Register information Patent

WO file number: PCT/EP2020/069247 (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
INID	Criterion	Field	Content
	Type of IP right	SART	Patent
	Status	ST	Not pending/lapsed
86	WO file number	WAKZ	PCT/EP2020/069247
87	WO publication number	WPN	2021008969
54	Designation/title	TI	KOLLISIONSDETEKTION FÜR EINEN ROBOTERMANIPULATOR
51	IPC main class	ICM (ICMV)	G05B 19/4061 (2006.01)
51	IPC secondary class(es)	ICS (ICSV)	B25J 9/16 (2006.01)
86	WO application date	WAT	Jul 8, 2020
72	Inventor	IN	Inventor not yet named
66 66	Domestic priority	PRN PRD	10 2019 118 897.0 Jul 12, 2019
	Patent division in charge		13
87	WO language of publication	WLANG	DE - Deutsch
57	Abstract	AB	Die Erfindung betrifft ein Verfahren zur Kollisionsdetektion für einen Robotermanipulator (1), aufweisend die Schritte: - Ermitteln (S1) eines auf den Robotermanipulator (1) wirkenden externen Moments und/oder einer auf den Robotermanipulator (1) wirkenden externen Kraft, - Ermitteln (S2) einer zeitabhängigen Beschleunigung des Robotermanipulators (1), - Vergleichen (S3) des externen Moments und/oder der externen Kraft mit einem jeweiligen zeitabhängigen Grenzwert L(t), wobei der Grenzwert L(t) abhängig von der ermittelten zeitabhängigen Beschleunigung des Robotermanipulators (1) ist, - Delektieren (S4) einer vorliegenden Kollision, wenn ein Betrag des externen Moments und/oder ein Betrag der externen Kraft den jeweiligen Grenzwert L(t) überschreitet, und - Ausführen (S5) einer vorgegebenen Reaktion des Robotermanipulators (1) auf die delektierte Kollision.
81	Designated WO countries	WDS	AE, 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, IT, 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 documents	EPWOPN	Original document: WO2021008969A1 Searchable text: WO2021008969A1
43	Date of first publication	EVT	Jan 21, 2021
	Date of the first transfer into DPMAregister	EREGT	Jan 22, 2021
	Date of the (most recent) update in DPMAregister	REGT	Feb 11, 2022 (Show all update days)(Hide all update days) Feb 11, 2022 Historical data not available for this/these date(s) Jan 22, 2021 Date of the first transfer into DPMAregister

Procedural data
No.	Kind of procedure	Legal status	Date of legal/procedural status	Alle Details anzeigen
1	Pre-registration procedure	The application is under preliminary examination	Jul 8, 2020	Details anzeigen
2	Search procedure	Request for search effectively filed	Jul 8, 2020	Details anzeigen
3	Procedure relating to PCT application	WO first publication with search report	Jan 21, 2021	Details anzeigen
4	Procedure relating to PCT application	Ceased to have effect for DE	Jan 13, 2022	Details anzeigen

View procedures Pre-registration procedure (No.: 1)
Criterion	Field	Content Close details
Type of procedure	VART	Pre-registration procedure
Legal/procedural status	VST	The application is under preliminary examination
Date of legal/procedural status	VSTT	Jul 8, 2020
Date of update of the procedure	REGT	Jan 22, 2021

View procedures Search procedure (No.: 2)
Criterion	Field	Content Close details
Type of procedure	VART	Search procedure
Legal/procedural status	VST	Request for search effectively filed
Date of legal/procedural status	VSTT	Jul 8, 2020
Third party request		No
Date of receipt	AEGT	Jul 8, 2020
Date of update of the procedure	REGT	Jan 22, 2021

View procedures Procedure relating to PCT application (No.: 3)
Criterion	Field	Content Close details
Type of procedure	VART	Procedure relating to PCT application
Legal/procedural status	VST	WO first publication with search report
Date of legal/procedural status	VSTT	Jan 21, 2021
Date of update of the procedure	REGT	Jan 22, 2021

View procedures Procedure relating to PCT application (No.: 4)
Criterion	Field	Content Close details
Type of procedure	VART	Procedure relating to PCT application
Legal/procedural status	VST	Ceased to have effect for DE
Date of legal/procedural status	VSTT	Jan 13, 2022
Date of update of the procedure	REGT	Feb 11, 2022