Register information Patent

WO file number: PCT/EP2020/050955 (Status: not pending/lapsed, Query started: June 6, 2025)

Please note: This English version is a non-binding translation of the German register excerpt. Only the German version of the register excerpt is legally binding.

Master data
INIDCriterionFieldContent
Type of IP rightSARTPatent
StatusSTNot pending/lapsed
86WO file numberWAKZPCT/EP2020/050955
87WO publication numberWPN2020148356
54Designation/titleTIUNTERSTÜTZEN EINES MANUELLEN FÜHRENS EINES ROBOTERMANIPULATORS
51IPC main classICM
(ICMV)		 B25J 9/16 (2006.01)
86WO application dateWATJan 16, 2020
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2019 101 072.1
Jan 16, 2019
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft ein Verfahren zum Unterstützen eines manuellen Führens eines Robotermanipulators (1), wobei der Robotermanipulator (1) eine Vielzahl von Gliedern (3) aufweist und die Glieder (3) durch Gelenke (5) miteinander verbunden sind und durch Aktuatoren (4) gegeneinander rotierbar sind und zumindest eine Teilmenge der Gelenke (5) zueinander redundante Freiheitsgrade aufweist, sodass zumindest eine Teilmenge der Vielzahl der Glieder (3) in einem Nullraum bewegbar ist, mit den Schritten: - Positionieren (S1) eines Referenzpunktes (11) eines Endeffektors (7) des Robotermanipulators (1) an einer gewünschten Position durch manuelles Führen des Robotermanipulators (1) durch einen Benutzer, - Betätigen (S2) einer Eingabevorrichtung (9) des Robotermanipulators (1) durch den Benutzer zum Erzeugen eines Eingabesignals, - auf das Eingabesignal hin: Automatisches Ausrichten (S3) des Endeffektors (7) in eine vorgegebene Orientierung durch Ansteuern der Aktuatoren (4) von zumindest zwei Gelenken (5) mit redundanten Freiheitsgraden innerhalb des Nullraums unter Beibehalt der Position des Referenzpunktes (11) an der gewünschten Position.
81Designated WO countriesWDSAE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, WS, ZA, ZM, ZW
Published EP/WO documentsEPWOPNOriginal document: WO2020148356A1
Searchable text: WO2020148356A1
43Date of first publicationEVTJul 23, 2020
Date of the first transfer into DPMAregisterEREGTJul 24, 2020
Date of the (most recent) update in DPMAregisterREGTAug 15, 2021
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  • Aug 15, 2021
    • Historical data not available for this/these date(s)
  • Jul 24, 2020
    • Date of the first transfer into DPMAregister
Procedural data
No.Kind of procedureLegal statusDate of legal/procedural statusPublication dateAlle Details anzeigen
1 Pre-registration procedure The application is under preliminary examination Jan 16, 2020  Details anzeigen
2 Search procedure Request for search effectively filed Jan 16, 2020  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report Jul 23, 2020  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Jul 17, 2021  Details anzeigen
View procedures Pre-registration procedure (No.: 1)
INIDCriterionFieldContent Close details
Type of procedureVARTPre-registration procedure
Legal/procedural statusVSTThe application is under preliminary examination
Date of legal/procedural statusVSTTJan 16, 2020
Date of update of the procedureREGTJul 24, 2020
View procedures Search procedure (No.: 2)
INIDCriterionFieldContent Close details
Type of procedureVARTSearch procedure
Legal/procedural statusVSTRequest for search effectively filed
Date of legal/procedural statusVSTTJan 16, 2020
Third party request No
Date of receiptAEGTJan 16, 2020
Date of update of the procedureREGTJul 24, 2020
View procedures Procedure relating to PCT application (No.: 3)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTWO first publication with search report
Date of legal/procedural statusVSTTJul 23, 2020
Date of update of the procedureREGTJul 24, 2020
View procedures Procedure relating to PCT application (No.: 4)
INIDCriterionFieldContent Close details
Type of procedureVARTProcedure relating to PCT application
Legal/procedural statusVSTCeased to have effect for DE
Date of legal/procedural statusVSTTJul 17, 2021
Date of update of the procedureREGTAug 15, 2021