circuits. Wear also produces undesirable electrical "noise" which results in intermittent loss of contact between the members and worsens with increasing wear of brushes and slip rings.
In sliding contacts of this type some frictional heat is generated by the sliding, the interface between the slip ring and brush then acts as a thermocouple producing small voltages the value of which depend inter alia upon the interface temperature. Additionally when certain metals slide in the presence of hydrocarbon vapours amorphous solids are formed. These solids are capable of being electrostatically charged as well as being insulating materials. When solids of this nature are formed on slip ring contact systems high electrical noise and random intermittent open circuits result which in turn cause loss of electrical signals within the system.
Various attempts have been made to replace slip rings with a more reliable system.
One approach, where limited rotation is feasible, has been to use a cable reeling system.
Such a system utilises conventional round conductor cable in round bundle or flat ribbon form. They require a long high-mass cable form firmly mounted at each end; as they are wound and unwound severe stressing of the cable occurs leading to stress failure of both the insulator and the conductor.
An alternative system has been proposed in
United States patent No.3,599,165 by providing, in place of the ribbon of electrical cabling, a spirally wound strip of metal conductor wound clockwise and counterclockwise with respect to the axis of rotation of the relatively rotatable members, or provided in the form of an accordian folded strip located between the members. This proposal has not, however, entirely solved the problems inherent in devices of this type thus, for example, the accordian folded strip of electrically conductive material is subject to severe stressing at the apices of the folds which eventually results in failure.
We have now provided an improved form of a coupling device for use between two relatively rotatable members, which device is especially useful as an electrical coupling between said members. The device comprises a plurality of flexible conductors disposed in axially spaced relationship between two relatively rotatable members, the opposite ends of each conductor being secured to a respective member, and the said flexible conductors being disposed in a convoluted S-form and preferably interspersed by thin sections of constant force springs.
The length of the conductor needs to be sufficient to allow for the total system movement which may amount to more than one revolution and will typically be + or -180".
The constant force springs apply a small force to the conductors which is sufficient to keep them in intimate contact with the conductors and support them against the said members.
When the coupling of this invention is used as an electrical coupling, the constant force springs also act to prevent the conductors rubbing against each other thereby destroying the insulation, and optionally they may be used as screening for the conductors by forming an earth path between the relatively rotating members.
The conductors may be electrically conductive printed circuits or other electrically conductive flexible ribbons or cables.
The conductors may also comprise ribbons consisting of a plurality of optical fibes laid in parallel form on a flexible substrate for use in optical fibre transmission systems, or a plurality of microbore flexible tubes laid in parallel form on a flexible substrate for use in hydraulic/pneumatic power transmission.
The relatively rotating members are, of course, provided with suitable electrical connectors or input and output points when used in optical fibre or hydraulic/pneumatic transmission systems.
Whilst it is preferred that the flexible conductors are interspersed by thin constant force springs especially in large diameter applications, the conductors themselves may be tempered by heating to cause them to act as springs. Such conductors are useful for small diameter applications.
Generally electrically conductive flexible printed circuits, for example, are formed from two strips of plastics material, e.g. MYLAR (Trade Mark) (polyamide film) which are laminated by use of a curable resin, e.g. a polyepoxide resin. If, before the resin adhesive is cured, the laminated strip of flexible printed circuit is tightly coiled and tempered by a heat treatment after which the adhesive is cured, the resulting strip has inherent spring charac teristics.
Embodiments of the present invention are, of course, provided with suitable electrical connectors or input and output points when used in optical fibre or hydraulic/pneumatic transmission systems.
Embodiments of the present invention will now be described with reference to the drawings in which:
Figure 1 is a diagrammatic representation of two concentric cable troughs for use in a horizontally oriented system,
Figure 2 is a representation of a cable laid in the troughs of Fig. 1 in cross-section at extremes of relative rotation between the troughs, and
Figure 3 is a diagrammatic representation of two concentric cable troughs for use in a vertically oriented system.
Figure 4 is an exploded diagrammatic representation of the troughs and cable of Fig. 3.
Referring to Figs. 1 and 2, cable 1 comprising a sheet of flexible printed circuit containing a plurality of electrical conductor extending between terminals at either end, has one end 2 attached to the vertical wall 7 of trough 6, the troughs 5 and 6 being concentric and open to each other along a vertical interface. The coils of cable are layered in a convoluted "S" formation turning through 1800 at A/B as the cable passes from one trough to the next as a result of relative rotation of the troughs, indicated by the solid and unbroken arrows in
Fig. 2.
A constant force spring 8 is interleaved between the layers of cable and provides a sufficient force to remain in intimate contact with the cable and to support the cable against the sides of the troughs. Both ends of the spring are electrically connected to the trough to provide a screen for the system.
A plurality of layers of cable may, of course, be laid within the trough and interleaved with constant tension springs of appropriate length.
Electrical contact to the ends of the cable may utilise the standard connections at the end of the printed circuits or through connectors inserted through the walls of the trough.
In the system depicted in Figs. 1 and 2 the only moving part of the cable at 1 at any one time will be the rolling portion A/B. The translation speed, i.e. speed of transfer of the rolling portion of the cable from one trough to the next, will be dependant upon the ratio of the diameters of the troughs which, in the system described with reference to Fig. 1 will be greater than 1:1 but the rolling portion A/B will travel at half this equivalent ratio, not the rotational speed.
Referring the Figs. 3 and 4, troughs 10 and 11 are vertically oriented, concentric and open to each other along a horizontal interface therefore they have the same diameters. A cable 14, comprising a flexible printed circuit containing a plurality of electrical conductors is laid in the troughs in a convoluted S-form, however the cable is not laid in the flat condition shown in Fig. 2, but in a spiral form with one end 16 attached to outer wall 12 of trough 10 and the other end 15 attached to outer wall 13 of trough 11. Cable 14 turns through 1800 at C as it passes from one trough to the next. Thin section constant force springs (not shown) are again interspersed between layers of flexible cable. In this system the speed of translation of the rolling portion of the cable, where the diameter ratio will always be 1:1, will be half the rotation speed.
A particular advantage in utilising a convoluted S-form for laying the cable in the trough is that less cable needs to be used. Thus, in a two revs system a cable equal to approximately 24 turns will be required whereas in a clock spring from 6 to 7 coils would be needed to prevent the system becoming coil bound.
The field of application of the present invention varies from cable reeling systems to articulating joints in robotics and may be used to replace slip rings.
Claims (9)
1. A coupling device for connecting two relatively rotating members comprising a plurality of flexible conductors disposed in an axially spaced relationship between said members, the opposite end of each conductor being secured to a respective said member, wherein the said conductors are disposed in a convoluted S-form.
2. A device according to claim 1 wherein the conductors are electrically conductive printed circuits and the relative rotating members are provided with electrical connectors.
3. A device according to claim 1 wherein the conductors are electrically conductive flexible ribbons or cables and the relatively rotating members are provided with electrical connections.
4. A device according to claim 1 wherein the conductors comprise ribbons consisting of a plurality of optical fibres laid in parallel on a flexible substrate and the relatively rotatable members are provided with co-operating inputs and outputs for connection to each end of the said fibres, the coupling being suitable for use in optical fibre transmission systems.
5. A device according to claim 1 wherein the conductors comprise a plurality of microbore flexible tubes laid in parallel on a flexible substrate and the relatively rotatable members are provided with co-operative inputs and outputs for connection to the ends of said bores, the coupling being suitable for use in hydraulic/pneumatic power transmission systems.
6. A device according to any one of claims 1 to 5 wherein the flexible conductors are interspersed by thin sections of constant force springs, each end of a spring being secured to a respective relatively rotating member.
7. A device according to claim 6 as dependant upon claim 2 or 3, wherein the constant force springs act as screening for the electrical conductors and provide an earth path between the relatively rotating members.
8. A device according to any one of claims 1 to 5 wherein the flexible conductor has been coiled and tempered by heating to induce spring characteristics.
9. A device according to claim 8 wherein the flexible conductor is a laminate comprising two strips of plastics material adhered together by a curable adhesive resin and the laminate is coiled and tempered before the adhesive resin is cured.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB848423016A GB8423016D0 (en) | 1984-09-12 | 1984-09-12 | Coupling device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8522425D0 GB8522425D0 (en) | 1985-10-16 |
| GB2164506A true GB2164506A (en) | 1986-03-19 |
| GB2164506B GB2164506B (en) | 1988-11-09 |
Family
ID=10566603
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB848423016A Pending GB8423016D0 (en) | 1984-09-12 | 1984-09-12 | Coupling device |
| GB08522425A Expired GB2164506B (en) | 1984-09-12 | 1985-09-10 | Coupling device between relatively rotatable members |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB848423016A Pending GB8423016D0 (en) | 1984-09-12 | 1984-09-12 | Coupling device |
Country Status (1)
| Country | Link |
|---|---|
| GB (2) | GB8423016D0 (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4836795A (en) * | 1987-09-24 | 1989-06-06 | Kabelmetal Electro Gmbh | Apparatus for providing an electrical conduction path between two contact locations |
| US4927365A (en) * | 1988-11-10 | 1990-05-22 | Kabelmetal Electro Gmbh | Apparatus for providing an electrical conduction path between two contact locations which are rotatable with respect to each other |
| EP0401028A2 (en) * | 1989-05-31 | 1990-12-05 | The Furukawa Electric Co., Ltd. | Connector devices |
| GB2233169A (en) * | 1989-06-15 | 1991-01-02 | Daihatsu Motor Co Ltd | Rotary electrical connection between a vehicle steering wheel and steering column |
| EP0556779A1 (en) * | 1992-02-20 | 1993-08-25 | The Furukawa Electric Co., Ltd. | Transmission device used between two relatively rotatable components |
| DE9401715U1 (en) * | 1994-02-02 | 1994-03-24 | W.M. Filmtechnik GmbH, 83620 Feldkirchen-Westerham | Device for signal transmission in a camera dolly |
| GB2281821A (en) * | 1993-08-30 | 1995-03-15 | Petri Ag | A current transmitter for the steering wheel of an automotive vehicle |
| GB2282274A (en) * | 1993-08-30 | 1995-03-29 | Petri Ag | Current connector for bridging interruptions in conductance between two relatively rotatable component parts |
| EP0703119A1 (en) | 1994-09-21 | 1996-03-27 | Magneti Marelli France | Rotating contactor with overmoulding for flexible electrical conductor |
| EP0704345A1 (en) | 1994-09-30 | 1996-04-03 | Magneti Marelli France | Electrical rotating connector with facilitated mounting/unmounting |
| US5637005A (en) * | 1993-05-31 | 1997-06-10 | Alps Electric Co., Ltd. | Clock spring connector |
| EP0779182A1 (en) | 1995-12-12 | 1997-06-18 | Magneti Marelli France | Electric rotary connector |
| WO1998031567A1 (en) | 1997-01-21 | 1998-07-23 | Magneti Marelli France | Latching contact system for upper part of motor vehicle steering column |
| DE20003965U1 (en) | 2000-02-24 | 2000-07-13 | Petri Ag, 63743 Aschaffenburg | Device for transmitting electrical current between two components of a steering device for motor vehicles that can be rotated relative to one another |
| DE19960205A1 (en) * | 1999-12-14 | 2001-06-28 | Alcatel Sa | Device for signal transmission between two end points |
| WO2013178996A1 (en) * | 2012-06-01 | 2013-12-05 | Tidal Generation Limited | Connection systems |
| WO2016045069A1 (en) | 2014-09-26 | 2016-03-31 | Abb Technology Ltd | A routing unit, a rotary joint and a robot |
| EP3010684A4 (en) * | 2013-06-17 | 2017-05-17 | ABB Technology Ltd. | A rotary joint of a robot and the robot including the same |
| WO2017104548A1 (en) * | 2015-12-18 | 2017-06-22 | アルプス電気株式会社 | Rotary connector |
| US10112311B2 (en) | 2013-11-28 | 2018-10-30 | Abb Schweiz Ag | Rotary joint of a robot and the robot including the same |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB409180A (en) * | 1933-08-05 | 1934-04-26 | Samuel Kelso | Improvements in electrical fixture supporting and connecting devices |
| GB2096410A (en) * | 1981-02-13 | 1982-10-13 | Honda Motor Co Ltd | Electrical connector device |
| EP0071875A1 (en) * | 1981-08-03 | 1983-02-16 | Litton Systems, Inc. | Limited rotation electrical coupling device |
| EP0073023A2 (en) * | 1981-08-26 | 1983-03-02 | LES CABLES DE LYON Société anonyme dite: | Connection apparatus for cables comprising optical fibres and metallic conductors |
-
1984
- 1984-09-12 GB GB848423016A patent/GB8423016D0/en active Pending
-
1985
- 1985-09-10 GB GB08522425A patent/GB2164506B/en not_active Expired
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB409180A (en) * | 1933-08-05 | 1934-04-26 | Samuel Kelso | Improvements in electrical fixture supporting and connecting devices |
| GB2096410A (en) * | 1981-02-13 | 1982-10-13 | Honda Motor Co Ltd | Electrical connector device |
| EP0071875A1 (en) * | 1981-08-03 | 1983-02-16 | Litton Systems, Inc. | Limited rotation electrical coupling device |
| EP0073023A2 (en) * | 1981-08-26 | 1983-03-02 | LES CABLES DE LYON Société anonyme dite: | Connection apparatus for cables comprising optical fibres and metallic conductors |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4836795A (en) * | 1987-09-24 | 1989-06-06 | Kabelmetal Electro Gmbh | Apparatus for providing an electrical conduction path between two contact locations |
| US4927365A (en) * | 1988-11-10 | 1990-05-22 | Kabelmetal Electro Gmbh | Apparatus for providing an electrical conduction path between two contact locations which are rotatable with respect to each other |
| EP0401028A2 (en) * | 1989-05-31 | 1990-12-05 | The Furukawa Electric Co., Ltd. | Connector devices |
| EP0401028A3 (en) * | 1989-05-31 | 1992-01-22 | The Furukawa Electric Co., Ltd. | Connector devices |
| GB2233169B (en) * | 1989-06-15 | 1994-01-12 | Daihatsu Motor Co Ltd | Wiring apparatus for making an electrical connection between a steering wheel and a steering column of a motor vehicle |
| GB2233169A (en) * | 1989-06-15 | 1991-01-02 | Daihatsu Motor Co Ltd | Rotary electrical connection between a vehicle steering wheel and steering column |
| US5046951A (en) * | 1989-06-15 | 1991-09-10 | Daihatsu Motor Co., Ltd. | Wiring apparatus for making an electrical connection between a steering wheel and a steering column of a motor vehicle |
| EP0556779A1 (en) * | 1992-02-20 | 1993-08-25 | The Furukawa Electric Co., Ltd. | Transmission device used between two relatively rotatable components |
| US5637005A (en) * | 1993-05-31 | 1997-06-10 | Alps Electric Co., Ltd. | Clock spring connector |
| GB2281821A (en) * | 1993-08-30 | 1995-03-15 | Petri Ag | A current transmitter for the steering wheel of an automotive vehicle |
| GB2282274A (en) * | 1993-08-30 | 1995-03-29 | Petri Ag | Current connector for bridging interruptions in conductance between two relatively rotatable component parts |
| GB2281821B (en) * | 1993-08-30 | 1997-08-27 | Petri Ag | A current transmitter for the steering wheel of an automotive vehicle |
| DE9401715U1 (en) * | 1994-02-02 | 1994-03-24 | W.M. Filmtechnik GmbH, 83620 Feldkirchen-Westerham | Device for signal transmission in a camera dolly |
| EP0703119A1 (en) | 1994-09-21 | 1996-03-27 | Magneti Marelli France | Rotating contactor with overmoulding for flexible electrical conductor |
| EP0704345A1 (en) | 1994-09-30 | 1996-04-03 | Magneti Marelli France | Electrical rotating connector with facilitated mounting/unmounting |
| EP0779182A1 (en) | 1995-12-12 | 1997-06-18 | Magneti Marelli France | Electric rotary connector |
| WO1998031567A1 (en) | 1997-01-21 | 1998-07-23 | Magneti Marelli France | Latching contact system for upper part of motor vehicle steering column |
| DE19960205A1 (en) * | 1999-12-14 | 2001-06-28 | Alcatel Sa | Device for signal transmission between two end points |
| DE20003965U1 (en) | 2000-02-24 | 2000-07-13 | Petri Ag, 63743 Aschaffenburg | Device for transmitting electrical current between two components of a steering device for motor vehicles that can be rotated relative to one another |
| US6736657B2 (en) | 2000-02-24 | 2004-05-18 | Takata-Petri Ag | Device for transmitting electric current between two components of a steering device for motor vehicles |
| WO2013178996A1 (en) * | 2012-06-01 | 2013-12-05 | Tidal Generation Limited | Connection systems |
| CN104364979A (en) * | 2012-06-01 | 2015-02-18 | 潮汐发电有限公司 | Connection systems |
| US9845785B2 (en) | 2012-06-01 | 2017-12-19 | Tidal Generation Limited | Connection systems |
| US9815211B2 (en) | 2013-06-17 | 2017-11-14 | Abb Schweiz Ag | Rotary joint of a robot and the robot including the same |
| EP3010684A4 (en) * | 2013-06-17 | 2017-05-17 | ABB Technology Ltd. | A rotary joint of a robot and the robot including the same |
| US10112311B2 (en) | 2013-11-28 | 2018-10-30 | Abb Schweiz Ag | Rotary joint of a robot and the robot including the same |
| WO2016045069A1 (en) | 2014-09-26 | 2016-03-31 | Abb Technology Ltd | A routing unit, a rotary joint and a robot |
| EP3198695A4 (en) * | 2014-09-26 | 2018-05-16 | ABB Schweiz AG | A routing unit, a rotary joint and a robot |
| US10647009B2 (en) | 2014-09-26 | 2020-05-12 | Abb Schweiz Ag | Routing unit, a rotary joint and a robot |
| WO2017104548A1 (en) * | 2015-12-18 | 2017-06-22 | アルプス電気株式会社 | Rotary connector |
Also Published As
| Publication number | Publication date |
|---|---|
| GB8423016D0 (en) | 1984-10-17 |
| GB2164506B (en) | 1988-11-09 |
| GB8522425D0 (en) | 1985-10-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PCNP | Patent ceased through non-payment of renewal fee |