Register information Patent

WO file number: PCT/EP2022/058549 (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/EP2022/058549
87WO publication numberWPN2022207782
54Designation/titleTIERMITTELN EINES EXTERNEN KRAFTWINDERS AN EINEM ROBOTERMANIPULATOR
51IPC main classICM
(ICMV)
B25J 9/16 (2006.01)
51IPC secondary class(es)ICS
(ICSV)
B25J 13/08 (2006.01)
86WO application dateWATMar 31, 2022
72InventorINInventor not yet named
66
66
Domestic priorityPRN
PRD
10 2021 108 417.2
Apr 1, 2021
Patent division in charge 13
87WO language of publicationWLANGDE - Deutsch
57AbstractABDie Erfindung betrifft einen Robotermanipulator (1) mit einer Recheneinheit (3) und mit einer Vielzahl von durch Gelenke miteinander verbundenen Gliedern, wobei die Gelenke jeweils einen Drehmomentsensor (5) und einen Positionssensor (7) aufweisen, wobei die Recheneinheit (3) dazu ausgeführt ist, aus den Gelenkwinkeln eine invertierte Jacobimatrix zu berechnen und aus der Multiplikation dieser mit einem Vektor aus Gelenkmomenten einen vektoriellen externen Kraftwinder zu berechnen, wobei der Robotermanipulator (1) einen zusätzlichen Kraft- und/oder Drehmomentsensor (9) aufweist und die Recheneinheit (3) dazu ausgeführt ist, einen modifizierten vektoriellen externen Kraftwinder zu ermitteln, indem ein jeweiliger entsprechender Eintrag des vektoriellen externen Kraftwinders durch die/das vom zusätzlichen Kraft- und/oder Drehmomentsensor (9) erfasste Kraft und/oder Moment ersetzt wird oder mit der/dem vom zusätzlichen Kraft- und/oder Drehmomentsensor (9) erfasste/n Kraft und/oder Moment in Datenfusion kombiniert wird.
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, IT, JM, 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: WO002022207782A1
Searchable text: WO002022207782A1
43Date of first publicationEVTOct 6, 2022
Date of the first transfer into DPMAregisterEREGTOct 11, 2022
Date of the (most recent) update in DPMAregisterREGTDec 2, 2023
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  • Dec 2, 2023
    • Historical data not available for this/these date(s)
  • Oct 11, 2022
    • 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 Mar 31, 2022  Details anzeigen
2 Search procedure Request for search effectively filed Mar 31, 2022  Details anzeigen
3 Procedure relating to PCT application WO first publication with search report Oct 6, 2022  Details anzeigen
4 Procedure relating to PCT application Ceased to have effect for DE Nov 3, 2023  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 statusVSTTMar 31, 2022
View procedures Search procedure (No.: 2)
INIDCriterionFieldContent Close details
Type of procedureVARTSearch procedure
Legal/procedural statusVSTRequest for search effectively filed
Date of legal/procedural statusVSTTMar 31, 2022
Third party request No
Date of receiptAEGTMar 31, 2022
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 statusVSTTOct 6, 2022
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 statusVSTTNov 3, 2023
Date of update of the procedureREGTDec 2, 2023