公开(公告)号：EP3045140A1

公开(公告)日：2016-07-20

申请号：EP15202003.8

申请日：2015-12-22

申请人： KUKA Roboter GmbH

发明人： LOHMEIER, Sebastian ,  VON TIESENHAUSEN, Cyrill

IPC分类号： A61B34/37

CPC分类号： B25J3/04 ,  A61B1/00149 ,  A61B34/20 ,  A61B34/30 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/301 ,  B25J9/1607 ,  B25J9/1625 ,  B25J13/00 ,  B25J13/02 ,  B25J13/025 ,  B25J13/084

摘要： Es wird ein Verfahren bereitgestellt zur Ausrichtung eines mehrachsigen Manipulators mit einem Eingabegerät, welches der Steuerung des Manipulators dient, aufweisend die Schritte eines Ausführens einer oder mehrerer Referenzbewegungen mit dem Eingabegerät, eines Ausführens einer oder mehrerer Referenzbewegungen mit dem Manipulator, eines Erfassens der ausgeführten Referenzbewegungen, eines Berechnens einer Transformationsmatrix basierend auf den erfassten Referenzbewegungen und eines Anwendens der berechneten Transformationsmatrix zur Ausrichtung der Bewegungen des Eingabegeräts mit dem Manipulator.

摘要翻译： 提供了一种用于多轴操纵器与输入装置的对准的方法，其用于控制​​操纵器，该方法包括以下步骤：使用输入装置执行一个或多个参考运动，执行一个或多个参考运动 操纵器，所执行的参考运动的记录，基于所记录的参考运动的变换矩阵的计算，以及使用所计算的变换矩阵来调整输入装置与机械手的运动。

公开(公告)号：EP2983608A1

公开(公告)日：2016-02-17

申请号：EP14711684.2

申请日：2014-03-13

申请人： KUKA Roboter GmbH

发明人： LOHMEIER, Sebastian

IPC分类号： A61B90/00

摘要： A medical robot (10) according to the invention comprises a base (11.0), an instrument flange (12) for attaching a minimally invasive instrument (20), which instrument flange is connected to the base in such a way that the instrument flange can be moved by means of an actuated kinematic system (11.1 - 11.7), and a tube flange (3.1) for attaching a tube (3.2), wherein the tube flange is connected to the kinematic system by means of a movable joint assembly (30), which has at least one actuated, in particular electrically actuated, and/or at least one elastically bound passive joint and/or at least one lockable joint (31 - 37).

公开(公告)号：EP2991573A1

公开(公告)日：2016-03-09

申请号：EP14709888.3

申请日：2014-03-11

申请人： KUKA Roboter GmbH

发明人： LOHMEIER, Sebastian ,  SCHOBER, Wolfgang

IPC分类号： A61B90/00

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B2017/00336 ,  A61B2017/00991 ,  A61B2090/08021

摘要： A robot according to the invention comprises a tool, in particular a surgical instrument, said tool comprising a shaft (1) having a distal joint assembly (3) with at least one degree of freedom. The robot also comprises a protective cover (4) that can be displaced from a distal position into a proximal position on the shaft. In the distal position, said protective cover accommodates the joint assembly, and when the protective cover is in the proximal position the joint assembly projects distally out of the protective cover.

公开(公告)号：EP3180168A1

公开(公告)日：2017-06-21

申请号：EP15752920.7

申请日：2015-08-13

申请人： KUKA Roboter GmbH

发明人： BERGHOFER, Jakob ,  BRUDNIOK, Sven ,  LOHMEIER, Sebastian ,  RIEDEL, Martin

IPC分类号： B25J9/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2090/506 ,  B25J9/0009 ,  B25J9/0084 ,  G05B2219/39022

摘要： The invention relates to a positioning device for a robot (10) comprising an end effector (13), in particular a surgical end effector, which has a base (1) and a flange (7) to which the robot can be secured, wherein the flange is connected to the base by means of a kinematic system which has at least two joints (2, 4, 6). The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position relative to the base by means of the kinematic system, said second position being spaced from the first position. The invention is characterized by an orientation means (100, 101; 102) for reorienting the flange from a first orientation in the first position into a second orientation, which is rotated about a reference axis by at least 75° in particular relative to the first orientation, in the second position as a result of an adjustment from the first position to the second position.

摘要翻译： 本发明涉及用于机械手的运载系统，特别是机器人（10），其包括用于固定机械手的托架（9）和凸缘（7），其特征在于气室组件，该气室组件布置在托架 并且具有至少一个压力室（41A，41B; 41），所述压力室被压力圈（40A，40B; 40）包覆并且可以连接到压缩空气源（50,51,52; 55,56） 。

公开(公告)号：EP3180167A1

公开(公告)日：2017-06-21

申请号：EP15752921.5

申请日：2015-08-13

申请人： KUKA Roboter GmbH

发明人： LOHMEIER, Sebastian ,  SCHOBER, Wolfgang

IPC分类号： B25J5/00

CPC分类号： B25J9/1689 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2090/506 ,  B25J9/0009 ,  B25J9/0084 ,  G05B2219/39022

摘要： The present invention relates to a carrier system for a manipulator, in particular a robot (10), comprising a carrier (9) and a flange (7) for fastening the manipulator, characterized by an air chamber assembly, which is arranged on the carrier and has at least one pressure chamber (41A, 41B; 41), which is clad with a pressure apron (40A, 40B; 40) and can be connected to a compressed-air supply (50, 51, 52; 55, 56).

摘要翻译： 本发明涉及用于机械手的运载系统，特别是机器人（10），其包括用于固定机械手的托架（9）和凸缘（7），其特征在于气室组件，该气室组件布置在托架 并且具有至少一个压力室（41A，41B; 41），所述压力室被压力圈（40A，40B; 40）包覆并且可以连接到压缩空气源（50,51,52; 55,56） 。

公开(公告)号：EP3268171A1

公开(公告)日：2018-01-17

申请号：EP16711136.8

申请日：2016-03-10

申请人： KUKA Roboter GmbH

发明人： LOHMEIER, Sebastian ,  FODOR, Robert ,  VON TIESENHAUSEN, Cyrill ,  MARINOV, Dilyan

IPC分类号： B25J9/00 ,  B25J19/06

CPC分类号： B25J9/0009 ,  B25J19/06

摘要： A robot bearing according to the invention for the pivotable mounting of a robot has a base (10) and a support (20) mounted thereon for the, in particular releasable, fastening of a foot (30) of the robot, the support being pivotably mounted relative to the base between an operating position and a stowage position.