Kuka Deutschland Gmbh

Kuka Roboter Gmbh

Grenzebach Maschinenbau Gmbh

Sven Brudniok

Sebastian Lohmeier

Wolfgang Schober

Martin Riedel

Günter Schreiber

Johann Maischberger

Johannes Kurth

Jakob Berghofer

Winhold Linnhoff

Patrik Pfaff

Sven Hafenberg

A gripper includes at least one first gripper finger adjustably mounted to a gripper main body by a gripping finger mount, at least one second gripper finger cooperating with the first gripper finger, and a motor-drivable transmission configured to adjust the at least one first gripper finger relative to the gripper main body and the at least one second gripper finger such that a clamping force is generated, whereby an article can be held in a clamped manner by the gripper. The transmission includes a first transmission member connected to the first gripper finger, and a second transmission member mounted on the gripper main body by a transmission-member bearing arrangement having a first transmission member bearing configured to absorb the transmission-bearing reaction force that acts in a direction of the clamping force. The transmission-member bearing arrangement includes a sensor configured to sense the transmission-bearing reaction force.

Gripper having a sensor on a transmission member bearing of the gripper

A robot gripper includes a first gripper finger and at least one second gripper finger, a gripper main body, a base element mounted for rotation about a first rotational axis relative to the gripper main body by a first rotary joint, and an intermediate element mounted for rotation relative to the base element by a second rotary joint. The gripper further includes a finger carrier carrying the first gripper finger and mounted for rotation relative to the intermediate element by a third rotary joint, namely about a third rotational axis, and a drive device that is separate from the first, second, and third rotary joints. The drive device is supported against the gripper main body and is configured to adjust the finger carrier relative to the second gripper finger with a drive force that is introduced into the finger carrier by the drive device.

Robot gripper having a drive device

A robot gripper includes a main gripper body that has a connection flange designed to secure the rotational gripper to a tool flange of a robotic arm; a base element that is mounted on the main gripper body such that it can rotate about a first rotational axis by a first rotational joint able to be adjusted automatically by a first drive motor; a first gripper finger mounted such that it can rotate about a second rotational axis aligned parallel to the first rotational axis, relative to the base element, by a second rotational joint which can be adjusted automatically by a second drive motor; and at least one additional gripper finger. The second rotational joint is configured to adjust the first gripper finger individually, using the second drive motor, independently of the at least one additional gripper finger.

Robot gripper

A positioning device for a robot includes an end effector, in particular a surgical end effector, which has a base and a flange to which the robot can be secured, wherein the flange is connected to the base by a kinematic system which has at least two joints. 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 by the kinematic system, the second position being spaced apart from the first position. An orientation means reorients the flange from a first orientation in the first position into a second orientation in the second position, the second orientation being rotated about a reference axis by at least 75 degrees, in particular relative to the first orientation, as a result of an adjustment from a first position into a second position.

Positioning a robot

A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.

Robot with a force measuring device

A surgical instrument arrangement has a modular motor drive unit which has a drive arrangement having at least one output element, an instrument shaft that can be detachably connected to the drive unit, and a drive arrangement having at least one input drive element. The output drive arrangement and the input drive arrangement can be coupled to each other by a mechanical interface that has at least one single-sided linkage, a pin, and a cut-out, wherein the pin can be radially expanded in the cut-out. Alternatively, a gap may be formed between the pin and the cut-out, which gap is wavy in the radial direction, and in which a radially displaceable, axially fixed intermediate element arrangement is arranged. The surgical instrument arrangement may also include a sterile barrier, which is provided to envelop the drive unit and to be arranged between the drive unit and the instrument shaft.

Surgical instrument arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument

An X-ray arrangement for a medical work station includes a frame having a first frame section supporting an X-ray transmitter and a second frame section opposite the first frame section and supporting an X-ray receiver. The medical work station further includes an adjustment device configured to change a relative pose of at least one of the X-ray transmitter or the X-ray receiver relative to the frame by adjusting at least one of the pose of the X-ray transmitter at the first frame section or the pose of the X-ray receiver (at the second frame section independently of one other. In one aspect, the frame may be shaped as a C-arm.

X-ray device having an adjusting apparatus

Surgical instrument, arrangement and drive train arrangement for a surgical instrument, in particular a robot-guided surgical instrument, and surgical instrument

A surgical instrument according to the invention, particularly a robot-guided surgical instrument, has a shaft end (), a tool holder (), which is mounted on the shaft end so as to be able to rotate about a yaw axis (G), and a tool () with a main lever (A), in particular a blade and/or jaw, which is mounted on the tool holder so as to rotate about a pitch axis (N), and a gear transmission with a drive wheel (), which is mounted on the tool holder so as to be rotatable about an input gear axis (G) by a driving means (), and, in force-fit and/or form-fit connection therewith, an output wheel (), which is mounted on the tool holder so as to rotate about an output gear axis (N) and by means of which the tool is rotatable about the pitch axis, or a wraparound transmission with a drive wheel, which is mounted on the tool holder so as to be rotatable about an input gear axis by a driving means, an output wheel, which is mounted on the tool holder so as to be able to rotate about an output gear axis and by means of which the tool is rotatable about the pitch axis, and two traction strands which are different from the drive means, are in particular connected and couple drive wheel and output wheel, or a differential transmission with an output wheel (A), which is mounted on the tool holder so as to be able to rotate about an output gear axis and by means of which the tool is rotatable about the pitch axis, wherein two traction strands are mutually offset in the direction of the output gear axis, in particular on both sides of the yaw axis, run in opposite directions from the output wheel and/or onto the output wheel and/or are both secured on the output wheel and/or are different from a driving means by which a drive wheel (), firmly or operatively connected to the tool holder, is rotatable about the yaw axis.

Surgical instrument

A handling system and method for automatically moving a gravity-based load body using a robot. The load body is supported by a load body holding means connected to an end effector flange of the robot. A gravity compensation device includes a connector element acting on an element or the end effector flange of the robot to compensate for the gravity of the load body.

Method and handling system for automatically moving a gravity-compensated load body

An omnidirectional wheel has a hub that is rotatable around a rotational axis, and two wheel discs connected to the hub and spaced coaxially on the hub. A number of roller bodies are located between the wheel discs, evenly distributed around a circumferential edge of the wheel. The respective roller axes of the roller bodies are aligned at a diagonal angle relative to the rotational axis, and are each supported in a freely rotating manner between the wheel discs at opposite ends thereof. Each roller body is mounted in a freely rotating manner in respective modules respectively attached to the wheel discs.

Growing community of inventors

Langerringen, Germany

Sven Brudniok