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11. 发明申请

US20130018507A1 Control System Of A Robot 有权
标题翻译：机器人控制系统
公开(公告)号：US20130018507A1
公开(公告)日：2013-01-17
申请号：US13548288
申请日：2012-07-13
申请人： Michael Haag , Heinrich Munz , Dirk Jacob , Hans-Peter Klüger
发明人： Michael Haag , Heinrich Munz , Dirk Jacob , Hans-Peter Klüger
IPC分类号： G06F19/00
CPC分类号： B25J9/161 , G05B19/0421 , G05B2219/2205 , G05B2219/2208 , G05B2219/2227 , G05B2219/34069 , Y02P90/265
摘要： An invention-based control system for at least one robot comprises a, especially symmetric, multi-core architecture with a first virtual machine (V1) with at least one computing engine (C3), which has been provided for controlling at least one process application (P) of this robot.
摘要翻译：用于至少一个机器人的基于发明的控制系统包括具有至少一个计算引擎（C3）的具有第一虚拟机（V1）的特别是对称的多核架构，其已被提供用于控制至少一个进程应用（P）。

12. 发明申请

US20120297843A1 LOCKING DEVICE 有权
标题翻译：锁定设备
公开(公告)号：US20120297843A1
公开(公告)日：2012-11-29
申请号：US13383233
申请日：2010-06-30
申请人： Dirk Jacob
发明人： Dirk Jacob
IPC分类号： E05B27/08 , E05B65/12
CPC分类号： E05B29/00 , E05B19/0017 , E05B19/0052 , Y10T70/7554 , Y10T70/7565 , Y10T70/7599 , Y10T70/7864 , Y10T70/7881
摘要： The invention relates to a locking device, in particular for a motor vehicle, having a key (10) and a lock cylinder (30), having a cylinder core (32), which is mounted in a rotatable manner in a cylinder housing (31) and has a key channel (33) into which the key (10) can be introduced, having spring-loaded tumbler elements (41, 42), which are mounted such that, when the key (10) is inserted into the key channel (33), they can be displaced radially in relation to the axis (34) of the lock cylinder (30), and having a plurality of outer surfaces (13, 14, 15), which are provided on the key (10), have control tracks (11, 12) and act on the tumbler elements (41, 42) when the key (10) is introduced. For this purpose, it is provided according to the invention that the outer surfaces (13, 14, 15) have two narrow sides (14, 15) and two broad sides (13), wherein each broad side (13) is configured with a first control track (11), the first narrow side (14) has a second control track (12), and the second narrow side (15), which is located opposite the first narrow side (14), is designed to be free of any control track.
摘要翻译：本发明涉及一种具有钥匙（10）和锁芯（30）的机动车辆的锁定装置，其具有气缸芯（32），所述气缸芯以可旋转的方式安装在气缸壳体（31）中），并且具有可以引入钥匙（10）的钥匙通道（33），具有弹簧加载的制动栓元件（41,42），其安装成使得当钥匙（10）插入钥匙通道（33），它们可以相对于锁芯（30）的轴线（34）径向移位，并且具有设置在钥匙（10）上的多个外表面（13,14,15）具有控制轨道（11,12），并且当钥匙（10）被引入时，其作用在制动栓元件41,42上。为此，根据本发明，提供外表面（13,14,15）具有两个窄边（14,15）和两个宽边（13），其中每个宽边（13）配置有第一控制轨道（11），第一窄边（14）具有第二控制轨道（12），并且与第一窄边（14）相对的第二窄边（15）设计成不具有任何控制轨道。

13. 发明申请

US20110125320A1 Method And Apparatus For Planning And/Or Control Of A Robot Application 审中-公开
标题翻译：用于规划和/或控制机器人应用的方法和装置
公开(公告)号：US20110125320A1
公开(公告)日：2011-05-26
申请号：US12948967
申请日：2010-11-18
申请人： Thomas Bongardt , Dirk Jacob , Thomas Kohler , Klaus Schlickenrieder , Martin Weiss
发明人： Thomas Bongardt , Dirk Jacob , Thomas Kohler , Klaus Schlickenrieder , Martin Weiss
IPC分类号： B25J9/00
CPC分类号： B25J9/1671 , B25J9/1664 , G05B2219/40446
摘要： A method according to the invention for planning and/or controlling a robot application (1) on the basis of system and/or process parameters (M1, . . . M7, G1, . . . G7, B1, K1, S1, H1, W1, F1, U1, R1), includes these steps: storing parameter values, and planning and/or controlling the application on the basis of stored parameter values, wherein parameters are managed with the aid of a graph structure (FIG. 2).
摘要翻译：根据本发明的用于基于系统和/或过程参数（M1，... M7，G1 ... ... G7，B1，K1，S1，H1）来规划和/或控制机器人应用（1）的方法，W1，F1，U1，R1）包括以下步骤：存储参数值，以及基于存储的参数值来规划和/或控制应用，其中借助于图形结构（图2）来管理参数，。

14. 发明授权

US07634929B2 Cylinder core 有权
标题翻译：气缸芯
公开(公告)号：US07634929B2
公开(公告)日：2009-12-22
申请号：US12158144
申请日：2006-02-27
申请人： Frank Kuhnke , Armin Geurden , Dirk Jacob
发明人： Frank Kuhnke , Armin Geurden , Dirk Jacob
IPC分类号： E05B9/04
CPC分类号： E05B15/1635 , Y10S292/38 , Y10T70/5097 , Y10T70/7559 , Y10T70/7672 , Y10T70/7684 , Y10T70/7955
摘要： The invention relates to a cylinder core (1) which can be mounted in a rotatable manner in a locking device, in particular of a storage compartment or of a glove compartment of a motor vehicle, and has a head region (6), which has a key channel (2) into which a key can be introduced, and a retaining region (7), which adjoins the head region (6) and is formed with a control means (8) which, when the cylinder core (1) is rotated about its axis of rotation (11), moves an arresting means, which is arranged in the locking device, for a closing and/or opening operation. The invention provides for the cylinder core (1) to have at least two material bodies (6, 7, 8), wherein a first material body (6, 7) is configured with the head region (6), which contains a first plastic, and a second material body (7, 8) is designed with the control means (8), which contains a second plastic, the second plastic having a higher strength than the first plastic.
摘要翻译：本发明涉及一种可以以可旋转的方式安装在锁定装置中的气缸芯（1），特别是机动车辆的储藏室或手套室，并具有头部区域（6）可以引入钥匙的钥匙通道（2）和与头部区域（6）相邻并形成有控制装置（8）的保持区域（7），当气缸芯（1）为围绕其旋转轴线（11）旋转，使布置在锁定装置中的止动装置移动以进行关闭和/或打开操作。本发明提供了气缸芯（1）具有至少两个材料体（6,7,8），其中第一材料体（6,7）配置有头部区域（6），其包含第一塑料，并且第二材料体（7,8）被设计成具有包含第二塑料的控制装置（8），所述第二塑料具有比第一塑料更高的强度。

15. 发明授权

US06553802B1 Electronic key, especially for motor vehicles 失效
标题翻译：电子钥匙，特别适用于汽车
公开(公告)号：US06553802B1
公开(公告)日：2003-04-29
申请号：US09868052
申请日：2001-06-13
申请人： Dirk Jacob
发明人： Dirk Jacob
IPC分类号： E05B6512
CPC分类号： E05B19/0082 , E05B19/046 , G07C9/00944 , Y10T70/5973 , Y10T70/5978 , Y10T70/7062 , Y10T70/7068 , Y10T70/7107 , Y10T70/713 , Y10T70/7136 , Y10T70/7876 , Y10T70/8676 , Y10T70/8757
摘要： The invention relates to an electronic key comprising electronic components for receiving or transmitting signals. Said components are integrated in a housing (20). A mechanical emergency key (30′) is provided in case of an electronics failure. Said emergency key (30′) can be inserted into a recess (27) in the housing (20) together with its key shaft (31′). The aim of the invention is to produce a key which can be handled easily. To this end, one end of the housing is provided with a recess which is undercut at least in places and which usually prevents the inserted emergency key (30′) from being pulled out. Usually, the key is in a holding position in the housing (20) with an essentially positive fit. However, the emergency key can be turned in the recess (27) of the housing (20) from a holding position to a release position (30′) in which the positive fit between the widening (32′) in the key (30′) and the recess is eliminated in the pull-out direction of the emergency key.
摘要翻译：本发明涉及包括用于接收或发送信号的电子部件的电子钥匙。所述部件集成在壳体（20）中。在电子设备故障的情况下提供机械应急钥匙（30'）。所述紧急钥匙（30'）可与其钥匙轴（31'）一起插入壳体（20）中的凹部（27）中。本发明的目的是产生一个易于处理的钥匙。为此，壳体的一端设置有至少在地方底切的凹部，并且通常防止插入的紧急钥匙（30'）被拉出。通常，钥匙在壳体（20）中处于保持位置，具有基本上正的配合。然而，紧急钥匙可以在壳体（20）的凹部（27）中从保持位置转到释放位置（30'），在释放位置（30'）中，钥匙（30'）中的加宽件（32'）之间的正配合，），并且在紧急钥匙的拉出方向上消除了凹部。

16. 发明授权

US09579793B2 Robot and method for controlling a robot 有权
标题翻译：用于控制机器人的机器人和方法
公开(公告)号：US09579793B2
公开(公告)日：2017-02-28
申请号：US13060847
申请日：2009-08-19
申请人： Dirk Jacob , Tobias Ortmaier
发明人： Dirk Jacob , Tobias Ortmaier
IPC分类号： B25J9/16 , A61B34/30 , A61B17/00
CPC分类号： B25J9/1643 , A61B34/30 , A61B2017/00207 , A61B2090/0427 , A61B2090/061 , B25J9/1676 , B25J9/1689 , G05B2219/39211 , G05B2219/40116 , G05B2219/40202 , G05B2219/40617
摘要： The invention relates to a robot and a method for controlling a robot. The distance between an object and the robot and/or the derivative thereof or a first motion of the object is detected by means of a non-contact distance sensor arranged in or on a robot arm of the robot and/or on or in an end effector fastened on the robot arm. The robot arm is moved based on the first motion detected by means of the distance sensor, a target force or a target torque to be applied by the robot is determined based on the distance detected between the object and the robot, and/or a function of the robot or a parameterization of a function of the robot is triggered based on the first motion detected and/or a target distance between the object and the robot and/or the derivative thereof detected by means of the distance sensor.
摘要翻译：本发明涉及一种机器人和一种用于控制机器人的方法。物体与机器人之间的距离和/或其衍生物或物体的第一运动通过布置在机器人的机器人手臂中或之上的非接触式距离传感器和/或一端执行器固定在机器人手臂上。基于通过距离传感器检测到的第一动作来移动机器人手臂，基于被检体和机器人之间的距离，确定由机器人施加的目标力或目标力矩，和/或功能基于通过距离传感器检测的第一运动和/或物体与机器人之间的目标距离和/或其导数来触发机器人的功能的参数化。

17. 发明授权

US08828023B2 Medical workstation 有权
标题翻译：医疗工作站
公开(公告)号：US08828023B2
公开(公告)日：2014-09-09
申请号：US13288614
申请日：2011-11-03
申请人： Thomas Neff , Dirk Jacob , Martin Kuschel , Marc-Walter Ueberle , Tobias Ortmaier
发明人： Thomas Neff , Dirk Jacob , Martin Kuschel , Marc-Walter Ueberle , Tobias Ortmaier
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B90/37 , A61B2034/744 , A61B2090/364
摘要： A medical work station for treating a living being using a medical instrument includes at least one robot arm, which has a plurality of members connected by joints, drives to move the members, and an attaching device, at least one control device coupled with the drives, which is set up to generate signals for actuating the drives, so that the attaching devices carry out movements assigned to the signals, and a display device coupled with the control device.
摘要翻译：用于治疗使用医疗器械的生物的医疗工作站包括至少一个机器人臂，其具有通过关节连接的多个构件，用于移动构件的驱动器和附接装置，与驱动器耦合的至少一个控制装置，其被设置为产生用于致动驱动器的信号，使得附接装置执行分配给信号的运动，以及与控制装置耦合的显示装置。

18. 发明授权

US08392022B2 Device comprising a robot, medical work station, and method for registering an object 有权
标题翻译：包括机器人，医疗工作站和用于登记物体的方法的装置
公开(公告)号：US08392022B2
公开(公告)日：2013-03-05
申请号：US12743264
申请日：2008-11-18
申请人： Tobias Ortmaier , Dirk Jacob , Thomas Neff
发明人： Tobias Ortmaier , Dirk Jacob , Thomas Neff
IPC分类号： G05B15/00
CPC分类号： A61B90/36 , A61B34/20 , A61B34/30 , A61B90/361
摘要： The invention relates to a medical device, a medical work station, and a method for registering an object (P). The medical device comprises a navigation system (17, 18) and a robot (R) having several axes of rotation (1-6). The navigation system (17, 18) comprises a detection device (18) for detecting prominent points on an object (P) or markers (M) placed on the object (P) as well as a processing device (17) for determining the position of the object (P) on the basis of the prominent points or markers (M) detected by means of the detection device (18). The detection device (18) of the navigation system is mounted on the robot (R).
摘要翻译：本发明涉及一种医疗装置，医疗工作站以及用于登记物体（P）的方法。医疗装置包括导航系统（17,18）和具有多个旋转轴（1-6）的机器人（R）。导航系统（17,18）包括用于检测放置在物体（P）上的物体（P）或标记（M）上的突出点的检测装置（18）以及用于确定位置的处理装置（17）基于通过检测装置（18）检测到的突出点或标记（M）来检测物体（P）。导航系统的检测装置（18）安装在机器人（R）上。

19. 发明申请

US20100292707A1 Sterile Barrier For A Surgical Robot With Torque Sensors 有权
标题翻译：具有扭矩传感器的手术机器人的无菌屏障
公开(公告)号：US20100292707A1
公开(公告)日：2010-11-18
申请号：US12810430
申请日：2009-01-20
申请人： Tobias Ortmaier , Dirk Jacob , Thomas Neff , Achim Heinze
发明人： Tobias Ortmaier , Dirk Jacob , Thomas Neff , Achim Heinze
IPC分类号： A61B19/00
CPC分类号： B25J19/0075 , A61B34/30 , A61B46/10 , A61B2017/00477 , A61B2034/305
摘要： The invention relates to a sterile barrier (S) for a surgical robot (1) comprising at least one joint (12 . . . 15) with two opposing joint members (40, 42) that rotate relative to one another about a common joint axis (16 . . . 19) and a torque sensor (29) comprising: at least two sterile barrier sections (24 . . . 28) each with an end section (38, 39) for sealed attachment to a respective joint end section (41, 43) of the joint member (40, 42); and a sealing arrangement (30) for producing a sterile and sealed rotating connection of the end sections (38, 39) of the at least two sterile barrier sections (24 . . . 28); and a surgical robot (1).
摘要翻译：本发明涉及一种用于外科手术机器人（1）的无菌屏障（S），其包括具有两个相对的关节构件（40,42）的至少一个关节（12。，15），所述两个相对的关节构件围绕共同的关节轴线相对于彼此旋转（16-19）和扭矩传感器（29），包括：至少两个无菌阻挡部分（24,28），每个具有端部部分（38,39），用于密封地附接到相应的接头端部分（41），43）; 以及密封装置（30），用于产生所述至少两个无菌屏障部分（24 ... 28）的端部（38,39）的无菌且密封的旋转连接。和外科手术机器人（1）。

20. 发明申请

US20100274389A1 Device Comprising A Robot, Medical Work Station, And Method For Registering An Object 有权
标题翻译：装置包括机器人，医疗工作站和注册对象的方法
公开(公告)号：US20100274389A1
公开(公告)日：2010-10-28
申请号：US12743264
申请日：2008-11-18
申请人： Tobias Ortmaier , Dirk Jacob , Thomas Neff
发明人： Tobias Ortmaier , Dirk Jacob , Thomas Neff
IPC分类号： B25J13/08 , B25J9/06
CPC分类号： A61B90/36 , A61B34/20 , A61B34/30 , A61B90/361
摘要： The invention relates to a medical device, a medical work station, and a method for registering an object (P). The medical device comprises a navigation system (17, 18) and a robot (R) having several axes of rotation (1-6). The navigation system (17, 18) comprises a detection device (18) for detecting prominent points on an object (P) or markers (M) placed on the object (P) as well as a processing device (17) for determining the position of the object (P) on the basis of the prominent points or markers (M) detected by means of the detection device (18). The detection device (18) of the navigation system is mounted on the robot (R).
摘要翻译：本发明涉及一种医疗装置，医疗工作站以及用于登记物体（P）的方法。医疗装置包括导航系统（17,18）和具有多个旋转轴（1-6）的机器人（R）。导航系统（17,18）包括用于检测放置在物体（P）上的物体（P）或标记（M）上的突出点的检测装置（18）以及用于确定位置的处理装置（17）基于通过检测装置（18）检测到的突出点或标记（M）来检测物体（P）。导航系统的检测装置（18）安装在机器人（R）上。

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