EP3045274A3

Robotic arm with five-bar spherical linkage

Abstract

A robotic arm with a parallel spherical five-bar linkage having a ground link, two inboard links, and two outboard links. Each inboard link is coupled to the ground link at an axis of rotation and has an intermediate axis spaced apart from the axis of rotation. Each outboard link is pivotally coupled to one of the inboard links at the intermediate axis. The two outboard links are pivotally coupled together at an outboard axis. A constraint limits the rotation of a first one of the outboard links about the intermediate axis of the coupled inboard link such that a maximum angle between the links is substantially less than 180°. A second one of the outboard links and the coupled inboard link are constructed and assembled such that the two intermediate axes are on the same side of a plane including the outboard axis and one of the axes of rotation.

EP3045274A3, drawing sheet 1 — Sheet 1 of 1

Term

0.3 yearsto projected expiry

Projected expiry 24 January 2027, counted from filing; an application has no term until it is granted.

1 sheet

Sheet 1

Every citation, both ways

Citations
Document	Relation	Office	Category	Cited during	Relevant claims
US2004024385A1	Cites	United States of America	–	Search report	–
WO9622591A1	Cites	World Intellectual Property Organization (WIPO)	XY	Search report	1,5-9
WO9622591A	Cites	World Intellectual Property Organization (WIPO)	–	–	–

47 members in 6 offices

This recordMember, by publication datePriority claim

Priority claims17

Priority claims
Document	Office	Kind	Date
762233P	United States of America	–	2006-01-25
76223306	United States of America	P	2006-01-25
76223306	United States of America	P	2006-01-25
786491P	United States of America	–	2006-03-28
78649106	United States of America	P	2006-03-28
78649106	United States of America	P	2006-03-28
07756420	European Patent Office (EPO)	A	2007-01-24
07756420	European Patent Office (EPO)	A	2007-01-24
2007060950	United States of America	W	2007-01-24
2007060950	United States of America	W	2007-01-24
077564201	–	–	–
762233P	–	–	–
786491P	–	–	–
EP20070756420	–	–	–
US20060762233P	–	–	–
US20060786491P	–	–	–
WO2007US60950	–	–	–

Members47

Family members, oldest first
Document	Office	Kind
US2007173788A1	United States of America	A1	2007-07-26
US2007173789A1	United States of America	A1	2007-07-26
US2007173975A1	United States of America	A1	2007-07-26
US2007173976A1	United States of America	A1	2007-07-26
US2007173977A1	United States of America	A1	2007-07-26
WO2007114975A2	World Intellectual Property Organization (WIPO)	A2	2007-10-11
WO2007120952A2	World Intellectual Property Organization (WIPO)	A2	2007-10-25
WO2007120952A3	World Intellectual Property Organization (WIPO)	A3	2008-05-02
WO2007114975A3	World Intellectual Property Organization (WIPO)	A3	2008-05-15
EP1976447A2	European Patent Office (EPO)	A2	2008-10-08
KR20080091236A	Republic of Korea	A	2008-10-09
KR20080092346A	Republic of Korea	A	2008-10-15
CN101360462A	China	A	2009-02-04
JP2009524498A	Japan	A	2009-07-02
JP2009524530A	Japan	A	2009-07-02
CN101856273A	China	A	2010-10-13
CN101360462B	China	B	2011-05-11
US8142420B2	United States of America	B2	2012-03-27
US8162926B2	United States of America	B2	2012-04-24
US8167872B2	United States of America	B2	2012-05-01
US8167873B2	United States of America	B2	2012-05-01
US2012184968A1	United States of America	A1	2012-07-19
JP2012139816A	Japan	A	2012-07-26
JP2012210439A	Japan	A	2012-11-01
JP5153650B2	Japan	B2	2013-02-27
US8469945B2	United States of America	B2	2013-06-25
US8506556B2	United States of America	B2	2013-08-13
KR101304280B1	Republic of Korea	B1	2013-09-11
US2013255425A1	United States of America	A1	2013-10-03
CN101856273B	China	B	2013-10-16
US2013338434A1	United States of America	A1	2013-12-19
JP5386178B2	Japan	B2	2014-01-15
JP2014004682A	Japan	A	2014-01-16
JP2014061439A	Japan	A	2014-04-10
JP5656296B2	Japan	B2	2015-01-21
JP2015013195A	Japan	A	2015-01-22
JP5787363B2	Japan	B2	2015-09-30
KR101602241B1	Republic of Korea	B1	2016-03-10
EP1976447B1	European Patent Office (EPO)	B1	2016-03-23
EP3045274A2	European Patent Office (EPO)	A2	2016-07-20
EP3045274A3This record	European Patent Office (EPO)	A3	2016-10-26
US9907458B2	United States of America	B2	2018-03-06
US2018192859A1	United States of America	A1	2018-07-12
EP3045274B1	European Patent Office (EPO)	B1	2019-03-06
EP3517256A1	European Patent Office (EPO)	A1	2019-07-31
US10433923B2	United States of America	B2	2019-10-08
US10779711B2	United States of America	B2	2020-09-22

77 legal events, as 9 offices reported them to INPADOC

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Events

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	Event	Code	Office
2025-10-20	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2025-10-16	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2025-10-10	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2025-09-24	Gb: european patent ceased through non-payment of renewal feeCeasedGBPC	GBPC	EP
2025-08-01	Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal feeWithdrawnR119	R119	DE
2024-05-31	Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP	PGFP	EP
2024-04-30	Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP	PGFP	EP
2024-04-30	Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP	PGFP	EP
2023-06-14	Opt-out of the competence of the unified patent court (upc) registeredP01	P01	EP
2022-06-01	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2021-01-29	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-11-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-11-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-11-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-10-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-10-15	Lapsed because of non-payment of the annual feeLapsedMM	MM	BE
2020-08-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-08-31	Patent ceasedCeasedPL	PL	CH
2020-03-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-02-28	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-02-12	No opposition filedOpposition26N	26N	EP
2020-01-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2020-01-10	No opposition filed within time limitOppositionORIGINAL CODE: 0009261PLBE	PLBE	EP
2020-01-10	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: NO OPPOSITION FILED WITHIN TIME LIMITSTAA	STAA	EP
2019-12-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-12-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-12-09	No opposition filed against granted patent, or epo opposition proceedings concluded without decisionGrantedR097	R097	DE
2019-11-29	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-10-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-09-15	Deletion acc. to par. 5 (withdrawal of the translation of the ep patent)MK05	MK05	AT
2019-08-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-08-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-08-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-08-30	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-07-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-07-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-07-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2019-07-25	Invalidated european patentMG4D	MG4D	LT
2019-07-10	Patent invalid in the netherlands as no translation has been filedMP	MP	NL
2019-04-03	European patents granted designating irelandGrantedFG4D	FG4D	IE
2019-03-28	Dpma publication of mentioned ep patent grantGrantedR096	R096	DE
2019-03-15	European patent takes effect as a national patent in ch/liEP	EP	CH
2019-03-15	Reference to at number (ep patent validated in austria)REF	REF	AT
2019-03-06	Divisional application: reference to earlier applicationAC	AC	EP
2019-03-06	Designated contracting statesAK	AK	EP
2019-03-06	European patent grantedGrantedFG4D	FG4D	GB
2019-02-01	(expected) grantORIGINAL CODE: 0009210GRAA	GRAA	EP
2019-02-01	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: THE PATENT HAS BEEN GRANTEDSTAA	STAA	EP
2019-01-26	Grant fee paidORIGINAL CODE: EPIDOSNIGR3GRAS	GRAS	EP
2018-10-10	Intention to grant announcedINTG	INTG	EP
2018-09-19	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2018-09-19	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2018-09-19	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2018-09-19	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2018-09-19	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2018-09-10	Despatch of communication of intention to grant a patentORIGINAL CODE: EPIDOSNIGR1GRAP	GRAP	EP
2018-09-10	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: GRANT OF PATENT IS INTENDEDSTAA	STAA	EP
2017-11-08	Party data changed (applicant data changed or rights of an application transferred)RAP1	RAP1	EP
2017-09-13	First examination report despatched17Q	17Q	EP
2017-09-13	Party data changed (applicant data changed or rights of an application transferred)RAP1	RAP1	EP
2017-08-11	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: EXAMINATION IS IN PROGRESSSTAA	STAA	EP
2017-06-15	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: REQUEST FOR EXAMINATION WAS MADESTAA	STAA	EP
2017-06-07	Request for examination filed17P	17P	EP
2017-06-07	Designated contracting states (corrected)RBV	RBV	EP
2016-10-26	Designated contracting statesAK	AK	EP
2016-10-26	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2016-10-26	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2016-09-23	Search report despatchedORIGINAL CODE: 0009013PUAL	PUAL	EP
2016-07-20	Divisional application: reference to earlier applicationAC	AC	EP
2016-07-20	Designated contracting statesAK	AK	EP
2016-06-17	Public reference made under article 153(3) epc to a published international application that has entered the european phaseORIGINAL CODE: 0009012PUAI	PUAI	EP

Robotic arm with five-bar spherical linkage

Abstract

Term

Priority claims17

Members47

Over the term

Events

Numbers

Titles3

Classification

Designated states1