(19)

(11)

EP 4 823 810 A1

(12)

(43) Date of publication: 21.10.2026 Bulletin 2026/43 (21) Application number: 23961080.1 (22) Date of filing: 12.12.2023

(51) International Patent Classification (IPC):  B25J 18/02(2006.01) B25J 9/12(2006.01) B25J 15/00(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/12; B25J 9/104 (86) International application number: PCT/CN2023/138160 (87) International publication number: WO 2025/123215 (19.06.2025 Gazette 2025/25)

(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 ME MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA Designated Validation States: KH MA MD TN (71) Applicant: ABB Robotics Schweiz AG 8050 Zürich (CH)	(72) Inventors: LIU, Wenzhen Shanghai 200044 (CN) YANG, Songhua Shanghai 201323 (CN) (74) Representative: Zimmermann & Partner Patentanwälte mbB  P.O. Box 330 920 80069 München 80069 München (DE)