The invention relates to a torque sensor (10) with a main body (12) that extends in an axial and circumferential direction, and which extends in a radial direction of the main body from an annular inner flange (18) with first force introduction points (16) via a mechanically weakened sensor portion (20), which is provided with measuring sensors that generate output signals, to an annular outer flange (32) with second force introduction points (34), wherein the second force introduction points (34) are connected to the sensor portion (20) via a radially elastic material portion (28). The radially elastic material portion (28) is formed by multiple radially elastic bending strips 31), which are arranged in a distributed manner around a circumference of the main body (12), and is connected to the mechanically weakened sensor portion (20) via an annular, radially stiff decoupling region (27).
G01L 3/14 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple est autre qu'un arbre élastique en torsion
G01L 1/22 - Mesure des forces ou des contraintes, en général en faisant usage des cellules électrocinétiques, c. à d. des cellules contenant un liquide, dans lesquelles un potentiel électrique est produit ou modifié par l'application d'une contrainte en utilisant des jauges de contrainte à résistance
09 - Appareils et instruments scientifiques et électriques
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Drive units, for use in relation to the following goods: Simulators; Handling machines, automatic [manipulators]; telemanipulators, for use in relation to the following goods: Remote control vehicles, steer-by-wire vehicles and missiles; telemanipulators, for use in relation to the following goods: Self-driving vehicles, steer-by-wire vehicles and missiles; Steering systems; Automated steering systems; Pneumatic or hydraulic linear actuators, other than for land vehicles; Force or torque controlled drives for simulators, for steering and controlling land vehicles, water vehicles and aeroplanes, machines and engines and motors; Propulsion systems (except for land vehicles), consisting of machine belts, timing belts, driving chains, driving machines and transmission shafts; Indoor self-driving robots for industrial use; Motors, other than for land vehicles; Gears, other than for land vehicles; Drives for converting rotary motion to linear motion [other than for land vehicles]. Instrumentation simulators; Simulators for simulating the operation of aircraft; Simulators for simulating the operation of land vehicles; Programmable controllers; Steering apparatus, automatic, for vehicles; Checking (supervision) apparatus, namely Force-feedback systems; Force feedback systems; Electric actuators; Haptic actuators; Electric linear actuators; Force-feedback actuators; Force feedback actuators; Piezoelectric actuators; Measuring apparatus; Sensors; simulators for the steering and control of land vehicles, Simulators for the steering and control of water vehicles and aeroplanes; Checking (supervision) apparatus, for use in relation to the following goods: Machines and motors; Controllers and regulators; Robotic electrical control apparatus; Dynamometers; Torque transducers; Pneumatic control apparatus. Parts for automobiles, included in class 12; Torque converters for land vehicles; Torque converters for motor cars; Pneumatic or hydraulic linear actuators for land vehicles. Engineering services, in relation to the following goods: Simulators; Design and development of simulators; Development and testing of computing methods, algorithms and software; development of algorithms, for use in relation to the following goods: Simulators, Steer-by-wire vehicles, telemanipulated vehicles, missiles; Design and development of steering systems for automated driving; Design and development services, in relation to the following goods: Actuators; Design and development services, in relation to the following goods: Force-feedback systems, force-feedback actuators, force feedback systems, force feedback actuators.
3.
TORQUE SENSOR HAVING A RADIALLY ELASTIC MATERIAL SECTION
The invention relates to a torque sensor (10) with a main body (12) that extends in an axial and circumferential direction, which extends in a radial direction of the main body from an annular inner flange (18) with first force introduction points (16) over a mechanically weakened sensor portion (20), which is provided with measuring sensors that generate output signals, to an annular outer flange (32) with second force introduction points (34), wherein the second force introduction points (34) are connected to the sensor portion (20) via a radially elastic material section (28). The radially elastic material section (28) is formed by multiple radially elastic strain gauges (31), which are arranged in a distributed manner around a circumference of the main body (12), and is connected to the mechanically weakened sensor portion (20) via an annular, radially stiff decoupling region (27).
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Power and torque-regulated drives for robots, simulators, feed units, printing machines and machine tools, medical apparatus, fitness equipment; control and regulatory apparatus, for use in relation to the following goods: Robot, machines and Engines and motors; Propulsion systems (except for land vehicles), consisting of machine belts, timing belts, driving chains, driving machines and transmission shafts; Robots for machine tools; Robotic arms for industrial purposes; Robotic exoskeleton suits, other than for medical purposes; Robots with articulated arms for manipulating workpieces; Indoor self-driving robots for industrial use; Motors, other than for land vehicles; Gears, other than for land vehicles; Transport systems, in particular Conveyors [machines], Belts for conveyors and Belt conveyors; Robotic picking machines (machines); Driving devices for machines; Drives for robots; Drives for collaborative robots; Pneumatic controls for machines, motors and engines; Pneumatic controls for machines, for motors and for engines; Hydraulic controls for machines, motors and engines; Industrial robots; Control mechanisms for robotic machines; Torque converters for machines; Drives for converting rotary motion to linear motion [other than for land vehicles]; Drive units, for use in relation to the following goods: Medical apparatus and systems. Measuring apparatus; Sensors; simulators for the steering and control of land vehicles, Simulators for the steering and control of water vehicles and aeroplanes; Checking (supervision) apparatus, for use in relation to the following goods: Machines and motors; Controllers and regulators; Robotic electrical control apparatus; Dynamometers; Torque transducers; Pneumatic control apparatus; Sensors, for use in relation to the following goods: Medical machinery and Medical systems; Security surveillance robots; Security surveillance robots; Humanoid robots with artificial intelligence for use in scientific research. Medical instruments; Holding systems for surgical instruments; Surgical robots; Teleoperated diagnosis and surgery systems; Components for medical apparatus, Components for medical systems; Surgical robots; Robotic exoskeleton suits for medical purposes; Medical robots for use in cognitive therapy for children; Wearable walking assistive robots for medical purposes. Parts for automobiles, included in class 12; Torque converters for land vehicles; Torque converters for motor cars. Development, Construction drafting, In relation to the following goods, Custom drives; Engineering services relating to robotics; Engineering services, Relating to the following sectors, Medical technology; Engineering services, Relating to the following sectors, Motor vehicle technology, automotive; Design and development services in the following fields: Components for motor vehicles; Design and development of medical technology.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Power or torque regulated drives, in relation to the following goods, Robot, Simulators, conductor units, pressure machines and machine tools, Medical apparatus, Fitness apparatus; Control apparatus, Control apparatus, in relation to the following goods, Robot, machines, Engines and motors; Propulsion systems, Except for land vehicles, Of the following goods, Machine belts, Synchronous belts, Drive chains, Driving devices for machines, Transmission shafts; Robots [machines]; Motors, other than for land vehicles; Gear boxes, other than for land vehicles; Transport systems, namely Conveyors [machines], Belts for conveyors and Belt conveyors; Robotic picking machines (machines); Driving devices for machines; Drives for robots; Drives for collaborative robots; Pneumatic controls for machines, motors and engines; Pneumatic controls for machines, for motors and for engines; Hydraulic controls for machines, motors and engines; Industrial robots; Control mechanisms for robotic machines; Torque converters for machines; Drives for converting rotary motion to linear motion [other than for land vehicles]; Drive units, in relation to the following goods, Medical apparatus, Medical systems. Measuring apparatus; Sensors; simulators for the steering and control of land vehicles, Simulators for the steering and control of water vehicles and aeroplanes; Checking (supervision) apparatus, In relation to the following goods, Machines, motors; Controllers and regulators; Robotic electrical control apparatus; Dynamometers; Torque transducers; Pneumatic control apparatus; Sensors, In relation to the following goods, Medical machinery, Medical systems. Medical instruments; Holding systems for surgical instruments; Surgical robots; Teleoperated diagnosis and surgery systems; Components for medical apparatus, Components for medical systems. Parts for automobiles, included in class 12; Torque converters for land vehicles; Torque converters for motor cars. Development, Construction drafting, in relation to the following goods, Custom drives; Engineering services relating to robotics; Engineering services, in relation to the following fields, Medical technology; Engineering services, in relation to the following fields, Motor vehicle technology, automotive; drafting services, Development, in relation to the following goods, Components for motor vehicles; Design and development of medical technology.
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
12 - Véhicules; appareils de locomotion par terre, par air ou par eau; parties de véhicules
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Power or torque regulated drives, in relation to the following goods, Robot, Simulators, conductor units, pressure machines and machine tools, Medical apparatus, Fitness apparatus; Control apparatus, Control apparatus, in relation to the following goods, Robot, machines, Engines and motors; Propulsion systems, Except for land vehicles, Of the following goods, Machine belts, Synchronous belts, Drive chains, Driving devices for machines, Transmission shafts; Robots [machines]; Motors, other than for land vehicles; Gear boxes, other than for land vehicles; Transport systems, namely Conveyors [machines], Belts for conveyors and Belt conveyors; Robotic picking machines (machines); Driving devices for machines; Drives for robots; Drives for collaborative robots; Pneumatic controls for machines, motors and engines; Pneumatic controls for machines, for motors and for engines; Hydraulic controls for machines, motors and engines; Industrial robots; Control mechanisms for robotic machines; Torque converters for machines; Drives for converting rotary motion to linear motion [other than for land vehicles]; Drive units, in relation to the following goods, Medical apparatus, Medical systems. Measuring apparatus; Sensors; simulators for the steering and control of land vehicles, Simulators for the steering and control of water vehicles and aeroplanes; Checking (supervision) apparatus, In relation to the following goods, Machines, motors; Controllers and regulators; Robotic electrical control apparatus; Dynamometers; Torque transducers; Pneumatic control apparatus; Sensors, In relation to the following goods, Medical machinery, Medical systems. Medical instruments; Surgical robots; Holding systems for surgical instruments; Teleoperated diagnosis and surgery systems; Components for medical apparatus, Components for medical systems. Parts for automobiles, included in class 12; Torque converters for land vehicles; Torque converters for motor cars. Development, Construction drafting, in relation to the following goods, Custom drives; Engineering services relating to robotics; Engineering services, in relation to the following fields, Medical technology; Engineering services, in relation to the following fields, Motor vehicle technology, automotive; drafting services, Development, in relation to the following goods, Components for motor vehicles; Design and development of medical technology.
The invention relates to a torque sensor (1000; 1100) having a base body (1001; 1101) which extends in a radial direction (Y) of the base body from an annular inner flange (1003; 1103) having first force application points (1005; 1105), via a mechanically weakened sensor portion (1007; 1107) equipped with measurement transducers (10, 20) which generate output signals, to an annular outer flange (1009; 1109) having second force application points (1011; 1111), wherein a rubber-elastic sealing membrane (1031; 1131) arranged axially between the outer flange (1009; 1109) and the inner flange (1003; 1103) covers the mechanically weakened sensor portion (1007; 1107) in a fluid-tight manner.
The invention relates to a torque sensor having a base body which extends in a radial direction of the base body from an annular inner flange having first force application points, via a mechanically weakened sensor portion equipped with measurement transducers which generate output signals, to an annular outer flange having second force application points, wherein the second force application points are connected to the sensor portion by a radially elastic material portion.
G01L 3/00 - Mesure du couple, du travail, de la puissance ou du rendement mécanique en général
G01L 3/14 - Dynamomètres de transmission rotatifs dans lesquels l'élément transmettant le couple est autre qu'un arbre élastique en torsion
G01L 1/22 - Mesure des forces ou des contraintes, en général en faisant usage des cellules électrocinétiques, c. à d. des cellules contenant un liquide, dans lesquelles un potentiel électrique est produit ou modifié par l'application d'une contrainte en utilisant des jauges de contrainte à résistance
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
The invention relates to a torque sensor having a main body (601), which extends in a radial direction (Y) of the main body from a ring-shaped inner flange (603) with first force transmission points (605), via a mechanically weakened sensor portion (607) that is equipped with measurement value recorders (10, 20) that generate output signals, to a ring-shaped outer flange (509; 609) with second force transmission points (611), wherein the mechanically weakened sensor portion (607) comprises radially extending first connecting webs (619a) and second connecting webs (619b), which have different mechanical properties and which are arranged in alternating fashion in the circumferential direction.
The invention relates to a torque sensor (1000; 1100) having a base body (1001; 1101), which extends in a radial direction (Y) of the base body from an annular inner flange (1003; 1103) with first force introduction points (1005; 1105) via a mechanically weakened sensor portion (1007; 1107), which is fitted with measuring sensors (10, 20) generating output signals, to an annular outer flange (1009; 1109) with second force introduction points (1011; 1111), wherein a rubber-elastic sealing membrane (1031; 1131), which is arranged axially between the outer flange (1009; 1109) and the inner flange (1003; 1103), covers the mechanically weakened sensor portion (1007; 1107) in a fluid-tight manner.
The invention relates to a torque sensor (100) having a main body (101), which extends in a radial direction (Y) of the main body from an annular inner flange (103) with first force transmission points (105), via a mechanically weakened sensor portion (107) that is equipped with measurement value recorders (10, 20) that generate output signals, to an annular outer flange (109) with second force transmission points (111), wherein the second force transmission points (111) are connected to the sensor portion (107) by a radially elastic material portion (113).
The invention relates to a retaining device for an instrument, comprising at least one joint having at least two parts that can be moved relative to each other and at least one drive unit associated with the joint. The drive unit is designed to move the joint by driving at least one of the parts of the joint that can be moved relative to each other. The retaining device also comprises a securing device, which has a locking mechanism associated with the joint and a release unit that can be activated, wherein the locking mechanism interacts with the release unit in such a way that the locking mechanism holds the joint in a locked position as long as the release unit is not activated. The securing device is designed to permit a motion of the joint out of the particular locked position within a specified range of motion even if the release unit is not activated. The invention further relates to a corresponding securing device for a retaining device and to an operating method for said securing device.
F16M 11/10 - Moyens pour la fixation des appareils; Moyens permettant le réglage des appareils par rapport au banc permettant la rotation autour d'un axe horizontal
F16M 11/18 - Têtes des supports avec mécanisme déplaçant les appareils par rapport au banc
F16P 3/00 - Dispositifs de sécurité agissant en conjonction avec la commande ou le fonctionnement d'une machine; Commandes exigeant l'emploi simultané de plusieurs parties du corps humain
A retaining device is provided for an instrument, including at least one joint having at least two parts, and at least one drive unit associated with the joint designed to move the joint by driving at least one of the parts. The retaining device includes a securing device, which has a locking mechanism associated with the joint and a release unit that can be activated, wherein the locking mechanism interacts with the release unit such that the locking mechanism holds the joint in a locked position as long as the release unit is not activated. The securing device permits motion of the joint out of the particular locked position within a specified range of motion even if the release unit is not activated. A corresponding securing device for a retaining device and to an operating method for the securing device are also provided.
F16M 11/10 - Moyens pour la fixation des appareils; Moyens permettant le réglage des appareils par rapport au banc permettant la rotation autour d'un axe horizontal
F16M 11/18 - Têtes des supports avec mécanisme déplaçant les appareils par rapport au banc
F16P 3/00 - Dispositifs de sécurité agissant en conjonction avec la commande ou le fonctionnement d'une machine; Commandes exigeant l'emploi simultané de plusieurs parties du corps humain
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
The invention relates to a retaining device (10) for an instrument (12), comprising at least one joint (14) having at least two parts (16, 18) that can be moved relative to each other and at least one drive unit associated with the joint (14). The drive unit is designed to move the joint (14) by driving at least one of the parts (18) of the joint (14) that can be moved relative to each other. The retaining device (10) also comprises a securing device, which has a locking mechanism associated with the joint (14) and a release unit (24) that can be activated, wherein the locking mechanism interacts with the release unit (24) in such a way that the locking mechanism holds the joint (14) in a locked position as long as the release unit (24) is not activated. The securing device is designed to permit a motion of the joint (14) out of the particular locked position within a specified range of motion even if the release unit (24) is not activated. The invention further relates to a corresponding securing device for a retaining device and to an operating method for said securing device.
F16M 11/04 - Moyens pour la fixation des appareils; Moyens permettant le réglage des appareils par rapport au banc
A61B 19/00 - Instruments, outillage ou accessoires pour la chirurgie ou le diagnostic non couverts par l'un des groupes A61B 1/00-A61B 18/00, p.ex. pour stéréotaxie, opération aseptique, traitement de la luxation, protecteurs des bords des blessures(masques de protection du visage A41D 13/11; blouses de chirurgien ou vêtements pour malades A41D 13/12; dispositifs pour retirer, traiter ou transporter les liquides du corps A61M 1/00)
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Power and torque-regulated drives for robots, simulators, feed units, printing machines and machine tools, medical apparatus, fitness equipment. Development and construction drafting of customised drives.
