CN101272972A - Vacuum system - Google Patents
Vacuum system Download PDFInfo
- Publication number
- CN101272972A CN101272972A CNA2006800354796A CN200680035479A CN101272972A CN 101272972 A CN101272972 A CN 101272972A CN A2006800354796 A CNA2006800354796 A CN A2006800354796A CN 200680035479 A CN200680035479 A CN 200680035479A CN 101272972 A CN101272972 A CN 101272972A
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- Prior art keywords
- vacuum
- vacuum system
- sensor
- valve
- energy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention relates to a vacuum system, in particular a vacuum gripping system having at least one vacuum gripping apparatus for gripping workpieces and/or a vacuum component, in particular having a sensor for sensing states in the vacuum gripping system and/or one of the components and for generating state data, wherein the vacuum gripping apparatus and/or at least one of the components is equipped with an energy generation device for generating new electrical energy, which is not stored in the vacuum system, for operating a module consuming electrical energy.
Description
Technical field
The present invention relates to a kind of vacuum system, particularly a kind of vacuum grasping system, it has at least one vacuum grabbing device and/or vacuum component of being used for grabbing workpiece.
Background technology
Vacuum system is used to produce vacuum and operation object.Be used for vacuum device and for example be air extractor, it utilizes pneumatically operated and is connected with the vacuum consuming device.This vacuum consuming device for example is to draw gripping apparatus, and it is the component part of vacuum grasping system and passes through it and draw object, thereby object can be promoted and be transported to another place.But also become known for the grasping system of fixation workpiece, thereby can process workpiece.Therefore whether each vacuum grabbing device and coefficient with it parts are worn and must monitor them and leak and/or normal operation still.The various status datas that may also need these parts, for example vacuum state that must grasp further working process.Therefore, for example only reach under the situation of the value of predesignating, could promote the workpiece of being drawn in the vacuum of drawing on the gripping apparatus.
Be provided with detected state for this reason and convert the sensor of status data to, wherein, status data is sent to receptor by cable then.Need to supply with the cable of sensor electric energy in addition, but cause the wiring spending to heighten like this.Not only pressurized air and vacuum pipeline must be laid, but also supply cable and data transmission cable will be laid.
Summary of the invention
Therefore the objective of the invention is to, a kind of vacuum system simple in structure is provided.
This purpose is achieved in such a way according to the present invention, and promptly vacuum grasping system and/or at least one parts have energy producing unit, and it is used to produce the original interior new electric energy of vacuum system that is not stored in to drive the assembly of consumed power.
Utilize the flow wire that need not to power according to device of the present invention, energy producing unit is on-the-spot to be produced because this power supply utilizes.This electric energy is not to take from the energy storage that comprised originally in the vacuum system, but the form of energy that conversion exists in the external world or derive from other form of energy that act on vacuum system, for example motion can or light.
In improvement project of the present invention, vacuum system have be used to detect in the vacuum system, particularly in the vacuum grasping system and/or state in one of the parts and the element that is used to produce status data.
According to the present invention, be used for detected state and be used to produce the required electric energy of status data no longer being transported to vacuum system by cable, because vacuum grasping system and/or at least one employed parts have energy producing unit, produce thereby required electric energy is on-the-spot.This electric energy is not to take from original energy storage, but conversion and take from the external world especially from other form of energy.
In preferred mode, the assembly of consumed power is sensor, transmitter, optics and/or sound telltale, valve, other actuator or data memory.If status data sends by means of sender wireless, this transmitter is equally by the energy producing unit supply of electrical energy so.This means, need not to be used for wiring, because these status datas send by means of sender wireless ground to being in the exterior receptor transferring status data of vacuum system.Therefore cancel the complexity wiring of system, thereby only need lay air line.Obviously reducing structure spending and maintenance work thus can more rapidly and carry out more simply.The weight of while mitigation system also reduces scantling of structure.
In another kind of improvement project, the vacuum grabbing device is other devices of drawing gripping apparatus, vacuum clip clamping system or or indirect securement workpiece direct by means of vacuum.Draw object by drawing gripping apparatus, thereby can and move to elsewhere its lifting.Utilize this vacuum clip clamping system can fixation kit, thereby subsequently it is handled.These assemblies can be provided with energy producing unit, thereby detect its status data, for example switch periods, etc. pending vacuum, airshed and this class data and with these data or be stored on the assembly and/or be sent on the outside receptor.(Radio Frequency Identification Device: rfid device), it can be fixed on the appropriate location of drawing gripping apparatus or vacuum clip clamping system for storage data for example can use RFID.Therefore effective historic records of assembly can not lost and can call at any time.
In improvement project, parts are air extractor, vacuum pump, vacuum fan, valve, data memory, absorption gripping apparatus, spring tappet, vac switch or telltale.Valve is electromagnetic valve, pneumatic valve or keying valve.Also have energy producing unit in these parts of only enumerating for example in the above, it provides energy for the sensor that is used to detect various status datas, and wherein here data also directly are sent to data memory at the scene and store and/or be sent to outside receptor.Energy producing unit is provided for the energy that stores and be used to transmit equally.It is pointed out that in addition also to have chargeable energy storage, for example storage battery, current colector, cond or fuel cell, thus can accumulate by the less energy that energy producing unit produces.
In a preferred embodiment, energy producing unit is a piezoelectric element.But also can use thermocouple, oscillating converter, ductor generator, turbine or photoelectric cell with electrical generator.When the operation object, each assembly is subjected to mechanical load especially, and wherein these mechanical movements can convert electric energy to by piezoelectric element or ductor generator, thereby this electric energy can offer sensor and transmitter and memory device.In this regard, piezoelectric element or ductor generator preferably are arranged in the section of mechanical movement or on the section, for example are arranged on piston or casing wall or the keying valve, and it moves in the lift pump on being placed on workpiece the time.This section for example also can be out of shape when grabbing workpiece.This energy of deformation makes the piezoelectric element or the ductor generator that mechanical energy can be converted to electric energy produce distortion.Turbine for example is arranged in suction air-flow or the air blast and drives electrical generator.
Advantageously, sensor is vacuum transducer, flow-sensint unit, air flow sensor, counting machine, motion sensor, temperature sensor, rang sensor, presence sensing device or force gauge.In this manner, can measure various state and produce corresponding data.So for example can before the absorption gripping apparatus is malfunctioning, discern its wear limit.Can draw or the extracting mal by recognition object in addition, can avoid contingency thus.
In this regard, transmitter is the sender unit of radio transmitter, infrared transmitter, ultrasound transmitter device or cable connection according to the present invention.Data can encrypt or not encrypt and with the primitive character common combination that depends on assembly.Can determine when at any time in this manner and where produce data.
According to an improvement project of the present invention, vacuum grabbing device and/or vacuum component have the data memory that is used for storing state data and/or vacuum grabbing device and/or vacuum component data.This data memory can be read during operation and/or under maintenance or maintenance situation.Can more promptly find the possible source of trouble thus.
According to an improvement project, vacuum grabbing device and/or vacuum component are by means of the data run that is stored in the assembly.These data can be predesignated, but the generation in service that they also can be formerly and influence the operation of back.
Description of drawings
Other advantages of the present invention, feature and details wherein are elaborated to a plurality of particularly preferred embodiment by means of accompanying drawing from the explanation of dependent claims and back.In this regard, shown in the accompanying drawing and the feature of mentioning in claims and the specification sheets self or be respectively main points of the present invention in the combination in any mode.
Shown in the drawings:
Fig. 1 illustrates the scheme drawing of groundwork of the present invention;
Fig. 2 illustrates the lift pump schematic diagram with no battery radio module and external memory unit;
Fig. 3 illustrates the absorption gripping apparatus schematic diagram with outer setting memory cell;
Method scheme drawing when Fig. 4 illustrates absorption and promotes object;
Fig. 5 illustrates the absorption gripping apparatus with integrated memory cell;
Fig. 6 and 7 illustrates the lift pump schematic diagram with no battery radio module and internal storage unit;
Fig. 8 illustrates the lift pump schematic diagram with radio module and middle energy storage;
Fig. 9 illustrates the mechanical vacuum on-off principle figure with radio module;
Figure 10 illustrates the mechanical vacuum on-off principle figure with radio module and middle energy storage;
Figure 11 illustrates the Electrically Actuated Vacuum Switch schematic diagram with radio module;
Figure 12 and 13 illustrates air extractor and is arranged on the schematic diagram of the turbine in its air-flow;
Figure 14 illustrates the keying valve schematic diagram with ductor generator and radio transmitter;
Figure 15 illustrates the schematic diagram on valve island; And
Figure 16 and 17 illustrates the spring tappet schematic diagram with submergence detecting device.
The specific embodiment
Fig. 1 illustrates groundwork of the present invention, wherein adopt reference numeral 10 mark vacuum grasping systems, have energy producing unit 22 in this vacuum grasping system, it is connected in the assembly 8 of the consumed power such as sender unit, transmitter, data memory of for example telltale, sensor, valve, cable connection.This assembly 8 is connected with the external unit 6 that for example is used for reading and writing, evaluation or demonstration.In addition, be provided with for example additional middle energy storage 4 such as storage battery, current colector, cond in vacuum grasping system 10, it can be connected in for example additional optional sender unit 2 such as switch, cable, (radio) receptor, sensor, time meter.Solid arrow is represented electrical energy flows, and imaginary point line arrow is then represented nonelectrical energy stream.The flow of information of dotted arrow represents physical bonded assembly, and band increase the weight of camber line the no cable of dotted arrow representative, do not have lead and do not have the flow of information of flexible pipe.Arrow 38 roles of delegate are in the energy of vacuum grasping system 10.In order to activate consuming device 8, use the signal of sender unit 2, perhaps use the electric pulse of energy producing unit 22.Last 40 expression power operations.
Fig. 2 illustrates the schematic diagram of the lift pump 42 with no battery radio module and external memory unit.44 expressions drive the ductor generator or the piezoelectric element of radio transmitter 26.The energy generator 22 that constitutes ductor generator or piezoelectric element 44 sends the electric pulse of representation signal.Unit 6 is external data memories 20.
Fig. 3 illustrates vacuum grasping system 10 and has three the absorption gripping apparatus 12 that can draw workpiece 14.Drawing gripping apparatus 12 is connected with the vacuum feed device 18 of for example vacuum pump or air extractor by means of vacuum pipeline 16.Be provided with external data memory 20 in addition as can be seen.In this regard, air extractor itself is a vacuum component.
In each absorption gripping apparatus 12, be integrated with an energy producing unit 22 respectively, so-called transducer and a sensor 24.This sensor 24 detects the state of drawing gripping apparatus 12, produces status data and status data is sent to data memory 20 by transmitter 26, wherein draws gripping apparatus for example for drawing the gripping apparatus 12 inner vacuum that exist or the quantity of load period.Driving sensor 24 and driving transmitter 26 required electric energy are produced by energy producing unit 22, and it for example is piezoelectric element or ductor generator, photoelectric cell, turbine, oscillating converter or thermocouple.
The embodiment of procedure when Fig. 4 illustrates operation workpiece 14 wherein draws gripping apparatus 12 and at first descends to workpiece 14 along the direction of arrow 28, drops on the workpiece 14 until drawing gripping apparatus 12.Meanwhile draw gripping apparatus 12 distortion, wherein the mechanically deform energy converts electric energy to by energy producing unit 22.Activated sensors 26 and the receptor in being in data memory 20 send the activation signal that adopts arrow 30 expressions thus.
Vacuum feed device 18 is started working and is supplied with vacuum to vacuum pipeline 16 then.Workpiece 14 is held.Send another signal after reaching the required suction pressure of utilizing sensor 24 to measure, this expression object 14 can be raised (arrow 32) now, because it is enough big to draw the vacuum that exists in the gripping apparatus 12.If the vacuum of drawing in the gripping apparatus 12 descends during this period, can discern by sensor 24 so equally, thereby can send another signal.Require numerical value if vacuum reaches it, can disconnect vacuum feed device 18 or close vacuum pipeline 16.
After workpiece 14 was laid, vacuum pipeline 16 ventilated, and can leave object 14 along the direction of arrow 34 thereby draw gripping apparatus 12, and wherein laying also of workpiece measured by sensor 24.
Needs are not to the electrical lead of sensor 24 and transmitter 26 supply electric energy according to vacuum system of the present invention, and it only needs to drawing gripping apparatus supply vacuum.
Fig. 5 illustrates the embodiment that draws gripping apparatus 12, and wherein data memory 20 for example is integrated in the RFID label form and draws in the gripping apparatus 12.Draw gripping apparatus 12 and send data (arrow 30) to outside receptor 36 equally, but the effective historic records that can also read after in internal storage unit 20, storing.Except effective historic records, can also store identification number, build date, maker, marking on materials etc.In this manner, can draw the conclusion of maloperation, defective manufacturing etc.
Fig. 6 and 7 illustrates the schematic diagram of the lift pump 42 with no battery radio module and internal storage unit.Have ductor generator or piezoelectric element 44 in lift pump, its stretch section that for example is subjected to tappet 46 or lift pump 42 is handled, and supplies with data memory 48 and radio transmitter 26 electric energy.Externally the position of data memory 20 also can be provided with external display 50 or signal converter, for example is used for memory device programmable control (SPS), robot control or other higher levels control.
Fig. 8 illustrates the schematic diagram of the lift pump 42 with radio module and middle energy storage.The photoelectric cell 52 that produces electric energy is installed in the lift pump 42.This electric energy is temporarily stored in the middle energy storage 56 that constitutes cond 54.Tappet 46 operating motor tool switches 58.
Fig. 9 illustrates the schematic diagram of the mechanical vacuum switch 60 with radio module.Ductor generator or piezoelectric element 44 are set in the vac switch 60 and are provided with bellows 62 or piston as executive component, by along the direction air-out of arrow 66 to bellows or piston supply vacuum 64.This embodiment is applied in process control and the automation.
Figure 10 illustrates the schematic diagram of the mechanical vacuum switch 60 of the middle energy storage 56 that has radio module and be made of cond 54.Photoelectric cell 52 is installed in the vac switch 60, utilizes it from light 68, to produce electric energy.This electric energy is temporarily stored in the middle energy storage 56 that constitutes cond 54.
Figure 11 illustrates the schematic diagram of the electrovacuum switch 66 with radio module 26 and middle energy storage 56.Transmitter pulse is produced surpassing or be lower than under the situation of definite switching threshold 70 by vac switch 66, and wherein vac switch 66 is connected with the vacuum that will monitor by means of flexible pipe 72.In another kind of modification, transmitter pulse is by means of time meter 74 controls.For example per 2 seconds of sensor is measured vacuum values and is sent analog signal to higher level's control setup.
Figure 12 and 13 illustrates air extractor 76, is provided with turbine 78 in its air-flow.Air-flow is air blast 80 or sucks air-flow 82.Turbine 78 drives electrical generator 84 in order to obtain electric energy.Turbine 78 on air blast 80 mouths is in addition as noise silencer, because it makes air-flow become slow.
Figure 14 illustrates the keying valve 86 with ductor generator 44 and radio transmitter 26.The data that send and receive are handled in the signal converter 88 that is used for robot control.When being placed on keying valve 86 on the object, tappet immerses and operation ductor generator 44, thereby supplies with the electric energy that radio transmitter 26 is used to send.
Figure 15 illustrates valve island 90, wherein is used to drive turbine 78 and sucks air-flow or air blast.
Figure 16 and 17 illustrates the schematic diagram of the spring tappet 92 with adjustable submergence monitoring device.In Figure 17, solid line represents that extended position 94 and dotted line represent the submerged position 96 of spring tappet 92.
Claims (17)
1. vacuum system, vacuum grasping system (10) particularly, have vacuum grabbing device and/or vacuum component that at least one is used for grabbing workpiece (14), it is characterized in that, described vacuum grabbing device and/or at least one parts have energy producing unit (22), and it is used to produce the original interior new electric energy of vacuum system that is not stored in to drive the assembly of consumed power.
2. vacuum system as claimed in claim 1 is characterized in that, the assembly of described consumed power is vacuum generator, sensor (24), transmitter (26), telltale, valve, other actuator or data memory.
3. vacuum system as claimed in claim 2, it is characterized in that described sensor (24) is vacuum transducer, flow-sensint unit, air flow sensor, counting machine, motion sensor, temperature sensor, rang sensor, presence sensing device or force gauge.
4. as claim 2 or 3 described vacuum systems, it is characterized in that described transmitter (26) is the sender unit of radio transmitter, infrared transmitter, ultrasound transmitter device or cable connection.
5. each described vacuum system in the claim as described above is characterized in that, described vacuum grabbing device is to draw gripping apparatus (12), vacuum clip clamping system or by means of vacuum directly or other devices of indirect securement workpiece (14).
6. each described vacuum system in the claim as described above is characterized in that described parts are air extractor, valve, data memory, absorption gripping apparatus, spring tappet, vac switch, vacuum pump, vacuum fan or telltale.
7. vacuum system as claimed in claim 6 is characterized in that, described valve is electromagnetic valve, pneumatic valve or keying valve.
8. each described vacuum system in the claim as described above is characterized in that described energy producing unit (22) is piezoelectric element, thermocouple, oscillating converter, ductor generator, the turbine with electrical generator or photoelectric cell.
9. vacuum system as claimed in claim 8 is characterized in that described turbine is arranged in the air-flow.
10. vacuum system as claimed in claim 9 is characterized in that, described air-flow is air blast or sucks air-flow.
11. each described vacuum system in the claim is characterized in that as described above, described energy producing unit (22) be arranged on can mechanical movement section in or on the section.
12. vacuum system as claimed in claim 11 is characterized in that, described section distortion or motion when being placed on workpiece (14) and going up or when grabbing workpiece (14).
13., it is characterized in that described section is the elastic region as claim 11 or 12 described vacuum systems, it moves when described workpiece (14) is gone up being placed on, and for example is lift pump wall or keying valve.
14. each described vacuum system in the claim is characterized in that as described above, is provided with the device that is used for to receptor (36) transferring status data.
15. each described vacuum system in the claim is characterized in that as described above, described energy producing unit (22) is connected with energy storage.
16. vacuum system as claimed in claim 15 is characterized in that, described energy storage is storage battery, current colector, cond or fuel cell.
17. each described vacuum system in the claim is characterized in that as described above, be provided be used for detecting in the vacuum system, particularly in the vacuum grasping system (10) and/or state in one of the parts and the element that is used to produce status data.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005047385.7 | 2005-09-28 | ||
| DE200510047385 DE102005047385B4 (en) | 2005-09-28 | 2005-09-28 | Vacuum system |
| EPPCT/EP2006/004968 | 2006-03-24 | ||
| DE102006016235.8 | 2006-03-31 | ||
| DE102006016236.6 | 2006-03-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101272972A true CN101272972A (en) | 2008-09-24 |
Family
ID=37852776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA2006800354796A Pending CN101272972A (en) | 2005-09-28 | 2006-08-08 | Vacuum system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101272972A (en) |
| DE (1) | DE102005047385B4 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712411B (en) * | 2009-11-25 | 2012-05-23 | 重庆大学 | Method for judging whether vacuum chuck fails to suck jointing disc in automatic production line |
| CN103826998A (en) * | 2011-09-30 | 2014-05-28 | Ats自动化加工系统公司 | System and method for providing vacuum to a moving element |
| CN103906699A (en) * | 2011-09-07 | 2014-07-02 | J.施迈茨有限公司 | Method for monitoring operating state of device and corresponding device and system |
| CN104526703A (en) * | 2015-01-16 | 2015-04-22 | 艾尔发（苏州）自动化科技有限公司 | Energy-saving vacuum loop |
| CN109109008A (en) * | 2018-08-20 | 2019-01-01 | 珠海格力智能装备有限公司 | The treating method and apparatus that manipulator drops off |
| CN110434886A (en) * | 2018-05-04 | 2019-11-12 | J.施迈茨有限公司 | Vacuum treatment device |
| CN112707162A (en) * | 2020-12-17 | 2021-04-27 | 东莞市李群自动化技术有限公司 | Feeding method and multi-channel feeding machine |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006005872B3 (en) * | 2006-02-06 | 2008-01-31 | J. Schmalz Gmbh | Suction grip to grip workpieces has means of detecting and displaying wear condition by change of color |
| EP2001777B1 (en) * | 2006-03-31 | 2009-10-07 | J. Schmalz GmbH | Vacuum handling device |
| DE202009002179U1 (en) | 2009-02-16 | 2009-04-23 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Device for handling workpieces |
| DE102010040686B3 (en) * | 2010-09-14 | 2012-01-05 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Electrical monitoring of suction pads |
| CN102717379A (en) * | 2012-06-29 | 2012-10-10 | 苏州晟成新能源科技有限公司 | Transplanting manipulator with absorption system |
| US10518985B2 (en) | 2016-05-31 | 2019-12-31 | Wood's Powr-Grip Co., Inc. | Control systems and methods for vacuum lift equipment |
| DE102017122180B4 (en) * | 2017-09-25 | 2020-04-16 | J. Schmalz Gmbh | Operating device for a handling device |
| EP3626412B1 (en) * | 2018-09-20 | 2023-09-06 | FIPA Holding GmbH | Vacuum gripper and method for monitoring the functionality of a vacuum gripper |
| DE102020129586A1 (en) | 2020-11-10 | 2022-05-12 | J. Schmalz Gmbh | Wear detection on surface suction pads |
| DE102022120655A1 (en) | 2022-08-16 | 2023-09-28 | J.Schmalz Gmbh | Negative pressure handling device with odor sensor |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19748374C1 (en) * | 1997-11-03 | 1999-04-01 | Schmalz J Gmbh | Vacuum vice arrangement |
| DE10140248B4 (en) * | 2001-08-09 | 2006-09-28 | J. Schmalz Gmbh | Vacuum handling device |
| DE20206267U1 (en) * | 2002-04-20 | 2003-08-28 | Leybold Vakuum Gmbh | vacuum pump |
-
2005
- 2005-09-28 DE DE200510047385 patent/DE102005047385B4/en active Active
-
2006
- 2006-08-08 CN CNA2006800354796A patent/CN101272972A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101712411B (en) * | 2009-11-25 | 2012-05-23 | 重庆大学 | Method for judging whether vacuum chuck fails to suck jointing disc in automatic production line |
| CN103906699A (en) * | 2011-09-07 | 2014-07-02 | J.施迈茨有限公司 | Method for monitoring operating state of device and corresponding device and system |
| CN103906699B (en) * | 2011-09-07 | 2015-09-09 | J.施迈茨有限公司 | Method for the running state of watch-dog and the equipment for this and system |
| US9629007B2 (en) | 2011-09-07 | 2017-04-18 | J. Schmalz Gmbh | Method for monitoring an operating state of a device and corresponding device and system |
| CN103826998A (en) * | 2011-09-30 | 2014-05-28 | Ats自动化加工系统公司 | System and method for providing vacuum to a moving element |
| CN103826998B (en) * | 2011-09-30 | 2017-01-18 | Ats自动化加工系统公司 | System and method for providing vacuum to a moving element |
| CN104526703A (en) * | 2015-01-16 | 2015-04-22 | 艾尔发（苏州）自动化科技有限公司 | Energy-saving vacuum loop |
| CN104526703B (en) * | 2015-01-16 | 2016-01-13 | 艾尔发（苏州）自动化科技有限公司 | A kind of energy-saving vacuum loop |
| CN110434886A (en) * | 2018-05-04 | 2019-11-12 | J.施迈茨有限公司 | Vacuum treatment device |
| CN109109008A (en) * | 2018-08-20 | 2019-01-01 | 珠海格力智能装备有限公司 | The treating method and apparatus that manipulator drops off |
| CN109109008B (en) * | 2018-08-20 | 2022-02-25 | 珠海格力智能装备有限公司 | Processing method and device for manipulator falling |
| CN112707162A (en) * | 2020-12-17 | 2021-04-27 | 东莞市李群自动化技术有限公司 | Feeding method and multi-channel feeding machine |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102005047385B4 (en) | 2008-04-03 |
| DE102005047385A1 (en) | 2007-04-05 |
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Application publication date: 20080924 |