CN101316686B - Handling system for components having similar shapes, particularly body components for motor vehicles - Google Patents
Handling system for components having similar shapes, particularly body components for motor vehicles Download PDFInfo
- Publication number
- CN101316686B CN101316686B CN2006800441351A CN200680044135A CN101316686B CN 101316686 B CN101316686 B CN 101316686B CN 2006800441351 A CN2006800441351 A CN 2006800441351A CN 200680044135 A CN200680044135 A CN 200680044135A CN 101316686 B CN101316686 B CN 101316686B
- Authority
- CN
- China
- Prior art keywords
- clamping
- handling system
- clamping jaw
- chuck
- push rod
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- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
- B25B5/06—Arrangements for positively actuating jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a handling system for components having similar shapes, particularly body components for motor vehicles. In said handling system, a gripper (3) located on the arm (2) of a robot (1) can grip one component and the other component that has a similar shape by means of one and the same clamping device (7, 8) without making any adaptations. In order to be able to do so, each clamping device (7, 8) is provided with two split chucks (11a, 11b, 12a, 12b), only one (11a, 11b or 12a, 12b) of which can be controlled in a gripping position while the other one (12a, 12b or 11a, 11b) is located in a neutral position outside the gripping range on the component.
Description
Technical field
The present invention relates to a kind of handling system that is used to have the parts of similar shape, especially automobile body components, in this handling system, anchor clamps on the arm of robot are provided with a plurality of clamping devices, described clamping device has the profile elements that is suitable for described parts, and each parts can be held on the zone of spatially staggering each other by described profile elements.
Background technology
Known handling system (DE 20219713 U1) is used in the automotive body structure, wherein, come clamping parts to be carried (for example arrangements for automotive doors) and it is transported to the body structure position exactly by means of the anchor clamps on the arm of robot, described parts are assembled in this position.Because stablize and pick up parts exactly, so anchor clamps are provided with a plurality of clamping devices, each clamping device comprises the clamping chuck thereon, and the utilization of described clamping chuck is suitable for profile elements hold assembly on the position of staggering on a plurality of spaces of parts.Accurately the precondition of clamping location is that for every type parts, suitable profile elements is correspondingly located and be provided with to the clamping device on the anchor clamps.This device and be necessary to the conversion of anchor clamps is even parts to be carried have similar shapes." parts with similar shape " are although be understood to mean similar shape on plurality of positions but have the parts of differing heights each other.Alternatively, the another kind of handling system of suitably being processed also can be used for the parts of another kind of type, yet this will make engineering cost obviously increase.
For the clamping chuck that opens and closes handling system, open (as US 6428071B2) have a mechanical drives of band tooth push rod.This toothed driving push rod forms the part of hydraulic cylinder piston assembly and is connected on mobilizable clamping jaw of clamping chuck via fixing pinion.
Summary of the invention
The objective of the invention is to, a kind of handling system that is used to have the parts of similar shape, especially automobile body components is provided, wherein, utilize same anchor clamps just can carry these parts, and do not need to install arduously and processing again.
Handling system by the described type partly described in technical field can be realized this purpose, because each clamping device has two clamping chucks, the clamping jaw of described clamping chuck can be switched to the crawl position from stop position, as long as the clamping jaw of a clamping chuck is switched to their crawl position, then the clamping jaw of another clamping chuck is in their stop position, and vice versa.
The present invention is based on following understanding, that is, have at parts under the situation of similar shape,, can come clamping by another clamping chuck with other profile elements although clamping can not be come by the identical clamping chuck with same profile part in some position.Yet precondition is can not be subjected on the path of the described clamping chuck of being positioned at of another clamping chuck and cause the obstruction of the clamping jaw of interference thus by a clamping chuck hold assembly.According to the present invention, this is guaranteed by the stop position that the clamping chuck alternately is locked in outside the extracting motion path that is positioned at another clamping chuck.
According to one embodiment of the present invention,, proposed to keep clamping device by the support arm with suitable length of anchor clamps for the anchor clamps of the parts that are used to have similar shape are installed.By pivoting and longitudinally adjust support arm, each clamping device can match with the similar shape zone of parts with similar shape to be held.Therefore in each case, the paired clamping jaw of each clamping device is provided with the profile elements of two parts that are suitable for having similar shape.Also can remedy the difference on the height thus.
Preferably, the clamping chuck of each clamping device has the actuator that comprises band tooth push rod respectively.Preferably, the band tooth push rod of being arranged to two clamping chucks adjacent one another are of same clamping device can alternately connect with the identical fastener of described actuator.Described fastener itself drives by crank rocker bindiny mechanism.According to a kind of alternate embodiments of the actuator of clamping chuck, the clamping jaw of described two clamping chucks can pivot on common bearing journal and move vertically, and can connect with common toothed driving push rod via driving pinion.
The distinctive advantage of this actuator is that it is simple in structure, and two clamping chucks only use a band tooth push rod.Another advantage is that the operating position of two clamping chucks is identical.
For the clamping jaw of a clamping chuck is moved to operating position from their stop position, the clamping jaw that is positioned at operating position of another clamping chuck need be moved to their stop position, vice versa, and the same together mobile actuator of described clamping jaw connects.Described mobile actuator can have movably with the parallel installation of described bearing journal and by the actuator of driven by servomotor, described actuator is connected with described clamping jaw via fastener.Preferably, described servomotor is a cylinder-piston assembly, can exert pressure by pressure medium in its both sides, and described actuator links to each other with the piston rod of cylinder-piston assembly.Described fastener can be a pin, and described pin joint is combined in the coaxial annular groove of driving pinion of described clamping jaw.
Because it is identical to the present invention proposes the operating position of two clamping chucks, therefore by described clamping jaw the guiding sidewall is set on both sides for each work clamping chuck, the driving pinion of wherein said clamping jaw engages with described band tooth push rod exactly and described guiding sidewall works in the pivot motion course of described clamping jaw, and, the side keeps seat by being set for the described clamping jaw of each idle clamping chuck, the driving pinion of wherein said clamping jaw does not engage with described band tooth push rod, thus, can guide work clamping chuck simply and lock the clamping chuck of not working.
Because two clamping chucks only are provided with a common band tooth push rod, therefore described band tooth push rod can link to each other with described actuator always.According to one embodiment of the present invention, described band tooth push rod can be connected with the described piston rod of cylinder-piston assembly with elbow lever on being connected in described pinion via pinion with advancing.
Description of drawings
Describe the present invention in detail hereinafter with reference to the accompanying drawing that two kinds of illustrative embodiments are shown, wherein:
Fig. 1 illustrates two profile diagrams with parts of similar shape, and wherein, these two parts are front door adjacent one another are and tail gates of body of a motor car;
Profile diagram after the parts with similar shape that Fig. 2 illustrates Fig. 1 are superimposed with each other;
Fig. 3 is the side view that has the handling system of anchor clamps;
Fig. 4 illustrates along the anchor clamps of the handling system of arrow Z direction observation among Fig. 3, and these anchor clamps have a plurality of clamping devices that are suitable for the similar shape profile of front door and tail gate;
Fig. 5 is the perspective view of the anchor clamps of Fig. 3 and 4;
Fig. 6 forms perspective view according to the structure of a clamping device of the anchor clamps of Fig. 3, and wherein, half of the shell of this clamping device is removed;
Fig. 7 is the scrap detail view of the clamping device of Fig. 6, particularly is the perspective view that has the clamping chuck of actuator;
Fig. 8 is the simplified schematic view of details of the clamping chuck of Fig. 7;
Fig. 9 is the perspective view as a kind of alternate embodiments of embodiment among Fig. 6 to 8 of a clamping device among Fig. 3, and wherein, a side of the shell of this clamping device is removed;
Figure 10 is the side view according to the clamping device of Fig. 9;
Figure 11 is the partial sectional view according to the I-I along the line of the clamping device of Figure 10;
Figure 12 is the partial sectional view along Figure 10 center line II-II according to the clamping device of Figure 10.
The specific embodiment
The left side shows the profile that first parts are the front door of automobile among Fig. 1, and the right side shows the profile of second parts (being specially tail gate) with similar shape.In Fig. 2, two shown profiles are superimposed each other.In the figure, the similar shape zone is represented with dotted line.These similar shape zones are suitable for coming these parts of clamping by same clamping device.
Handling system shown in Figure 3 comprises robot 1, and this robot 1 carries anchor clamps 3 on its arm 2.These anchor clamps 3 can center on many axis activities by robot 1 in the space.Anchor clamps 3 have substrate 4, and arm 5,6 is arranged in this substrate 4 pivotally and the length of arm 5,6 is suitable in all cases at its place, end carrying clamping device 7,8.According to Fig. 4, clamping device 7,8 is positioned on the similar shape zone of the parts with similar shape to be carried, and represents with dotted line equally.By this location, clamping device both can clamping Fig. 3 in the front door 9 shown in the left side, the tail gate 10 shown in again can the clamping right side is although the height of tail gate 10 in the similar shape zone is different with front door 9.Height and the profile difference of parts in treating the zone of clamping can remedy by specific profile elements.In this case, anchor clamps 3 can be from concave side (parts 9) hold assembly of parts, again can be from convex side (parts 10) hold assembly of parts.
All clamping devices 7,8 of anchor clamps 3 have identical structure.As shown in Figure 6, each clamping device 7,8 have two have pivot clamping jaw 11a respectively about 90 °, the clamping chuck 11,12 of 11b, 12a, 12b.These clamping jaws 11a to 12b can enough profile elements (not shown) expands, and described profile elements is suitable for treating the profile of the parts of clamping.A pair of clamping jaw 11a, 11b for example are used for components A, and this components A for example is a front door 9, and another is used for part B to clamping jaw 12a, 12b, and this part B for example is a tail gate 10.When this to clamping jaw 12a, when 12b is in the crawl position, this is in stop position to clamping jaw 11a, 11b, at this stop position, described clamping jaw 11a, 11b are kept by locking mechanism, and this locking mechanism for example is the ball catch that comprises the spring self-tightening ball that is positioned at shell and be positioned at the groove of clamping jaw 11a, 11b.In Fig. 6 and 7, only show the groove 12a* and the 12b* that are used for clamping jaw 12a, 12b.Can use other locking mechanism of pneumatic type, fluid pressure type, electromagnetic type or their combination.The band tooth push rod 13,14 that is meshed with the clamping jaw 11a, 11b, 12a, the band tooth section 13a of 12b, 13b, 14a, the 14b that pivot is used for making every pair of two couples of clamping jaw 11a, 11b, 12a, 12b to pivot about 90 °.These two band tooth push rods 13,14 are driven by common actuator, and this common actuator comprises rotary cylinder-block 16 and rotary part 17.For two band tooth push rods 13,14 alternately are connected with crank rocker bindiny mechanism 17, between these two band tooth push rods 13,14 fastener 18 that links to each other with the crank with crank rocker bindiny mechanism 17 shown in 8 as Fig. 7 is set, this fastener 18 and controllable clutch element 19 form the cylinder-piston assembly that can be pressed in both sides by pressure medium.Controllable clutch element 19 utilizes the axle journal 20 of its piston 21 that band tooth push rod 13 or band tooth push rod 14 are connected with the crank of crank rocker bindiny mechanism 17.Because for clamping device 7,8, therefore can guarantee that as long as clamping jaw 12a, 12b are in the crawl position clamping jaw 11a, 11b then are positioned at stop position and can be positioned on the motion path of clamping jaw 12a, 12b, thus hold assembly successfully.If prepare another parts of clamping, then clamping jaw 12a, 12b are turned round 90 ° to stop position, and clamping jaw 11a, 11b are switched to the crawl position.This means and can utilize same clamping device 7,8 clamping has the parts of similar shape in similar shape zone, and the clamping jaw that is used for parts can not hinder other another parts of clamping jaw clamping, vice versa.
As the illustrative embodiments of front described in Fig. 6 to 8, all clamping devices 7,8 of anchor clamps 3 have identical structure and also are applicable to second illustrative embodiments shown in Fig. 9 to 12.Yet, the actuator of the clamping jaw 11a of clamping device, 11b, 12a, 12b and the locking device difference that is used for the clamping jaw is locked in stop position.As a pair of clamping jaw 12a, when 12b is in the crawl position, a pair of clamping jaw 11a, 11b are in stop position, and in second illustrative embodiments, the clamping jaw that is in stop position keeps seat 21a, 21b, 22b to keep by the side.
For clamping jaw 11a, 11b, 12a, the 12b that makes each clamping chuck 11,12 pivots, can be connected on the piston rod 26a of cylinder-piston assembly 26 via pinion 24 and the elbow lever 25 that is connected on this pinion 24 at the band tooth push rod 23 that all has tooth on the both sides with advancing.This band tooth push rod 23 is used to drive clamping jaw 11a, 11b, 12a, the 12b of two clamping chucks 11,12.Different with main patent, clamping chuck 11,12 can move and alternately engage with band tooth push rod 23 with driving pinion 27a, 27b, 28a, 28b via its clamping jaw 11a, 11b, 12a, 12b.For this purpose, the clamping jaw 11a, 11b, 12a, the 12b that are pivotably mounted on bearing journal 29a, the 29b also can move on bearing journal 29a, 29b vertically.The pneumatic actuation part is provided for driving clamping jaw 11a, 11b, 12a, 12b is coaxial moves, wherein, this pneumatic actuation part has cylinder-piston assembly 30, and this assembly 30 has and can be connected to two piston rod 30b on axially displaceable axle journal 32a, the 32b at the piston 30a that exerts pressure on the both sides with via crosshead 31 by pressure medium.Each axle journal 32a, 32b have two pin 32b*, 32b**, 32a* as fastener, and described pin joint is combined in the cannelure of driving pinion 27a, 27b, 28a of clamping jaw 11a, 11b, 12a, 12b.
Clamping jaw 11a, 11b, 12a, 12b change in the following manner: all clamping jaw 11a, 11b, 12a, 12b are shown in an open position.At this open position, in lateral detent positions and be arranged in and keep a pair of clamping jaw 11a, the 11b of seat 21a, 21b can move to the center, promptly, operating position, and another is transferred to another to clamping jaw 12a, 12b and keeps among seat 21a, the 22b to the side and be positioned at stop position, and can firmly be remained on this place.In this transfer process, first couple of clamping jaw 11a, 11b and their driving pinion 27a, 27b motion to be engaging with band tooth push rod 23, and another to clamping jaw 12a, 12b and their driving pinion 28a, 28b from being with 23 releases of tooth push rod.Therefore, move to the center (promptly, operating position) this can pivot by band tooth push rod 23 to clamping jaw 11a, 11b this moment, this is guided by the guiding sidewall that is formed by shell from the side to clamping jaw 11a, 11b, and another is forcibly held in the maintenance seat 22b that is associated clamping jaw 12a, 12b.
Claims (13)
1. handling system that is used to have the parts of similar shape, wherein, anchor clamps (3) on the arm (2) of robot (1) are provided with a plurality of clamping devices (7,8), described clamping device has the profile elements that can match with described parts, each described parts can be held on the zone of spatially staggering each other by described profile elements, it is characterized in that, each clamping device (7,8) comprises two clamping chucks, the clamping jaw (11a of described clamping chuck, 11b, 12a 12b) can be switched to the crawl position from stop position, as long as the clamping jaw (12a of a clamping chuck, 12b) be switched to their crawl position, (11a 11b) remains on their stop position to the clamping jaw of another clamping chuck, and vice versa so.
2. handling system according to claim 1 is characterized in that, described clamping device (7,8) keeps by support arm (5,6).
3. handling system according to claim 1 and 2 is characterized in that, the described clamping chuck (11,12) of each clamping device (7,8) has the actuator that comprises band tooth push rod (13,14) respectively.
4. handling system according to claim 3 is characterized in that, same clamping device (7,8) the band tooth push rod (13 of being arranged to two clamping chucks adjacent one another are, 14) can alternately be connected on the identical fastener (18) of described actuator (16,17,18).
5. handling system according to claim 4 is characterized in that, described fastener (18) is the part of rotary part (17).
6. handling system according to claim 1, it is characterized in that, described two clamping chucks (11,12) clamping jaw (11a, 11b, 12a, 12b) can be pivotally and vertically at common bearing journal (29a, 29b) go up to move, and can (27a 27b) alternately is connected with common rotating band tooth push rod (23) via driving pinion.
7. handling system according to claim 6 is characterized in that, described clamping jaw (11a, 11b, 12a, 12b) with common mobile actuator (30,30a, 30b, 32a 32b) connects.
8. handling system according to claim 7 is characterized in that, described mobile actuator (30,30a, 30b, 32a, 32b) have movably and described bearing journal (29a, 29b) parallel installation and the actuator (31) that drives by servomotor (30), described actuator (31) is via fastener (32a*, 32b*, 32b**) with described clamping jaw (11a, 11b, 12a 12b) connects.
9. handling system according to claim 8 is characterized in that, described servomotor (30) is a cylinder-piston assembly, and its both sides can compress by the supercharging medium, and described actuator (31) links to each other with the piston rod (30b) of described cylinder-piston assembly.
10. handling system according to claim 8 is characterized in that, (32a*, 32b* 32b**) are pin to described fastener, and described pin joint is combined in described driving pinion, and (27a is in the coaxial annular groove (33,34) 27b).
11. according to each described handling system in the claim 6 to 10, it is characterized in that, be each work clamping chuck (11,12) clamping jaw (11a, 11b, 12a 12b) is provided with the guiding sidewall on both sides, described work clamping chuck (11,12) clamping jaw (11a, 11b, 12a, driving pinion 12b) engages with described band tooth push rod (23) exactly, described guiding sidewall works in the pivot motion course of described clamping jaw, and is the clamping jaw (11a of each idle clamping chuck (11,12), 11b, 12a 12b) is provided with the side and keeps seat (21a, 21b, 22b), clamping jaw (11a, the 11b of described idle clamping chuck (11,12), 12a, driving pinion 12b) do not engage with described band tooth push rod (23).
12. according to each described handling system in the claim 6 to 10, it is characterized in that described band tooth push rod (23) can be connected on the piston rod (26a) of cylinder-piston assembly (26) via pinion (24) and the elbow lever (25) that is connected on the described pinion (24) with advancing.
13. handling system according to claim 1 is characterized in that, described parts with similar shape are automobile body components.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005049494.3 | 2005-10-13 | ||
| DE200510049494 DE102005049494B3 (en) | 2005-10-13 | 2005-10-13 | A robotic handling system for components having a similar shape as motor vehicle body parts has two gripper chucks used alternately where one has a parking position when not used |
| DE102006025844A DE102006025844B3 (en) | 2005-10-13 | 2006-06-02 | Handling system for form-related components, in particular body parts for motor vehicles |
| DE102006025844.4 | 2006-06-02 | ||
| PCT/EP2006/067246 WO2007042518A1 (en) | 2005-10-13 | 2006-10-10 | Handling system for components having similar shapes, particularly body components for motor vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101316686A CN101316686A (en) | 2008-12-03 |
| CN101316686B true CN101316686B (en) | 2010-12-22 |
Family
ID=37896671
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006800441351A Expired - Fee Related CN101316686B (en) | 2005-10-13 | 2006-10-10 | Handling system for components having similar shapes, particularly body components for motor vehicles |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101316686B (en) |
| DE (1) | DE102005049494B3 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI500489B (en) * | 2013-07-19 | 2015-09-21 | Hon Hai Prec Ind Co Ltd | Clamping device |
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| US8186733B2 (en) | 2009-01-02 | 2012-05-29 | Delaware Capital Formation, Inc. | Solenoid gripper |
| DE102010018468A1 (en) * | 2010-04-27 | 2011-10-27 | Dürr Systems GmbH | Device and method for handling preferably to be coated components |
| KR101172308B1 (en) * | 2010-09-06 | 2012-08-07 | 현대자동차주식회사 | Gripper for door of vehicle |
| CN102107691A (en) * | 2011-02-24 | 2011-06-29 | 奇瑞汽车股份有限公司 | Vehicle suspension stress releasing device |
| CN102152305B (en) * | 2011-03-31 | 2012-10-03 | 温州科奇比威自动化设备有限公司 | Gear rack type manipulator |
| US8950065B2 (en) | 2011-09-19 | 2015-02-10 | Comau, Inc. | Weld gun part clamp device and method |
| US9075031B2 (en) * | 2011-10-11 | 2015-07-07 | Ortho-Clinical Diagnostics, Inc. | Apparatus for gripping and holding diagnostic cassettes |
| CN102513997A (en) * | 2011-12-07 | 2012-06-27 | 金华职业技术学院 | Mechanical arm |
| CN103482137B (en) * | 2013-09-30 | 2016-09-07 | 安徽正远包装科技有限公司 | A kind of bag openning body of M shape packaging bag |
| CN103722407A (en) * | 2013-12-21 | 2014-04-16 | 袁新 | Clamping jaw device |
| CN107009587B (en) * | 2016-01-28 | 2020-05-15 | 双福自动化控制服务保定有限公司 | Automatic demoulding mechanism for injection molding of slippers |
| CN107054713B (en) * | 2016-11-28 | 2022-09-27 | 浙江理工大学 | Three-point hook-press type automatic material taking device for medical infusion tube |
| CN107804706A (en) * | 2017-10-23 | 2018-03-16 | 安徽江威精密制造有限公司 | A kind of capacitor clamping tooling |
| CN108858266A (en) * | 2018-08-09 | 2018-11-23 | 上汽大众汽车有限公司 | Magnetic force handgrip |
| CN109250481A (en) * | 2018-09-03 | 2019-01-22 | 刘丽军 | A kind of continuous toter in architectural engineering |
| CN109250173A (en) * | 2018-10-22 | 2019-01-22 | 浙江东信机械有限公司 | A kind of machining package mechanism convenient for polishing |
| CN110125959B (en) * | 2019-05-27 | 2024-08-09 | 四川宏华石油设备有限公司 | Clamping device |
| CN114714386A (en) * | 2022-03-23 | 2022-07-08 | 深圳昱拓智能有限公司 | Cubical switchboard is patrolled and examined operation robot clamping jaw mechanism and is patrolled and examined operation robot |
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| DE20219713U1 (en) * | 2002-12-18 | 2003-12-24 | Kuka Schweissanlagen Gmbh | Test device for inspecting gripping devices, geo-tools or mounting frames in vehicle body construction, has test instrument such as laser beam emitter and receivers or reflectors arranged on gripping device |
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- 2005-10-13 DE DE200510049494 patent/DE102005049494B3/en not_active Expired - Fee Related
-
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- 2006-10-10 CN CN2006800441351A patent/CN101316686B/en not_active Expired - Fee Related
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| US4399603A (en) * | 1980-11-17 | 1983-08-23 | Giddings & Lewis, Inc. | Power grip tool exchange arm for machining center |
| EP0115544A1 (en) * | 1982-08-11 | 1984-08-15 | Fanuc Ltd. | Double hand for industrial robot |
| DE19518062A1 (en) * | 1994-06-01 | 1995-12-07 | Smc Corp | Movable opening and closing chuck |
| CN1321563A (en) * | 2000-04-28 | 2001-11-14 | Smc株式会社 | Electric clamp |
| CN1164392C (en) * | 2000-04-28 | 2004-09-01 | Smc株式会社 | Electric clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI500489B (en) * | 2013-07-19 | 2015-09-21 | Hon Hai Prec Ind Co Ltd | Clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101316686A (en) | 2008-12-03 |
| DE102005049494B3 (en) | 2007-04-19 |
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