ATE468206T1 - Energieversorgungsübertragung für roboteranwendungen zwischen einem ersten glied und einem zweiten glied, die drehbar bezüglich einander angeordnet sind - Google Patents

Energieversorgungsübertragung für roboteranwendungen zwischen einem ersten glied und einem zweiten glied, die drehbar bezüglich einander angeordnet sind

Info

Publication number
ATE468206T1
ATE468206T1 AT05813497T AT05813497T ATE468206T1 AT E468206 T1 ATE468206 T1 AT E468206T1 AT 05813497 T AT05813497 T AT 05813497T AT 05813497 T AT05813497 T AT 05813497T AT E468206 T1 ATE468206 T1 AT E468206T1
Authority
AT
Austria
Prior art keywords
link
rotatatively
respect
power supply
supply transmission
Prior art date
Application number
AT05813497T
Other languages
English (en)
Inventor
Andreas Kreitz
Wolfgang Waldi
Kuno Hug
Tobias Gentzell
Jimmy Kjellsson
Jan-Erik Frey
Original Assignee
Abb Research Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Research Ltd filed Critical Abb Research Ltd
Application granted granted Critical
Publication of ATE468206T1 publication Critical patent/ATE468206T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
AT05813497T 2004-11-30 2005-11-30 Energieversorgungsübertragung für roboteranwendungen zwischen einem ersten glied und einem zweiten glied, die drehbar bezüglich einander angeordnet sind ATE468206T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0402945A SE0402945D0 (sv) 2004-11-30 2004-11-30 Industrial robot
PCT/SE2005/001813 WO2006059947A1 (en) 2004-11-30 2005-11-30 Transmission of power supply for robot applications between a first member and a second member arranged rotatable relative to one another

Publications (1)

Publication Number Publication Date
ATE468206T1 true ATE468206T1 (de) 2010-06-15

Family

ID=33550575

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05813497T ATE468206T1 (de) 2004-11-30 2005-11-30 Energieversorgungsübertragung für roboteranwendungen zwischen einem ersten glied und einem zweiten glied, die drehbar bezüglich einander angeordnet sind

Country Status (7)

Country Link
US (1) US20080197710A1 (de)
EP (1) EP1817142B1 (de)
CN (1) CN100566953C (de)
AT (1) ATE468206T1 (de)
DE (1) DE602005021394D1 (de)
SE (1) SE0402945D0 (de)
WO (1) WO2006059947A1 (de)

Families Citing this family (118)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007008646A2 (en) 2005-07-12 2007-01-18 Massachusetts Institute Of Technology Wireless non-radiative energy transfer
US7825543B2 (en) 2005-07-12 2010-11-02 Massachusetts Institute Of Technology Wireless energy transfer
JP4855150B2 (ja) * 2006-06-09 2012-01-18 株式会社トプコン 眼底観察装置、眼科画像処理装置及び眼科画像処理プログラム
US20110049894A1 (en) * 2006-10-06 2011-03-03 Green William M Electricity Generating Assembly
US9421388B2 (en) 2007-06-01 2016-08-23 Witricity Corporation Power generation for implantable devices
US8805530B2 (en) 2007-06-01 2014-08-12 Witricity Corporation Power generation for implantable devices
EP2281322B1 (de) * 2008-05-14 2016-03-23 Massachusetts Institute of Technology Drahtlose energieübertragung mit interferenzverstärkung
US8692412B2 (en) 2008-09-27 2014-04-08 Witricity Corporation Temperature compensation in a wireless transfer system
US8569914B2 (en) 2008-09-27 2013-10-29 Witricity Corporation Wireless energy transfer using object positioning for improved k
US8482158B2 (en) * 2008-09-27 2013-07-09 Witricity Corporation Wireless energy transfer using variable size resonators and system monitoring
US8587155B2 (en) 2008-09-27 2013-11-19 Witricity Corporation Wireless energy transfer using repeater resonators
US8922066B2 (en) 2008-09-27 2014-12-30 Witricity Corporation Wireless energy transfer with multi resonator arrays for vehicle applications
US9396867B2 (en) 2008-09-27 2016-07-19 Witricity Corporation Integrated resonator-shield structures
US8692410B2 (en) 2008-09-27 2014-04-08 Witricity Corporation Wireless energy transfer with frequency hopping
US8410636B2 (en) 2008-09-27 2013-04-02 Witricity Corporation Low AC resistance conductor designs
US8669676B2 (en) 2008-09-27 2014-03-11 Witricity Corporation Wireless energy transfer across variable distances using field shaping with magnetic materials to improve the coupling factor
US9544683B2 (en) 2008-09-27 2017-01-10 Witricity Corporation Wirelessly powered audio devices
US8963488B2 (en) 2008-09-27 2015-02-24 Witricity Corporation Position insensitive wireless charging
US8497601B2 (en) 2008-09-27 2013-07-30 Witricity Corporation Wireless energy transfer converters
US9318922B2 (en) 2008-09-27 2016-04-19 Witricity Corporation Mechanically removable wireless power vehicle seat assembly
US9035499B2 (en) 2008-09-27 2015-05-19 Witricity Corporation Wireless energy transfer for photovoltaic panels
US8471410B2 (en) 2008-09-27 2013-06-25 Witricity Corporation Wireless energy transfer over distance using field shaping to improve the coupling factor
US8901778B2 (en) 2008-09-27 2014-12-02 Witricity Corporation Wireless energy transfer with variable size resonators for implanted medical devices
US8441154B2 (en) 2008-09-27 2013-05-14 Witricity Corporation Multi-resonator wireless energy transfer for exterior lighting
US9065423B2 (en) 2008-09-27 2015-06-23 Witricity Corporation Wireless energy distribution system
US8476788B2 (en) 2008-09-27 2013-07-02 Witricity Corporation Wireless energy transfer with high-Q resonators using field shaping to improve K
US9601270B2 (en) 2008-09-27 2017-03-21 Witricity Corporation Low AC resistance conductor designs
US8933594B2 (en) 2008-09-27 2015-01-13 Witricity Corporation Wireless energy transfer for vehicles
US9184595B2 (en) 2008-09-27 2015-11-10 Witricity Corporation Wireless energy transfer in lossy environments
US8324759B2 (en) 2008-09-27 2012-12-04 Witricity Corporation Wireless energy transfer using magnetic materials to shape field and reduce loss
US9246336B2 (en) 2008-09-27 2016-01-26 Witricity Corporation Resonator optimizations for wireless energy transfer
US8461720B2 (en) 2008-09-27 2013-06-11 Witricity Corporation Wireless energy transfer using conducting surfaces to shape fields and reduce loss
US8487480B1 (en) 2008-09-27 2013-07-16 Witricity Corporation Wireless energy transfer resonator kit
US8304935B2 (en) 2008-09-27 2012-11-06 Witricity Corporation Wireless energy transfer using field shaping to reduce loss
US8461721B2 (en) 2008-09-27 2013-06-11 Witricity Corporation Wireless energy transfer using object positioning for low loss
US8587153B2 (en) 2008-09-27 2013-11-19 Witricity Corporation Wireless energy transfer using high Q resonators for lighting applications
US8552592B2 (en) 2008-09-27 2013-10-08 Witricity Corporation Wireless energy transfer with feedback control for lighting applications
US9105959B2 (en) 2008-09-27 2015-08-11 Witricity Corporation Resonator enclosure
US9577436B2 (en) 2008-09-27 2017-02-21 Witricity Corporation Wireless energy transfer for implantable devices
US9601266B2 (en) 2008-09-27 2017-03-21 Witricity Corporation Multiple connected resonators with a single electronic circuit
US8772973B2 (en) 2008-09-27 2014-07-08 Witricity Corporation Integrated resonator-shield structures
US8723366B2 (en) 2008-09-27 2014-05-13 Witricity Corporation Wireless energy transfer resonator enclosures
US8946938B2 (en) 2008-09-27 2015-02-03 Witricity Corporation Safety systems for wireless energy transfer in vehicle applications
US8466583B2 (en) 2008-09-27 2013-06-18 Witricity Corporation Tunable wireless energy transfer for outdoor lighting applications
US8928276B2 (en) 2008-09-27 2015-01-06 Witricity Corporation Integrated repeaters for cell phone applications
US8937408B2 (en) 2008-09-27 2015-01-20 Witricity Corporation Wireless energy transfer for medical applications
US9106203B2 (en) 2008-09-27 2015-08-11 Witricity Corporation Secure wireless energy transfer in medical applications
US9601261B2 (en) 2008-09-27 2017-03-21 Witricity Corporation Wireless energy transfer using repeater resonators
US8643326B2 (en) 2008-09-27 2014-02-04 Witricity Corporation Tunable wireless energy transfer systems
US8901779B2 (en) 2008-09-27 2014-12-02 Witricity Corporation Wireless energy transfer with resonator arrays for medical applications
US8912687B2 (en) 2008-09-27 2014-12-16 Witricity Corporation Secure wireless energy transfer for vehicle applications
US9744858B2 (en) 2008-09-27 2017-08-29 Witricity Corporation System for wireless energy distribution in a vehicle
CA3011548C (en) 2008-09-27 2020-07-28 Witricity Corporation Wireless energy transfer systems
US9160203B2 (en) 2008-09-27 2015-10-13 Witricity Corporation Wireless powered television
US9093853B2 (en) 2008-09-27 2015-07-28 Witricity Corporation Flexible resonator attachment
US8947186B2 (en) 2008-09-27 2015-02-03 Witricity Corporation Wireless energy transfer resonator thermal management
US8598743B2 (en) 2008-09-27 2013-12-03 Witricity Corporation Resonator arrays for wireless energy transfer
US8629578B2 (en) 2008-09-27 2014-01-14 Witricity Corporation Wireless energy transfer systems
US8907531B2 (en) 2008-09-27 2014-12-09 Witricity Corporation Wireless energy transfer with variable size resonators for medical applications
US8957549B2 (en) 2008-09-27 2015-02-17 Witricity Corporation Tunable wireless energy transfer for in-vehicle applications
US8461722B2 (en) 2008-09-27 2013-06-11 Witricity Corporation Wireless energy transfer using conducting surfaces to shape field and improve K
US9515494B2 (en) 2008-09-27 2016-12-06 Witricity Corporation Wireless power system including impedance matching network
US8686598B2 (en) 2008-09-27 2014-04-01 Witricity Corporation Wireless energy transfer for supplying power and heat to a device
US8400017B2 (en) 2008-09-27 2013-03-19 Witricity Corporation Wireless energy transfer for computer peripheral applications
WO2010039967A1 (en) 2008-10-01 2010-04-08 Massachusetts Institute Of Technology Efficient near-field wireless energy transfer using adiabatic system variations
EP3276746B1 (de) * 2009-03-13 2019-05-22 Murata Manufacturing Co., Ltd. Antennenvorrichtung
US9602168B2 (en) 2010-08-31 2017-03-21 Witricity Corporation Communication in wireless energy transfer systems
US8079846B1 (en) 2010-09-24 2011-12-20 Mindray Ds Usa, Inc. Rotatable electrical connector
US9948145B2 (en) 2011-07-08 2018-04-17 Witricity Corporation Wireless power transfer for a seat-vest-helmet system
KR20140053282A (ko) 2011-08-04 2014-05-07 위트리시티 코포레이션 튜닝 가능한 무선 전력 아키텍처
JP6185472B2 (ja) 2011-09-09 2017-08-23 ワイトリシティ コーポレーションＷｉｔｒｉｃｉｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ワイヤレスエネルギー伝送システムにおける異物検出
US20130062966A1 (en) 2011-09-12 2013-03-14 Witricity Corporation Reconfigurable control architectures and algorithms for electric vehicle wireless energy transfer systems
US9318257B2 (en) 2011-10-18 2016-04-19 Witricity Corporation Wireless energy transfer for packaging
US8667452B2 (en) 2011-11-04 2014-03-04 Witricity Corporation Wireless energy transfer modeling tool
CN102545397B (zh) * 2011-12-29 2014-09-10 浙江工业职业技术学院 用于机器人旋转关节的非接触式电能传输机构
JP2015508987A (ja) 2012-01-26 2015-03-23 ワイトリシティ コーポレーションＷｉｔｒｉｃｉｔｙ Ｃｏｒｐｏｒａｔｉｏｎ 減少した場を有する無線エネルギー伝送
US9092698B2 (en) 2012-06-21 2015-07-28 Rethink Robotics, Inc. Vision-guided robots and methods of training them
US9343922B2 (en) 2012-06-27 2016-05-17 Witricity Corporation Wireless energy transfer for rechargeable batteries
US9287607B2 (en) 2012-07-31 2016-03-15 Witricity Corporation Resonator fine tuning
US9579806B2 (en) 2012-08-23 2017-02-28 Rethink Robotics, Inc. Robotic power and signal distribution using laminated cable with separator webs
EP2741366A4 (de) * 2012-08-28 2015-02-25 Murata Manufacturing Co Antennenvorrichtung und kommunikationsendgerät
US9595378B2 (en) 2012-09-19 2017-03-14 Witricity Corporation Resonator enclosure
US9404954B2 (en) 2012-10-19 2016-08-02 Witricity Corporation Foreign object detection in wireless energy transfer systems
JP5449502B1 (ja) * 2012-10-31 2014-03-19 三菱電機エンジニアリング株式会社 無線電力伝送による可動部多重化伝送システム
US9842684B2 (en) 2012-11-16 2017-12-12 Witricity Corporation Systems and methods for wireless power system with improved performance and/or ease of use
WO2015023899A2 (en) 2013-08-14 2015-02-19 Witricity Corporation Impedance tuning
CN104427852B (zh) * 2013-09-06 2019-05-03 韩华精密机械株式会社 表面贴装机的组件支撑头
US9780573B2 (en) 2014-02-03 2017-10-03 Witricity Corporation Wirelessly charged battery system
WO2015123614A2 (en) 2014-02-14 2015-08-20 Witricity Corporation Object detection for wireless energy transfer systems
US10004913B2 (en) 2014-03-03 2018-06-26 The Board Of Trustees Of The Leland Stanford Junior University Methods and apparatus for power conversion and data transmission in implantable sensors, stimulators, and actuators
WO2015161035A1 (en) 2014-04-17 2015-10-22 Witricity Corporation Wireless power transfer systems with shield openings
US9842687B2 (en) 2014-04-17 2017-12-12 Witricity Corporation Wireless power transfer systems with shaped magnetic components
US9837860B2 (en) 2014-05-05 2017-12-05 Witricity Corporation Wireless power transmission systems for elevators
JP2017518018A (ja) 2014-05-07 2017-06-29 ワイトリシティ コーポレーションＷｉｔｒｉｃｉｔｙ Ｃｏｒｐｏｒａｔｉｏｎ 無線エネルギー伝送システムにおける異物検出
WO2015171213A1 (en) * 2014-05-09 2015-11-12 The Board Of Trustees Of The Leland Stanford Junior University Autofocus wireless power transfer to implantable devices in freely moving animals
US9954375B2 (en) 2014-06-20 2018-04-24 Witricity Corporation Wireless power transfer systems for surfaces
US10574091B2 (en) 2014-07-08 2020-02-25 Witricity Corporation Enclosures for high power wireless power transfer systems
JP6518316B2 (ja) 2014-07-08 2019-05-22 ワイトリシティ コーポレーションＷｉｔｒｉｃｉｔｙ Ｃｏｒｐｏｒａｔｉｏｎ 無線電力伝送システムにおける共振器の均衡化
CN105790445B (zh) * 2014-12-22 2019-01-11 美律实业股份有限公司 无线传输装置与使用该装置之机械手臂
US9843217B2 (en) 2015-01-05 2017-12-12 Witricity Corporation Wireless energy transfer for wearables
CN106560980B (zh) * 2015-10-02 2021-04-27 松下知识产权经营株式会社 无线电力传输系统
WO2017062647A1 (en) 2015-10-06 2017-04-13 Witricity Corporation Rfid tag and transponder detection in wireless energy transfer systems
WO2017066322A2 (en) 2015-10-14 2017-04-20 Witricity Corporation Phase and amplitude detection in wireless energy transfer systems
WO2017070227A1 (en) 2015-10-19 2017-04-27 Witricity Corporation Foreign object detection in wireless energy transfer systems
EP3365958B1 (de) 2015-10-22 2020-05-27 WiTricity Corporation Dynamische abstimmung in system zum drahtlosen energietransfer
US10075019B2 (en) 2015-11-20 2018-09-11 Witricity Corporation Voltage source isolation in wireless power transfer systems
KR20180101618A (ko) 2016-02-02 2018-09-12 위트리시티 코포레이션 무선 전력 전송 시스템 제어
WO2017139406A1 (en) 2016-02-08 2017-08-17 Witricity Corporation Pwm capacitor control
JP6692078B2 (ja) * 2016-02-19 2020-05-13 パナソニックＩｐマネジメント株式会社 電動装置
WO2019006376A1 (en) 2017-06-29 2019-01-03 Witricity Corporation PROTECTION AND CONTROL OF WIRELESS POWER SYSTEMS
CN109093642A (zh) * 2018-05-18 2018-12-28 深圳市瓦力自动化有限公司 一种机械手旋转头以及控制方法
CN109283363B (zh) * 2018-08-08 2020-12-11 国网辽宁省电力有限公司葫芦岛供电公司 变压器检测机器人免拆无损注入装置
JP2020142362A (ja) 2019-02-28 2020-09-10 キヤノン株式会社 ロボット装置、ロボット装置の制御方法、ロボット装置を用いた物品の製造方法、通信装置、通信方法、制御プログラム及び記録媒体
JP6872000B1 (ja) * 2019-12-16 2021-05-19 日本航空電子工業株式会社 無線コネクタ着脱方法、ロボット装置及び無線コネクタ
JP6872050B1 (ja) * 2020-02-03 2021-05-19 日本航空電子工業株式会社 ロボット装置及び無線コネクタ
TWM632234U (zh) * 2021-08-13 2022-09-21 信錦企業股份有限公司 快拆機構
EP4316743A1 (de) * 2022-08-03 2024-02-07 Hilti Aktiengesellschaft Schnittstellenadapter und system mit einem bauroboter, einem schnittstellenadapter und wenigstens einer werkzeugmaschine
WO2024028127A1 (de) * 2022-08-03 2024-02-08 Hilti Aktiengesellschaft Bauroboter mit wechselschnittstelle mit einer spule sowie werkzeug für den bauroboter

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4404559A (en) * 1981-05-26 1983-09-13 Battelle Memorial Institute Rotative power and signal coupling
US5814900A (en) * 1991-07-30 1998-09-29 Ulrich Schwan Device for combined transmission of energy and electric signals
SE512968C2 (sv) * 1991-10-21 2000-06-12 Rotech Tooling Ab Svivelkoppling
US5637973A (en) * 1992-06-18 1997-06-10 Kabushiki Kaisha Yaskawa Denki Noncontacting electric power transfer apparatus, noncontacting signal transfer apparatus, split-type mechanical apparatus employing these transfer apparatus and a control method for controlling same
US5521444A (en) * 1994-11-30 1996-05-28 Honeywell Inc. Apparatus for transferring electrical power from a stationary device to a rotating device without the use of brushes or contacts
JP2003117877A (ja) * 2001-10-17 2003-04-23 Japan Servo Co Ltd 多関節型の産業用ロボット
SE0301786D0 (sv) * 2003-06-16 2003-06-16 Abb Ab Industrial Robot
SE527946C2 (sv) * 2003-12-10 2006-07-18 Abb Ab Kraftförsörjning för robottillämpningar

Also Published As

Publication number Publication date
EP1817142B1 (de) 2010-05-19
CN101065220A (zh) 2007-10-31
EP1817142A1 (de) 2007-08-15
CN100566953C (zh) 2009-12-09
SE0402945D0 (sv) 2004-11-30
WO2006059947A1 (en) 2006-06-08
DE602005021394D1 (de) 2010-07-01
US20080197710A1 (en) 2008-08-21

Similar Documents

Publication Publication Date Title
ATE468206T1 (de) Energieversorgungsübertragung für roboteranwendungen zwischen einem ersten glied und einem zweiten glied, die drehbar bezüglich einander angeordnet sind
CN103895032B (zh) 机器人上臂
WO2001067190A3 (de) Steuerungsverfahren und industrielle produktionsanlage mit web-steuerungssystem
ATE454956T1 (de) Roboter-manipulatorarm-gelenkantrieb mit drehmomentstütze
TW200626322A (en) Horizontal articulated robot
TW200732110A (en) Multi-joint manipulator
WO2008139770A1 (ja) 内視鏡の湾曲管、内視鏡、および、湾曲管の製造方法
DE602005003615D1 (de) Lichtbogenschweissroboter mit einer anwendbaren Anordnung für die Brennerleistung
ATE492376T1 (de) Werkzeugwechselsystem für einen industrierobotor
PH12015501727B1 (en) Industrial robot
DE602004016031D1 (de) Gelenkkette zur antriebsübertragung bei fahrrädern
WO2007003311A3 (de) Kolben für einen arbeitszylinder
CN204893986U (zh) 一种机器人腕关节结构
DE502007000623D1 (de) Roboterhand
ATE443588T1 (de) Futter mit ausgleich
DE602007003158D1 (de) Werkzeugrevolver mit Riemen
GB2399539B (en) Method for connecting structural sandwich plate members
WO2019158650A3 (de) Fertigungssystem, fertigungsmodul, verfahren zum betreiben und einrichten einer fertigungslinie, und verfahren zur herstellung eines werkstücks
WO2008090413A3 (en) Lift with dual traction pulley
EP1747856A3 (de) Automatisierte Zelle zur Montage von Komponenten und/oder zum Ausführen einer Bearbeitung auf einem Werkstück in einer Fertigungsstrasse und Roboter für eine solche Zelle
ITMI20021352A1 (it) Dispositivo di connessione tra organi di una macchina
ATE520294T1 (de) Maschinengrundkörper und bestücksystem zum bestücken von substraten mit elektrischen bauteilen
CN204777611U (zh) 一种自动装配系统
DE502008002900D1 (de) Werkzeugrevolver
CN204223648U (zh) 工装循环装置

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties