WO2023001423 - ROBOTIC JOINT DEVICE AND ROBOT ARM
National phase entry is expected:
Publication Number
WO/2023/001423
Publication Date
26.01.2023
International Application No.
PCT/EP2022/062774
International Filing Date
11.05.2022
Title **
[English]
ROBOTIC JOINT DEVICE AND ROBOT ARM
[French]
DISPOSITIF D'ARTICULATION ROBOTIQUE ET BRAS DE ROBOT
Applicants **
SIEMENS AKTIENGESELLSCHAFT
Werner-von-Siemens-Straße 1
80333 München, DE
Inventors
BACHMANN, Christian
Säulingstr. 17
80686 München, DE
GERLICH, Matthias
Maximilian-Wetzger-Straße 9
80636 München, DE
NEMOTO, Takeru
Theresienstraße 122a
80333 München, DE
WALTER, Jonas
Egerlandstr. 7
91058 Erlangen, DE
Priority Data
21187466.4
23.07.2021
EP
Application details
| Total Number of Claims/PCT | * |
| Number of Independent Claims | * |
| Number of Priorities | * |
| Number of Multi-Dependent Claims | * |
| Number of Drawings | * |
| Pages for Publication | * |
| Number of Pages with Drawings | * |
| Pages of Specification | * |
| * | |
| * | |
International Searching Authority |
EPO
* |
| Applicant's Legal Status |
Legal Entity
* |
| * | |
| * | |
| * | |
| * | |
| Entry into National Phase under |
Chapter I
* |
| Translation |
|
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Quotation for National Phase entry
| Country | Stages | Total | |
|---|---|---|---|
| China | Filing | 1103 | |
| EPO | Filing, Examination | 4575 | |
| Japan | Filing | 587 | |
| South Korea | Filing | 574 | |
| USA | Filing, Examination | 2710 |
Total: 9549 USD
The term for entry into the National Phase has expired. This quotation is for informational purposes only
Abstract[English]
A robotic joint device (100) is provided, comprising - a first rigid element (1) with a first central axis (A1) and a second rigid element (2) with a second central axis (A2), - where the first rigid element (1) has a base member (10) and an elongated rod (15) which is rigidly attached to the base member (10), the rod (15) extending along the first central axis (A1) and being aligned with the second central axis (A2) when the joint device is in a central reference position, - where the first rigid element (1) has three or four first anchor points (P1) distributed over the periphery of the first rigid element (1), - where the second rigid (2) element has a corresponding number of second anchor points (P2) distributed over the periphery of the second rigid element (2), and each second anchor point (P2) is connected to a corresponding first anchor point (P1) by an actuated rope (Ra), - where the second rigid element (2) has at least three further anchor points (P3) distributed over the periphery of the second rigid element (2), and each further anchor point (P3) is connected to a tip (17) of the elongated rod (15) of the first rigid element (1) by a passive rope (Rp), - where the total number of actuated ropes (Ra) is three or four and the robotic joint device provides a total of two rotational degrees of freedom. Furthermore, a robot arm (200) with such a robotic joint device (100) is provided.[French]
L'invention concerne un dispositif d'articulation robotique (100) comprenant : un premier élément rigide (1) pourvu d'un premier axe central (A1) et un second élément rigide (2) pourvu d'un second axe central (A2), le premier élément rigide (1) comprenant un élément de base (10) et une tige allongée (15) qui est fixée de manière rigide à l'élément de base (10), la tige (15) s'étendant le long du premier axe central (A1) et étant alignée avec le second axe central (A2) lorsque le dispositif d'articulation est dans une position de référence centrale, le premier élément rigide (1) comportant trois ou quatre premiers points d'ancrage (P1) répartis sur la périphérie du premier élément rigide (1), le second élément rigide (2) comprenant un nombre correspondant de seconds points d'ancrage (P2) répartis sur la périphérie du second élément rigide (2), et chaque second point d'ancrage (P2) étant relié à un premier point d'ancrage correspondant (P1) par un câble actionné (Ra), le second élément rigide (2) présentant au moins trois autres points d'ancrage (P3) répartis sur la périphérie du second élément rigide (2), et chaque autre point d'ancrage (P3) étant relié à une pointe (17) de la tige allongée (15) du premier élément rigide (1) par un câble passif (Rp), le nombre total de câbles actionnés (Ra) étant de trois ou de quatre et le dispositif d'articulation robotique fournissant un total de deux degrés de liberté de rotation. L'invention concerne en outre un bras robotisé (200) équipé d'un tel dispositif d'articulation robotique (100).