Deutsches Zentrum Fur Luft-und Raumfahrt E.v.

Brainlab Ag

Markus Grebenstein

Bernd Gombert

Johannes Dietrich

Rainer Birkenbach

Andreas Hartlep

Michael Bertram

Ulrich Hagn

Richard Wohlgemuth

Tobias Ortmaier

Alin Albu-Schäffer

Mathias Nickl

Franz Hacker

Rainer Konietschke

Stefan Jörg

Klaus Jöhl

An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

Anthropomorphic medical robot arm with movement restrictions

An electromechanical brake, in particular for vehicles, has an electric actuator which generates an actuation force and acts on at least one frictional element so as to press the latter, in order to bring about a frictional force, against a rotatable component of the brake which is to be braked. In order to keep the actuation force to be applied by the actuator low, there is, between the component to be braked and the electric actuator, an arrangement which brings about the self-energization of the actuation force generated by the electric actuator. In the event of a deviation between the setpoint value and the actual value, a device for comparing a setpoint value of the frictional force with the actual value of the frictional force controls the electric actuator, in order to correspondingly increase or decrease the generated actuation force, with the result that the actual value is approximated to the setpoint value of the frictional force. Fluctuations in the coefficient of friction thus do not have a disruptive effect.

Electromechanical brake with self-energization

To form the drive for an electrically-actuatable vehicle brake whose frictional elements can be pressed against a brake disk (38) with the aid of an electric motor (4), the electric motor (4) is connected, by way of a spindle gear that acts, with axial guidance and protection against relative rotation, in the direction of displacement of the frictional elements, to a brake piston (24), which is seated to be axially displaceable and acts on the frictional elements. A pitch-true, planetary-roller threaded (SPWG) spindle (12) known per se is used as the spindle gear, the spindle comprising a spindle shaft (16), a spindle nut (14) encompassing this shaft, and a plurality of barrel or roller bodies (28) disposed between the two, the bodies being provided with grooved profiles (29) that fit the spindle shaft (16). The barrel or roller bodies (28) are seated by a plurality of guide rings (30) or a guide body (30') and bearings (18, 20) disposed between them. The barrel or roller bodies (28) are disposed with fixedly-predetermined spacing relative to the spindle nut (14) and one another.

Drive for an electrically actuatable vehicle brake

Growing community of inventors

Munich, Germany

Markus Grebenstein