(19)

(11)

EP 2 714 342 A1

(12)

(43) Date of publication: 09.04.2014 Bulletin 2014/15 (21) Application number: 11721785.1 (22) Date of filing: 27.05.2011

(51) International Patent Classification (IPC):  B25J 15/00(2006.01) (86) International application number: PCT/EP2011/058771 (87) International publication number: WO 2012/163390 (06.12.2012 Gazette 2012/49)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR (71) Applicant: ABB Technology AG 8050 Zürich (CH)	(72) Inventors: RODA LEAL, Antonio E-08290 Cerdanyola Del Vallès (ES) CASANELLES MOIX, Ramon E-08173 Sant Cugat Del Vallès (ES) (74) Representative: ZBM Patents - Zea, Barlocci & Markvardsen  Zea, Barlocci & Markvardsen Plaza Catalunya, 1 08002 Barcelona 08002 Barcelona (ES)